CN102826222B - Flapping wing structure imitating insect aircraft - Google Patents
Flapping wing structure imitating insect aircraft Download PDFInfo
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- CN102826222B CN102826222B CN201210316492.6A CN201210316492A CN102826222B CN 102826222 B CN102826222 B CN 102826222B CN 201210316492 A CN201210316492 A CN 201210316492A CN 102826222 B CN102826222 B CN 102826222B
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- wing
- wing bar
- slide block
- slider
- rod
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Abstract
The invention discloses a flapping wing structure imitating an insect aircraft. The flapping wing structure comprises an engine body, a plane 8-shaped track generation mechanism, wing rods and a connecting joint, wherein the plane 8-shaped track generation mechanism is formed by combining a crank-slider mechanism and a crank-rocker mechanism, and a sliding pair is formed by a slider (7) in the crank and rocker mechanism and a swinging rail (6) in the crank-rocker mechanism through a guide rod (8); the wing rods comprise an inner wind rod (19) and an outer wing rod (20), and a sliding pair is formed by the inner wing rod (19) and an outer wing rod (20); the inner wing rod (19) is connected with the slider (7) through a universal joint (21), and one end of the universal joint (21) is fixedly connected to the slider (7), while the other end is fixedly connected to the inner wing rod (19); and a sliding pair is formed by the outer wing rod (20) and the connecting joint. By adopting the mechanism, 8-shaped tracks can be drawn out on wing tips, and a 8-shaped axis is not changed relative to the position of the engine body during changing the parameters of a gear, a connecting rod or a mounting initial angle and the like.
Description
Technical field
The present invention relates to the driver train of flapping wing aircraft, particularly relate to a kind of flapping wing mechanism of imitative insect flying device.
Background technology
Existing aircraft can be divided into Fixed Wing AirVehicle, rotor craft and flapping wing aircraft.Flapping wing aircraft imitates birds or insect, adopts the aircraft of flapping flight pattern.Flapping wing aircraft provides lift and thrust by means of only a pair wing simultaneously, has the features such as compact conformation, pneumatic efficiency is high, manoevreability is good.Different from Fixed Wing AirVehicle and rotor craft, flapping wing aircraft cannot be explained with traditional steady-state air kinetic theory, and the current Aerodynamics for low reynolds number, Unsteady Flow is also in the middle of development.The constructional feature of flapping wing aircraft uniqueness and mode of motion ensure that it has the necessary condition of higher pneumatic efficiency.
During the flight of occurring in nature flying creature, the motion of wing is extremely complicated, and the motion of this complexity makes it take full advantage of aerodynamic effects.The insect such as hummingbird and honeybee has hovering, inverted flight, the anxious flight performance such as to stop, this has benefited from the special mode of motion of its wing, the wing of these flying creature not only has reciprocal fluttering, also be combined with swing and the torsion of aerofoil, the result of compound motion makes its wing tip running orbit form one close to the horizontal figure of eight.This figure of eight path of motion makes aerofoil can produce positive lift in each position of motion of fluttering.Current flapping wing aircraft can only realize fluttering of aerofoil mostly, only has minority flapping wing aircraft can realize figure of eight wing tip orbiting motion.
The few of 8-shaped flapping wing track can be realized in existing driving mechanism for flapping wing, in the driving mechanism for flapping wing of existing figure of eight track, some can obtain different 8-shaped tracks by change accessory size or initial mounting state, but the diad that 8-shaped passes two circles also larger variation occurs thereupon relative to the position of body.This makes each conversion all must readjust the relative position of driving mechanism for flapping wing and aircraft body.Also have some figure of eight driving mechanism for flapping wings cannot realize effective torsion of aerofoil, and need complicated motion amplification mechanism and larger motion space, be unfavorable for the microminiaturization of aircraft.
Summary of the invention
The object of the invention is to the shortcoming and defect overcoming above-mentioned prior art, the flapping wing mechanism of the imitative insect flying device providing a kind of structure simple, compact, this mechanism can realize the compound flapping motion that wing tip track is the figure of eight, the active twist of aerofoil can be realized, and when changing 8-shaped track by change part or change initial mounting state, through the diad of two circles, 8-shaped remains that relative body is constant.
The present invention is achieved through the following technical solutions:
A kind of flapping wing mechanism of imitative insect flying device, comprise body, plane 8-shaped Track Pick-up mechanism, wing bar and connecting joint, described body is made up of first member plate, right end plate and abutment sleeve, described plane 8-shaped Track Pick-up mechanism is made up of slider-crank mechanism and quadric linkage, described slider-crank mechanism comprises driving gear, waling stripe and slide block, and described quadric linkage comprises driven gear, vertically connecting rod and pendulum rail;
The center of rotation of described driving gear, driven gear, pendulum rail is fixed on body; Slide block in slider-crank mechanism forms sliding pair by the pendulum rail in guide rod and quadric linkage; One end and the driving gear of waling stripe are hinged, the other end and slide block hinged; One end and the driven gear of vertical connecting rod are hinged, and the other end forms sliding pair with pendulum rail; Wing bar comprises interior wing bar and outer wing bar, and interior wing bar and outer wing bar form sliding pair, and interior wing bar is connected with slide block by universal-joint; Universal-joint one end is fixed on slide block, and the other end is fixed on interior wing bar; Outer wing bar and connecting joint form revolute pair.
Described driving gear and driven gear are directly by gears meshing, and its transmitting ratio is 1:1.
Connecting joint is made up of rotor and pendular body, and rotor is connected with revolute pair with body, and rotor is connected with revolute pair with pendular body, and pendular body is also connected with revolute pair with one end of outer wing bar.
The center of driving gear and the center of pendulum rail, in the same horizontal line.
The present invention has the following advantages compared with prior art:
(1) provide Power output by a motor, form the front-rear reciprocation movement of slide block and swing up and down, the synthesis of two kinds of motions defines the figure of eight path of motion of slide block, and mechanism is compact, and reliability is high.
(2) slide block both sides are connected with wing bar by universal-joint, guarantee the translation of slide block and rotate and can pass to wing bar, realizing swing and the active twist of wing bar simultaneously.
(3) interior wing bar and outer wing bar form sliding pair, and are common swing pivot with connecting joint, eliminate the axial motion that interior wing bar is unnecessary, are exaggerated swing before and after interior wing bar He upper and lower.
(4) technical measure is simple and easy to do, has positive technique effect.
Accompanying drawing explanation
Fig. 1 is plane 8-shaped Track Pick-up mechanism principle figure of the present invention;
Fig. 2 is integral structure schematic diagram of the present invention;
Fig. 3 is the local structure schematic diagram of first member plate one side of the present invention;
Fig. 4 is the local structure schematic diagram of connecting joint part of the present invention;
Fig. 5 is the active twist schematic diagram that flapping wing of the present invention produces at 8-shaped track diverse location.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is more specifically described in detail.
Embodiment
As shown in figures 1-4, the present invention imitates the flapping wing mechanism of insect flying device, comprise body, plane 8-shaped Track Pick-up mechanism, wing bar and connecting joint, described body is made up of first member plate 1, right end plate 2 and abutment sleeve 3, described plane 8-shaped Track Pick-up mechanism is made up of slider-crank mechanism and quadric linkage, described slider-crank mechanism comprises driving gear 4, waling stripe 9 and slide block 7, and described quadric linkage comprises driven gear 5, vertically connecting rod 10 and pendulum rail 6;
The center of rotation of described driving gear 4, driven gear 5, pendulum rail 6 is fixed on body; Slide block 7 in slider-crank mechanism forms sliding pair by guide rod 8 and the pendulum rail 6 in quadric linkage; One end and the driving gear 4 of waling stripe 9 are hinged, the other end and slide block 7 hinged; One end and the driven gear 5 of vertical connecting rod 10 are hinged, and the other end forms sliding pair with pendulum rail 6; Wing bar comprises interior wing bar 19 and outer wing bar 20, and interior wing bar 19 and outer wing bar 20 form sliding pair, and interior wing bar 19 is connected with slide block 7 by universal-joint 21; Universal-joint 21 one end is fixed on slide block 7, and the other end is fixed on interior wing bar 19; Outer wing bar 20 forms revolute pair with connecting joint.
Driving gear 4 and driven gear 5 are directly by gears meshing, and its transmitting ratio is 1:1.Under initial condition, the center of driving gear 4 and the center of pendulum rail 6 are on same level line, and according to the difference of required track, driving gear 4 and pendulum rail 6 can form an angle with horizon shape in an initial condition respectively.
Connecting joint is made up of rotor 22 and pendular body 23, and rotor 22 is connected with revolute pair with body, and rotor 22 is connected with revolute pair with pendular body 23, and pendular body is also connected with revolute pair with one end of outer wing bar 20.
Above-mentioned slider-crank mechanism, can adopt centric slider-crank mechanism, also suitably can be biased by crank according to theory of machines; Quadric linkage can be to heart quadric linkage, also suitably can be biased by crank according to theory of machines.
The flapping wing mechanism of above-mentioned imitative insect flying device, slide block 7 can draw horizontal 8-shaped track as shown in Figure 5 in the plane.The wing tip 8-shaped track of slide block 7 being delivered to flapping wing needs by interior wing bar 19, outer wing bar 20 and connecting joint.
When this flapping wing mechanism is arranged on flapping wing aircraft, motor 24 is fixed on body also can drive driving gear, aerofoil and aerofoil covering and outer wing bar 20 affixed, the body of flapping wing mechanism should be affixed with the body of aircraft, when driving driving gear with motor, wing tip can draw 8-shaped track.The mechanism of this embodiment is simple, and compact conformation, is conducive to the lightweight of mechanism, micro-miniaturisation.
The concrete motion process of the present invention is described further, and the motor 24 be fixed on body drives driving gear 4 to rotate, and then drives waling stripe 9 to promote slide block 7 and move reciprocatingly; Driven gear 5 is driven by driving gear 4, driven gear 5 is installed with vertical connecting rod 10, and vertical connecting rod 10 other end is hinged with the end of pendulum rail 6, and centre of gration and body bottom pendulum rail 6 are hinged, and slide block 7 can with putting rail 6 with its center of turn for axle swings up and down.The crank motion of slide block 7 synthesizes horizontal figure of eight orbiting motion with swinging up and down.One end of interior wing bar 19 is connected by universal-joint 21 with between slide block 7, and the other end is through the inside of the deep outer wing bar 20 of connecting joint, and form sliding pair with outer wing bar 20, outer wing bar 20 and connecting joint are connected with revolute pair and install aerofoil covering.The figure of eight of slide block 7 moves through interior wing bar 19 and outer wing bar 20 amplifies, the final horizontal figure of eight path of motion forming the wing tip of flapping wing.Meanwhile, the rotation produced when interior wing bar 19 moves with slide block 7 also synchronously passes to outer wing bar 20, thus realizes the torsion of aerofoil.It is similar that the wing of this active twist rule and flapping wing biology reverses rule.
As mentioned above, just the present invention can be realized preferably.
Above-described embodiment is only the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; other are any do not deviate from Spirit Essence of the present invention and principle under do change, modification, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (3)
1. the flapping wing mechanism of an imitative insect flying device, comprise body, plane 8-shaped Track Pick-up mechanism, wing bar and connecting joint, it is characterized in that: described body is made up of first member plate (1), right end plate (2) and abutment sleeve (3), described plane 8-shaped Track Pick-up mechanism is made up of slider-crank mechanism and quadric linkage, described slider-crank mechanism comprises driving gear (4), waling stripe (9) and slide block (7), and described quadric linkage comprises driven gear (5), vertically connecting rod (10) and pendulum rail (6);
The center of rotation of described driving gear (4), driven gear (5), pendulum rail (6) is fixed on body; Slide block (7) in slider-crank mechanism is hinged with the pendulum rail (6) in quadric linkage by guide rod (8); One end and the driving gear (4) of waling stripe (9) are hinged, the other end and slide block (7) hinged, slide block (7) with pendulum rail (6) with its center of turn for axle swings up and down; One end and the driven gear (5) of vertical connecting rod (10) are hinged, and the other end is hinged with the end of pendulum rail (6); Wing bar comprises interior wing bar (19) and outer wing bar (20), interior wing bar (19) and outer wing bar (20) form sliding pair, and interior wing bar (19) is connected with slide block (7) by universal-joint (21); Universal-joint (21) one end is fixed on slide block (7), and the other end is fixed on interior wing bar (19);
Outer wing bar (20) and connecting joint form revolute pair; Connecting joint is made up of rotor (22) and pendular body (23), rotor (22) is connected with revolute pair with body, rotor (22) is connected with revolute pair with pendular body (23), and pendular body is also connected with revolute pair with one end of outer wing bar (20).
2. according to the flapping wing mechanism of imitative insect flying device according to claim 1, it is characterized in that: driving gear (4) and driven gear (5) are directly by gears meshing, and its transmitting ratio is 1:1.
3. according to the flapping wing mechanism of a kind of imitative insect flying device according to claim 2, it is characterized in that: the center of driving gear (4) and the center of pendulum rail (6), in the same horizontal line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210316492.6A CN102826222B (en) | 2012-08-30 | 2012-08-30 | Flapping wing structure imitating insect aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210316492.6A CN102826222B (en) | 2012-08-30 | 2012-08-30 | Flapping wing structure imitating insect aircraft |
Publications (2)
| Publication Number | Publication Date |
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| CN102826222A CN102826222A (en) | 2012-12-19 |
| CN102826222B true CN102826222B (en) | 2015-03-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210316492.6A Expired - Fee Related CN102826222B (en) | 2012-08-30 | 2012-08-30 | Flapping wing structure imitating insect aircraft |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104859856A (en) * | 2015-06-09 | 2015-08-26 | 李维农 | Scheme for improving flapping intensity of flapping-wing aircrafts |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105329443B (en) * | 2015-11-20 | 2017-05-31 | 武汉科技大学 | One kind flutter twisted coupling motion flapping wing aircraft |
| CN106828922B (en) * | 2017-02-27 | 2019-04-26 | 北京航空航天大学 | A kind of position control mechanism that imitative insect wing is flapped |
| CN107963212A (en) * | 2017-12-06 | 2018-04-27 | 佛山市神风航空科技有限公司 | A kind of box flapping wing aircraft |
| CN108275270B (en) * | 2018-02-09 | 2021-05-07 | 西北工业大学 | Scull type flapping wing control mechanism |
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| CN101492093A (en) * | 2009-03-12 | 2009-07-29 | 北京理工大学 | Flapping rotor wing design method and microminiature flapping rotor wing designed according to the method |
| CN101508343A (en) * | 2008-02-14 | 2009-08-19 | 私立淡江大学 | Bionic micro aircraft with figure-of-eight flapping-wing trail |
| CN202765291U (en) * | 2012-08-30 | 2013-03-06 | 华南理工大学 | Insect aircraft imitating flapping wing mechanism |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR100451984B1 (en) * | 2001-11-16 | 2004-10-08 | 주식회사 뉴로스 | Power-Driven Ornithopter |
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2012
- 2012-08-30 CN CN201210316492.6A patent/CN102826222B/en not_active Expired - Fee Related
Patent Citations (3)
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|---|---|---|---|---|
| CN101508343A (en) * | 2008-02-14 | 2009-08-19 | 私立淡江大学 | Bionic micro aircraft with figure-of-eight flapping-wing trail |
| CN101492093A (en) * | 2009-03-12 | 2009-07-29 | 北京理工大学 | Flapping rotor wing design method and microminiature flapping rotor wing designed according to the method |
| CN202765291U (en) * | 2012-08-30 | 2013-03-06 | 华南理工大学 | Insect aircraft imitating flapping wing mechanism |
Non-Patent Citations (1)
| Title |
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| 陈桂琴,崔钢,李雷.仿鸟扑翼飞行器仿真研究.《电脑编程技巧与维护》.2011,(第10期), * |
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| CN104859856A (en) * | 2015-06-09 | 2015-08-26 | 李维农 | Scheme for improving flapping intensity of flapping-wing aircrafts |
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| CN102826222A (en) | 2012-12-19 |
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Granted publication date: 20150311 Termination date: 20200830 |