阅读说明：本技术 一种适用于微型四扑翼飞行器的传动机构 (A kind of transmission mechanism suitable for miniature four flapping wing aircraft ) 是由 张艳来 余杰 吴江浩 程诚 于 2019-09-09 设计创作，主要内容包括：本发明公开了一种适用于微型四扑翼飞行器的传动机构,包括减速齿轮组、单曲柄-单摇杆机构以及中段连接结构,其中的减速齿轮组包括机身底座,一个主轴齿轮,两双层齿轮和两个大齿轮,单曲柄-单摇杆机构包括一个曲柄和一个摇杆；两套单曲柄-单摇杆机构与一个减速齿轮组构成微型四扑翼飞行器一侧的传动机构,两侧的传动机构通过中段连接结构连接在一起并沿飞行器垂直中轴线对称共同构成飞行器的总传动机构。本发明通过使用两个双层齿轮增加大齿轮距飞行器水平中轴线的距离,增大摇杆运动过程中曲柄与摇杆间的夹角,改善机构传力特性,同时避免摇杆运动至上拍最大位置时由于惯性作用甩离该位置造成机构卡顿问题。(The invention discloses a kind of transmission mechanisms suitable for miniature four flapping wing aircraft, including train of reduction gears, the mono- rocker device of single crank-and middle section connection structure, train of reduction gears therein includes machine body base, one mainshaft gear, two double-layer gears and two gear wheels, the mono- rocker device of single crank-include a crank and a rocking bar；The mono- rocker device of two sets of single cranks-and a train of reduction gears constitute the transmission mechanism of miniature four flapping wing aircraft side, and the transmission mechanism of two sides is linked together by middle section connection structure and symmetrically collectively forms total transmission mechanism of aircraft along aircraft vertical central axes.By the present invention in that increasing distance of the gear wheel away from aircraft horizontal median axis with two double-layer gears, increase the angle in rocking bar motion process between crank and rocking bar, improve mechanism force-transfer characteristic, while avoiding rocking bar from moving to when clapping maximum position to cause mechanism Caton problem since effect of inertia throws away the position.)

1. a kind of transmission mechanism suitable for miniature four flapping wing aircraft, which is characterized in that including train of reduction gears, single crank- Single rocker device and middle section connection structure；

The train of reduction gears includes machine body base, a mainshaft gear, two double-layer gears and two gear wheels, double-layered tooth Wheel, gear wheel and rocking bar are installed in machine body base；Mainshaft gear is mounted on motor output shaft, and mainshaft gear and one are double Layer gear lower layer tooth engagement, while the double-layer gear and another double-layer gear lower layer tooth intermesh, composition train of reduction gears the Primary speed-down, two double-layer gear upper layer teeth engage two gear wheels respectively, constitute the train of reduction gears second level and slow down；Two double Layer gear is symmetrical along aircraft horizontal median axis with two gear wheels；

The mono- rocker device of single crank-includes a crank and a rocking bar, and crank one end and eccentric orfice on gear wheel are hinged, The other end is hinged with rocking bar inner hole respectively；Rocking bar one end is hinged in train of reduction gears machine body base, the other end and flapping wing leading edge Beam is connected；The mono- rocker device of two sets of single cranks-and a train of reduction gears constitute the driver of miniature four flapping wing aircraft side Structure drives a pair of of wing of side back and forth to flap；

The transmission mechanism of two sides is joined together to form symmetrical micro- along aircraft vertical axis by the middle section connection structure Total transmission mechanism of four flapping wing aircraft of type.

2. being suitable for the transmission mechanism of miniature four flapping wing aircraft as described in claim 1, which is characterized in that the reducing gear The intermeshing double-layer gear of wheel group and Large Gear Shaft line and two motor connection line of aircraft, i.e. horizontal median axis, between folder Angle is 40 ° -60 °.

3. being suitable for the transmission mechanism of miniature four flapping wing aircraft as described in claim 1, which is characterized in that the fuselage bottom Seat uses photosensitive resin material, passes through the integrally formed processing of 3D printing；There are two rocking bar mounting holes, two double-layer gear peaces thereon Fill hole, two gear wheel mounting holes, a motor installing hole, a steering engine arm mounting hole and a base installing hole；Except motor All structures are along horizontal median axis bilateral symmetry outside mounting hole.

4. being suitable for the transmission mechanism of miniature four flapping wing aircraft as described in claim 1, which is characterized in that the crank is adopted It is integrally formed by 3D printing with photosensitive resin material.

5. being suitable for the transmission mechanism of miniature four flapping wing aircraft as described in claim 1, which is characterized in that the rocking bar is adopted Integrally formed by 3D printing with photosensitive resin material, its in motion process drives the wing back and forth to flap, and amplitude of flapping is 90 °.

6. section connection structure uses photosensitive resin material in as described in claim 1, integrally formed by 3D printing, deposit thereon In two machine body base location holes for installing miniature four flapping wing aircrafts, two final drive gear.

Technical field

The present invention relates to minute vehicle field, a kind of specifically driver suitable for miniature four flapping wing aircraft Structure.

Background technique

Since mid-term the 1990s, with the continuous improvement and microelectric technique of conventional aircraft designing technique Constantly mature, minute vehicle (Micro-air-vehicle, abbreviation MAV) is suggested and fast development.Minute vehicle has Small in size, the light-weight, features such as mobility is high, in scouting, communication, exploration, assist military affairs, the civil fields such as rescue to have extensively General application prospect.After 21 century, as people are to the continuous of the biological flight high-lift mechanism such as insect and flight theory understanding Deeply, bionic design is increasingly used in minute vehicle field, and the minute vehicle of flapping wing layout is gradually mentioned Out and obtain fast development.

The biologies such as bee class and flies in natural imitation circle, traditional micro flapping wing air vehicle generally comprise two flapping wings, It is driven two flapping wings to do movement of periodically back and forth flapping simultaneously by transmission mechanism and generates high-lift balancing gravity and generate Aerodynamic moment needed for control realizes maneuvering flight.Traditional miniature double flapping wing aircraft lift generate and maneuvering flight all passes through Accurate control realization to the movement of only two wings, such aircraft have that lift is low, control program is complicated, control flaps mostly The problems such as effect is insufficient.In order to solve the above problem, the concept of miniature more flapping wing aircrafts is suggested, and one type is miniature four flapping wing Aircraft.Miniature four flapping wing aircrafts every two flapping wing is a pair, and two pairs of flapping wings are located at front and back in horizontal plane and arrange, two when movement Motion control of independently flapping is carried out by two sets of power devices and transmission mechanism to flapping wing.In flight course, two pairs of flapping wings can Lift is independently generated, the increase in pneumatic face brings the promotion of lift, additionally due to flying vehicles control can pass through whole control The position for making two pairs of flapping wings is realized, thus flying vehicles control efficiency is greatly improved, and control realizes that difficulty is greatly reduced.

With most of micro flapping wing air vehicles, miniature four flapping wing aircraft that can currently fly mainly uses motor as power Source, the high speed rotary motion of motor output passes through train of reduction gears first and slows down, real by transmission mechanism drive wing later Now flap movement.For the weight for reducing transmission parts, increases the integrated of aircraft mechanism and micromation degree, reduce aircraft Assembly difficulty, most miniature four flapping wing aircrafts mostly use the transmission mechanism form of the mono- rocking bar of single crank-to drive each wing. Such aircraft beats eccentric orfice on the outermost gear of deceleration group and is connected with crank one end, the crank other end and phase in the middle part of rocking bar Even, rocking bar one end is hinged on pedestal, and the rocking bar other end and flapping wing leading edge beam are connected.Such transmission mechanism is realized in deceleration group The circular motion driving of low speed drives flapping wing realization back and forth to flap through crank and crank gearing in outermost layer gear.

Aerodynamic studies show that micro flapping wing air vehicle is to promote its wing lift as far as possible, reduce the inertia force of the wing Acting, aircraft should reduce frequency scheme of flapping using amplitude is flapped greatly as far as possible as far as possible, therefore the miniature double flapping wings of tradition The amplitude of flapping of each flapping wing of aircraft is usually arranged as 120 °, and the amplitude of flapping of the miniature each flapping wing of four flapping wing aircrafts is usual It is maximized 90 °.The design requirement of 90 ° of amplitudes of flapping of single-blade is the micro- of the mono- rocker transmission mechanism form of conventionally employed single crank- The practical application of four flapping wing aircraft of type brings larger problem, this mainly shows following two aspect.The problem of first aspect Be concentrated mainly on the wing flap supreme bat maximum position (i.e. ipsilateral a pair of of flapping wing is close together) when, a pair of of flapping wing ipsilateral at this time Close up, nose of wing beam is substantially parallel with horizontal median axis, and the wing flaps speed for 0 but acceleration maximum of flapping.To guarantee aircraft Mechanism it is more integrated, micromation, outermost reduction gearing and rocking bar rotary shaft position are mostly in the level of aircraft Axis (line of i.e. two motors), therefore this kind of aircraft transmission mechanism is when the wing flaps supreme bat maximum position, crank The angle very little between rocking bar, projection of the driving force of crank in the rocking bar direction of motion is smaller, big acceleration bring of flapping High inertia force makes rocking bar be easy to throw away upper bat maximum in effect of inertia and flap position, causes that flapping mechanism moment is stuck, mechanism The consequences such as movement stagnation, can also suppress bad motor when serious, damage and fly control plate.The problem of second aspect, concentrates on the biography of transmission mechanism In terms of force characteristic.The installation site and rocking bar rotary shaft position of outermost layer deceleration group mostly close to the horizontal median axis of aircraft (i.e. The line of two motors) make mechanism kinematic during, the angle between crank and rocking bar is smaller, therefore the biography of the two tie point Dynamic angle is smaller, this output power of motor for realizing that high frequency is flapped to drive wing proposes higher torque demand, increases motor Energy consumption, greatly reduce the duration performance of aircraft.

Summary of the invention

It is applied to miniature four flapping flight to solve the transmission mechanism form of the mono- rocking bar cooperation train of reduction gears of single crank- Rocking bar is easy to throw away upper bat maximum position of flapping under effect of inertia and causes mechanism Caton and the power transmission of aircraft mechanism special when device Property poor both sides problem, the present invention proposes a kind of transmission mechanism suitable for miniature four flapping wing aircraft, mechanism change Train of reduction gears design increases a double-layer gear and increases train of reduction gears outermost gear shaft away from aircraft horizontal median axis Distance, so that angle between crank and rocking bar be made in rocking bar motion process to increase, reaching improves mechanism force-transfer characteristic, reduces motor Energy loss, at the same avoid the supreme bat maximum of wing-beat flap position (i.e. ipsilateral a pair of of flapping wing is close together) when rocking bar And the wing throws away upper bat maximum position of flapping under effect of inertia and causes mechanism Caton problem.

A kind of transmission mechanism suitable for miniature four flapping wing aircraft of the invention, including train of reduction gears, single The mono- rocker device of handle-and intermediate connecting mechanism.

The train of reduction gears includes mainshaft gear, two double-layer gears and two gear wheels and machine body base.Main shaft Gear, double-layer gear a, double-layer gear b, gear wheel a and gear wheel b are all made of plastic production, and machine body base uses photosensitive resin It is process through 3D printing.Mainshaft gear is fixed on hollow-cup motor output shaft, and double-layer gear and gear wheel are mounted on fuselage In the gear fixing axle of pedestal.Mainshaft gear and a double-layer gear lower layer tooth engage in the same plane and perpendicular to fuselage bottom Seat, the double-layer gear lower layer tooth engage with another double-layer gear lower layer tooth in the same plane and perpendicular to machine body bases, and two Person is arranged symmetrically in aircraft horizontal median axis two sides, and mainshaft gear and Liang Ge double-layer gear lower layer's tooth constitute the gear set first order Slow down；On this basis, left side double-layer gear upper layer tooth engages with a gear wheel in the same plane and perpendicular to fuselage bottom Seat, the position of engagement are located on the left of the double-layer gear, and therewith symmetrically, right side double-layer gear upper layer tooth is with another gear wheel same Plane internal messing and perpendicular to machine body base, the position of engagement are located on the right side of the double-layer gear, and two gear wheels are along aircraft level Central axes are symmetrical, and two double-layer gear upper layer teeth constitute the gear set second level with two gear wheels being engaged with and slow down.Slow down The ipsilateral double-layer gear of gear set and gear wheel central axis line and the angle of horizontal median axis maintain 40 ° -60 °.

The mono- rocker device of single crank-is used to drive the movement of single-blade, and two sets are used in miniature four flapping wing aircraft The mono- rocker device of single crank-is synchronous respectively to drive two ipsilateral wings, and Liang Tao mechanism is symmetrical about aircraft longitudinal axis line.Two songs Handle one end is connected with the eccentric orfice on the outermost side gear of the train of reduction gears of side (i.e. gear wheel) respectively, other end difference It is hinged with two rocking bar inner holes；Two rocking bar one end and flapping wing leading edge beam are connected, and the other end is hinged on train of reduction gears fuselage bottom On seat, entire rocking bar drive wing realizes 90 ° of amplitude of flapping around the hinge joint, and to increase wing lift as far as possible, it is used to reduce the wing Property power.The mono- rocker device crank of the single crank-, rocking bar and machine body base are all made of photosensitive resin production.In miniature four flapping wing In aircraft, the transmission mechanism of the mono- rocker device of two sets of single cranks-and a train of reduction gears composition side drives the one of side To flapping wing.

The intermediate connecting mechanism will drive the transmission mechanism of two pairs of wings to be attached, and make the transmission mechanism of two sides along flight Device vertical central axis line is symmetrically connected to constitute total transmission mechanism of aircraft together.

A kind of transmission mechanism suitable for miniature four flapping wing aircraft of the present invention improves mechanism force-transfer characteristic, and wing is avoided to clap Move supreme bat maximum flap position (i.e. ipsilateral a pair of of flapping wing is close together) when rocking bar and the wing thrown away under effect of inertia Clapping maximum position of flapping causes the basic principle of mechanism Caton problem to be: the design of gear wheel is introduced in train of reduction gears, and So that the ipsilateral double-layer gear of train of reduction gears and gear wheel central axis line and the angle of horizontal median axis is maintained 40 ° -60 °, realizes Increase distance of the train of reduction gears outermost gear shaft away from aircraft horizontal median axis, miniature four flapping wings transmission mechanism crank with shake Angle between bar increases, and the angle between the driving force and the rocking bar direction of motion of crank reduces, the supreme bat dominant bit so that the wing is flapped When setting, most of active force can overcome rocking bar inertia force on crank, so that the outer of inertia power drive is got rid of phenomenon alleviation, while also making It must flap and move the increase of other stage mechanism driving angles, the energy consumption of the optimization of mechanism driving performance, motor reduces, aircraft Duration performance improves.

The present invention has the advantages that

(1) a kind of transmission mechanism suitable for miniature four flapping wing aircraft designs, and by increasing gear wheel, increases reducing gear Distance of the wheel group outermost gear shaft away from aircraft horizontal median axis makes angle increasing between crank and rocking bar in rocking bar motion process Add, improve mechanism force-transfer characteristic, reduces motor power loss.

(2) a kind of transmission mechanism suitable for miniature four flapping wing aircraft designs, and by increasing gear wheel, increases reducing gear Distance of the wheel group outermost gear shaft away from aircraft horizontal median axis avoids the supreme bat maximum of wing-beat from flapping position (i.e. together A pair of of flapping wing of side is close together) when rocking bar and the wing throw away upper bat maximum position of flapping under effect of inertia and cause mechanism Caton Problem.

Detailed description of the invention

Fig. 1 is a kind of transmission mechanism overall plan schematic diagram suitable for miniature four flapping wing aircraft of the present invention；

Fig. 2 is a kind of transmission mechanism train of reduction gears schematic diagram suitable for miniature four flapping wing aircraft of the present invention；

Fig. 3 is a kind of transmission mechanism single crank suitable for miniature four flapping wing aircraft of the present invention-mono- rocker device signal Figure；

Fig. 4 is a kind of transmission mechanism middle section attachment structure schematic diagram suitable for miniature four flapping wing aircraft of the present invention；

Fig. 5 is that the miniature four flapping wing aircrafts transmission mechanism of tradition runs the supreme schematic diagram clapped at maximum position；

Fig. 6 is that a kind of transmission mechanism suitable for miniature four flapping wing aircraft of the present invention is run at supreme bat maximum position Schematic diagram.

In figure:

Section connection structure in 1- train of reduction gears 2- single crank-mono- rocker device 3-

101- mainshaft gear 102- double-layer gear a 103- double-layer gear b 104- gear wheel a

105- gear wheel b 106- rocking bar a mounting hole 107- rocking bar b mounting hole 108- steering engine mounting hole

109- base installing hole 110- machine body base 201- crank a 202- crank b

203- rocking bar a 204- rocking bar b 301- machine body base location hole a 302- machine body base is fixed Position hole b

303- steering engine location hole

Specific embodiment

Below in conjunction with drawings and examples, the present invention is described in further detail.

As shown in Figure 1, a kind of transmission mechanism suitable for miniature four flapping wing aircraft of the present invention, including train of reduction gears 1, The mono- rocker device 2 of single crank-and middle section connection structure 3.

As shown in Fig. 2, the train of reduction gears 1 is by mainshaft gear 101, double-layer gear a102, double-layer gear b103, canine tooth A104, gear wheel b105 and machine body base 110 is taken turns to form.It is mainshaft gear 101, double-layer gear a102, double-layer gear b103, big Gear a104 and gear wheel b105 is all made of plastic production, and machine body base 110 is process using photosensitive resin through 3D printing, Upper reserved rocking bar a mounting hole 106, rocking bar b mounting hole 107, steering engine mounting hole 108.Mainshaft gear 101 is fixed on hollow-cup motor Output shaft on, hollow-cup motor is fixed in the corresponding installation hole location of machine body base 110.Double-layer gear a102, double-layer gear B103, gear wheel a104 and gear wheel b105 are mounted in 110 gear location hole of machine body base.Mainshaft gear 101 and bilayer Gear a102 lower layer tooth engages in the same plane and perpendicular to pedestal, under double-layer gear a102 lower layer's tooth and double-layer gear b103 Layer tooth engages in the same plane and perpendicular to machine body base 110, and in aircraft horizontal median axis, (two motor of aircraft connects the two Line) two sides are arranged symmetrically, and mainshaft gear 101, double-layer gear a102 lower layer's tooth and double-layer gear b103 lower layer tooth collectively form and subtract The fast gear set first order is slowed down；On this basis, left side double-layer gear a102 upper layer tooth and gear wheel a104 be in the same plane Engage and perpendicular to machine body base 110, the position of engagement be located at the double-layer gear left side, therewith symmetrically, right side double-layer gear b103 Upper layer tooth and gear wheel b105 are engaged in the same plane and perpendicular to machine body bases 110, and the position of engagement is located at the double-layer gear Right side, two gear wheels are symmetrical along aircraft horizontal median axis, double-layer gear a102 upper layer tooth and gear wheel a104, double-layer gear The upper layer b103 tooth and gear wheel b105 collectively form the deceleration of the train of reduction gears second level.

As shown in figure 3, the mono- rocker device 2 of single crank-is used to drive the movement of single-blade, in miniature four flapping wing aircraft Middle to drive two ipsilateral wings using two sets of mono- rocker devices of single crank-are synchronous respectively, Liang Tao mechanism is about in aircraft level Axisymmetrical is made of crank a201, rocking bar a203 and crank b202, rocking bar b204 respectively.As shown in Figure 1, crank a201 mono- End is connected with the eccentric orfice on the outermost side gear of the train of reduction gears of side (i.e. gear wheel a104), the other end and rocking bar A203 inner hole is hinged；The one end rocking bar a203 is hinged on the mounting hole 106 of train of reduction gears machine body base 110, one end and flapping wing Leading edge beam is connected.It is symmetrical therewith, outermost side gear (the i.e. gear wheel of the train of reduction gears of the one end crank b202 and side B105 the eccentric orfice on) is connected, and the other end and rocking bar b204 inner hole are hinged；The one end rocking bar b204 is hinged on train of reduction gears fuselage On the mounting hole 107 of pedestal 110, the other end and flapping wing leading edge beam are connected.The rocking bar a203 and b204 during the motion may be used 90 ° of amplitude of flapping is realized with drive wing, to increase wing lift as far as possible, reduces wing inertia force.In miniature four flapping flight In device, the transmission mechanism of the mono- rocker device 2 of single crank-and the composition of train of reduction gears 1 side, the transmission mechanism of two sides passes through One middle section connection structure 3, which links together, collectively forms total transmission mechanism of aircraft.

As shown in figure 4, the middle section connection structure 3 is the installing component of miniature four flapping wing aircrafts, two final drive gear. The base installing hole 109 of two final drive gears 2 is separately mounted on pedestal location hole a301 or pedestal location hole b302.

It is suitable for miniature four flapping flight below with reference to the miniature four flapping wing aircrafts transmission mechanism of tradition and the present invention are a kind of The stress condition that the transmission mechanism of device runs at supreme bat maximum position illustrates that the present invention improves mechanism force-transfer characteristic, avoids wing Supreme bat maximum of flapping flap position (i.e. ipsilateral a pair of of flapping wing is close together) when rocking bar and the wing thrown away under effect of inertia The upper basic principle clapped maximum position of flapping and cause mechanism Caton problem.

As shown in figure 5, train of reduction gears usually only mainshaft gear in the miniature four flapping wing aircrafts transmission mechanism of tradition 101, a double-layer gear a102, two gear wheels a104 and b103.Double-layer gear a102 drive gear wheel a104 and gear wheel B103, three gear shafts are close to horizontal median axis, and such aircraft is when rocking bar a202 flaps supreme bat maximum position, rocking bar The inertia force of a202 at this time be it is maximum in a period of flapping, rocking bar a202 will throw away the maximum bat of upper bats under inertia force effect Dynamic position, since the angle between crank a201 and rocking bar a203 is smaller, i.e. crank a201 is acted in rocking bar a203 vertical direction Driving force it is smaller, inertia force plays a major role for the movement of rocking bar a203 at this time, therefore rocking bar a203 easily throws away limit position It sets and causes mechanism Caton.Meanwhile flap at other and move the moment, the angle between rocking bar a203 and crank a201 it is smaller but also The drive line angle of mechanism is smaller, and force-transfer characteristic is poor.

As shown in fig. 6, introducing a double-layer gear b105 in the present invention again, i.e. train of reduction gears is double by mainshaft gear 101 Layer gear a102, double-layer gear b103, gear wheel a104 and gear wheel b105 are constituted.Gear wheel after the introducing of double-layer gear b103 A104 axis and double-layer gear a102 axis line, gear wheel b105 axis and double-layer gear b103 axis line and aircraft horizontal median axis The angle of (two motor connection line of aircraft) is 40 ° -60 °, therefore two gear wheel a104, gear wheel b105 train of reduction gears are outermost The distance of side gear wheelbase aircraft horizontal median axis increases.Present invention introduces after double-layer gear b103, crank a201 and rocking bar Angle between a203 significantly increases, so that the driving force that crank a201 is acted in rocking bar a203 vertical direction is bigger, therefore used Property power can be balanced faster before rocking bar a203 deviates significantly from extreme position, realize rocking bar a203 counter motion, this greatly The problem of avoiding the moment mechanism Caton.In addition, present invention introduces after double-layer gear b103, when a period of flapping is other The angle carved between crank a201 and rocking bar a203 also significantly increases, i.e., mechanism driving angle increases, this is also by very big improvement mechanism Force-transfer characteristic, the energy consumption for reducing motor reduce, and greatly increase the duration performance of aircraft.