Transmission mechanism of miniature unmanned aerial vehicle

Abstract

The utility model discloses a transmission mechanism of a miniature unmanned aerial vehicle. The transmission mechanism comprises a fixed base; a brushless motor rotating shaft is arranged outside the output end of the brushless motor; the first-stage speed reducing mechanism comprises a first-stage small-tooth-number gear and a first-stage large-tooth-number gear, the first-stage small-tooth-number gear is arranged outside a rotating shaft of the brushless motor, and the first-stage large-tooth-number gear is connected to the outer portion of the first-stage small-tooth-number gear in a meshed mode; the second-stage speed reducing mechanism comprises a wing transmission shaft, a second-stage small-tooth-number gear and a second-stage large-tooth-number gear, the wing transmission shaft is arranged outside the first-stage large-tooth-number gear, and the second-stage small-tooth-number gear is arranged outside the wing transmission shaft; the rocker mechanism comprises a first rocker, a second rocker, a third rocker and a central rotating shaft. The transmission mechanism of the miniature unmanned aerial vehicle can control conversion between a flapping wing mode and a propeller pull-in power gliding mode by controlling the brushless motor to rotate forwards and backwards, and has the advantages of being light in weight, simple in structure, high in reliability and easy to control.

Description

Technical Field

[0001] The utility model belongs to the technical field of aircraft, and in particular relates to a transmission mechanism for a micro unmanned aircraft. Background Art

[0002] Flapping-wing aircraft mimic the flight of birds or insects, boasting small size, light weight, low energy consumption, low cost, and low noise. Researchers at home and abroad have conducted extensive research on biomimetic flapping-wing aircraft. Most existing flapping-wing aircraft rely on wing flapping to generate lift during flight, while a few can achieve unpowered gliding by maintaining aerodynamic force to maintain wing dihedral. Birds achieve maximum flight efficiency by generating lift through flapping wings and gliding through potential energy.

[0003] At present, the research on the flight mechanism and control method of bionic flapping-wing aircraft is still incomplete, and there is a lack of research on composite aircraft with both fixed-wing and flapping-wing modes. CN117818876A discloses a flapping-wing mechanism with independently controllable flapping start and end positions, which can realize both gliding and flapping modes. This aircraft can better simulate the flight state of birds, but it does not have power when gliding and cannot fully exert the performance of the aircraft. The flight mechanism of propeller-pull-in fixed-wing aircraft is well studied, the structure and control are simple, and the speed is faster than that of bionic flapping-wing aircraft. However, the shielding area of ​​its fuselage and wings is large, resulting in deterioration of drag characteristics. In addition, its structural design is difficult and has certain restrictions on the size of the propeller, especially in the tail layout. These shortcomings easily affect the performance of propeller-pull-in fixed-wing aircraft, including flight efficiency, controllability and structural design methods. In view of this, it is of great significance to design a flapping-wing / fixed-wing composite aircraft that can combine the advantages of both bionic flapping-wing aircraft and propeller-pull-in fixed-wing aircraft. Utility Model Content

[0004] In order to overcome the above-mentioned problems of the prior art, the present invention aims to provide a micro unmanned aerial vehicle transmission mechanism, which can solve the problem of the fusion of powered gliding and flapping wings by sharing a motor between a propeller drive system and a flapping wing system.

[0005] To achieve the above objectives, the present invention provides the following technical solutions:

[0006] A micro unmanned aerial vehicle transmission mechanism, comprising:

[0007] Fixed base;

[0008] A brushless motor, wherein the brushless motor is arranged inside the fixed base, and a brushless motor shaft is arranged outside the output end of the brushless motor;

[0009] The primary speed reduction mechanism comprises a primary large-tooth gear and a primary small-tooth gear, the primary small-tooth gear is arranged outside the brushless motor rotating shaft, and the primary small-tooth gear is externally meshed with the primary large-tooth gear;

[0010] The secondary speed reduction mechanism comprises a secondary large-tooth gear, a secondary small-tooth gear and a wing transmission shaft, the wing transmission shaft is arranged outside the primary large-tooth gear, the secondary small-tooth gear is arranged outside the wing transmission shaft, and the secondary small-tooth gear is externally meshed with the secondary large-tooth gear;

[0011] The rocker mechanism comprises a first rocker, a second rocker and a third rocker, the third rocker is arranged outside the secondary large-tooth gear, a central rotating shaft is arranged outside the fixed base, and the third rocker is rotatably connected with the first rocker and the second rocker through the central rotating shaft;

[0012] The fixed base is rotatably connected with the primary large-tooth gear, the secondary large-tooth gear is arranged behind the brushless motor and is rotatably connected with the fixed base, and the wing transmission shaft is rotatably connected with the fixed base; a fixed shaft is fixedly connected outside the fixed base, an outer shell is fixedly connected outside the fixed shaft, and the outer shell is fixedly connected with the fixed base through the fixed shaft; a bidirectional self-sustaining push-pull electromagnet is fixedly connected to the rear end of the fixed base; an electromagnet push-pull rod is slidably connected outside the bidirectional self-sustaining push-pull electromagnet, and a guide rail is arranged outside the fixed base and is slidably connected with the central rotating shaft;

[0013] A first one-way clutch is arranged between the wing transmission shaft and the primary large-tooth gear, an outer shell is fixedly connected outside the fixed base, a second one-way clutch is arranged outside the brushless motor rotating shaft, a third one-way clutch is arranged at one end of the brushless motor rotating shaft, the second one-way clutch and the third one-way clutch are arranged inside the outer shell, a propeller rotating shaft is arranged outside the second one-way clutch, and a propeller is connected to the propeller rotating shaft; a limiting hole is arranged on the secondary large-tooth gear, for limiting the movement range of the electromagnet push-pull rod, so that the electromagnet push-pull rod can move forward;

[0014] A wing rotating shaft is rotatably connected outside the fixed base, two connecting plates are symmetrically arranged outside the fixed base through the wing rotating shaft, so as to limit the connecting plates, and a plurality of wing plates are arranged outside the connecting plates.

[0015] Further, the propeller rotating shaft is fixedly connected with a nose cone outside.

[0016] Further, the plurality of wing plates are combined into a wing structure for flapping.

[0017] Further, the bidirectional self-sustaining push-pull electromagnet is arranged at the tail of the micro unmanned aerial vehicle transmission mechanism, and is used for switching of the flight mode.

[0018] Compared with the prior art, the transmission mechanism has the advantages that:

[0019] The transmission mechanism of the utility model realizes that the flapping wing movement mechanism and the propeller share a brushless motor driving system, and the brushless motor forward and reverse rotation is controlled to control the conversion between the flapping wing mode of the airplane and the propeller pull-in power gliding mode. Since the driving system is shared, the components are less, the brushless motor forward and reverse rotation control is easy, and the transmission mechanism has the advantages of light weight, simple structure, high reliability and easy control. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 The utility model provides micro unmanned aerial vehicle transmission mechanism's main body three -dimensional structure schematic diagram for embodiment of the utility model;

[0021] Figure 2 The utility model provides micro unmanned aerial vehicle transmission mechanism's rear view three -dimensional structure schematic diagram for embodiment of the utility model;

[0022] Figure 3 The utility model provides micro unmanned aerial vehicle transmission mechanism's partial section three -dimensional structure schematic diagram for embodiment of the utility model;

[0023] Figure 4 The utility model provides micro unmanned aerial vehicle transmission mechanism's another partial section three -dimensional structure schematic diagram for embodiment of the utility model.

[0024] In the drawing: 1, fixed base; 2, brushless motor; 3, two-stage large gear number gear; 4, two-stage small gear number gear; 5, wing transmission shaft; 6, one-stage large gear number gear; 7, one-stage small gear number gear; 8, wing piece; 9, bidirectional self-sustaining push-pull electromagnet; 10, brushless motor rotating shaft; 11, fixed shaft; 12, first rocker; 13, propeller; 14, shell; 15, guide rail; 16, wing rotating shaft; 17, first one-way clutch; 18, second one-way clutch; 19, propeller rotating shaft; 20, third one-way clutch; 21, head cone; 22, second rocker; 23, third rocker; 24, limit hole; 25, central rotating shaft; 26, connecting plate; 27, electromagnet push-pull rod. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the utility model clearer, the utility model will be described below in more detail with reference to the accompanying drawings and in combination with embodiments, but the utility model is not limited to this. It should be noted that the embodiments in the utility model and the features in the embodiments can be combined with each other without conflict. It should be understood that the described embodiments are only a part of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the application.

[0026] In the description of the utility model, it should be noted that the terms 'center', 'front','rear', 'left', 'right', 'inner', 'outer' and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0027] Please refer to Figures 1-4 The utility model embodiment provides a kind of micro unmanned aerial vehicle transmission mechanism, it includes:

[0028] Fixed base 1;

[0029] Brushless motor 2, brushless motor 2 is arranged inside fixed base 1, and the output end outside of brushless motor 2 is provided with brushless motor rotating shaft 10;

[0030] Primary speed reduction mechanism, primary speed reduction mechanism includes first large number of teeth gear 6 and first small number of teeth gear 7, and first small number of teeth gear 7 is arranged outside brushless motor rotating shaft 10, and first small number of teeth gear 7 is externally connected with first large number of teeth gear 6;

[0031] Secondary speed reduction mechanism, secondary speed reduction mechanism includes second large number of teeth gear 3, second small number of teeth gear 4 and wing transmission shaft 5, wing transmission shaft 5 is arranged outside first large number of teeth gear 6, second small number of teeth gear 4 is arranged outside wing transmission shaft 5, and second small number of teeth gear 4 is externally connected with second large number of teeth gear 3;

[0032] Rocker mechanism, rocker mechanism includes first rocker 12, second rocker 22, third rocker 23 and center rotating shaft 25, third rocker 23 is arranged outside second large number of teeth gear 3, center rotating shaft 25 is arranged outside fixed base 1, and third rocker 23 is rotatably connected with first rocker 12 and second rocker 22 by center rotating shaft 25;

[0033] The fixed base 1 is rotatably connected with the first large-tooth gear 6, the second large-tooth gear 3 is arranged at the rear of the brushless motor 2, the second large-tooth gear 3 is rotatably connected with the fixed base 1, and the wing transmission shaft 5 is rotatably connected with the fixed base 1.

[0034] The first one-way clutch 17 is arranged between the wing transmission shaft 5 and the first large-tooth gear 6, the fixed base 1 is fixedly connected with the outer shell 14, the brushless motor shaft 10 is provided with the second one-way clutch 18, one end of the brushless motor shaft 10 is provided with the third one-way clutch 20, the second one-way clutch 18 and the third one-way clutch 20 are arranged in the outer shell 14, the propeller shaft 19 is arranged outside the second one-way clutch 18, and the propeller 13 is connected with the propeller shaft 19. Preferably, the propeller shaft 19 is fixedly connected with the nose cone 21. The limiting hole 24 is arranged on the second large-tooth gear 3, the limiting hole 24 limits the movement range of the electromagnet push-pull rod 27, so that the electromagnet push-pull rod 27 moves forward, and preferably, the bidirectional self-sustaining push-pull electromagnet 9 is arranged at the tail of the device, so that the flight mode switching is facilitated.

[0035] The wing shaft 16 is rotatably connected outside the fixed base 1, the fixed base 1 is rotatably provided with two connecting plates 26 through the wing shaft 16, so that the connecting plates 26 are limited, and a plurality of wings 8 are arranged outside the connecting plates 26.

[0036] The positive direction of the brushless motor shaft 10 in a certain rotating direction in the front direction is taken as the positive direction, and the other rotating direction is taken as the reverse direction. From the front direction, the rotating directions of the first one-way clutch 17 and the second one-way clutch 18, which can transmit torque, are opposite, when the brushless motor shaft 10 rotates in the positive direction, the first large-tooth gear 6 in the first reduction gear mechanism rotates in the reverse direction, at this time, the resistance between the inner ring and the periphery of the first one-way clutch 17 is large, the propeller 13 has a positive direction movement trend, and at this time, the resistance between the inner ring and the periphery of the second one-way clutch 18 is small; when the brushless motor shaft 10 rotates in the reverse direction, the second large-tooth gear 3 in the second reduction gear mechanism rotates in the positive direction, at this time, the resistance between the inner ring and the outer ring of the first one-way clutch 17 is small, the propeller 13 has a reverse direction movement trend, and at this time, the resistance between the inner ring and the periphery of the second one-way clutch 18 is large.

[0037] From the front direction, the rotation direction of the second one-way clutch 18 and the third one-way clutch 20 inner ring and the periphery generates a larger resistance, from a certain direction, the second one-way clutch 18 and the third one-way clutch 20 inner ring and the periphery in a certain direction relative rotation, the second one-way clutch 18 inner ring and the periphery between the resistance is large, the third one-way clutch 20 inner ring and the periphery between the resistance is very small, the second one-way clutch 18 and the third one-way clutch 20 inner ring and the periphery in the opposite direction relative rotation, the second one-way clutch 18 inner ring and the periphery between the resistance is very small, the third one-way clutch 20 inner ring and the periphery between the resistance is large.

[0038] The brushless motor rotating shaft 10 of the utility model is designed in the common drive system, the first gear mechanism in the first gear mechanism and the wing transmission shaft 5 cannot move relatively when the brushless motor rotating shaft 10 rotates forward, the torque of the brushless motor 2 is transmitted to the second gear mechanism through the first gear mechanism and the wing transmission shaft 5, and the rocker mechanism and the connecting plate 26 are driven to move. At this time, the brushless motor rotating shaft 10 cannot transmit torque to the propeller rotating shaft 19 through the second one-way clutch 18, and the propeller 13 has a positive direction movement trend under the action of aerodynamic force. At this time, the third one-way clutch 20 inner ring and the periphery have a large resistance in the positive direction movement to balance the positive and negative direction movement trend of the propeller 13, and the propeller 13 does not rotate.

[0039] When the brushless motor 2 rotates reversely, the second gear mechanism in the second gear mechanism and the wing transmission shaft 5 can move relatively, the torque of the brushless motor 2 cannot be transmitted to the second gear mechanism, the rocker mechanism, the connecting plate 26 and the second gear mechanism continue to move under the action of inertia, at this time, the double-way self-maintaining push-pull electromagnet 9 is electrified, the electromagnet push-pull rod 27 has a tendency to stretch out to the wing movement mechanism, the limiting hole 24 in the second gear mechanism in the second gear mechanism moves to the coaxial position with the limiting through hole on the fixed base 1, the electromagnet push-pull rod 27 stretches out forward, and the electromagnet push-pull rod 27 keeps the position after being de-energized, so that the rocker mechanism, the connecting plate 26 and the second gear mechanism do not move any more. By controlling the electrification time of the double-way self-maintaining push-pull electromagnet 9, it can be ensured that the time range of the fixed wing is in the time range of the driving force of the electromagnet push-pull rod. At this time, the brushless motor rotating shaft transmits torque to the propeller rotating shaft 19 through the second one-way clutch 18, the propeller rotating shaft 19 has a reverse rotation trend under the drive of the brushless motor 2, at this time, the third one-way clutch 20 inner ring and the periphery have very small resistance in the positive direction movement, and the propeller 13 rotates reversely to provide a pulling force.

[0040] The transmission mechanism of the utility model realizes that the flapping wing movement mechanism and the propeller 13 share a brushless motor driving system, and the brushless motor 2 controls the conversion between the flapping wing mode and the propeller pull-in power gliding mode through forward and reverse rotation, since the driving system is shared, the components are less, the brushless motor 2 forward and reverse rotation control is easy, the transmission mechanism of the utility model has the advantages of light weight, simple structure, high reliability, easy control.

[0041] In the transmission mechanism, the third rocker 23 is rotatably connected with the first rocker 12 and the second rocker 22 through the central rotating shaft 25, the rocker mechanism drives the wing 8 to flap and fly; the fixed base 1 is fixedly connected with the bidirectional self-sustaining push-pull electromagnet 9 at one end, the bidirectional self-sustaining push-pull electromagnet 9 is slidably connected with the electromagnet push-pull rod 27 outside, the fixed base 1 is provided with the guide rail 15 outside, and the guide rail 15 is slidably connected with the central rotating shaft 25; the fixed base 1 is rotatably connected with the wing shaft 16 outside, and the fixed base 1 is rotatably provided with the two connecting plates 26 through the wing shaft 16 outside, so that the connecting plate 26 is limited, and the connecting plate 26 is provided with a plurality of wings 8 outside, and the plurality of wings 8 are combined into a wing structure for flapping.

[0042] Since the brushless motor 2 and the first-stage reduction gear mechanism are fixed on the fixed base 1, the brushless motor 2 rotating shaft and the first-stage small-tooth gear in the first-stage reduction gear mechanism are matched, the first-stage small-tooth gear 7 and the first-stage large-tooth gear 6 in the first-stage reduction gear mechanism are matched, the first-stage large-tooth gear 6 is matched with the first one-way clutch 17 and the wing transmission shaft 5, the wing shaft 16, the second-stage reduction gear mechanism and the bidirectional self-sustaining push-pull electromagnet 9 are fixed on the fixed base, the connecting plate 26 and the second-stage large-tooth gear 3 in the second-stage reduction gear mechanism are connected through the rocker mechanism, the rocker mechanism central rotating shaft 25 can slide along the fixed base guide rail 15, the second-stage small-tooth gear 4 in the second-stage reduction gear mechanism and the wing transmission shaft 5 are matched, so that the connecting plate 26 is driven to rotate, the connecting plate 26 is matched with the wing 8, the flapping action is performed, and the flapping flight of the device is realized, the brushless motor rotating shaft 10 and the propeller rotating shaft 19 are matched with the second one-way clutch 18, the propeller rotating shaft 19 and the third one-way clutch 20 are matched, and the shell 14 is connected with the fixed base 1 through the fixed shaft 11, so that the rotation of the propeller can be controlled through the third one-way clutch 20, and the fixed-wing flight mode is controlled.

[0043] It should be understood by those of ordinary skill in the art that the above discussion of any of the embodiments is merely exemplary and is not intended to suggest that the scope of protection of the present application is limited to these embodiments; under the idea of the present application, the above embodiments or technical features in different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the present application as described above, which are not provided in detail for the sake of simplicity, but these changes are all within the scope of protection of the present application.

Claims

1. A micro aerial vehicle transmission mechanism, characterized by, The utility model relates to a kind of wing drive mechanism, including: Fixed base (1); Brushless motor (2), the brushless motor (2) is arranged inside the fixed base (1), and its output end outside is provided with brushless motor rotating shaft (10); Primary reduction mechanism, the primary reduction mechanism includes primary large gear number gear (6) and primary small gear number gear (7), the primary small gear number gear (7) is arranged outside the brushless motor rotating shaft (10), and the primary small gear number gear (7) outside meshing connection primary large gear number gear (6); Secondary reduction mechanism, the secondary reduction mechanism includes secondary large gear number gear (3), secondary small gear number gear (4), wing transmission shaft (5), the wing transmission shaft (5) is arranged outside the primary large gear number gear (6), and the secondary small gear number gear (4) is arranged outside the wing transmission shaft (5), and the secondary small gear number gear (4) outside meshing connection secondary large gear number gear (3); Rocker mechanism, the rocker mechanism includes first rocker (12), second rocker (22), third rocker (23) and center rotating shaft (25), the third rocker (23) is arranged outside the secondary large gear number gear (3), the center rotating shaft (25) is arranged outside the fixed base (1), and the third rocker (23) is rotated by the center rotating shaft (25) Connection first rocker (12) and second rocker (22); Wherein, fixed base (1) is rotatably connected with primary large gear number gear (6), secondary large gear number gear (3) is arranged behind brushless motor (2), and is rotatably connected with fixed base (1), and wing transmission shaft (5) is rotatably connected with fixed base (1);Fixed base (1) is fixedly connected with fixed shaft (11) outside, fixed shaft (11) is fixedly connected with shell (14) outside, and shell (14) is fixedly connected with fixed base (1) by fixed shaft (11);The rear end of fixed base (1) is fixedly connected with bidirectional self-sustaining push-pull electromagnet (9);The electromagnet push-pull rod (27) is slidably connected outside the bidirectional self-sustaining push-pull electromagnet (9), and the guide rail (15) is formed in the fixed base (1) outside, and the guide rail (15) is slidably connected between the center rotating shaft (25); First one-way clutch (17) is arranged between the wing transmission shaft (5) and primary large gear number gear (6), the fixed base (1) is fixedly connected with shell (14) outside, the brushless motor rotating shaft (10) is provided with second one-way clutch (18) outside, and the brushless motor rotating shaft (10) is provided with third one-way clutch (20) on one end, and second one-way clutch (18) and third one-way clutch (20) are arranged in the inside of shell (14), and the brushless motor rotating shaft (10) is provided with propeller rotating shaft (19) outside second one-way clutch (18), and the propeller rotating shaft (19) is connected with propeller (13) outside;Limiting hole (24) is arranged on secondary large gear number gear (3), for limiting the movement range of electromagnet push-pull rod (27), so that electromagnet push-pull rod (27) can move forward; The fixed base (1) is externally connected with a wing rotating shaft (16), and two connecting plates (26) are symmetrically arranged on the left and right of the fixed base (1) through the wing rotating shaft (16), so that the connecting plates (26) are limited, and a plurality of wings (8) are arranged on the outer side of the connecting plates (26).

2. The micro aerial vehicle transmission mechanism of claim 1, wherein, The propeller rotating shaft (19) is externally fixedly connected with a nose cone (21).

3. The micro aerial vehicle transmission mechanism of claim 1, wherein, The plurality of wings (8) constitute a wing structure for flapping.

4. The micro aerial vehicle transmission mechanism of claim 1, wherein, The bidirectional self-sustaining push-pull electromagnet (9) is arranged at the tail of the micro unmanned aerial vehicle transmission mechanism and is used for switching the flight mode.

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