CN103612755B - A kind of binodal main wing Bionic ornithopter - Google Patents
A kind of binodal main wing Bionic ornithopter Download PDFInfo
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- CN103612755B CN103612755B CN201310586931.XA CN201310586931A CN103612755B CN 103612755 B CN103612755 B CN 103612755B CN 201310586931 A CN201310586931 A CN 201310586931A CN 103612755 B CN103612755 B CN 103612755B
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Abstract
The invention discloses a kind of binodal main wing Bionic ornithopter.It 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 then arranged on main support.Binodal main wing Bionic ornithopter of the present invention has following beneficial effect: simple and compact for structure, the flapping motion of full symmetric can be realized, adopt binodal flapping wing mechanism can make the flight of flapping-wing aircraft more as bird, when folding wing can make wing is flutterred, resistance is less, under when flutterring span area maximum, thus produce larger lift, increase flying speed and hang time.In addition, adopt spherical pair to connect empennage mechanism and flapping-wing aircraft direction controlling can be made 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.
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 concept aircraft can imitating birds or insect flying.Compare with rotor craft with traditional fixed-wing, lifting, hovering and propulsion functions are combined in a sized flap wings system by Bionic ornithopter, have the features such as the high and maneuvering performance of compact conformation, pneumatic efficiency is good.In view of Bionic ornithopter has great 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 left and right wing motion has asymmetry, thus causes fuselage horizontal force not, the stability of Influence on test result flight and safety.2. wing can only realize simply fluttering up and down, and when above flutterring, wing drag is large, and cause the net lift that wing produces in a flutter cycle less, the flapping-wing aircraft hang time is short and flying speed is low.3. the course changing control of flapping-wing aircraft adopts the mode of servos control yaw rudder to realize, underaction, and function singleness.
Summary of the invention
In order to solve the 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 then arranged on main support;
Described driver train comprises quadrangle body, DC micromotor, gear reduction and two connecting rods; Wherein quadrangle body is vertical axis structure, its four drift angles are formed with left upper port, upper right hole, hole, lower-left and hole, bottom right respectively, in the middle part of vertical centering control axis and bottom is formed with central axis hole and motor mounting hole respectively, and motor mounting hole and hole, lower-left and hole, bottom right 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 front 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 front of quadrangle body by the rotating shaft be arranged in mounting hole, and is meshed with the driven wheel on motor output shaft; Second reducing gear is arranged on the front of the first reducing gear in the mode coaxial with the first reducing gear; Right side gear is arranged on the right front of quadrangle body by the rotating shaft be 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 the rotating shaft be arranged in hole, lower-left, and be meshed with right side gear, left side gear and right side gear symmetrical relative to quadrangle body, the symmetric position of simultaneously left side gear and right side gear is 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;
Described binodal flapping wing mechanism is made up 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, simultaneously on the first parallel rod apart from above-mentioned hinge-point 1/4 length of connecting rod position by hinge at the left upper port of quadrangle body or upper right hole place; One end of 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 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 second strut bar and the other end of the second parallel rod are hinged on the place of hinge hole up and down with one end on fork simultaneously;
The front end of described main support to be fixed on quadrangle body in central axis hole, rear end is connected on empennage mechanism by spherical pair, main support is provided with the support for arranging steering wheel, the left and right sides of support is symmetrically installed with two steering wheels, and simultaneously two steering wheels to be connected on empennage mechanism position, left and right on the upside of empennage rack inner wall respectively by the connecting rod be connected with its output.
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 then greater than the length of the second parallel rod.
The length of the first described strut bar and the first parallel rod and the second parallel rod arrange apart from equal on connecting rod, therefore form parallel-crank mechanism by the first parallel rod, the second parallel rod, the first strut bar and connecting rod; 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, the flapping motion of full symmetric can be realized, adopt binodal flapping wing mechanism can make the flight of flapping-wing aircraft more as bird, when folding wing can make wing is flutterred, resistance is less, under when flutterring span area maximum, thus produce larger lift, increase flying speed and hang time.In addition, adopt spherical pair to connect empennage mechanism and flapping-wing aircraft direction controlling can be made 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 when 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.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, binodal main wing Bionic ornithopter provided by the invention is described in detail.
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 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 structure, its four drift angles are formed with left upper port 204, upper right hole 201, hole, lower-left 205 and hole, bottom right 207 respectively, in the middle part of vertical centering control axis and bottom is formed with central axis hole 203 and motor mounting hole 206 respectively, 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; DC micromotor 119 is fixed on quadrangle body 5 by motor mounting hole 206, and its output shaft is positioned at the front of quadrangle body 5, and output shaft outer cover is connected to driven wheel; Gear reduction comprises the first reducing gear 102, second reducing gear 101, right side gear 118 and left side gear 103; Wherein the first reducing gear 102 is arranged on the front of quadrangle body 5 by the rotating shaft be arranged in mounting hole 202, and is meshed with the driven wheel on motor output shaft; Second reducing gear 101 is arranged on the front of the first reducing gear 102 in the mode coaxial with the first reducing gear 102; Right side gear 118 is arranged on the right front of quadrangle body 5 by the rotating shaft be 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 the rotating shaft be arranged in hole, lower-left 205, and be meshed with right side gear 118, left side gear 103 and right side gear 118 symmetrical relative to quadrangle body 5, the symmetric position of simultaneously left side gear 103 and right side gear 118 is 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;
Described binodal flapping wing mechanism 4 is made up of the left and right binodal flapping wing of full symmetric, and each binodal flapping wing comprises the first parallel rod 109, second parallel rod 105, first strut bar 106, 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, the first parallel rod 109 is hinged on left upper port 204 or upper right hole 201 place of quadrangle body 5 by bearing pin 110 apart from above-mentioned hinge-point 1/4 length of connecting rod position simultaneously; One end of 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 second strut bar 108 is hinged on the first parallel rod 109 and the first strut bar 106 hinged place and forms combined hinge, and the other end of the second strut bar 108 and the other end of the second parallel rod 105 are hinged on the place of hinge hole up and down with one end on fork 107 simultaneously;
The front end of described main support 2 to be fixed on quadrangle body 5 in central axis hole 203, rear end is connected on empennage mechanism 3 by spherical pair 303, main support 2 is provided with the support 302 for arranging steering wheel 308, the left and right sides of support 302 is symmetrically installed with two steering wheels 308, and simultaneously two steering wheels 308 to be connected on empennage mechanism 3 position, left and right on the upside of empennage support 304 inwall respectively by the connecting rod 307 be connected with its output.
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 then greater than the length of the second parallel rod 105.
The length of the first described strut bar 106 and the first parallel rod 109 and the second parallel rod 105 arrange apart from equal on connecting rod 104, therefore form parallel-crank mechanism by the first parallel rod 109, second parallel rod 105, first strut bar 106 and connecting rod 104; And form quadrangular mechanism by the first strut bar 106, second strut bar 108, 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 it rotate, the first reducing gear 102 is driven to rotate by the driven wheel on it thus, driven wheel and the engagement of the first reducing gear 102 form primary speed-down gear, meanwhile, drive right side gear 118 is rotated by second reducing gear 101 coaxial with the first reducing gear 102, second reducing gear 101 and right side gear 118 engage and form double-reduction gear, and right side gear 118 drives left side gear 103 to rotate again afterwards; Two connecting rods 104 be arranged on right side gear 118 and the eccentric position of left side gear 103 also will rotate thereupon, drive the parallel-crank mechanism motion on two binodal flapping wings thus respectively, thus make the first parallel rod 109 and the second parallel rod 105 do parallel motion, and drive quadrangular mechanism to move, resulting belt movable pendulum bar 107 does periodic motion, thus makes flapping-wing aircraft produce the folding flapping motion of full symmetric.Catching phenomenon is there is not when the fugitiveness of four edges on the quadrangular mechanism that is made up of the first strut bar 106, second strut bar 108, second parallel rod 105 and fork 107 can be utilized to ensure motion.In addition, realize the upper and lower, left and right deflection of empennage mechanism 3 by the mode of motion that two steering wheels 308 are different, concrete mode is: when two, left and right steering wheel 308 moves entirely backward, and inclined under empennage, flapping-wing aircraft down flies; When left and right steering wheel 308 moves forward entirely, flapping-wing aircraft up flies on empennage partially; When left side steering wheel 308 moves backward while, right side steering wheel 308 moves forward, empennage right avertence, flapping-wing aircraft is toward right steering; When left side steering wheel 308 moves forward while, right side steering wheel 308 moves backward, 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 can carry the audio frequency apparatus recorded and have bird of prey sound, for airport bird scaring, also can carry minisize pick-up head and carry out investigations and the work such as to 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 then 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 structure, its four drift angles are formed with respectively left upper port (204), upper right hole (201), hole, lower-left (205) and hole, bottom right (207), in the middle part of vertical centering control axis and bottom is formed with central axis hole (203) and motor mounting hole (206) respectively, 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; DC micromotor (119) is fixed on quadrangle body (5) by motor mounting hole (206), and its output shaft is positioned at the front 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 front of quadrangle body (5) by the rotating shaft be arranged in mounting hole (202), and is meshed with the driven wheel on motor output shaft; Second reducing gear (101) is arranged on the front of the first reducing gear (102) in the mode coaxial with the first reducing gear (102); Right side gear (118) is arranged on the right front of quadrangle body (5) by the rotating shaft be 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 the rotating shaft be arranged in hole, lower-left (205), and be meshed with right side gear (118), left side gear (103) and right side gear (118) symmetrical relative to quadrangle body (5), the symmetric position of simultaneously left side gear (103) and right side gear (118) is 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;
Described binodal flapping wing mechanism (4) is made up 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 (104) of driver train (1), the first parallel rod (109) is hinged on left upper port (204) or upper right hole (201) place of quadrangle body (5) by bearing pin (110) apart from above-mentioned hinge-point 1/4 length of connecting rod position simultaneously; One end of 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 second strut bar (108) is hinged on the first parallel rod (109) and the first strut bar (106) hinged place and forms combined hinge, and the other end of the second strut bar (108) and the other end of the second parallel rod (105) are hinged on the place of hinge hole up and down with one end on 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), main support (2) is provided with the support (302) for arranging steering wheel (308), 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, left and right on the upside of upper empennage support (304) inwall of empennage mechanism (3) respectively by the connecting rod (307) be connected with its output 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, are 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), and the total length of the first parallel rod (109) and the second strut bar (108) is then 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 length of described the first strut bar (106) and the first parallel rod (109) and the second parallel rod (105) arrange apart from equal on connecting rod (104), therefore form parallel-crank mechanism by the first parallel rod (109), the second parallel rod (105), the first strut bar (106) and connecting rod (104); And form quadrangular mechanism by the first strut bar (106), the second strut bar (108), the second parallel rod (105) and fork (107).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310586931.XA CN103612755B (en) | 2013-11-20 | 2013-11-20 | A kind of binodal main wing Bionic ornithopter |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310586931.XA CN103612755B (en) | 2013-11-20 | 2013-11-20 | A kind of binodal main wing Bionic ornithopter |
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| Publication Number | Publication Date |
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| CN103612755A CN103612755A (en) | 2014-03-05 |
| CN103612755B true CN103612755B (en) | 2015-08-05 |
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| CN201310586931.XA Expired - Fee Related CN103612755B (en) | 2013-11-20 | 2013-11-20 | A kind of binodal main wing Bionic ornithopter |
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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 |
| CN106043692B (en) * | 2016-06-08 | 2018-04-03 | 中国民航大学 | A kind of multiple degrees of freedom imitates bird flapping wing aircraft |
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| CN108860595B (en) * | 2018-04-12 | 2021-06-15 | 南京航空航天大学 | Flapping wing pigeon-like aircraft with passive torsion |
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| CN110626497A (en) * | 2019-10-23 | 2019-12-31 | 南昌航空大学 | Variable-rigidity folding flapping wing mechanism of flapping wing aircraft |
| CN112441201A (en) * | 2020-12-15 | 2021-03-05 | 中国科学院合肥物质科学研究院 | Direct-drive space flapping wing type bionic steering mechanism |
| CN112977817A (en) * | 2021-04-26 | 2021-06-18 | 吉林大学 | Flapping wing aircraft |
| CN113978720A (en) * | 2021-12-07 | 2022-01-28 | 杭州电子科技大学 | Flapping wing aircraft capable of actively controlling wing pitch angle and application method thereof |
| CN114408175A (en) * | 2021-12-13 | 2022-04-29 | 上海工程技术大学 | Bionic sparrow unmanned aerial vehicle |
| CN114906323A (en) * | 2022-06-07 | 2022-08-16 | 沈阳航空航天大学 | Multi-attitude flapping wing aircraft based on additional mass effect mechanism |
| CN115817811B (en) * | 2022-11-21 | 2024-09-27 | 中国人民解放军陆军工程大学 | Bionic ornithopter for reconnaissance |
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