CN107444634A - Double freedom flapping wing mechanism - Google Patents
Double freedom flapping wing mechanism Download PDFInfo
- Publication number
- CN107444634A CN107444634A CN201710443677.6A CN201710443677A CN107444634A CN 107444634 A CN107444634 A CN 107444634A CN 201710443677 A CN201710443677 A CN 201710443677A CN 107444634 A CN107444634 A CN 107444634A
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- China
- Prior art keywords
- bar
- connecting rod
- crank
- finned surface
- rocking bar
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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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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of double freedom flapping wing mechanism, including：Flapping mechanism and finned surface rotating mechanism；Described flapping mechanism includes crank, connecting rod and rocking bar, and described finned surface rotating mechanism includes left finned surface rotating mechanism and the right finned surface rotating mechanism that symmetrical configuration is set.Described crank includes the first crank and the second crank, and described connecting rod includes first connecting rod and second connecting rod, and described rocking bar includes the first rocking bar and the second rocking bar；Frame passes sequentially through first crank, first connecting rod and the first rocking bar and linked together with left finned surface rotating mechanism.Double freedom flapping wing mechanism of the present invention, the motor pattern of double freedom is mainly realized in motion by member structure, reliable stabilization, because flexible material has the function that damping, buffering, compared with traditional higher pair contact cam mechanism, be not in caused intermittent vibration problem due to cam commutation with more stable movement effects.
Description
Technical field
The present invention relates to bionic flapping-wing flying vehicle field, one kind energy adjust automatically finned surface in flight course is deformed to reduce
The double freedom flapping wing mechanism of flight resistance.
Background technology
Double freedom flapping wing mechanism can realize that compound motion is completed in single power source output as executing agency, be divided into and flutterring
Dynamic and rotation, flapping mechanism have quickreturn characteristics, can realize that high frequency is fluttered；Rotating mechanism can realize wing it is upper flutter around
Wing axle is rotated, and reduces air lifting surface area, and finned surface is accordingly rotated to increase air lifting surface area, increase lift, finned surface during lower bat
Rotation has intermittent movement characteristic.
Double freedom flapping wing mechanism should meet the requirement of wing compound motion, also meet to wear mechanical structure itself
Small, reduction mechanism operational shock etc. requires.
Traditional double freedom flapping wing mechanism is to realize the intermittent rotary of wing using the cam mechanism of higher pair contact, due to
Higher pair contact can produce a large amount of abrasions, and internal slot cam can be made to produce intermittent vibration when commutating, can not meet above-mentioned constraint simultaneously
Condition.
The content of the invention
According to technical problem set forth above, and a kind of double freedom flapping wing mechanism is provided, for solving existing pair certainly
By degree flapping wing mechanism, the intermittent rotary of wing is realized using the cam mechanism of higher pair contact, because higher pair contact can produce greatly
Amount abrasion, internal slot cam can be made to produce intermittent the shortcomings that vibrating when commutating.The technological means that the present invention uses is as follows：
A kind of double freedom flapping wing mechanism, including：Flapping mechanism and finned surface rotating mechanism；Described flapping mechanism includes song
Handle, connecting rod and rocking bar, described finned surface rotating mechanism include left finned surface rotating mechanism and the rotation of right finned surface that symmetrical configuration is set
Mechanism.
Described crank includes the first crank and the second crank, and described connecting rod includes first connecting rod and second connecting rod, institute
The rocking bar stated includes the first rocking bar and the second rocking bar；It is same that frame passes sequentially through first crank, first connecting rod and the first rocking bar
Left finned surface rotating mechanism links together, and is connected between first crank, first connecting rod and the first rocking bar by revolute pair,
Make the first crank, first connecting rod and the first rocking bar composition linkage.
Frame passes sequentially through second crank, second connecting rod and the second rocking bar and is connected to one with right finned surface rotating mechanism
Rise, and connected between second crank, second connecting rod and the second rocking bar by revolute pair, make the second crank, second connecting rod and
Second rocking bar forms linkage.
Described left finned surface rotating mechanism includes：Half finned surface I, half finned surface II, support frame, bar III and bar IV；Described branch
Support includes：Bar I, resistance bar I, resistance bar II and bar II；Half described finned surface I sides are hinged with the bar I, and opposite side is the same as bar III
Be hinged, half described finned surface II sides are hinged with bar II, and opposite side is hinged with bar IV；Described first connecting rod and the first rocking bar hinge
It is connected to A points, described bar III and bar the IV other end are point articulated with the A respectively；Described support frame and frame passes through rolling
Bearing links together.
As being enclosed with flexible material on preferably described resistance bar I and resistance bar II.
As being respectively arranged with limited block on preferably described first connecting rod and second connecting rod.
Compared with prior art, double freedom flapping wing mechanism of the present invention, motion mainly by member structure come
Realize the motor pattern of double freedom, reliable stabilization, because flexible material plays the role of damping, buffering, with traditional higher pair
Contact cam mechanism is compared, and is had more stable movement effects, is avoided obvious inside configuration additional dynamic load and impact,
Be not in the caused intermittent vibration due to cam commutation, the problem of producing fatigue rupture, while influence flight stability.
Double freedom flapping wing mechanism of the present invention, linkage are four-bar mechanism, and wing can be driven to carry out the cycle
The high frequency of property large amplitude is flapped, and wing has quickreturn characteristics.By the coordinated movement of various economic factors of flapping mechanism and finned surface rotating mechanism, drive
Dynamic wing carries out multivariant motion, such as flutters, rotates, folds up and down, and in upper bat, half finned surface and ground are in a constant inclination
Angle, two halves finned surface is parallel to the ground during lower bat, can reduce air lift when air drag and can when flutterring improves lower clap.Due to
Flexible lapping on support frame, reduce the impulse damage of finned surface and support frame, optimized using flexible material in structure easily
There is the place destroyed.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the schematic diagram of the left finned surface rotating mechanism of the present invention.
In figure：1st, frame, the 2, first crank, the 3, second crank, 4, first connecting rod, 5, second connecting rod, the 6, first rocking bar, 7,
Second rocking bar,
8th, left finned surface rotating mechanism, 8a, bar I, 8b, resistance bar I, 8c, resistance bar II, 8d, bar II, 8e, bar III, 8f, bar IV,
8g, half finned surface I, 8h, half finned surface II, 8i, rolling bearing；
9th, right finned surface rotating mechanism.
Embodiment
As depicted in figs. 1 and 2, a kind of double freedom flapping wing mechanism, including：Flapping mechanism and finned surface rotating mechanism；It is described
Flapping mechanism include crank, connecting rod and rocking bar, described finned surface rotating mechanism includes the left finned surface that symmetrical configuration is set and rotated
Mechanism 8 and right finned surface rotating mechanism 9.
Described crank includes the first crank 2 and the second crank 3, and described connecting rod includes first connecting rod 4 and second connecting rod
5, described rocking bar includes the first rocking bar 6 and the second rocking bar 7；Frame 1 passes sequentially through first crank 2, first connecting rod 4 and
One rocking bar 6 links together with left finned surface rotating mechanism 8, and leads between first crank 2, the rocking bar 6 of first connecting rod 4 and first
Revolute pair connection is crossed, makes the first crank 2, the rocking bar 6 of first connecting rod 4 and first composition linkage.
Frame 1 passes sequentially through second crank 3, the rocking bar 7 of second connecting rod 5 and second connects with right finned surface rotating mechanism 9
Together, and between second crank 3, second connecting rod 5 and the second rocking bar 7 by revolute pair connect, make the second crank 3,
Two connecting rods 5 and the second rocking bar 7 composition linkage.Limited block is respectively arranged with described first connecting rod 4 and second connecting rod 5.
For described flapping mechanism to realize fluttering for wing, linkage is four-bar mechanism, identical and symmetrical by structure
The four-bar mechanism composition of arrangement, motion principle：Crank is power input source, drives rocking bar realization in four-bar mechanism to swing up and down,
Swinging up and down for rocking bar will drive wing to flutter up and down therewith.
Described left finned surface rotating mechanism 8 includes：Half finned surface I8g, half finned surface II8h, support frame, bar III8e and bar
IV8f；Described support frame as a rigid body, including：Bar I8a, resistance bar I8b, resistance bar II8c and bar II8d；Described resistance bar
I8b and resistance bar II8c play position-limiting action, are not connected with half finned surface I8g, half finned surface II8h.Described resistance bar I8b and resistance bar II8c
On be enclosed with flexible material, when half finned surface I8g and half finned surface II8h is with resistance bar I8b and resistance bar II8c contact, flexible material subtracts
Small vibration and impact.
Half described finned surface I8g sides are hinged with the bar I8a, and opposite side is hinged with bar III8e, half described finned surface
II8h sides are hinged with bar II8d, and opposite side is hinged with bar IV8f；The described rocking bar 6 of first connecting rod 4 and first is articulated with A points,
Described bar III8e and the bar IV8f other end are point articulated with the A respectively；Described support frame and frame 8j passes through the axis of rolling
Hold 8i to link together, realize that support frame is together fluttered up and down with wing.
Described finned surface rotating mechanism to realize that wing finned surface and ground in upper flutter at an angle, reduce resistance,
Under finned surface is parallel to the ground when flutterring, increase lift.
Motion principle：First connecting rod 4 applies torque by bar III8e to half finned surface I8g in motion process, is allowed to around rod
I8a is rotated；First connecting rod 4 applies torque by bar IV8f to half finned surface II8h, is allowed to around rod II8d rotations, realizes that finned surface deforms
To reduce flapping wing resistance, increase lift.
When being clapped under wing, angle reduces between bar III8e, bar IV8f, and double finned surface side applies torque, make half finned surface around
Bar I8a, bar II8d are inwardly rotated, due to the contact position-limiting action of resistance bar I8b, resistance bar II8c with finned surface, the folder on finned surface and ground
Untill angle α is gradually decrease to 0 degree.
When being flutterred on wing, angle becomes big between bar III8e, bar IV8f, and double of finned surface side applies torque, make half finned surface around
Bar I8a, bar II8d are turned out, due to hindering bar I8b, resistance bar II8c and the upper limit position block of first connecting rod 4 contact position-limiting action, partly
After finned surface increases to certain angle with ground angle α, just stop around rod I8a, bar II8d and rotate.
Flexible material parcel on bar I8b, resistance bar II8c is hindered simultaneously, and in finned surface resistance bar contact, flexible material can subtract
Small vibration and impact.
Effective setting of support frame as described above, change finned surface and the angle α on the ground rule during fluttering：On press from both sides when flutterring
Angle α increases to certain angle, can reduce and flutter resistance；Angle α is reduced to 0 degree during lower bat, can increase air to wing
Lift.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (3)
- A kind of 1. double freedom flapping wing mechanism, it is characterised in that including：Flapping mechanism and finned surface rotating mechanism；Described flapping mechanism includes crank, connecting rod and rocking bar, and described finned surface rotating mechanism includes the left side that symmetrical configuration is set Finned surface rotating mechanism (8) and right finned surface rotating mechanism (9)；Described crank includes the first crank (2) and the second crank (3), and described connecting rod includes first connecting rod (4) and second and connected Bar (5), described rocking bar include the first rocking bar (6) and the second rocking bar (7)；Frame (1) passes sequentially through first crank (2), first connecting rod (4) and the first rocking bar (6) with left finned surface rotating mechanism (8) link together, and first crank (2), first connecting rod (4) are connected between the first rocking bar (6) by revolute pair, are made First crank (2), first connecting rod (4) and the first rocking bar (6) composition linkage；Frame (1) passes sequentially through second crank (3), second connecting rod (5) and the second rocking bar (7) with right finned surface rotating mechanism (9) link together, and second crank (3), second connecting rod (5) are connected between the second rocking bar (7) by revolute pair, are made Second crank (3), second connecting rod (5) and the second rocking bar (7) composition linkage；Described left finned surface rotating mechanism (8) includes：Half finned surface I (8g), half finned surface II (8h), support frame, bar III (8e) and bar IV(8f)；Described support frame includes：Bar I (8a), resistance bar I (8b), resistance bar II (8c) and bar II (8d)；Half described finned surface I (8g) sides are be hinged with the bar I (8a), and opposite side is be hinged with bar III (8e), half described finned surface II (8h) sides are be hinged with bar II (8d), and opposite side is be hinged with bar IV (8f)；Described first connecting rod (4) and the first rocking bar (6) is articulated with the other end of A points, described bar III (8e) and bar IV (8f) It is point articulated with the A respectively；Described support frame and frame (8j) are linked together by rolling bearing (8i).
- 2. double freedom flapping wing mechanism according to claim 1, it is characterised in that：Flexible material is enclosed with described resistance bar I (8b) and resistance bar II (8c).
- 3. double freedom flapping wing mechanism according to claim 1 or 2, it is characterised in that：Limited block is respectively arranged with described first connecting rod (4) and second connecting rod (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710443677.6A CN107444634B (en) | 2017-06-13 | 2017-06-13 | Double freedom flapping wing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710443677.6A CN107444634B (en) | 2017-06-13 | 2017-06-13 | Double freedom flapping wing mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107444634A true CN107444634A (en) | 2017-12-08 |
| CN107444634B CN107444634B (en) | 2019-11-26 |
Family
ID=60486397
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710443677.6A Expired - Fee Related CN107444634B (en) | 2017-06-13 | 2017-06-13 | Double freedom flapping wing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107444634B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE893894C (en) * | 1943-06-25 | 1953-10-19 | Wilhelm Deitert | Propellerless aircraft |
| DE3815283A1 (en) * | 1988-05-05 | 1989-11-16 | Rinnau Hans Joachim | Flapping wing inertia control |
| KR20040102668A (en) * | 2003-05-28 | 2004-12-08 | 배한욱 | Flapping Mechanism |
| KR20110057414A (en) * | 2009-11-24 | 2011-06-01 | 우병화 | Ornithopter |
| CN102211665A (en) * | 2010-04-07 | 2011-10-12 | 上海工程技术大学 | Micro dragonfly-imitating dual-flapping wing aircraft |
| CN102582832A (en) * | 2012-03-07 | 2012-07-18 | 安徽工业大学 | Flapping-wing aircraft |
| CN202481312U (en) * | 2012-03-23 | 2012-10-10 | 哈尔滨工业大学深圳研究生院 | Unidirectional flapping mechanism capable of realizing two-dimensional motion |
| CN104176252A (en) * | 2014-09-05 | 2014-12-03 | 上海理工大学 | Flapping wing utilizing wind energy or water flow energy to charge for continuous voyage |
| CN204297096U (en) * | 2014-12-15 | 2015-04-29 | 佛山市神风航空科技有限公司 | A kind of small-sized four wing flutter aircraft |
-
2017
- 2017-06-13 CN CN201710443677.6A patent/CN107444634B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE893894C (en) * | 1943-06-25 | 1953-10-19 | Wilhelm Deitert | Propellerless aircraft |
| DE3815283A1 (en) * | 1988-05-05 | 1989-11-16 | Rinnau Hans Joachim | Flapping wing inertia control |
| KR20040102668A (en) * | 2003-05-28 | 2004-12-08 | 배한욱 | Flapping Mechanism |
| KR20110057414A (en) * | 2009-11-24 | 2011-06-01 | 우병화 | Ornithopter |
| CN102211665A (en) * | 2010-04-07 | 2011-10-12 | 上海工程技术大学 | Micro dragonfly-imitating dual-flapping wing aircraft |
| CN102582832A (en) * | 2012-03-07 | 2012-07-18 | 安徽工业大学 | Flapping-wing aircraft |
| CN202481312U (en) * | 2012-03-23 | 2012-10-10 | 哈尔滨工业大学深圳研究生院 | Unidirectional flapping mechanism capable of realizing two-dimensional motion |
| CN104176252A (en) * | 2014-09-05 | 2014-12-03 | 上海理工大学 | Flapping wing utilizing wind energy or water flow energy to charge for continuous voyage |
| CN204297096U (en) * | 2014-12-15 | 2015-04-29 | 佛山市神风航空科技有限公司 | A kind of small-sized four wing flutter aircraft |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107444634B (en) | 2019-11-26 |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191126 Termination date: 20210613 |