Differential mechanism for flapping wings of ornithopter

Abstract

The utility model discloses a kind of flapping-wing aircraft double-wing amplitude differential mechanisms, including motor, steering wheel, rack and two places rocker arm, the inside of each rocker arm is provided with swing straight slot;Limiting frame is provided on rack, and limiting frame is provided with amplitude modulation arc groove, corresponding swing straight slot and amplitude modulation arc groove are provided with amplitude modulation fixed pin, two places amplitude modulation fixed pin are fixedly connected with transmission connecting rod, the other end of each transmission connecting rod is rotatably connected with transmission gear, amplitude modulation arc groove is provided with swing shaft on each transmission gear, and two places transmission gear are engaged with output gear wheel. The utility model's limiting frame can change the power arm stress position of rocker arm by amplitude modulation fixed pin, to change the vibration amplitude of two places rocker arm;Motor drives two places transmission gear to rotate by output gear wheel, and transmission gear drives two places rocker arm to reciprocate by transmission connecting rod, ensure that the motion frequency of two places rocker arm is consistent, while realizing driving main wing to carry out fan operation.

Description

Technical Field

[0001] This utility model relates to the field of flapping-wing aircraft technology, and in particular to a differential amplitude mechanism for the biwing of a flapping-wing aircraft. Background Technology Ornithopters are aircraft that generate lift and thrust through the periodic flapping of their wings, mimicking the flight principles of birds or insects. Ornithopters differ from fixed-wing and rotary-wing aircraft in that their wings simultaneously provide lift and thrust, achieving flight through flapping motions. They are an important type of biomimetic aircraft.

[0002] Currently, ornithopter aircraft typically employ two technical solutions for turning: one is to use a dual-servo or servo-like structure to drive each wing separately to adjust its amplitude; the other is to use a single motor to drive both wings synchronously, with the tail fin used for directional adjustment. While the aforementioned dual-servo solution can achieve differential wing movement, it suffers from the following drawbacks: it requires two sets of servos and their reduction gears, increasing structural weight; it necessitates complex algorithms to ensure the synchronicity of wing movement, making control difficult; and the frequent acceleration and deceleration of the servos during reciprocating motion leads to reduced drive efficiency and significant energy waste. While the traditional single-motor drive solution is structurally simple, it cannot achieve the difference in wing amplitude, relies entirely on the tail fin for turning, lacks flexibility, and fails to realistically simulate the natural flight posture of birds.

[0003] Therefore, to address the aforementioned problems, it is necessary to provide a flapping-wing amplitude differential mechanism that is simple in structure, saves on the number of independent drive units, and can realize differential flapping amplitude. Summary of the Invention

[0004] To address the aforementioned shortcomings of the existing technology, this utility model provides a flapping-wing aircraft dual-wing amplitude differential mechanism.

[0005] To achieve the aforementioned objectives, the technical solution adopted by this utility model is as follows: A differential flapping amplitude mechanism for a flapping-wing aircraft is provided, comprising a motor, a servo motor, a frame, and two rocker arms symmetrically arranged on the frame. The middle part of each rocker arm is mounted on the frame via a rocker arm pivot, and each rocker arm has a swing linear groove on its inner side. A left-right movable limiting frame is provided on the frame. The servo motor drives the limiting frame to move left and right. The limiting frame has an amplitude adjustment arc groove that corresponds to the swing linear groove. An amplitude adjustment fixing pin is provided in the corresponding swing linear groove and amplitude adjustment arc groove. The limiting frame adjusts the swing amplitude of the rocker arm through the amplitude adjustment fixing pin. Both amplitude adjustment fixing pins are fixedly connected to a transmission link. The other end of each transmission link is rotatably connected to a transmission gear. Each transmission gear is provided with a swing shaft that cooperates with the transmission link. The two transmission gears are meshed with an output gear, which is fixedly connected to the output end of the motor.

[0006] Furthermore, a sliding limit block is provided on the rear side of the limit frame, and two swing arm limit posts are fixed on the sliding limit block. The two swing arm limit posts form a U-shaped opening that cooperates with the servo swing arm.

[0007] Furthermore, the frame is provided with a linear slide groove for the limiting frame that cooperates with the sliding limit block.

[0008] Furthermore, the frame includes a front mounting plate, a middle mounting plate, and a rear mounting plate connected in sequence, with a transmission gear disposed between the front mounting plate and the middle mounting plate, and the rocker arm and the limiting frame disposed between the middle mounting plate and the rear mounting plate.

[0009] Furthermore, a speed reducer is installed at the output end of the motor.

[0010] The beneficial effects of this utility model are as follows: The servo motor of this invention drives the limiting frame to move left and right. The limiting frame can change the force position of the power arm of the rocker arm through the amplitude adjustment fixing pin, thereby changing the vibration amplitude of the two rocker arms. The motor drives the two transmission gears to rotate through the output gear. The transmission gears drive the two rocker arms to swing back and forth through the transmission linkage, ensuring that the movement frequency of the two rocker arms is consistent, while driving the main wing to perform flapping operation.

[0011] This invention uses only one motor, combined with an adjustable limiting frame structure, to achieve control of the amplitude of the double wings, eliminating the need for a drive motor and reduction mechanism, significantly reducing the system weight and simplifying the structure.

[0012] This invention features two swing arms driven by a single motor and driven gear. The movement frequency remains consistent, with only the amplitude adjustable. The control logic is simpler and more reliable, eliminating the need for complex control algorithms.

[0013] This invention enables differential steering and can be combined with tail fin for compound control, making the steering of ornithopter aircraft more flexible, realistic, and closer to the flight posture of birds.

[0014] This invention uses only a single motor and a small servo motor to achieve independent adjustment of the amplitude of the two wings and keep the frequency consistent. In addition, on flapping-wing aircraft with a tail, the servo motor can be shared with the tail to further reduce the overall structural weight. It has the advantages of compact structure, light weight, high drive efficiency and flexible steering. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the overall structure of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the structure of this utility model with the front mounting plate removed.

[0016] The symbols for the main components in the diagram are explained below: 1. Motor; 2. Output gear; 3. Transmission gear; 31. Swing shaft; 4. Amplitude adjustment fixing pin; 5. Transmission connecting rod; 6. Rocker arm; 61. Swing linear groove; 62. Rocker arm pivot; 7. Limiting frame; 71. Right amplitude adjustment arc groove; 72. Left amplitude adjustment arc groove; 73. Swing arm limit post; 8. Servo; 9. Frame; 91. Front mounting plate; 92. Middle mounting plate; 93. Rear mounting plate. Detailed Implementation

[0017] The specific embodiments of this utility model are described below to enable those skilled in the art to understand this utility model. However, it should be understood that this utility model is not limited to the scope of the specific embodiments. For those skilled in the art, as long as various changes are within the spirit and scope of this utility model as defined and determined by the appended claims, these changes are obvious. All utility model creations utilizing the concept of this utility model are within the scope of protection.

[0018] like Figure 1 , 2 As shown in Figure 3, the flapping wing differential mechanism of the flapping wing aircraft includes a motor 1, a servo motor 8, a frame 9, and two rocker arms 6 symmetrically arranged on the frame 9. The rocker arms 6 are fixedly connected to the main wing and have grooves for driving the main wing to flap. The servo motor 8 is installed on the rear side of the frame 9, and the motor 1 is installed on the front side of the frame 9. The middle part of each rocker arm 6 is installed on the frame 9 through a rocker arm pivot 62, and the inner side of each rocker arm 6 is provided with a swing linear groove 61. A left-right movable limiting frame 7 is installed on the frame 9. A servo motor 8 drives the limiting frame 7 to move left and right. The limiting frame 7 has amplitude-adjusting arc-shaped grooves that correspond to the swing linear groove 61. These grooves include a right amplitude-adjusting arc-shaped groove 71 and a left amplitude-adjusting arc-shaped groove 72. Amplitude-adjusting fixing pins 4 are installed in the corresponding swing linear groove 61 and amplitude-adjusting arc-shaped grooves. The limiting frame 7 adjusts the swing amplitude of the rocker arm 6 through the amplitude-adjusting fixing pins 4. Both amplitude-adjusting fixing pins 4 are fixedly connected to transmission links 5. The transmission links 5 convert the rotational motion of the gears into the reciprocating motion of the rocker arm 5. The other end of each transmission link 5 is rotatably connected to a transmission gear 3. Each transmission gear 3 has a swing shaft 31 that cooperates with the transmission link 5. The two transmission gears 3 mesh with an output gear 2, which is fixedly connected to the output end of the motor 1. By using a single motor 1 in conjunction with the adjustable limiting frame 7, the amplitude control of the dual-wing vibration is achieved, eliminating the need for a separate drive motor and reduction mechanism, significantly reducing system weight and simplifying the structure.

[0019] A sliding limit block is provided on the rear side of the limiting frame 7. Two swing arm limit posts 73 are fixed on the sliding limit block, and the two swing arm limit posts 73 form a U-shaped opening that cooperates with the swing arm of the servo motor 8. The frame 9 is provided with a limiting frame linear slide groove that cooperates with the sliding limit block. The limiting frame 7 is installed on the limiting frame linear slide groove through the sliding limit block, so that the limiting frame 7 can only move left and right.

[0020] The frame 9 includes a front mounting plate 91, a middle mounting plate 92 and a rear mounting plate 93 connected in sequence. The transmission gear 3 is located between the front mounting plate 91 and the middle mounting plate 92. The rocker arm 6 and the limiting frame 7 are both located between the middle mounting plate 92 and the rear mounting plate 93.

[0021] The output end of motor 1 is equipped with a reducer, which can reduce the power output end of motor 1 and increase the torque of the power output end of motor 1. Motor 1 can also be selected as a geared motor.

[0022] Working process and principle: Motor 1 drives transmission gear 3 to rotate via output gear 2. The two output gears 3 drive two rocker arms 6 to reciprocate through transmission linkage 5. Transmission linkage 5 drives amplitude-adjusting fixing pin 4 to move. The movement of amplitude-adjusting fixing pin 4 is further converted into the flapping motion of the flapping wings through the rocker arms 6. When the servo motor 8 drives the limiting frame 7 to move left or right, the limiting frame 7 changes the effective position of the amplitude-adjusting fixing pin 4 in the amplitude-adjusting arc groove, thereby adjusting the flapping amplitude without changing the motion frequency. By controlling the limiting frame 7, differential amplitude of the left and right wings can be achieved, thus realizing the steering control of the aircraft.

Claims

1. A flapping-wing machine double-flap-amplitude differential mechanism characterized by comprising: It includes a motor (1), a servo motor (8), a frame (9) and two rocker arms (6) symmetrically arranged on the frame (9). The middle part of each rocker arm (6) is mounted on the frame (9) through a rocker arm pivot (62). Each rocker arm (6) has a swing linear groove (61) on its inner side. The frame (9) is provided with a left-right movable limit frame (7). The servo motor (8) drives the limit frame (7) to move left and right. The limit frame (7) is provided with an amplitude adjustment arc groove that corresponds to the swing linear groove (61). An amplitude adjustment fixing pin (4) is provided in the corresponding swing linear groove (61) and amplitude adjustment arc groove. The limit frame (7) adjusts the swing amplitude of the rocker arm (6) through the amplitude adjustment fixing pin (4). Both amplitude adjustment fixing pins (4) are fixedly connected to a transmission link (5). The other end of each transmission link (5) is rotatably connected to a transmission gear (3). Each transmission gear (3) is provided with a swing shaft (31) that cooperates with the transmission link (5). The two transmission gears (3) are meshed with an output gear (2). The output gear (2) is fixedly connected to the output end of the motor (1).

2. The ornithopter biplane wing amplitude differential mechanism according to claim 1, characterized by, A sliding limit block is provided on the rear side of the limiting frame (7), and two swing arm limit posts (73) are fixed on the sliding limit block. The two swing arm limit posts (73) form a U-shaped opening that cooperates with the swing arm of the servo motor (8).

3. The ornithopter biplane wing amplitude differential mechanism according to claim 2, characterized by, The frame (9) is provided with a linear slide groove for the limiting frame that cooperates with the sliding limit block.

4. The flapping-wing differential mechanism for a flapping-wing aircraft according to claim 1, characterized in that, The frame (9) includes a front mounting plate (91), a middle mounting plate (92) and a rear mounting plate (93) connected in sequence. The transmission gear (3) is located between the front mounting plate (91) and the middle mounting plate (92). The rocker arm (6) and the limiting frame (7) are both located between the middle mounting plate (92) and the rear mounting plate (93).

5. The flapping-wing differential mechanism for a flapping-wing aircraft according to claim 1, characterized in that, The output end of the motor (1) is equipped with a speed reducer.

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