CN104443380B - A kind of eight word track flapping wing mechanism and micro flapping wing air vehicles - Google Patents
A kind of eight word track flapping wing mechanism and micro flapping wing air vehicles Download PDFInfo
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- CN104443380B CN104443380B CN201410755075.0A CN201410755075A CN104443380B CN 104443380 B CN104443380 B CN 104443380B CN 201410755075 A CN201410755075 A CN 201410755075A CN 104443380 B CN104443380 B CN 104443380B
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- connecting rod
- flapping wing
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- rocking bar
- frame
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Abstract
The invention discloses a kind of eight word track flapping wing mechanisms, including: frame, it is located at the wing above frame, the empennage being located at frame rear and the driving motor being fixed in frame, wing is made up of symmetrically arranged two rocking bars and two flapping wings that are respectively arranged on two rocking bar outer ends, wing and drive and be provided with gear-driven assembly, link assembly transmission, card gear and ball secondary case cylinder between motor.The present invention is driven rocking bar to make two-dimentional eight word tracks by link assembly and flutters and aerofoil reverses, ball secondary case cylinder and card gear the three-dimensional eight word track realizing rocking bar flutters, faster than the speed of traditional flapping wing mechanism and flight efficiency is high.
Description
Technical field
The present invention relates to flapping wing mechanism, particularly relate to a kind of eight word track flapping wing mechanism and micro flapping wing air vehicles.
Background technology
Minute vehicle is as the one of unmanned vehicle, and range of activity is commonly designed in indoor and city, based on rescue, scouts and supervision.In the early 1990s, U.S. national defense advanced studies meter office (being called for short DARPA) has started the research to minute vehicle, and research direction is concentrated on military and navigation aspect.Proposing some definition here, DARPA is minute vehicle: aircraft span and length can not be more than 6 inches (152mm), gross weight is between 80-150 gram, and energy follow-on mission 20-60 minute.In addition, aircraft needs to carry realtime imaging camera, infrared ray sensor or radar communication so that execution task, such as, collect data in disaster scene.Minute vehicle also needs enough electric energy and makees long-time task, and flight speed preferably reaches cause 30-60km/h.In terms of military use, owing to collect intelligence needs to go deep into enemy area, soldier's chance in danger time on duty is the highest.And minute vehicle is exactly low latitude and searches the best weapon of shooting.In the military war in big city, minute vehicle can be scouted through heavy high building or monitor neatly.In terms of nuclear reactor or chemical reactor scouting, minute vehicle can carry camera and carry out task, it is to avoid the mankind are directly and radioactive exposure.Minute vehicle also can coordinate the whole world surely to live system (GPS), in order to fast transfer of data position is convenient to be analyzed.
In minute vehicle, most critical is exactly flapping wing mechanism; flapping wing mechanism design directly decision aircraft flight speed; in prior art, flapping wing mechanism typically uses simple straight path or arching trajectory flapping wing; the motility of flapping wing mechanism is little; and tradition flapping motion cannot produce lift and thrust in a flapping wing cycle simultaneously, the efficiency of flapping motion is low.
Therefore, how to design a kind of motility is big, speed is fast and flight efficiency is high eight word track flapping wing mechanisms and to use the micro flapping wing air vehicle of this flapping wing mechanism be industry technical problem urgently to be resolved hurrily.
Summary of the invention
The present invention is directed to the problems referred to above and provide eight word track flapping wing mechanism and the micro flapping wing air vehicles that a kind of motility is big, speed is fast and flight efficiency is high.
The technical scheme that the present invention proposes is, design a kind of eight word track flapping wing mechanisms, including: frame, it is located at the wing above frame, the empennage being located at frame rear and the driving motor being fixed in frame, wing is made up of symmetrically arranged two rocking bars and two flapping wings that are respectively arranged on two rocking bar outer ends, wing and drive and be provided with gear-driven assembly and link assembly transmission between motor.Gear-driven assembly includes: the driven pulley being connected with capstan drive with the drivewheel driving motor output shaft to be connected.Link assembly includes: first connecting rod, third connecting rod, fourth link and the second connecting rod that head and the tail are the most hinged；First connecting rod the first end is hingeably secured to the drivewheel center of circle, the second end is radially articulated with on drivewheel, second connecting rod the first end is articulated with the driven pulley center of circle, the second end is radially articulated with on driven pulley, and third and fourth rod hinge connection is between the second end of first and second connecting rod.The inner pin joint with third and fourth connecting rod of two rocking bars is in transmission connection, and the pin joint of third and fourth connecting rod makees two-dimentional eight word orbiting motions.
Link assembly also includes: the 5th, six-bar linkage；5th connecting rod the first end is articulated with the pin joint of third and fourth connecting rod, and six-bar linkage the first end is articulated with the drivewheel center of circle, and the 5th, the second end of six-bar linkage is articulated and connected.5th connecting rod the first end is fixed with a rotating shaft, and the 5th connecting rod the first end is protruded in rotating shaft one end, third and fourth connecting rod hinge point is stretched out in other end activity, and two rocking bars are inner fixing with the two ends of rotating shaft to be respectively connected, and the 5th, six-bar linkage drives rocking bar to make pitch rotation and move.
Two rocking bar the inners are each passed through two ball secondary case cylinders, and rocking bar is fixed with the roller ball coordinated with ball secondary case cylinder, and ball pair sleeve bottom end is hinged with frame.Card gear all it is fixed with between two rocking bars the inners and rotating shaft.Rocking bar makees three-dimensional eight word orbiting motions by link assembly, card gear and ball secondary case cylinder.
Card gear is made up of cross profile shaft and two connecting rod sets, and two connecting rod sets are actively set on two vertical axises of cross profile shaft respectively, and rocking bar and rotating shaft are fixed with two connecting rod sets respectively and be connected.
Empennage is made up of base plate and the riser being vertical on base plate, riser rear end is hinged is provided with vertical control surface, base plate rear end is hinged is provided with horizontal control surface, riser front end is provided with the direction steering wheel of control vertical control surface left-right rotation, controls the lifting steering wheel that horizontal control surface rotates upwardly and downwardly, and direction steering wheel, lifting steering wheel pull vertical control surface, horizontal control surface to rotate by pull bar respectively.
Motor is driven to be driven by lithium polymer battery.
Present invention also offers a kind of micro flapping wing air vehicle, including eight above-mentioned word track flapping wing mechanisms.
Compared with prior art, the present invention is provided with link assembly, gear-driven assembly, ball secondary case cylinder and card gear on flapping wing mechanism, driven rocking bar to make two-dimentional eight word tracks by link assembly to flutter and aerofoil torsion, the three-dimensional eight word track being realized rocking bar by ball secondary case cylinder and card gear is fluttered, faster than the speed of traditional flapping wing mechanism and flight efficiency is high.
Accompanying drawing explanation
Below in conjunction with embodiment and accompanying drawing, the present invention is described in detail, wherein:
Fig. 1 is schematic perspective view of the present invention；
Fig. 2 is the connection diagram of link assembly of the present invention and gear-driven assembly；
Fig. 3 is rocking bar of the present invention and ball secondary case cylinder, the connection diagram of card gear；
Fig. 4 is the connection diagram of card gear of the present invention；
Fig. 5 is the structure connection diagram of empennage of the present invention.
Detailed description of the invention
In the present invention, research emphasis is concentrated mainly on the realization of bionical thing flapping wing mechanism.Splayed configuration trace motion mechanism is the one of which of bionical thing flapping wing mechanism, and using hummingbird as source, its aerial characteristic of hovering is provided that and miniature flies the more motility of device.In addition, research finds, splayed configuration flapping wing track coordinates specific aerofoil reversion action, can produce lift and thrust, than traditional flapping motion more efficiently in a flapping wing cycle simultaneously.
The most as shown in Figure 1, the eight word track flapping wing mechanisms that the present invention proposes, including: frame 1, it is located at the wing above frame 1, the empennage 2 being located at frame 1 rear and the driving motor 3 being fixed in frame, wing is made up of symmetrically arranged two rocking bars 4 and two flapping wings 5 that are respectively arranged on two rocking bar outer ends, wing 5 and drive and be provided with gear-driven assembly and link assembly transmission between motor 3.By driving motor 3 to provide power, gear-driven assembly drivening rod component movement, then wing is promoted to complete to flutter by link assembly.
As in figure 2 it is shown, gear-driven assembly includes: the driven pulley 7 being in transmission connection with drivewheel 6 with the drivewheel 6 driving motor 3 output shaft to be connected.Wherein, drive motor 3 to be driven by lithium polymer battery, be fixed at the side of frame 1, gear-driven assembly and link assembly and be located at the opposite side of frame 1, driving motor 3 output shaft to be connected through frame 1 with drivewheel 6, frame 1 is provided with and the bearing driving motor 3 output shaft to coordinate.
Link assembly includes: four connecting rods that head and the tail are hinged.First connecting rod 8 first end is articulated with drivewheel 6 center of circle, the second end is radially articulated with on drivewheel 6, second connecting rod 9 first end is articulated with driven pulley 7 center of circle, the second end is radially articulated with on driven pulley 7, and third and fourth rod hinge connection is between the second end of first and second connecting rod.Wherein, third connecting rod 10 one end is hinged with first connecting rod 8, and fourth link 11 one end is hinged with second connecting rod 9.The linkage of first, second, third and fourth connecting rod composition has two degree of freedom, first and second connecting rod is respectively along the center of circle rotation of drivewheel 6, driven pulley 7, rotation process constantly promotes third and fourth connecting rod lifting and folding, is coordinated by each length of connecting rod the pin joint making third and fourth connecting rod to produce two dimension splayed configuration orbiting motion.The inner pin joint 25 with third and fourth connecting rod of rocking bar 4 is in transmission connection, and now third and fourth connecting rod can drive rocking bar 4 to make two-dimentional eight word orbiting motions.
Further, link assembly also includes: the 5th, six-bar linkage.5th connecting rod 12 first end is articulated with the pin joint 25 of third and fourth connecting rod, and six-bar linkage 13 first end is hingeably secured to drivewheel 6 center of circle, and the 5th, the second end of six-bar linkage is articulated and connected.First and third, five, the linkage of six-bar linkage composition has one degree of freedom, 5th connecting rod 12 is followed the pin joint 25 of third and fourth connecting rod and is moved, under the effect of six-bar linkage 13, the 5th connecting rod 12 first end reciprocating rotation centered by the pin joint 25 of third and fourth connecting rod.
In the present embodiment, the 5th connecting rod 12 first end is fixed with a rotating shaft, and the 5th connecting rod 12 first end is protruded in rotating shaft one end, third and fourth connecting rod hinge point 25 is stretched out in other end activity, and the 5th connecting rod 12 first end is hinged with pin joint 35 by rotating shaft.Two rocking bar 4 the inners are fixing with the two ends of rotating shaft respectively to be connected, and two rocking bars 4 are by eight word movement locus of rotating shaft transmission pin joint 25.And while eight word movement locus, the 5th connecting rod 12 drives rotating shaft rotation, rotating shaft drive the rocking bar 4 at two ends to complete rotation, thus change the angle of inclination of flapping wing 5 on rocking bar 4, complete the adjustment of aerofoil luffing angle.
Further, as it is shown on figure 3, two rocking bar 4 the inners are each passed through two ball secondary case cylinders 14, this ball secondary case cylinder 14 bottom is hinged with frame 1, and rocking bar 4 is fixed with the roller ball 15 coordinated with ball secondary case cylinder 1.It is fixed with card gear 16 between rocking bar 4 the inner and rotating shaft.The pin joint 25 of third and fourth connecting rod drives rotating shaft to make two-dimentional eight word orbiting motions, two dimensional motion is converted to three-dimensional motion and is delivered to rocking bar 4 the inner by card gear 16, rocking bar 4 is with ball secondary case cylinder 14 as fulcrum, the eight word orbiting motions making rocking bar 4 outer end amplify, it is achieved the three-dimensional eight word orbiting motion of aircraft wingtips.
As shown in Figure 4, card gear 16 is made up of cross profile shaft 17 and two connecting rod sets 18, and two connecting rod sets are actively set on two vertical axises of cross profile shaft 17 respectively.Fix inner with rocking bar 4 of one connecting rod set 18 is connected, and another connecting rod set is fixing with one end of rotating shaft to be connected.When the driving shaft in cross profile shaft 17 rotates, driven shaft both can concomitant rotation, can swing in any direction around cross profile shaft center again, thus adapt to angle and apart from the needs changed simultaneously, thus ensure that rocking bar 4 can turn to any direction, under the pin joint effect of third and fourth connecting rod, complete three-dimensional eight word orbiting motions.
More excellent, as shown in Figure 5, empennage 2 is made up of base plate 19 and the riser 20 being vertical on base plate, riser 20 rear end is hinged is provided with vertical control surface 21, base plate 19 rear end is hinged is provided with horizontal control surface 22, riser 20 front end is provided with the direction steering wheel 23 of control vertical control surface 21 left-right rotation, controls the lifting steering wheel 24 that horizontal control surface 22 rotates upwardly and downwardly, and direction steering wheel 23, lifting steering wheel 24 pull vertical control surface 21, horizontal control surface 22 to rotate by pull bar respectively.
Present invention also offers a kind of micro flapping wing air vehicle, including above-mentioned eight word track flapping wing mechanisms.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention, should be included within the scope of the present invention.
Claims (7)
1. a word track flapping wing mechanism, including: frame, it is located at the wing above frame, the empennage being located at frame rear and the driving motor being fixed in frame, it is characterized in that, described wing is made up of symmetrically arranged two rocking bars and two flapping wings that are respectively arranged on two rocking bar outer ends, being provided with gear-driven assembly and link assembly transmission between described wing and driving motor, described gear-driven assembly and link assembly are used to transmission；
Described gear-driven assembly includes: the driven pulley that the drivewheel being connected with described driving motor output shaft is connected with capstan drive；
Described link assembly includes: first connecting rod, third connecting rod, fourth link and the second connecting rod that head and the tail are the most hinged；First connecting rod the first end is hingeably secured to the drivewheel center of circle, the second end is radially articulated with on drivewheel, second connecting rod the first end is articulated with the driven pulley center of circle, the second end is radially articulated with on driven pulley, and third and fourth rod hinge connection is between the second end of first and second connecting rod；
The inner pin joint with third and fourth connecting rod of two rocking bars is in transmission connection, and the pin joint of third and fourth connecting rod makees two-dimentional eight word orbiting motions.
Eight word track flapping wing mechanisms the most as claimed in claim 1, it is characterised in that described link assembly also includes: the 5th, six-bar linkage；5th connecting rod the first end is articulated with the pin joint of third and fourth connecting rod, and six-bar linkage the first end is articulated with the drivewheel center of circle, and the 5th, the second end of six-bar linkage is articulated and connected；
5th connecting rod the first end is fixed with a rotating shaft, the 5th connecting rod the first end is protruded in described rotating shaft one end, third and fourth connecting rod hinge point is stretched out in other end activity, two rocking bars are inner fixing with the two ends of rotating shaft to be respectively connected, and the 5th, six-bar linkage drives rocking bar to make pitch rotation and move.
Eight word track flapping wing mechanisms the most as claimed in claim 2, it is characterised in that two rocking bar the inners are each passed through two ball secondary case cylinders, described rocking bar is fixed with the roller ball coordinated with described ball secondary case cylinder, and described ball pair sleeve bottom end is hinged with frame；
Card gear all it is fixed with between two rocking bars the inners and rotating shaft；
Described rocking bar makees three-dimensional eight word orbiting motions by link assembly, card gear and ball secondary case cylinder.
Eight word track flapping wing mechanisms the most as claimed in claim 3, it is characterized in that, described card gear is made up of cross profile shaft and two connecting rod sets, said two connecting rod set is actively set on two vertical axises of cross profile shaft respectively, and described rocking bar and rotating shaft are fixed with two connecting rod sets respectively and be connected.
Eight word track flapping wing mechanisms the most as claimed in claim 1, it is characterized in that, described empennage is made up of base plate and the riser being vertical on base plate, described riser rear end is hinged is provided with vertical control surface, described base plate rear end is hinged is provided with horizontal control surface, described riser front end is provided with the direction steering wheel of control vertical control surface left-right rotation, controls the lifting steering wheel that horizontal control surface rotates upwardly and downwardly, and described direction steering wheel, lifting steering wheel pull vertical control surface, horizontal control surface to rotate by pull bar respectively.
Eight word track flapping wing mechanisms the most as claimed in claim 1, it is characterised in that described driving motor is driven by lithium polymer battery.
7. a micro flapping wing air vehicle, it is characterised in that include eight word track flapping wing mechanisms as described in any one of claim 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410755075.0A CN104443380B (en) | 2014-12-11 | 2014-12-11 | A kind of eight word track flapping wing mechanism and micro flapping wing air vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410755075.0A CN104443380B (en) | 2014-12-11 | 2014-12-11 | A kind of eight word track flapping wing mechanism and micro flapping wing air vehicles |
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| Publication Number | Publication Date |
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| CN104443380A CN104443380A (en) | 2015-03-25 |
| CN104443380B true CN104443380B (en) | 2016-08-24 |
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| CN201410755075.0A Expired - Fee Related CN104443380B (en) | 2014-12-11 | 2014-12-11 | A kind of eight word track flapping wing mechanism and micro flapping wing air vehicles |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105314109B (en) * | 2015-09-09 | 2017-10-10 | 吴立群 | A kind of wing drive mechanism of flapping wing aircraft |
| CN105620747B (en) * | 2016-03-03 | 2017-08-25 | 上海工程技术大学 | A kind of flapping wing mechanism of achievable ∞ fonts movement locus |
| CN105857599B (en) * | 2016-05-06 | 2017-09-29 | 合肥工业大学 | A kind of variable flapping wing lift generating device of wing area |
| CN106143903B (en) * | 2016-07-15 | 2018-03-16 | 吉林大学 | A kind of wing can reverse and can realize the micro flapping wing air vehicle of more sporting flyings |
| CN106741854B (en) * | 2017-02-24 | 2019-03-05 | 哈尔滨工业大学深圳研究生院 | A kind of rigidity decoupling empennage regulating mechanism |
| CN109036078A (en) * | 2018-06-13 | 2018-12-18 | 佛山市三水区希望火炬教育科技有限公司 | A kind of dedicated dragonfly reconnaissance plane of teenager's defence education |
| CN109592029B (en) * | 2018-12-24 | 2022-04-01 | 武汉科技大学 | Bird-imitating micro flapping wing aircraft |
| CN110127049B (en) * | 2019-05-15 | 2023-11-14 | 汕头大学 | Miniature bionic ornithopter with 8-shaped wingtip track |
| CN112537447A (en) * | 2020-12-07 | 2021-03-23 | 北京理工大学 | Flapping wing robot based on multi-stage speed reduction mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4793573A (en) * | 1987-06-12 | 1988-12-27 | Kelfer James W | Figure eight wing drive |
| TW200930619A (en) * | 2008-01-15 | 2009-07-16 | Univ Tamkang | Biomimetc micro air vehicle with 8-shaped flapping wing trajectory |
| CN202574619U (en) * | 2012-05-25 | 2012-12-05 | 哈尔滨工业大学深圳研究生院 | 8-shaped track flapping-wing mechanism and micro flapping-wing air vehicle |
| CN204323688U (en) * | 2014-12-11 | 2015-05-13 | 香港理工大学 | A kind of Eight characters track flapping wing mechanism and micro flapping wing air vehicle |
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