CN109911195B - Connecting rod type foldable flapping wing micro flying robot - Google Patents
Connecting rod type foldable flapping wing micro flying robot Download PDFInfo
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- CN109911195B CN109911195B CN201910236979.5A CN201910236979A CN109911195B CN 109911195 B CN109911195 B CN 109911195B CN 201910236979 A CN201910236979 A CN 201910236979A CN 109911195 B CN109911195 B CN 109911195B
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Abstract
The invention relates to a connecting rod type foldable flapping wing micro aerial robot, which belongs to the technical field of design and manufacture of micro aerial vehicles, wherein a right wing and a left wing are symmetrical structures about a central line of a machine body, and j holes of a swing rod II in the right wing are movably connected with a belt Kong Er of a right swing rod I in a machine head device through bolts; the j hole of the swing rod II in the left wing is movably connected with the belt Kong Er pair I of the swing rod I in the nose device through a bolt; the right sliding rail in the right wing is fixedly connected with the side surface of the right steering engine in the tail wing device; the left slide rail in the left wing is fixedly connected with the side surface of the left steering engine in the tail wing device; the machine body rod in the machine head device is fixedly connected with a p hole at the left end of a vertical tail wing in the tail wing device; the foldable flapping wing disclosed by the invention is folded after the flight is finished, so that the exposed area of the wing can be reduced, and the transportation and storage are convenient.
Description
Technical Field
The invention belongs to the technical field of design and manufacture of micro aircrafts, and particularly relates to an integral structural design of a foldable flapping-wing micro aircraft.
Background
Insects in nature have high ultra-low altitude flight capability, and flexibility and maneuverability are more important for people to design an aircraft on the back of the aircraft. The development of micro-aircrafts has become a subject of hot research. Most of aircraft wings designed at present cannot be folded and gathered on a fuselage, and in the carrying and transporting process after the flight is finished, the exposed wings are easy to contact with other objects to generate bending deformation, so that the assembly performance of the whole aircraft can be influenced, and the flight attitude of the next mission is influenced.
The coleopteran insect beetles in nature can fold and collect membranous hind wings under the coleopteran when not flying, and can unfold the hind wings when flying. The foldable nature of the rear wing provides for both excellent flying ability and good environmental compatibility. This can be applied to the vulnerable problem of the wing which is to be solved in the prior ornithopter MAV.
Disclosure of Invention
Under the inspired of coleopteran insect flight, the invention designs a connecting rod type foldable flapping wing miniature flying robot, and aims to enable wings to be controlled to be unfolded and folded intelligently.
The invention comprises a right wing A, a nose device B, a left wing C and a tail wing device D. Wherein: the device comprises a right wing A, a nose device B, a left wing C and a tail wing device D, wherein the right wing A and the left wing C are symmetrical structures about the central line of a machine body, and j holes of a swing rod II 5 in the right wing A are movably connected with a pair IIn of belts Kong Er of a right swing rod I14 in the nose device B through bolts; the j hole of the swing rod II in the left wing C is movably connected with the strap Kong Er pair ip of the left swing rod I8 in the nose device B through a bolt; the right slide rail 6 in the right wing A is fixedly connected with the side surface of the right steering engine 36 in the tail wing device D; the left slide rail in the left wing C is fixedly connected with the side surface of a left steering engine 29 in the tail wing device D; the body bar 28 in the nose device B is fixedly connected with the p hole at the left end of the vertical tail 37 in the tail device D.
The right wing A and the left wing C are symmetrical structures about the central line a-a of the micro-aircraft, have the same structure and opposite directions and are composed of a swing rod V1, a wing film 2, a swing rod III 3, a swing rod IV 4, a swing rod II 5, a sliding rail 6 and a sliding block 7, wherein: the swing rod V1 is provided with an a hole and a b hole, the swing rod III 3 is provided with an e hole, an f hole and a g hole, the swing rod IV 4 is provided with a c hole and a d hole, the swing rod II 5 is provided with an h hole, an i hole and a j hole, and the sliding block 7 is provided with a k hole; the j hole at the right end of the swing rod II 5 is movably connected with the n hole at the left end of the right swing rod I14 in the machine head device B, and the h hole and the i hole of the swing rod II 5 are respectively and movably connected with the f hole of the swing rod III 3 and the d hole of the swing rod IV 4; the g hole of the swing rod III 3 is movably connected with the k hole of the sliding block 7; the e hole of the swing rod III 3 is movably connected with the a hole of the swing rod V1; the d hole of the swing rod IV 4 is movably connected with the i hole of the swing rod II 5; the hole c of the swing rod IV 4 is movably connected with the hole b of the swing rod V1; the wing film 2 is adhered to the upper surfaces of the swing rods V1 and III 3.
The machine head device B consists of a left swing rod I8, a bolt I9, a hollow cup motor 10, a bolt II 11, a frame 12, a bolt III 13, a right swing rod I14, a right connecting rod 15, a bolt IV 16, a right crank gear 17, a bolt V18, a right crank shaft 19, a gear I20, a primary shaft 21, a gear II 22, a bolt VI 23, a left crank gear 24, a left crank shaft 25, a left connecting rod 26, a motor gear 27 and a machine body rod 28, wherein the hollow cup motor 10 is fixedly connected in a motor hole of the machine body 12; the motor gear 27 is fixedly connected to the output shaft of the hollow cup motor 10; the gear II 22 and the gear I20 are arranged front and back and fixedly connected to the front part of the primary shaft 21; the rear end of the primary shaft 21 is movably connected with a t hole of the frame (12); the left crank gear 24 is fixedly connected to the front end of the left crank shaft 25; the rear end of the left crank shaft 25 is movably connected with a u hole of the frame (12); the right crank gear 17 is fixedly connected to the front end of the right crank shaft 19; the rear end of the right crank shaft 19 is movably connected with an s hole of the frame (12); the hole at the lower end of the right connecting rod 15 is movably connected with a hole on the tooth surface of the right crank gear 17 through a bolt V18, and the hole at the upper end of the right connecting rod 15 is movably connected with the middle part of the right swing rod I14 through a bolt IV 16; the lower end hole of the left connecting rod 26 is movably connected with a hole on the tooth surface of the left crank gear 24 through a bolt VI 23, and the upper end hole of the left connecting rod 26 is movably connected with the middle part of the left swing rod I8 through a bolt I9;
the right end of the left swing rod I8 is provided with a Kong Er pair im, and the left end hole of the left swing rod I8 is movably connected with the frame 12 through a bolt II 11; the rear end of the bolt II 11 is fixedly connected with the r hole of the frame 12; the left end of the right swing rod I14 is provided with a Kong Er pair IIn, and a right end hole of the right swing rod I14 is movably connected with the frame 12 through a bolt III 13; the rear end of the bolt III 13 is fixedly connected with the q hole of the frame 12; the front end of the body bar 28 is fixedly connected with the rear end of the frame 12; the motor gear 27 is meshed with the gear I20; gear ii 22 meshes with left crank gear 24; the left crank gear 24 is meshed with the right crank gear 17.
The tail device D consists of a left tail steering engine 29, a left tail steering engine rocker 30, a left tail pull rod 31, a horizontal tail pair 32, an elevator 33, a rudder 34, a vertical tail 35, a right tail steering engine 36, a right tail pull rod 37 and a right tail steering engine rocker 38, wherein the horizontal tail pair 32 consists of a left horizontal tail and a right horizontal tail; the elevator 33 is movably connected with the rear end of the horizontal tail pair 32 through a hinge; the rudder 34 is movably connected with the rear end of the vertical tail wing 35 through a hinge; the left and right horizontal tails of the horizontal tail pair 32 are fixedly connected to the left and right sides of the lower end of the vertical tail 35; the left tail steering engine 29 and the right tail steering engine 36 are fixedly connected to the left side and the right side of the front end of the vertical tail 35 respectively; the left tail steering engine rocker arm 30 is movably connected with the upper end of the left tail steering engine 29; the right tail steering engine rocker arm 38 is movably connected with the right side of the right tail steering engine 36; the left end of the left tail pull rod 31 is movably connected with a hole on the left tail steering engine rocker arm 30, and the rear end of the left tail pull rod 31 is fixedly connected with the lower part of the rudder 34; the left end of the right tail pull rod 37 is movably connected with a hole on the right tail steering engine rocker arm 38, and the right end of the right tail pull rod 37 is fixedly connected with the lower end of the elevator 33.
The module of the straight gears is 0.3, the number of teeth of the motor gear 27 is 7, the number of teeth of the gear I20 is 48, the number of teeth of the gear II 22 is 8, and the numbers of teeth of the left crank gear 24 and the right crank gear 17 are 48.
The end faces of the sliding blocks 7 are square and are respectively sleeved on the sliding rails 6, so that the sliding blocks can do linear motion under the condition of small friction.
The fuselage pole 28, the vertical tail 35, the horizontal tail 32, the frame 12, the left connecting rod 26, the right connecting rod 15, the left swing rod I8, the right swing rod I14, the swing rod II 5, the swing rod III 3, the swing rod IV 4 and the swing rod V1 are all made of carbon fibers; the gear set is made of POM plastic; the wing film 2 is made of polyvinyl chloride film; the rudder 34 and the elevator 33 are made of KT plate.
The automatic fin collecting and spreading process comprises the following steps:
when the folding aircraft completes the flight, the remote control system sends a signal during the landing, the cup motor 10 stops rotating, which by inertia slides down to the ground, this position being called the a-state.
And (3) a fin collecting process: the initial state is shown in figure 1, the wing is still in a fully unfolded state at the moment, after a control system sends out a signal, a sliding block 7 arranged on a sliding rail 6 slides towards the tail wing at the same time, a designed four-bar mechanism rotates towards the body direction in sequence, the time required for the wing collecting action is assumed to be t, and figure 12 shows a state at the moment of t/2; when the sliding block 7 reaches the tail end of the sliding rail 6, the whole wing completes the wing folding action, and the folding is completed as shown in figure 13. In the whole fin collecting process, the swing rod II 5 and the swing rod V1 are always parallel, and the swing rod III 3 and the swing rod IV 4 are also parallel.
And (3) a fin spreading process: in the initial state shown in fig. 13, when the aircraft is ready to take off again, the slider 7 mounted on the slide rail 6 slides towards the machine head at the same time by sending out a wireless control signal, and the designed link mechanism rotates towards the opposite direction of the machine body in sequence. When the wing is completely unfolded and is in the state shown in the figure 1, the sliding block stops sliding and is locked, the accelerator is started by remote control, the hollow cup motor 10 starts to rotate, the left crank gear 24 and the right crank gear 17 start to rotate in opposite directions in a meshed manner through multistage speed reduction of the gear reducer, the left connecting rod 26 and the right connecting rod 15 are driven to rotate, and accordingly the left swing rod I8/14 and the right swing rod I/14 start to do cyclic reciprocating motion on the basis, and finally the whole wing can smoothly flap and take off.
Because the innovation of the present invention is the aircraft structure itself, aircraft drive systems, power sources and control systems are not included in the present invention.
The invention has the beneficial effects that:
1. the folding flapping wing improves the folding rate and the folding reliability of the flying robot;
2. the wing folding device realizes wing folding by utilizing a multi-link hinging method, greatly simplifies the complexity of the structure, reduces the flying load and can improve the flexibility during flying;
drawings
FIG. 1 is an isometric view of a link-type collapsible ornithopter micro flying robot
FIG. 2 is an isometric view of a right wing and a left wing
FIG. 3 is an isometric view of a handpiece
Fig. 4 is an isometric view of the tail unit
FIG. 5 is a top view of the tail unit
Fig. 6 is an isometric view of the pendulum arm V
FIG. 7 is an isometric view of the pendulum IV
Fig. 8 is an isometric view of a pendulum III
FIG. 9 is an isometric view of a swing rod II
FIG. 10 is an isometric view of a slider
Fig. 11 is an isometric view of a frame
FIG. 12 is a schematic view of a flapping-wing micro air vehicle in a half-completed state
FIG. 13 is a schematic view of a folded state of the ornithopter of the present invention
Wherein: A. the aircraft nose device comprises a right wing B, a nose device C, a left wing D, a tail device 1, a swing rod V2, a right wing membrane 3, a swing rod III 4, a swing rod IV 5, a swing rod II 6, a sliding rail 7, a sliding block 8, a left swing rod I9, a positioning bolt I10, a hollow cup motor 11, a positioning bolt II 12, a frame 13, a positioning bolt III 14, a right swing rod I15, a right connecting rod 16, a positioning bolt IV 17, a right crank gear 18, a positioning bolt V19, a right crank shaft 20, a gear I21, a primary shaft 22, a gear II 23, a positioning bolt VI 24, a left crank gear 25, a left crank shaft 26, a left connecting rod 27, a motor gear 28, a body rod 29, a left tail steering engine 30, a left tail steering engine rocker arm 31, a left tail pull rod 32, a horizontal tail 33, an elevator 34, a rudder 35, a vertical tail 36, a right tail steering engine 37, a right tail pull rod 38.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
as shown in fig. 1, the link-type foldable flapping-wing micro flying robot of the invention is characterized in that: the invention comprises a right wing A, a nose device B, a left wing C and a tail wing device D. Wherein: the right wing A and the left wing C are symmetrical structures about the central line of the machine body, and j holes of a swing rod II 5 in the right wing A are movably connected with a belt Kong Er pair IIn of a right swing rod I14 in the nose device B through bolts; the j hole of the swing rod II in the left wing C is movably connected with the strap Kong Er pair ip of the left swing rod I8 in the nose device B through a bolt; the right slide rail 6 in the right wing A is fixedly connected with the side surface of the right steering engine 36 in the tail wing device D; the left slide rail in the left wing C is fixedly connected with the side surface of a left steering engine 29 in the tail wing device D; the body bar 28 in the nose device B is fixedly connected with the p hole at the left end of the vertical tail 37 in the tail device D.
As shown in fig. 2 and fig. 6 to fig. 10, the right wing a and the left wing C are symmetrical structures about the central line a-a of the micro-aircraft, and have the same structure and opposite directions, and each of the right wing a and the left wing C is composed of a swing rod v 1, a wing film 2, a swing rod iii 3, a swing rod iv 4, a swing rod ii 5, a slide rail 6 and a slide block 7, wherein: the swing rod V1 is provided with an a hole and a b hole, and the swing rod III 3 is provided with an e hole, an f hole and a g hole; the swing rod IV 4 is provided with a c hole and a d hole; the swing rod II 5 is provided with an h hole, an i hole and a j hole; the slide block 7 is provided with k holes; the j hole at the right end of the swing rod II 5 is movably connected with the n hole at the left end of the right swing rod I14 in the machine head device B, and the h hole h and the i hole of the swing rod II 5 are respectively and movably connected with the f hole of the swing rod III 3 and the d hole of the swing rod IV 4; the g hole of the swing rod III 3 is movably connected with the k hole of the sliding block 7; the e hole of the swing rod III 3 is movably connected with the a hole a of the swing rod V1; the d hole of the swing rod IV 4 is movably connected with the i hole of the swing rod II 5; the hole c of the swing rod IV 4 is movably connected with the hole b of the swing rod V1; the wing film 2 is adhered to the upper surfaces of the swing rods V1 and III 3.
As shown in fig. 3 and 11, the nose device B is composed of a left swing rod i 8, a bolt i 9, a hollow cup motor 10, a bolt ii 11, a frame 12, a bolt iii 13, a right swing rod i 14, a right connecting rod 15, a bolt iv 16, a right crank gear 17, a bolt v 18, a right crank shaft 19, a gear i 20, a primary shaft 21, a gear ii 22, a bolt vi 23, a left crank gear 24, a left crank shaft 25, a left connecting rod 26, a motor gear 27 and a frame rod 28, wherein the hollow cup motor 10 is fixedly connected in a motor hole of the frame 12; the motor gear 27 is fixedly connected to the output shaft of the hollow cup motor 10; the gear II 22 and the gear I20 are arranged front and back and fixedly connected to the front part of the primary shaft 21; the rear end of the primary shaft 21 is movably connected with a t hole of the frame (12); the left crank gear 24 is fixedly connected to the front end of the left crank shaft 25; the rear end of the left crank shaft 25 is movably connected with a u hole of the frame (12); the right crank gear 17 is fixedly connected to the front end of the right crank shaft 19; the rear end of the right crank shaft 19 is movably connected with an s hole of the frame (12); the hole at the lower end of the right connecting rod 15 is movably connected with a hole on the tooth surface of the right crank gear 17 through a bolt V18, and the hole at the upper end of the right connecting rod 15 is movably connected with the middle part of the right swing rod I14 through a bolt IV 16; the lower end hole of the left connecting rod 26 is movably connected with a hole on the tooth surface of the left crank gear 24 through a bolt VI 23, and the upper end hole of the left connecting rod 26 is movably connected with the middle part of the left swing rod I8 through a bolt I9; the right end of the left swing rod I8 is provided with a Kong Er pair im, and the left end hole of the left swing rod I8 is movably connected with the frame 12 through a bolt II 11; the rear end of the bolt II 11 is fixedly connected with the r hole of the frame 12; the left end of the right swing rod I14 is provided with a Kong Er pair IIn, and a right end hole of the right swing rod I14 is movably connected with the frame 12 through a bolt III 13; the rear end of the bolt III 13 is fixedly connected with the q hole of the frame 12; the front end of the body bar 28 is fixedly connected with the rear end of the frame 12; the motor gear 27 is meshed with the gear I20; gear ii 22 meshes with left crank gear 24; the left crank gear 24 is meshed with the right crank gear 17.
As shown in fig. 4 and 5, the tail device D is composed of a left tail steering engine 29, a left tail steering engine rocker 30, a left tail pull rod 31, a horizontal tail pair 32, an elevator 33, a rudder 34, a vertical tail 35, a right tail steering engine 36, a right tail pull rod 37 and a right tail steering engine rocker 38, wherein the horizontal tail pair 32 is composed of a left horizontal tail and a right horizontal tail; the elevator 33 is movably connected with the rear end of the horizontal tail pair 32 through a hinge; the rudder 34 is movably connected with the rear end of the vertical tail wing 35 through a hinge; the left and right horizontal tails of the horizontal tail pair 32 are fixedly connected to the left and right sides of the lower end of the vertical tail 35; the left tail steering engine 29 and the right tail steering engine 36 are fixedly connected to the left side and the right side of the front end of the vertical tail 35 respectively; the left tail steering engine rocker arm 30 is movably connected with the upper end of the left tail steering engine 29; the right tail steering engine rocker arm 38 is movably connected with the right side of the right tail steering engine 36; the left end of the left tail pull rod 31 is movably connected with a hole on the left tail steering engine rocker arm 30, and the rear end of the left tail pull rod 31 is fixedly connected with the lower part of the rudder 34; the left end of the right tail pull rod 37 is movably connected with a hole on the right tail steering engine rocker arm 38, and the right end of the right tail pull rod 37 is fixedly connected with the lower end of the elevator 33.
The fuselage pole 28, the vertical tail 35, the horizontal tail 32, the frame 12, the left connecting rod 26, the right connecting rod 15, the left swing rod I8, the right swing rod I14, the swing rod II 5, the swing rod III 3, the swing rod IV 4 and the swing rod V1 are all made of carbon fibers; the gear set is made of POM plastic; the wing film 2 is made of polyvinyl chloride film; the rudder 34 and the elevator 33 are made of KT plate.
When the folding aircraft completes the flight, the remote control system sends a signal during the landing, the cup motor 10 stops rotating, which by inertia slides down to the ground, this position being called the a-state.
And (3) a fin collecting process: the initial state is shown in figure 1, the wing is still in a fully unfolded state at the moment, after a control system sends out a signal, a sliding block 7 arranged on a sliding rail 6 slides towards the tail wing at the same time, a designed four-bar mechanism rotates towards the body direction in sequence, the time required for the wing collecting action is assumed to be t, and figure 12 shows a state at the moment of t/2; when the sliding block 7 reaches the tail end of the sliding rail 6, the whole wing completes the wing folding action, and the folding is completed as shown in figure 13. In the whole fin collecting process, the swing rod II 5 and the swing rod V1 are always parallel, and the swing rod III 3 and the swing rod IV 4 are also parallel.
And (3) a fin spreading process: in the initial state shown in fig. 13, when the aircraft is ready to take off again, the slider 7 mounted on the slide rail 6 slides towards the machine head at the same time by sending out a wireless control signal, and the designed link mechanism rotates towards the opposite direction of the machine body in sequence. When the wing is completely unfolded and is in the state shown in the figure 1, the sliding block stops sliding and is locked, the accelerator is started by remote control, the hollow cup motor 10 starts to rotate, the left crank gear 24 and the right crank gear 17 start to rotate in opposite directions in a meshed manner through multistage speed reduction of the gear reducer, the left connecting rod 26 and the right connecting rod 15 are driven to rotate, and accordingly the left swing rod I8/14 and the right swing rod I/14 start to do cyclic reciprocating motion on the basis, and finally the whole wing can smoothly flap and take off.
Claims (2)
1. A connecting rod type foldable flapping wing micro flying robot is characterized in that: the aircraft comprises a right wing (A), a nose device (B), a left wing (C) and a tail wing device (D), wherein the right wing (A) and the left wing (C) are symmetrical structures about a central line a-a of the micro-aircraft, have the same structure and opposite directions, and are composed of a swing rod V (1), a wing film (2), a swing rod III (3), a swing rod IV (4), a swing rod II (5), a sliding rail (6) and a sliding block (7), wherein: the swing rod V (1) is provided with an a hole (a) and a b hole (b); an e hole (e), an f hole (f) and a g hole (g) are formed in the swing rod III (3); the swing rod IV (4) is provided with a c hole (c) and a d hole (d); the swing rod II (5) is provided with h holes (h), i holes (i) and j holes (j); the slide block (7) is provided with a k hole (k); the right end j hole of the swing rod II (5) is movably connected with the left end n hole of the right swing rod I (14) in the machine head device (B), and the h hole (h) and the i hole (i) of the swing rod II (5) are respectively and movably connected with the f hole (f) of the swing rod III (3) and the d hole (d) of the swing rod IV (4); the g hole (g) of the swing rod III (3) is movably connected with the k hole (k) of the sliding block (7); the e hole (e) of the swing rod III (3) is movably connected with the a hole (a) of the swing rod V (1); the d hole (d) of the swing rod IV (4) is movably connected with the i hole (i) of the swing rod II (5); the c hole (c) of the swing rod IV (4) is movably connected with the b hole (b) of the swing rod V (1); the wing film (2) is adhered to the upper surfaces of the swing rod V (1) and the swing rod III (3); the machine head device (B) consists of a left swing rod I (8), a bolt I (9), a hollow cup motor (10), a bolt II (11), a frame (12), a bolt III (13), a right swing rod I (14), a right connecting rod (15), a bolt IV (16), a right crank gear (17), a bolt V (18), a right crank shaft (19), a gear I (20), a primary shaft (21), a gear II (22), a bolt VI (23), a left crank gear (24), a left crank shaft (25), a left connecting rod (26), a motor gear (27) and a machine body rod (28), wherein the hollow cup motor (10) is fixedly connected in a motor hole of the frame (12); the motor gear (27) is fixedly connected to the output shaft of the hollow cup motor (10); the gear II (22) and the gear I (20) are arranged front and back and fixedly connected to the front part of the primary shaft (21); the rear end of the primary shaft (21) is movably connected with a t hole of the frame (12); the left crank gear (24) is fixedly connected to the front end of the left crank shaft (25); the rear end of the left crank shaft (25) is movably connected with a u-shaped hole of the frame (12); the right crank gear (17) is fixedly connected to the front end of the right crank shaft (19); the rear end of the right crank shaft (19) is movably connected with an s hole of the frame (12); the lower end hole of the right connecting rod (15) is movably connected with a hole on the tooth surface of the right crank gear (17) through a bolt V (18), and the upper end hole of the right connecting rod (15) is movably connected with the middle part of the right swing rod I (14) through a bolt IV (16); the lower end hole of the left connecting rod (26) is movably connected with a hole on the tooth surface of the left crank gear (24) through a bolt VI (23), and the upper end hole of the left connecting rod (26) is movably connected with the middle part of the left swing rod I (8) through a bolt I (9); the right end of the left swing rod I (8) is provided with a Kong Er pair I (m), and the left end hole of the left swing rod I (8) is movably connected with the frame (12) through a bolt II (11); the rear end of the bolt II (11) is fixedly connected with an r hole of the frame (12); the left end of the right swing rod I (14) is provided with a Kong Er pair II (n), and the right end hole of the right swing rod I (14) is movably connected with the frame (12) through a bolt III (13); the rear end of the bolt III (13) is fixedly connected with the q hole of the frame (12); the front end of the machine body rod (28) is fixedly connected with the rear end of the machine frame (12); the motor gear (27) is meshed with the gear I (20); the gear II (22) is meshed with the left crank gear (24); the left crank gear (24) is meshed with the right crank gear (17); the right wing (A) and the left wing (C) are symmetrical structures about the central line of the machine body, and j holes (j) of a swing rod II (5) in the right wing (A) are movably connected with a belt Kong Er pair II (n) of a right swing rod I (14) in the machine head device (B) through bolts; the j hole of the swing rod II in the left wing (C) is movably connected with the belt Kong Er pair I (m) of the left swing rod I (8) in the nose device (B) through a bolt; the sliding rail (6) in the right wing (A) is fixedly connected with the side surface of the right tail steering engine (36) in the tail wing device (D); the left slide rail in the left wing (C) is fixedly connected with the side surface of the left tail steering engine (29) in the tail wing device (D); the machine body rod (28) in the machine head device (B) is fixedly connected with a p hole (p) at the left end of a vertical tail wing (35) in the tail wing device (D).
2. The link-type foldable flapping-wing micro flying robot according to claim 1, wherein: the tail wing device (D) consists of a left tail wing steering engine (29), a left tail wing steering engine rocker (30), a left tail wing pull rod (31), a horizontal tail wing pair (32), an elevator (33), a rudder (34), a vertical tail wing (35), a right tail wing steering engine (36), a right tail wing pull rod (37) and a right tail wing steering engine rocker (38), wherein the horizontal tail wing pair (32) consists of a left horizontal tail wing and a right horizontal tail wing; the elevator (33) is movably connected with the rear end of the horizontal tail pair (32) through a hinge; the rudder (34) is movably connected with the rear end of the vertical tail wing (35) through a hinge; the left and right horizontal tail wings of the horizontal tail wing pair (32) are fixedly connected to the left and right sides of the lower end of the vertical tail wing (35); the left tail steering engine (29) and the right tail steering engine (36) are respectively fixedly connected to the left side and the right side of the front end of the vertical tail (35); the left tail steering engine rocker arm (30) is movably connected with the upper end of the left tail steering engine (29); the right tail steering engine rocker arm (38) is movably connected with the right side of the right tail steering engine (36); the left end of the left tail wing pull rod (31) is movably connected with a hole on the left tail wing steering engine rocker arm (30), and the rear end of the left tail wing pull rod (31) is fixedly connected with the lower part of the rudder (34); the left end of the right tail pull rod (37) is movably connected with a hole on a right tail steering engine rocker arm (38), and the right end of the right tail pull rod (37) is fixedly connected with the lower end of the elevator (33).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910236979.5A CN109911195B (en) | 2019-03-27 | 2019-03-27 | Connecting rod type foldable flapping wing micro flying robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910236979.5A CN109911195B (en) | 2019-03-27 | 2019-03-27 | Connecting rod type foldable flapping wing micro flying robot |
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| Publication Number | Publication Date |
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| CN109911195A CN109911195A (en) | 2019-06-21 |
| CN109911195B true CN109911195B (en) | 2023-09-22 |
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| CN201910236979.5A Active CN109911195B (en) | 2019-03-27 | 2019-03-27 | Connecting rod type foldable flapping wing micro flying robot |
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| CN110466756A (en) * | 2019-08-29 | 2019-11-19 | 河海大学常州校区 | A kind of small-sized flapping flight robot of imitative bird |
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| CN112173100B (en) * | 2020-10-10 | 2022-03-15 | 北京理工大学 | Bionic flapping wing robot based on slider-crank mechanism |
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| CN113306696A (en) * | 2021-07-07 | 2021-08-27 | 陕西航天时代导航设备有限公司 | Folding wing unfolding mechanism |
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| CN102249001A (en) * | 2011-05-12 | 2011-11-23 | 西北工业大学 | Flapping wing flight adopting compound flapping mode |
| CN102862677A (en) * | 2012-09-18 | 2013-01-09 | 东南大学 | Double-wing type miniature bionic ornithopter |
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| CN109911195A (en) | 2019-06-21 |
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