CN103612755A - Bionic flapping-wing machine with double-section main wings - Google Patents
Bionic flapping-wing machine with double-section main wings Download PDFInfo
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Abstract
The invention discloses a bionic flapping-wing machine with double-section main wings. The bionic flapping-wing machine comprises a driving mechanism, a main bracket, a tail-wing mechanism, a double-section flapping-wing mechanism and two steering machines, wherein the driving mechanism is connected with the front end of the main bracket; the tail-wing mechanism is connected with the rear end of the main bracket; the double-section flapping-wing mechanism is connected to the driving mechanism; the two steering machines are arranged on the main bracket. The bionic flapping-wing machine disclosed by the invention has the following beneficial effects that the structure is simple and compact, the flapping-wing movement with complete symmetry can be realized, the flapping-wing machine can fly like a bird by adopting the double-section flapping-wing mechanism, due to the foldable wings, the resistance of the wings can be small in upwards flapping and the wingspan area can be the largest in downwards flapping, so that large lifting force is generated, and the flying speed and the hang time are increased. In addition, a spherical pair is adopted for connection with the tail-wing mechanism, the direction control of the flapping-wing machine is sensitive and the flapping-wing machine can imitate the flying of the bird. Furthermore, the bionic flapping-wing machine can be applied to the fields of bird repelling of an airport, monitoring, intelligence gathering, disaster rescuing and searching and the like.
Description
Technical field
The invention belongs to vehicle technology field, particularly relate to a kind of binodal main wing Bionic ornithopter.
Background technology
Bionic ornithopter is a kind of new ideas aircraft that can imitate birds or insect flying.Compare with rotor craft with traditional fixed-wing, Bionic ornithopter combines in a sized flap wings system by lifting, hovering and propulsion functions, has compact conformation, a feature such as pneumatic efficiency is high and maneuvering performance is good.In view of Bionic ornithopter has very big advantage in military and civilian, therefore the development of this device has become new focus.
At present, there is following problem in existing Bionic ornithopter: 1. on it, driver train adopts single crank double rocker mechanism, because wing motion in left and right has asymmetry, thereby do not cause fuselage horizontal force not etc., stability and the safety of result impact flight.2. wing can only be realized simply up and down and fluttering, and above flutters wing drag on opportunity large, causes the net lift that wing produces in a flutter cycle less, and the flapping-wing aircraft hang time is short and flying speed is low.3. the mode of controlling employing steering wheel control yaw rudder that turns to of flapping-wing aircraft realizes, underaction, and function singleness.
Summary of the invention
In order to address the above problem, the object of the present invention is to provide a kind of binodal main wing Bionic ornithopter simple and compact for structure.
In order to achieve the above object, binodal main wing Bionic ornithopter provided by the invention comprises driver train, main support, empennage mechanism, binodal flapping wing mechanism and two steering wheels; Wherein driver train is connected to the positive front end of main support, and empennage mechanism is connected to the positive rear end of main support, and binodal flapping wing mechanism is connected on driver train; Two steering wheels are arranged on main support;
Described driver train comprises quadrangle body, DC micromotor, gear reduction and two connecting rods; Wherein quadrangle body is vertical axis symmetrical structure, on its four drift angles, be formed with respectively left upper port, hole, Kong He bottom right, Kong, lower-left, upper right, vertical centering control axis middle part and bottom are formed with respectively central axis hole and motor mounting hole, and motor mounting hole and hole, Kong Ji bottom right, lower-left are positioned on same level line, central axis hole upper right side is formed with a mounting hole simultaneously; DC micromotor is fixed on quadrangle body by motor mounting hole, and its output shaft is positioned at the place ahead of quadrangle body, and output shaft outer cover is connected to driven wheel; Gear reduction comprises the first reducing gear, the second reducing gear, right side gear and left side gear; Wherein the first reducing gear is arranged on the place ahead of quadrangle body by the rotating shaft being arranged in mounting hole, and is meshed with the driven wheel on motor output shaft; The second reducing gear is to be arranged on the place ahead of the first reducing gear with the coaxial mode of the first reducing gear; Right side gear is arranged on the right front of quadrangle body by the rotating shaft being arranged in hole, bottom right, and is meshed with the second reducing gear; Left side gear is arranged on the left front of quadrangle body by being arranged on rotating shaft in hole, lower-left, and be meshed with right side gear, left side gear and right side gear are symmetrical with respect to quadrangle body, in the symmetric position of left side gear and right side gear, be respectively provided with two eccentric hinging supporting shafts, the two ends of two connecting rods are connected on two hinging supporting shafts on same gear front end face simultaneously;
Described binodal flapping wing mechanism consists of the left and right binodal flapping wing of full symmetric, and each binodal flapping wing comprises the first parallel rod, the second parallel rod, the first strut bar, the second strut bar and fork; Wherein one end standoff distance of the first parallel rod and the second parallel rod is hinged on the outer end, one end of a connecting rod on driver train, is hinged on left upper port or the upper right Kong Chu of quadrangle body on the first parallel rod apart from above-mentioned hinge-point 1/4 length of connecting rod position by bearing pin simultaneously; One end of the first strut bar is hinged on the other end of the first parallel rod, and the other end is hinged on the outer end of the second parallel rod; One end of the second strut bar is hinged on the first parallel rod and the first strut bar hinged place and forms combined hinge, and the other end of the other end of the second strut bar and the second parallel rod is hinged on fork the place of hinge hole up and down with one end simultaneously;
The front end of described main support is fixed on quadrangle body in central axis hole, rear end is connected on empennage mechanism by spherical pair, on main support, be provided with for the support of steering wheel is set, the left and right sides of support is symmetrically installed with two steering wheels, and two steering wheels are connected to position, empennage rack inner wall upside left and right on empennage mechanism by the connecting rod being connected with its output respectively simultaneously.
Described left side gear and right side gear have the identical number of teeth, are therefore synchronizer gear.
The length of the second described parallel rod is greater than the length of the first parallel rod, and the total length of the first parallel rod and the second strut bar is greater than the length of the second parallel rod.
The distance that arranges on connecting rod equates the length of the first described strut bar with the first parallel rod and the second parallel rod, therefore by the first parallel rod, the second parallel rod, the first strut bar and connecting rod, forms parallel-crank mechanism; And form quadrangular mechanism by the first strut bar, the second strut bar, the second parallel rod and fork.
Binodal main wing Bionic ornithopter provided by the invention has following beneficial effect: simple and compact for structure, can realize the flapping wing motion of full symmetric, adopt binodal flapping wing mechanism can make the more flight as bird of flapping-wing aircraft, when folding wing can make to flutter on wing, resistance is less, under while flutterring span area maximum, thereby produce larger lift, increase flying speed and hang time.In addition, adopt spherical pair to connect empennage mechanism and can make the control of flapping-wing aircraft direction sensitiveer, more can imitate the flight of birds.In addition, this binodal main wing Bionic ornithopter can be applicable to the fields such as airport bird scaring, monitoring, information gathering, disaster relief search and rescue.
Accompanying drawing explanation
Fig. 1 is binodal main wing Bionic ornithopter overall structure schematic diagram provided by the invention;
Fig. 2 is driver train and binodal flapping wing mechanism structural representation on the binodal main wing Bionic ornithopter shown in Fig. 1;
Fig. 3 is binodal main wing Bionic ornithopter overall structure schematic diagram provided by the invention while observing from the back side;
Fig. 4 is A position partial enlarged drawing in Fig. 3;
Fig. 5 is quadrangle body Facad structure schematic diagram on the binodal main wing Bionic ornithopter shown in Fig. 1;
Fig. 6 is main support and quadrangle body and empennage mechanism connection diagram on the binodal main wing Bionic ornithopter shown in Fig. 1.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, binodal main wing Bionic ornithopter provided by the invention is elaborated.
As shown in Fig. 1-Fig. 6, binodal main wing Bionic ornithopter provided by the invention comprises driver train 1, main support 2, empennage mechanism 3, binodal flapping wing mechanism 4 and two steering wheels 308; Wherein driver train 1 is connected to the positive front end of main support 2, and empennage mechanism 3 is connected to the positive rear end of main support 2, and binodal flapping wing mechanism 4 is connected on driver train 1; Two 308 of steering wheels are arranged on main support 2;
Described driver train 1 comprises quadrangle body 5, DC micromotor 119, gear reduction and two connecting rods 104; Wherein quadrangle body 5 is vertical axis symmetrical structure, on its four drift angles, be formed with respectively left upper port 204, hole, 205He bottom right, hole, 201, lower-left, hole, upper right 207, vertical centering control axis middle part and bottom are formed with respectively central axis hole 203 and motor mounting hole 206, and motor mounting hole 206 and hole, 205Ji bottom right, hole, lower-left 207 are positioned on same level line, central axis hole 203 upper right sides are formed with a mounting hole 202 simultaneously; DC micromotor 119 is fixed on quadrangle body 5 by motor mounting hole 206, and its output shaft is positioned at the place ahead of quadrangle body 5, and output shaft outer cover is connected to driven wheel; Gear reduction comprises the first reducing gear 102, the second reducing gear 101, right side gear 118 and left side gear 103; Wherein the first reducing gear 102 is arranged on the place ahead of quadrangle body 5 by the rotating shaft being arranged in mounting hole 202, and is meshed with the driven wheel on motor output shaft; The second reducing gear 101 is to be arranged on the place ahead of the first reducing gear 102 with the coaxial mode of the first reducing gear 102; Right side gear 118 is arranged on the right front of quadrangle body 5 by the rotating shaft being arranged in hole, bottom right 207, and is meshed with the second reducing gear 101; Left side gear 103 is arranged on the left front of quadrangle body 5 by being arranged on rotating shaft in hole, lower-left 205, and be meshed with right side gear 118, left side gear 103 and right side gear 118 are symmetrical with respect to quadrangle body 5, in the symmetric position of left side gear 103 and right side gear 118, be respectively provided with two eccentric hinging supporting shafts, the two ends of two connecting rods 104 are connected on two hinging supporting shafts on same gear front end face simultaneously;
Described binodal flapping wing mechanism 4 consists of the left and right binodal flapping wing of full symmetric, and each binodal flapping wing comprises the first parallel rod 109, the second parallel rod 105, the first strut bar 106, the second strut bar 108 and fork 107; Wherein one end standoff distance of the first parallel rod 109 and the second parallel rod 105 is hinged on the outer end, one end of a connecting rod 104 on driver train 1, is hinged on left upper port 204 or 201 places, hole, upper right of quadrangle body 5 on the first parallel rod 109 apart from above-mentioned hinge-point 1/4 length of connecting rod position by bearing pin 110 simultaneously; One end of the first strut bar 106 is hinged on the other end of the first parallel rod 109, and the other end is hinged on the outer end of the second parallel rod 105; One end of the second strut bar 108 is hinged on the first parallel rod 109 and the first strut bar 106 hinged places and forms combined hinge, and the other end of the other end of the second strut bar 108 and the second parallel rod 105 is hinged on fork 107 place of hinge hole up and down with one end simultaneously;
The front end of described main support 2 is fixed on quadrangle body 5 in central axis hole 203, rear end is connected on empennage mechanism 3 by spherical pair 303, on main support 2, be provided with for the support 302 of steering wheel 308 is set, the left and right sides of support 302 is symmetrically installed with two steering wheels 308, and two steering wheels 308 are connected to empennage support 304 positions, inwall upside left and right on empennage mechanism 3 by the connecting rod 307 being connected with its output respectively simultaneously.
Described left side gear 103 and right side gear 118 have the identical number of teeth, are therefore synchronizer gear.
The length of the second described parallel rod 105 is greater than the length of the first parallel rod 109, and the total length of the first parallel rod 109 and the second strut bar 108 is greater than the length of the second parallel rod 105.
The distance that arranges on connecting rod 104 equates the length of the first described strut bar 106 with the first parallel rod 109 and the second parallel rod 105, therefore by the first parallel rod 109, the second parallel rod 105, the first strut bar 106 and connecting rod 104, forms parallel-crank mechanism; And form quadrangular mechanism by the first strut bar 106, the second strut bar 108, the second parallel rod 105 and fork 107.
Now binodal main wing Bionic ornithopter principle of work provided by the invention is described below: first DC micromotor 119 switched on power and make its rotation, by the driven wheel on it, drive the first reducing gear 102 to rotate thus, driven wheel and the first reducing gear 102 engagements form primary speed-down gear, meanwhile, second reducing gear 101 coaxial with the first reducing gear 102 will drive right side gear 118 to rotate, the second reducing gear 101 and right side gear 118 engagements form double-reduction gear, and right side gear 118 drives left side gear 103 to rotate again afterwards; Two connecting rods 104 that are arranged on right side gear 118 and the eccentric position of left side gear 103 also will rotate thereupon, drive respectively thus two parallel-crank mechanism motions on binodal flapping wing, thereby make the first parallel rod 109 and the second parallel rod 105 do parallel motion, and drive quadrangular mechanism to move, the final fork 107 that drives is done periodic motion, thereby makes flapping-wing aircraft produce the folding flapping wing motion of full symmetric.In the time of can utilizing the fugitiveness of four edges on the quadrangular mechanism being formed by the first strut bar 106, the second strut bar 108, the second parallel rod 105 and fork 107 to guarantee to move, there is not catching phenomenon.In addition, can realize by two different mode of motion of steering wheel 308 the upper and lower, left and right deflection of empennage mechanism 3, concrete mode is: when two of left and right steering wheel 308 moves entirely backward, under empennage, partially, flapping-wing aircraft down flies; When left and right steering wheel 308 moves forward entirely, on empennage, partially, flapping-wing aircraft up flies; When left side steering wheel 308 moves that simultaneously right side steering wheel 308 moves forward backward, empennage right avertence, flapping-wing aircraft is toward right steering; When left side steering wheel 308 moves that simultaneously right side steering wheel 308 moves backward forward, empennage left avertence, flapping-wing aircraft is toward left steering.In addition, the work material of whole flapping-wing aircraft is except aerofoil adopts mylar, and all the other materials can adopt ABS plastic and carbon fiber, and portability is recorded the audio frequency apparatus of bird of prey sound, for airport bird scaring, also can carry minisize pick-up head and carry out investigations and the work such as monitor.
Claims (4)
1. a binodal main wing Bionic ornithopter, is characterized in that: it comprises driver train (1), main support (2), empennage mechanism (3), binodal flapping wing mechanism (4) and two steering wheels (308); Wherein driver train (1) is connected to the positive front end of main support (2), and empennage mechanism (3) is connected to the positive rear end of main support (2), and binodal flapping wing mechanism (4) is connected on driver train (1); Two steering wheels (308) are arranged on main support (2);
Described driver train (1) comprises quadrangle body (5), DC micromotor (119), gear reduction and two connecting rods (104); Wherein quadrangle body (5) is vertical axis symmetrical structure, on its four drift angles, be formed with respectively left upper port (204), hole, upper right (201), hole, lower-left (205) and hole, bottom right (207), vertical centering control axis middle part and bottom are formed with respectively central axis hole (203) and motor mounting hole (206), and motor mounting hole (206) and hole, lower-left (205) and hole, bottom right (207) are positioned on same level line, central axis hole (203) upper right side is formed with a mounting hole (202) simultaneously; It is upper that DC micromotor (119) is fixed on quadrangle body (5) by motor mounting hole (206), and its output shaft is positioned at the place ahead of quadrangle body (5), and output shaft outer cover is connected to driven wheel; Gear reduction comprises the first reducing gear (102), the second reducing gear (101), right side gear (118) and left side gear (103); Wherein the first reducing gear (102) is arranged on the place ahead of quadrangle body (5) by the rotating shaft being arranged in mounting hole (202), and is meshed with the driven wheel on motor output shaft; The second reducing gear (101) is to be arranged on the place aheads of the first reducing gear (102) with the coaxial mode of the first reducing gear (102); Right side gear (118) is arranged on the right front of quadrangle body (5) by the rotating shaft being arranged in hole, bottom right (207), and is meshed with the second reducing gear (101); Left side gear (103) is arranged on the left front of quadrangle body (5) by being arranged on the interior rotating shaft in hole, lower-left (205), and be meshed with right side gear (118), left side gear (103) and right side gear (118) are symmetrical with respect to quadrangle body (5), in the symmetric position of left side gear (103) and right side gear (118), be respectively provided with two eccentric hinging supporting shafts, the two ends of two connecting rods (104) are connected on two hinging supporting shafts on same gear front end face simultaneously;
Described binodal flapping wing mechanism (4) consists of the left and right binodal flapping wing of full symmetric, and each binodal flapping wing comprises the first parallel rod (109), the second parallel rod (105), the first strut bar (106), the second strut bar (108) and fork (107); Wherein one end standoff distance of the first parallel rod (109) and the second parallel rod (105) is hinged on the outer end, one end of the upper connecting rod of driver train (1) (104), and upper left upper port (204) or hole, upper right (201) that are hinged on quadrangle body (5) by bearing pin (110) apart from above-mentioned hinge-point 1/4 length of connecting rod position of the first parallel rod (109) are located simultaneously; One end of the first strut bar (106) is hinged on the other end of the first parallel rod (109), and the other end is hinged on the outer end of the second parallel rod (105); One end of the second strut bar (108) is hinged on the first parallel rod (109) and forms combined hinge with the first strut bar (106) hinged place, and the other end of the other end of the second strut bar (108) and the second parallel rod (105) is hinged on the upper place of hinge hole up and down with one end of fork (107) simultaneously;
The front end of described main support (2) is fixed in the upper central axis hole (203) of quadrangle body (5), rear end is connected on empennage mechanism (3) by spherical pair (303), support (302) for steering wheel (308) are set is installed on main support (2), the left and right sides of support (302) is symmetrically installed with two steering wheels (308), and two steering wheels (308) are connected to position, upper empennage support (304) the inwall upside left and right of empennage mechanism (3) by the connecting rod (307) being connected with its output respectively simultaneously.
2. binodal main wing Bionic ornithopter according to claim 1, is characterized in that: described left side gear (103) and right side gear (118) have the identical number of teeth, is therefore synchronizer gear.
3. binodal main wing Bionic ornithopter according to claim 1, it is characterized in that: the length of described the second parallel rod (105) is greater than the length of the first parallel rod (109), the total length of the first parallel rod (109) and the second strut bar (108) is greater than the length of the second parallel rod (105).
4. binodal main wing Bionic ornithopter according to claim 1, it is characterized in that: the distance that arranges on connecting rod (104) equates the length of described the first strut bar (106) with the first parallel rod (109) and the second parallel rod (105), therefore by the first parallel rod (109), the second parallel rod (105), the first strut bar (106) and connecting rod (104), forms parallel-crank mechanism; And form quadrangular mechanism by the first strut bar (106), the second strut bar (108), the second parallel rod (105) and fork (107).
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| CN201310586931.XA CN103612755B (en) | 2013-11-20 | 2013-11-20 | A kind of binodal main wing Bionic ornithopter |
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| CN104477386A (en) * | 2014-12-15 | 2015-04-01 | 佛山市神风航空科技有限公司 | Single-engine, double-rocking-lever and flat-flapping flapping-wing aircraft |
| CN105015777A (en) * | 2015-08-10 | 2015-11-04 | 吴锜 | Ornithopter device of mirror symmetry type double-four-bar-linkage structure |
| CN105151280A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Aircraft empennage regulation mechanism with pitching and yawing completely decoupled |
| CN106043692A (en) * | 2016-06-08 | 2016-10-26 | 中国民航大学 | Multi-freedom degree bird-like flapping wing air vehicle |
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| CN106926272A (en) * | 2017-02-27 | 2017-07-07 | 哈尔滨工业大学深圳研究生院 | A kind of flying bird robot empennage governor motion |
| CN106927041A (en) * | 2017-04-21 | 2017-07-07 | 吉林大学 | A kind of multiple degrees of freedom flapping-wing modal with propulsive efficiency high |
| CN107050883A (en) * | 2016-11-17 | 2017-08-18 | 广东技术师范学院 | A kind of high-efficiency flapping wing device |
| CN107080957A (en) * | 2016-02-15 | 2017-08-22 | 智高实业股份有限公司 | Flutter its wings up and down flying toy |
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| CN107080957A (en) * | 2016-02-15 | 2017-08-22 | 智高实业股份有限公司 | Flutter its wings up and down flying toy |
| CN106043692A (en) * | 2016-06-08 | 2016-10-26 | 中国民航大学 | Multi-freedom degree bird-like flapping wing air vehicle |
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| CN107050883A (en) * | 2016-11-17 | 2017-08-18 | 广东技术师范学院 | A kind of high-efficiency flapping wing device |
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