The invention discloses a micro-miniature ornithopter and a flight method thereof. An existing flapping-wing robot is complex in structure, too many parts are exposed, and the situation of falling and collision contamination cannot be dealt with easily. A hollow cup motor drives a planet carrier; a planetary gear is hinged to the planet carrier and is meshed with an inner gear ring fixed in the machine body; a reference diameter of the planetary gear is half of the reference diameter of the inner gear ring; a pin shaft I is fixed on a reference circle of the planetary gear; two second pin shafts are fixed to the inner gear ring, and the center distance between the first pin shaft fixed to the planetary gear reference circle and the center distance between the two second pin shafts are equal. The middle parts of the two wing skeletons and the two pin shafts II respectively form revolute pairs; the sliding grooves in one ends of the two wing skeletons and the first pin shaft form a sliding pair. The other ends of the two wing skeletons are respectively fixed with the two wings; and the hollow cup motor is controlled by the control module. The double-wing flutter has the advantages of symmetrical flapping of the two wings, simple structure, stable transmission and high transmission efficiency.
本发明公开了一种微小型扑翼飞行器及其飞行方法。现有扑翼机器人结构复杂,部件暴露太多,不利于应对坠落、撞击污损情况。本发明中空心杯电机驱动行星架;行星齿轮铰接在行星架上,并与固定在机身内的内齿圈啮合;行星齿轮的分度圆直径为内齿圈分度圆直径的一半;行星齿轮的分度圆上固定有一根销轴一;内齿圈上固定有两根销轴二,且固定在行星齿轮分度圆上的销轴一与两根销轴二的中心距相等;两个机翼骨架中部与两根销轴二分别构成转动副;两个机翼骨架一端的滑槽均与销轴一构成滑动副;两个机翼骨架的另一端与两个机翼分别固定;空心杯电机由控制模块控制。本发明具有两翼扑动对称、结构简单、传动稳定和传动效率高的优势。
Micro-miniature ornithopter and flight method thereof
一种微小型扑翼飞行器及其飞行方法
2021-06-04
Patent
Electronic Resource
Chinese
IPC: | B64C AEROPLANES , Flugzeuge |