CN109050912A - A kind of flapping wing mechanism of electromagnetic drive in conjunction with rope drive - Google Patents
A kind of flapping wing mechanism of electromagnetic drive in conjunction with rope drive Download PDFInfo
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- CN109050912A CN109050912A CN201810921245.6A CN201810921245A CN109050912A CN 109050912 A CN109050912 A CN 109050912A CN 201810921245 A CN201810921245 A CN 201810921245A CN 109050912 A CN109050912 A CN 109050912A
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- rocker arm
- rope
- mounting hole
- flapping wing
- electromagnetic drive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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- Aviation & Aerospace Engineering (AREA)
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Abstract
This application discloses a kind of flapping wing mechanism of electromagnetic drive in conjunction with rope drive, including rope transmission mechanism, electromagnetic drive mechanism and a pair of of flapping wing.According to the technical solution of the present invention, it can buffering energy-absorbing and energy storage during flapping motion, it realizes vibration damping and reduces the effect of energy consumption, while can be realized being precisely controlled for movement, avoid the movement instability and asymmetry caused by shaking in traditional design due to eccentric gear.
Description
Technical field
The present invention relates to minute vehicle fields, specifically but not exclusively, are related to a kind of electromagnetic drive in conjunction with rope drive
Flapping wing mechanism.
Background technique
Since nineteen nineties, with continuous maturation and the microelectric technique of conventional aircraft designing technique
It substantially improves, there has been proposed the concept of minute vehicle and has pushed its fast development.Minute vehicle is small in size, weight
Gently, mobility strong is with a wide range of applications in terms of national security and the development of the national economy, can be used under complex environment
Investigation, assists the work such as rescue at exploration.Meanwhile the continuous exploration with people to natural biology (such as insect) flight theory, it imitates
Raw design of learning is increasingly used in minute vehicle field, and it is miniature the various bionic flapping-wings for imitating insect flying occur
Aircraft.
The current bionic flapping-wing minute vehicle wing, which flaps to move, mostly uses greatly " motor-gear deceleration group-crank connecting link "
The high speed rotary motion of design scheme, motor output drives crank link mechanism after gear deceleration group is slowed down, and drive wing is reciprocal
Flap.In this scenario, frictional resistance is larger between the gear in gear deceleration group, and energy loss is higher, simultaneously because miniature fly
Row device light weight, it is small in size, it is limited to carry power supply energy, and by the lower limitation of current battery power density, the high energy of mechanism
Amount loss is obviously unfavorable for the duration performance for promoting aircraft.To solve the above problems, it is proposed that " electromagnetic drive
Connecting rod " and the design scheme of " motor driven rope drive ", in the scheme of " electromagnetic drive connecting rod ", wherein member structure often in
It rubs and high-speed rotating harsh state, structure is easily broken, reliability is poor；The side of " motor driven rope drive "
In case, although eliminating high-speed rotary gear deceleration group, there is eccentric gear.When mechanism is assembled, eccentric gear axis is usual
There are certain gap, and when mechanism executes, deposits moment loading in perpendicular on the eccentric gear, and the two is common
Effect lower gear often shakes, and flaps movement left and right and asymmetric so as to cause the wing of output.
Summary of the invention
Design scheme energy loss to solve above-mentioned traditional " motor-gear deceleration group-crank connecting link " is higher, " electromagnetism
The design scheme rod piece friction of drive link mechanism " makes the design scheme bias tooth of rod piece easy fracture and " motor driven rope drive "
The defect shaken is taken turns, the invention proposes a kind of flapping wing mechanism of electromagnetic drive in conjunction with rope drive, is guaranteeing that flapping wing flaps fortune
While dynamic stability and symmetry, frictional dissipation between mechanism part is reduced, while by utilizing the energy storage such as spring, transmission rope
Component reduces mechanism vibrations and improves energy utilization efficiency.
Specifically, flapping wing mechanism of a kind of electromagnetic drive of the present invention in conjunction with rope drive, which is characterized in that including rope drive
Mechanism, electromagnetic drive mechanism and a pair of of flapping wing, wherein the rope transmission mechanism includes rack, is symmetrically disposed on the rack
The first rocker arm and the second rocker arm of central axis two sides, the vertical bar being set in the rectangular channel of the rack are set to described
For constraining the crossbeam and three cords of the horizontal displacement of first rocker arm and the second rocker arm, institute on one rocker arm and the second rocker arm
Stating vertical bar can reciprocatingly slide in the rectangular channel of the rack, be provided with first positioning hole and second location hole on the vertical bar,
The first mounting hole, the second mounting hole, third mounting hole and the 4th installation are respectively arranged on first rocker arm and the second rocker arm
Hole, the electromagnetic drive mechanism include pedestal, coil, spring, the magnetic being arranged on the central axis of the pedestal from left to right
Iron and sliding block, the bottom end of the vertical bar are fixedly connected with the sliding block, and the vertical bar can be reciprocal in the rectangular channel of the rack
Movement, the pair of flapping wing respectively include a girder, three auxiliary beams and ala, one end of a girder with described three
One end of auxiliary beam is connected, and the other end of a girder is respectively arranged in the 4th mounting hole of first rocker arm and described
In 4th mounting hole of the second rocker arm, three auxiliary beams are pasted on the ala per between adjacent two in 15 ° -20 °.
Preferably, the rack is bilateral symmetry, is symmetrically provided with the first threaded hole and the second threaded hole, described
The bottom end of first rocker arm is installed in first threaded hole, and the bottom end of second rocker arm is installed on second threaded hole
Interior, first rocker arm and the second rocker arm can rotate horizontally.
Preferably, the both ends of the crossbeam pass through the first mounting hole and second rocker arm of first rocker arm respectively
First mounting hole is fixed with first rocker arm and second rocker arm.
Preferably, three cords include the first transmission rope, the second transmission rope and limit rope, wherein first transmission
Rope connects the first positioning hole of the vertical bar and the third mounting hole of first rocker arm, and the second transmission rope connection is described perpendicular
The third mounting hole of the second location hole of bar and second rocker arm, the limit rope connect the second installation of first rocker arm
Second mounting hole in hole and second rocker arm.
Preferably, it is provided on the central axis of the pedestal for enabling the magnet and the sliding block linear slide
Sliding rail, for the sliding block rivet interlacement in the sliding rail, the stroke of the sliding block is 20mm-22mm.
Preferably, a girder and three auxiliary beams are made of carbon fiber bar, and the ala is polyethylene film.
Preferably, the pedestal is integrally formed by resin material or poly-lactic acid material by 3D printing.
The beneficial effects of the present invention are:
1. utilize spring and transmission rope, can buffering energy-absorbing and energy storage during flapping motion, avoid in traditional design
Mechanical oscillation and energy loss due to caused by mechanical part friction and collision realize vibration damping and reduce the effect of energy consumption.
2. realizing being precisely controlled for movement using electromagnetic drive, avoid in traditional design since eccentric gear shakes institute
Caused by movement instability and asymmetry.
Detailed description of the invention
Fig. 1 is a kind of flapping wing mechanism schematic diagram of the electromagnetic drive of the present invention in conjunction with rope drive；
Fig. 2 is the schematic diagram of rope transmission mechanism；
Fig. 3 is the schematic diagram of electromagnetic drive mechanism；
Fig. 4 is the structural schematic diagram of rack；
Fig. 5 is the structural schematic diagram of the first rocker arm；
Fig. 6 is the structural schematic diagram of the second rocker arm；
Fig. 7 is the structural schematic diagram of vertical bar；
Fig. 8 is the structural schematic diagram of crossbeam；
Fig. 9 is the structural schematic diagram of pedestal；
Figure 10 is the structural schematic diagram of sliding block；
Figure 11 is the structural schematic diagram of flapping wing.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.Below in conjunction with drawings and examples, the present invention is described in further detail.
Fig. 1 is a kind of overall schematic of flapping wing mechanism of the electromagnetic drive of the present invention in conjunction with rope drive, and Fig. 2 shows ropes
One illustrative embodiments of transmission mechanism, Fig. 3 show an illustrative embodiments of electromagnetic drive mechanism, as shown in the figure
A kind of flapping wing mechanism of electromagnetic drive in conjunction with rope drive, including rope transmission mechanism 10, electromagnetic drive mechanism 20 and a pair of of flapping wing
30,40.Wherein, first rocker arm of the rope transmission mechanism 10 including rack 101, the central axis two sides for being symmetrically disposed on rack 101
102 and second rocker arm 103, be set in the rectangular channel 1012 of rack 101 vertical bar 104, be set to the first rocker arm 102 and second
On rocker arm 103 for constrain the first rocker arm 102 and the second rocker arm 103 horizontal displacement crossbeam 105 and three cords 106,
107,108, vertical bar 104 can move back and forth in the rectangular channel 1012 of rack 101, be provided with first positioning hole on vertical bar 104
1041 and second location hole 1042, the first mounting hole 1021,1031 is respectively arranged on the first rocker arm 102 and the second rocker arm 103,
Second mounting hole 1022,1032, third mounting hole 1023,1033 and the 4th mounting hole 1024,1034.Electromagnetic drive mechanism 20
Including pedestal 201, the coil 202, spring 203, magnet 204 and the sliding block that are arranged on the central axis of pedestal 201 from left to right
205.The bottom end of vertical bar 104 is fixedly connected with sliding block 205, and vertical bar 104 can reciprocatingly slide in the rectangular channel 1012 of rack 101.
A pair of of flapping wing 30,40 respectively includes a girder 301, three auxiliary beams 302,303,304 and ala 305, and the one of a girder 301
End is connected with one end of three auxiliary beams 302,303,304, and the other end of a girder 301 is respectively arranged in the first rocker arm 102
In 4th mounting hole 1021 and second rocker arm 103 the 4th mounting hole 1034 in, three auxiliary beams 302,303,304 are per adjacent two
Between be pasted on ala 305 in 15 ° -20 °.
Fig. 4 shows an illustrative embodiments of rack, and rack 101 is bilateral symmetry, is symmetrically provided with the
One threaded hole 1011 and the second threaded hole 1013, the bottom end of the first rocker arm 102 are installed in the first threaded hole 1011, the second rocker arm
103 bottom end is installed in the second threaded hole 1013, and the first rocker arm 102 and the second rocker arm 103 can rotate horizontally.
Fig. 5 and Fig. 6 shows an illustrative embodiments of the first rocker arm and the second rocker arm.
Fig. 7 shows an illustrative embodiments of crossbeam, and the both ends of crossbeam 105 pass through the of the first rocker arm 102 respectively
The first mounting hole 1031 and the first rocker arm 102 of one mounting hole 1021 and the second rocker arm 103 and the second rocker arm 103 are fixed.
Fig. 8 shows an illustrative embodiments of vertical bar, and in conjunction with Fig. 2, Fig. 5, Fig. 6 and Fig. 8, three cords include first
Transmission rope 106, the second transmission rope 107 and limit rope 108, wherein the first positioning hole of the first transmission rope 106 connection vertical bar 104
1041 and first rocker arm 102 third mounting hole 1023, the second transmission rope 107 connect vertical bar 104 1042 He of second location hole
The third mounting hole 1033 of second rocker arm 103, the second mounting hole 1022 and second that limit rope 108 connects the first rocker arm 102 shake
Second mounting hole 1032 of arm 103.
Fig. 9 and Figure 10 respectively illustrates an illustrative embodiments of pedestal and sliding block, sets on the central axis of pedestal 201
It is equipped with the sliding rail for enabling 205 linear slide of magnet 204 and sliding block, 205 rivet interlacement of sliding block is in sliding rail, sliding block 205
Stroke be 20mm-22mm.In some embodiments, pedestal 201 is whole by 3D printing by resin material or poly-lactic acid material
System at.
Figure 11 shows an illustrative embodiments of flapping wing, in some embodiments, a girder 301 and three it is auxiliary
Beam 302,303,304 is made of carbon fiber bar, and ala 305 is polyethylene film.
Illustrate a kind of flapping wing mechanism course of work of electromagnetic drive of the invention in conjunction with rope drive in conjunction with Fig. 1-Fig. 9, under
The statement about direction is stated, is related to the statement " controlled " and is subject to direction shown in Fig. 3, be related to " positive and negative extreme position " and " suitable
The visual angle of statement counterclockwise " is to overlook visual angle, the i.e. visual angle viewed from above of Fig. 1.Initial time coil 202 is powered
Before, in the raw, sliding block 205 and vertical bar 104 are located at limit on the left position to spring 203, flapping wing 30,40 and the first rocker arm 102,
Second rocker arm 103 is all located at positive extreme position.Sinusoidal ac is accessed to coil 202, first according to aircraft mission payload pair
The needs of lift determine that the wing is flapped frequency in conjunction with flapping wing geometry and kinematic constraint, and the frequency and flapping wing 30,40 of sinusoidal ac are clapped
Dynamic frequency is consistent, and the magnetic force that secondary coil 202 generates should be able to make just sliding block 205 do simple harmonic quantity in the sliding rail of pedestal 201
Vibration, calculates the amplitude of sinusoidal ac accordingly.In the upper half period in alternating current period, the magnetic field N of the generation of coil 202, S
Just with 204 magnetic pole of magnet on the contrary, at this point, coil 202 generates repulsive force to magnet 204, promotion sliding block 205 is transported to the right for extreme direction
Dynamic, at the same time, vertical bar 104 is moved right with sliding block 205, and vertical bar 104 drives 106,107 couples of 102 and of the first rocker arm of transmission rope
Second rocker arm 103 generates pulling force, drives the first rocker arm 102 and the second rocker arm 103 and flapping wing 30,40 thereon respectively along counterclockwise
With flap clockwise；When sliding block 205 moves to limit on the right-right-hand limit position, the first rocker arm 102 and the movement of the second rocker arm 103 are also reached and are born
Extreme position, limit rope 108, which is tightened, generates position-limiting action to the first rocker arm 102 and the movement of the second rocker arm 103, enters electric current at this time
The lower half period of alternating cycles, alternating current change current direction, and magnetic 204 magnetic pole of the same magnet distribution become of coil 202 is consistent,
Coil 202 generates attraction to magnet 204, simultaneously because stretcher strain occurs for spring 203, generates drawing to the left to sliding block 205
Power effect, band movable slider 205 moves downward jointly for electromagnetic attraction and 203 pulling force of spring, vertical bar 104 with sliding block 205 to
Left movement, vertical bar 104 drive 106,107 pair of first rocker arm 102 of transmission rope and the second rocker arm 103 to generate pulling force, drive first to shake
Arm 102 and the second rocker arm 103 and flapping wing 30,40 are flapped toward positive extreme position, when sliding block 205 moves to limit on the left position, one
Alternating current end cycle, while the first rocker arm 102 and the second rocker arm 103 return to positive extreme position, limit rope 108 stretches tight again
Tightly, the movement of flapping of the first rocker arm 102 and the second rocker arm 103 is limited.Therefore, by periodically changing 202 electric current side of coil
To realization flapping wing 30,40 is back and forth flapped.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (7)
1. a kind of flapping wing mechanism of electromagnetic drive in conjunction with rope drive, which is characterized in that including rope transmission mechanism, electromagnetic drive machine
Structure and a pair of of flapping wing, wherein
The rope transmission mechanism include rack, the central axis two sides for being symmetrically disposed on the rack the first rocker arm and second shake
Arm, the vertical bar being set in the rectangular channel of the rack, be set on first rocker arm and the second rocker arm it is described for constraining
The crossbeam of the horizontal displacement of first rocker arm and the second rocker arm and three cords, the vertical bar can be past in the rectangular channel of the rack
It is multiple to move, it is provided with first positioning hole and second location hole on the vertical bar, is set respectively on first rocker arm and the second rocker arm
It is equipped with the first mounting hole, the second mounting hole, third mounting hole and the 4th mounting hole；
The electromagnetic drive mechanism includes pedestal, coil, spring, the magnetic being arranged on the central axis of the pedestal from left to right
Iron and sliding block, the bottom end of the vertical bar are fixedly connected with the sliding block；
The pair of flapping wing respectively includes a girder, three auxiliary beams and ala, one end of a girder with described three
One end of auxiliary beam is connected, and the other end of a girder is respectively arranged in the 4th mounting hole of first rocker arm and described
In 4th mounting hole of the second rocker arm, three auxiliary beams are pasted on the ala per between adjacent two in 15 ° -20 °.
2. a kind of flapping wing mechanism of the electromagnetic drive according to claim 1 in conjunction with rope drive, which is characterized in that the machine
Frame is bilateral symmetry, is symmetrically provided with the first threaded hole and the second threaded hole, and the bottom end of first rocker arm is installed on
In first threaded hole, the bottom end of second rocker arm is installed in second threaded hole, first rocker arm and second
Rocker arm can rotate horizontally.
3. a kind of flapping wing mechanism of the electromagnetic drive according to claim 1 or 2 in conjunction with rope drive, which is characterized in that institute
State crossbeam both ends pass through respectively first rocker arm the first mounting hole and second rocker arm the first mounting hole with it is described
First rocker arm and second rocker arm are fixed.
4. a kind of flapping wing mechanism of the electromagnetic drive according to claim 1 or 2 in conjunction with rope drive, which is characterized in that institute
Stating three cords includes the first transmission rope, the second transmission rope and limit rope, wherein first transmission rope connects the vertical bar
The third mounting hole of first positioning hole and first rocker arm, second transmission rope connect the vertical bar second location hole and
The third mounting hole of second rocker arm, the limit rope connect the second mounting hole and second rocker arm of first rocker arm
The second mounting hole.
5. a kind of flapping wing mechanism of the electromagnetic drive according to claim 1 or 2 in conjunction with rope drive, which is characterized in that institute
State the sliding rail being provided on the central axis of pedestal for enabling the magnet and the sliding block linear slide, the sliding block riveting
Nail is connected in the sliding rail, and the stroke of the sliding block is 20mm-22mm.
6. flapping wing mechanism of a kind of electromagnetic drive described in one of -5 in conjunction with rope drive according to claim 1, which is characterized in that
A piece girder and three auxiliary beams are made of carbon fiber bar, and the ala is polyethylene film.
7. flapping wing mechanism of a kind of electromagnetic drive described in one of -5 in conjunction with rope drive according to claim 1, which is characterized in that
The pedestal is integrally formed by resin material or poly-lactic acid material by 3D printing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810921245.6A CN109050912B (en) | 2018-08-14 | 2018-08-14 | Flapping wing mechanism combining electromagnetic drive and rope transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810921245.6A CN109050912B (en) | 2018-08-14 | 2018-08-14 | Flapping wing mechanism combining electromagnetic drive and rope transmission |
Publications (2)
| Publication Number | Publication Date |
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| CN109050912A true CN109050912A (en) | 2018-12-21 |
| CN109050912B CN109050912B (en) | 2021-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810921245.6A Active CN109050912B (en) | 2018-08-14 | 2018-08-14 | Flapping wing mechanism combining electromagnetic drive and rope transmission |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111994266A (en) * | 2020-09-02 | 2020-11-27 | 广西大学 | Folding wing ornithopter |
| CN112124581A (en) * | 2020-09-03 | 2020-12-25 | 哈尔滨工业大学（深圳） | Flight control device and aircraft |
| CN113665808A (en) * | 2021-09-22 | 2021-11-19 | 北京航空航天大学 | Miniature flapping wing aircraft flapping mechanism based on linear transmission mechanism |
| CN116443248A (en) * | 2023-06-09 | 2023-07-18 | 上海海事大学 | Insect-imitating flapping wing mechanism based on folding-opening mechanism and flapping wing machine |
| CN116853547A (en) * | 2023-07-21 | 2023-10-10 | 北京科技大学 | Miniature ornithopter based on double rudder turns to |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113665808A (en) * | 2021-09-22 | 2021-11-19 | 北京航空航天大学 | Miniature flapping wing aircraft flapping mechanism based on linear transmission mechanism |
| CN113665808B (en) * | 2021-09-22 | 2024-05-03 | 北京航空航天大学 | Miniature flapping mechanism of flapping wing air vehicle based on line transmission mechanism |
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| CN116443248B (en) * | 2023-06-09 | 2023-09-26 | 上海海事大学 | Insect-imitating flapping wing mechanism based on folding-opening mechanism and flapping wing machine |
| CN116853547A (en) * | 2023-07-21 | 2023-10-10 | 北京科技大学 | Miniature ornithopter based on double rudder turns to |
| CN116853547B (en) * | 2023-07-21 | 2024-04-05 | 北京科技大学 | Miniature ornithopter based on double rudder turns to |
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