CN202038454U - Flapping wing driving mechanism with two-stage parallel gear reduction - Google Patents

Abstract

The utility model discloses a two-stage parallel gear deceleration flapping wing driving mechanism, which is composed of a frame, a motor, a two-stage parallel gear reducer and a four-link mechanism, and a micro motor is fixed on the frame to drive two stages The parallel gear reducer drives the two rocker arms of the four-bar linkage mechanism, and converts the high-speed rotation of the micro-motor into the fluttering of the rocker arm of the four-bar linkage mechanism at a suitable frequency. The utility model has the advantages of simple structure, light weight, small occupied space, high reliability, long service life, etc., and is suitable for miniature flapping-wing aircraft.

Description

A two-stage parallel gear reduction flapping wing drive mechanism

technical field

The invention relates to a flapping wing driving mechanism.

Background technique

The micro flapping wing aircraft is a new concept aircraft that imitates the flight of birds. It has the advantages of small size, light weight, flexible use, and high efficiency. Since the lift and thrust of the flapping-wing aircraft are provided by the flapping wings that flutter up and down, driving the flapping wings makes the flapping-wing aircraft obtain good aerodynamic efficiency, high reliability and good load characteristics. An important part of the overall performance of the flapping wing aircraft. This makes the design of the flapping-wing drive mechanism a key link in the development of the miniature flapping-wing aircraft.

The current flapping wing drive mechanism mainly has the following technical approaches:

Chinese Patent Authorization Announcement No. CN201354146Y, a utility model patent titled the flapping mechanism of a mechanical bird discloses a flapping device with three degrees of freedom that simulates the flight of a bird with wings spread. The device adopts three motors to respectively drive the crank rocker mechanism, the gear ring mechanism and the gear set to realize the three-degree-of-freedom movement of flapping, twisting and swinging that imitates flying of flying birds. Its shortcoming is that the composition of the mechanism is relatively complicated, it is difficult to reduce weight and miniaturize, and the application on the micro flapping wing aircraft is limited; the whole mechanism is independent of three motors and their corresponding transmission mechanisms, and a complex control system is required to control the three One motor makes the flutter coordination of the whole mechanism, which increases the design difficulty of the flight control system and reduces the reliability.

China Patent Authorization Announcement No. CN101508343A, the patent for the invention of a bionic micro-aircraft named 8-shaped flapping wing trajectory provides a single-degree-of-freedom four-link flapping-wing drive mechanism, which drives the crank-link mechanism through a two-stage gear reducer. The flapping wings flap up and down, and the aerodynamic characteristics generated by the elastic deformation capability of the flapping wings and the specific flapping frequency realize the flapping of the flapping trajectory in a figure-of-eight shape. Its disadvantage is that due to the design of the frame, it is difficult to ensure the coaxiality of the installation of the two-stage gear reducer, and the distance between the two gear shafts is long. In the case of high flapping frequency, it is easy to cause unstable operation of the mechanism , The phenomenon of large jitter amplitude affects the reliability and service life of the mechanism.

On the whole, the main problems of the existing flapping-wing drive mechanism are that the structure is complex, the weight is heavy, it is difficult to apply to micro-sized flapping-wing aircraft, the reliability is poor, and the service life is short.

Contents of the invention

In order to overcome the shortcomings of the prior art, such as complex structure, heavy weight, difficulty in application to miniature flapping-wing aircraft, poor reliability, and short service life, the present invention provides a flapping-wing drive mechanism with two-stage parallel gear reduction, which can be realized simply and reliably. The flapping wing flutters symmetrically, and has high structural efficiency and large output power, high reliability and long service life, and is suitable for the application of miniature flapping wing aircraft.

The technical solution adopted by the present invention to solve the technical problem is: comprising a frame, a motor, a two-stage parallel gear reducer and a four-bar linkage mechanism.

The frame is a left-right symmetrical overall structure, with the direction facing the machine head as the front, and there are fixing holes on the bottom surface of the frame and the upper front part respectively, the axes of the fixing holes are perpendicular to the surface where they are located, and the frame passes through the fixing holes and the flutter. Wing aircraft fuselage is screwed or pinned. The frame has a motor mounting hole, a drive shaft hole and a crank shaft hole that pass through in the front and rear directions. The axes of the three are parallel to each other and are located below the former in turn, and are all located in the plane of symmetry of the frame. There are two symmetrical rocker shaft holes above the crank shaft hole, and their axes are parallel to the axes of the aforementioned three holes.

The motor is a DC brushless motor with a length of no more than 60 mm, which is fixed to the motor mounting hole on the rear side of the frame. The motor pivot passes through the frame and is fixed to the primary driving gear of the two-stage parallel gear reducer. Through the transmission shaft hole, the two ends are fixedly connected with the primary driven gear and the secondary driving gear respectively. The crank shaft passes through the crank shaft hole, one end is fixedly connected with the secondary driven gear, and the other end is fixedly connected with the crank. Bearings, limit sleeves and bearings are installed successively in the drive shaft hole and the crank shaft hole to cooperate with the corresponding shafts, and the length of the shaft holes is at least 3 times the shaft diameter. The installation positions of the gears on the transmission shaft and the crankshaft make the first-stage driving gear mesh with the first-stage driven gear, and the second-stage driving gear mesh with the second-stage driven gear to form the two-stage parallel gear reducer. The reduction ratio For 45-65.

The four-bar linkage mechanism has two rocker arms symmetrically distributed left and right, and the middle part of each rocker arm is respectively hinged to the rocker shaft fixed to the rocker shaft hole of the frame. The inner cross section is smaller than the outer cross section, so that the inner axis distance of the two rocker arms is greater than the outer axis distance. There is a blind hole on the outside of the rocker arm, which is inserted into the flapping wing spar. The inner side of the rocker arm is respectively hinged with one end of the two connecting rods, the other end of the connecting rod is hinged with the short axis of the crank end, and the connection point between the connecting rod and the rocker arm is located between the connecting line of the left and right rocker arm shafts. The end of the connecting rod close to the rocker arm has two bends in the direction of the vertical axis, so that the parts of the connecting rod above and below the bend are located in two parallel but non-coincident planes; the bending direction makes the two connecting rods away from each other at the end near the rocker arm. The effect of the change of the cross-section of the rocker arm and the bending of the connecting rod is to leave a certain space at the position where the vibration is relatively large when the four-link is rotated, so that the four-bar linkage can be assembled as compactly as possible in the front and rear directions without having to consider the Movement interference caused by part manufacturing and installation errors.

The dimensional relationship of the four-bar linkage mechanism is that if the length of the crank is taken as the reference length 1.0, the length of the connecting rod is 5.0-5.5, the distance between the axis of the rocker arm is 2.7-2.9, and the distance between the connecting line of the rocker shaft and the axis of the crank shaft is 5.2- 5.3.

The four-bar linkage mechanism is as close as possible to the two-stage parallel gear reducer in the front-rear direction of the frame without motion interference.

The size of the frame is determined by the four-bar linkage mechanism, the height is the distance between the connecting line of the rocker shaft determined by the four-bar linkage mechanism and the axis of the crank shaft, and the maximum width is the distance between two rocker shaft holes.

The beneficial effects of the present invention are:

The invention realizes the high-speed rotary motion output by the motor into the up and down flutter of the rocker arm at a suitable frequency through a simple two-stage parallel gear reducer and a four-bar linkage mechanism. The flapping frequency of the wing aircraft and the flapping angle of the rocker arm up and down, and the asymmetry of the flapping of the left and right rocker arms are also controlled within the range that meets the actual needs. The whole mechanism has larger output power.

The invention has the advantages of compact structure, light weight and reasonable size, and is suitable for application on miniature flapping-wing aircraft. The bending of the connecting rod of the four-bar linkage mechanism and the change of the cross-sectional shape of the rocker arm enable the two connecting rods to approach at one end of the crank without worrying about interference with the rocker arm during movement, which reduces the front and rear of the four-bar linkage mechanism. The dimension of the direction. The height of the frame is determined by the axis of the rocker arm and the axis of the crank. The space provided by this height can be used to arrange the motor and the two-stage parallel gear reducer to obtain good space utilization in the height direction. The maximum width of the frame is the distance between the axis of the rocker arm, and the minimum windward area of the entire mechanism is obtained under the premise of a certain height, which is convenient for installation on a micro flapping wing aircraft. The four-bar linkage mechanism is as close as possible to the two-stage parallel gear reducer in the front-rear direction to obtain the minimum size in the front-rear direction.

The invention has higher reliability and longer service life. The frame is an integrated CNC machining structure with high positioning accuracy, which greatly reduces installation errors and wear and tear. The transmission shaft and crank shaft have long shaft holes and are installed with bearings and limit sleeves, which can effectively and reasonably carry the load during high-speed rotation, ensuring transmission efficiency and service life.

Description of drawings

Fig. 1 is a schematic diagram of the present invention;

Fig. 2 is the schematic diagram of the connection mode of the present invention with fuselage and flapping wing;

Fig. 3 is the schematic diagram of installation mode of drive shaft and crankshaft of the present invention;

Fig. 4 is the rear schematic view of the frame of the present invention;

In the figure: 1-frame, 1A-motor mounting hole, 1B-drive shaft hole, 1C-crank shaft hole, 1D, 1D'-rocker arm shaft hole, 2-motor, 3A-first-stage driving gear, 3C-one Stage driven gear, 3D-secondary driving gear, 3E-crankshaft, 3F-secondary driven gear, 4, 4'-rocker arm, 4A, 4A'-rocker arm shaft, 5, 5'-connecting rod, 6- crank, 7- fuselage bulkhead, 8, 8'- flapping wing, 8A, 8A'- flapping wing spar, 9- bearing, 10- limit sleeve.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

The two-stage parallel gear reduction flapping wing drive mechanism of the present invention includes a frame, a motor, a two-stage parallel gear reducer and a four-bar linkage mechanism.

Frame 1 is a left-right symmetrical overall structure, and the bottom surface and the front upper part have fixing holes with axes perpendicular to the surface respectively, and are connected with the flapping-wing aircraft fuselage frame 7 by said fixing holes, and the connection mode is a pin connection or a threaded connection. The frame 1 has a motor 2 mounting hole 1A, a transmission shaft hole 1B and a crank shaft hole 1C in the front and rear directions. There are two symmetrical rocker arm shaft holes 1D to 1D' above the crank shaft hole 1C, and their axes are parallel to the axes of the aforementioned three holes. In addition, the frame 1 also has lightening holes between the two rocker shaft holes 1D and 1D', between the transmission shaft hole 1B and the crank shaft hole 1C.

The motor 2 is a DC brushless motor with a length of no more than 60mm, and is fixed to the motor mounting hole on the rear side of the frame 1, and its pivot passes through the frame 1 and is fixed to the first-stage driving gear 3A of the two-stage parallel gear reducer. Then, the transmission shaft passes through the transmission shaft hole 1B, and the two ends are fixedly connected with the first-stage driven gear 3C and the second-stage driving gear 3D respectively, and the crank shaft 3E passes through the crank shaft hole 1C, and one end is fixedly connected with the second-stage driven gear 3F , the other end is affixed to the crank 6. The transmission shaft hole 1B and the crankshaft hole 1C respectively install the bearing 9, the limit sleeve 10 and the bearing 9 to cooperate with the corresponding shaft. The length of the shaft hole is at least 3 to 3.5 times the shaft diameter. Fastening screws on the side of frame 1. The installation positions of the gears on the two shafts are that the first-stage driving gear 3A meshes with the first-stage driven gear 3C, and the second-stage driving gear 3D meshes with the second-stage driven gear 3F, that is, the first-stage driving gear and the first-stage driven gear The driven gear is located in front of the frame 1, and the 2-stage driving gear and 2-stage driven gear are located behind the frame 1, forming the two-stage parallel gear reducer. Its deceleration ratio is 45-65, and deceleration ratio is determined according to used motor 2 load operating state rotating speeds and the required flapping frequency of flapping-wing aircraft flight, and the deceleration ratio of preferred use is 51. The two stages of the reducer use the same driving gear and driven gear to reduce manufacturing costs.

The four-bar linkage mechanism has two symmetrical rocker arms 4, 4' left and right. The middle part of the rocker arm 44' is hinged with the rocker shafts 4A, 4A' fixedly connected to the rocker shaft holes 1D, 1D' of the frame. 4, 4' is bounded by the hinged position of rocker arm shafts 4A, 4A', the inner cross section is smaller than the outer cross section, so that the inner axis distance of the two rocker arms 44' is greater than the outer axis distance. Rocking arm 4,4' outer part has blind hole, and flapping wing spar 8A, 8A' is inserted. The inner sides of the rocker arms 4 and 4' are respectively hinged with one end of the two connecting rods 5 and 5', and the other ends of the two connecting rods are hinged with the short shaft at the end of the crank 6. position between the lines. The end of the connecting rod close to the rocker arm has two bends in the direction of the vertical axis, so that the parts of the connecting rod above and below the bend are located in two parallel but non-overlapping planes; the direction of the bend is such that the two The connecting rods 5, 5' are away from each other at the ends close to the rocker arms 4, 4'.

If the four-bar linkage mechanism takes the length of the crank 6 as a reference length of 1.0, the length of the connecting rod is 5.0-5.5, the distance between the axis of the rocker arm is 2.7-2.9, and the distance between the connecting line of the rocker shaft and the axis of the crank shaft is 5.2-5.3. Different size ratios will result in different flapping angles and asymmetry, and the size ratio relationship with asymmetry within the allowable range should be selected according to the flapping angle requirements of the flapping-wing aircraft. The preferred dimensional relationship is that the length of the connecting rod 55' is 5.29, the length of the rocker arm 44' is 1.71, the distance between the axis of the rocker arm is 2.86, and the distance between the connecting line of the rocker shaft and the axis of the crankshaft is 5.29. At this time, the flapping range of the rocker arm of the four-link mechanism is 72°, and the asymmetry is small, which meets the flight requirements of the flapping-wing aircraft.

The size of the frame 1 is determined by the four-bar linkage mechanism, the height is the distance between the connecting line of the rocker shafts 4A, 4A' determined by the four-bar linkage mechanism and the axis of the crank shaft 3E, and the maximum width is two rocker shaft holes 1D, 1D' distance.

The crankshaft 3E extends forward for a certain distance after passing through the crankshaft hole 1C and then connects with the crank 6, avoiding the first-stage driven gear 3C of the reducer, so that the four-bar linkage mechanism is decelerated with the two-stage parallel gear in the front and rear direction of the frame 1 The device should be as close as possible without motion interference.

When the mechanism is working, the high-speed rotation of the motor 2 is decelerated by the two-stage parallel gear reducer to make the crank 6 rotate around the crank shaft 3E, and the four-bar linkage rocker arms 4, 4' are driven to flutter up and down by the connecting rods 5, 5'.

Claims (4)

1. the flapping wing driver train that the two-stage parallel gears slows down comprises frame, motor, two-stage parallel gears retarder and four-bar linkage, it is characterized in that:

Described frame is symmetrical integral structure, being the front towards heading, in frame bottom surface and front upper fixed orifice is arranged respectively, the axis normal of fixed orifice is in its surface, place, and frame is threaded or pin joint with the flapping wing aircraft fuselage by described fixed orifice; The motor mounting hole, transmission axis hole and the crank axis hole that have fore-and-aft direction to connect on the frame, three's axis is parallel to each other and be positioned at the former below successively, all is positioned at the frame symmetrical plane; There are symmetrical two rocker shaft holes, the parallel axes in its axis and aforementioned three holes in crank axis hole top;

Described motor is no more than the dc brushless motor of 60mm for the captain, be fixed in the motor mounting hole at the frame rear side, it is affixed that the motor pivot passes the one-level driving gear of frame and two-stage parallel gears retarder, transmission shaft passes the transmission axis hole, two ends are affixed with one-level driven gear and secondary driving gear respectively, crank shaft passes the crank axis hole, and an end and secondary driven gear are affixed, and the other end and crank are affixed; Bearing, spacing collar and bearing are installed respectively in transmission axis hole and the crank axis hole are successively cooperated with corresponding axis, the length of axis hole is 3 times of the diameter of axle at least; The installation site of described gear on transmission shaft and crank shaft makes one-level driving gear and one-level driven gear mesh, and secondary driving gear and the engagement of secondary driven gear form described two-stage parallel gears retarder, and reduction ratio is 45-65;

Described four-bar linkage has two rocking arm left-right symmetric to distribute, each rocking arm middle part is hinged with the rocker shaft that is fixed in the frame rocker shaft hole respectively; rocking arm is the boundary with itself and rocker shaft articulated position; inside cross-section makes two rocking arm medial axis distances greater than the outer shaft linear distance less than outside cross-sectional plane; There is blind hole in the rocking arm outside, pegs graft with the flapping wing spar, and the rocking arm inboard is hinged with two connecting rod one ends respectively, and the minor axis of the connecting rod other end and crank end is hinged, the position of the point of connection of connecting rod and rocking arm between the rocker shaft line of the left and right sides; Connecting rod has the bending of two place's vertical axis directions near an end of rocking arm, makes connecting rod be positioned at two parallel but planes of not overlapping with following part more than described bending; The direction of bending make two connecting rods near an end of rocking arm mutually away from.

2. the flapping wing driver train that two-stage parallel gears according to claim 1 slows down, it is characterized in that: the size relationship of described four-bar linkage is, if with crank length is datum length 1.0, length of connecting rod is 5.0-5.5; the rocker shaft distance between centers of tracks is 2.7-2.9, and rocker shaft line and crank shaft axis spacing are 5.2-5.3.

3. the flapping wing driver train that two-stage parallel gears according to claim 1 slows down, it is characterized in that: described four-bar linkage is close as far as possible under the prerequisite that does not move interference at frame fore-and-aft direction and two-stage parallel gears retarder.

4. the flapping wing driver train that two-stage parallel gears according to claim 1 slows down, it is characterized in that: the size of described frame is determined by described four-bar linkage, highly the rocker shaft line of determining for four-bar linkage and the distance of crank shaft axis, maximum width is the distance of two rocker shaft holes.

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