CN107444634B - Double freedom flapping wing mechanism - Google Patents

Double freedom flapping wing mechanism Download PDF

Info

Publication number
CN107444634B
CN107444634B CN201710443677.6A CN201710443677A CN107444634B CN 107444634 B CN107444634 B CN 107444634B CN 201710443677 A CN201710443677 A CN 201710443677A CN 107444634 B CN107444634 B CN 107444634B
Authority
CN
China
Prior art keywords
bar
connecting rod
crank
finned surface
rocking bar
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201710443677.6A
Other languages
Chinese (zh)
Other versions
CN107444634A (en
Inventor
黄河水
杨倩男
周文雅
曲成林
孙博雅
高威
�田润
王健
丁文
李笑然
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dalian University of Technology
Original Assignee
Dalian University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dalian University of Technology filed Critical Dalian University of Technology
Priority to CN201710443677.6A priority Critical patent/CN107444634B/en
Publication of CN107444634A publication Critical patent/CN107444634A/en
Application granted granted Critical
Publication of CN107444634B publication Critical patent/CN107444634B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C33/00Ornithopters
    • B64C33/02Wings; Actuating mechanisms therefor

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Toys (AREA)

Abstract

The invention discloses a kind of double freedom flapping wing mechanisms, comprising: flapping mechanism and finned surface rotating mechanism;The flapping mechanism includes crank, connecting rod and rocking bar, and the finned surface rotating mechanism includes the left finned surface rotating mechanism and right finned surface rotating mechanism of symmetrical configuration setting.The crank includes the first crank and the second crank, and the connecting rod includes first connecting rod and second connecting rod, and the rocking bar includes the first rocking bar and the second rocking bar;Rack passes sequentially through first crank, first connecting rod and the first rocking bar and links 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 movement by member structure, stabilization reliable for operation, since flexible material has the function of damping, buffering, compared with traditional higher pair contacts cam mechanism, it is not in due to the intermittent vibration problem that cam commutates and generates with more stable movement effects.

Description

Double freedom flapping wing mechanism
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 technique
Double freedom flapping wing mechanism can be realized single power source output as executing agency and complete compound motion, is divided into and flutterring Dynamic and rotation, flapping mechanism have quickreturn characteristics, can be realized high frequency and flutter;Rotating mechanism can be realized wing it is upper flutter around The rotation of wing axis, reduces air forced area, and finned surface is accordingly rotated to increase air forced area, increase lift, finned surface when lower bat Rotation has intermittent movement characteristic.
Double freedom flapping wing mechanism should meet the requirement of wing compound motion, also to meet and wear to mechanical structure itself Small, reduction mechanism operational shock etc. requires.
Traditional double freedom flapping wing mechanism is the intermittent rotary that wing is realized using the cam mechanism of higher pair contact, due to Higher pair contact can generate a large amount of abrasions, and intermittent vibration is generated when internal slot cam can be made to commutate, can not meet above-mentioned constraint simultaneously Condition.
Summary 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, since higher pair contact can generate greatly Amount abrasion generates intermittent the shortcomings that vibrating when internal slot cam can be made to commutate.The technological means that the present invention uses is as follows:
A kind of double freedom flapping wing mechanism, comprising: flapping mechanism and finned surface rotating mechanism;The flapping mechanism includes song Handle, connecting rod and rocking bar, the finned surface rotating mechanism include left finned surface rotating mechanism and the rotation of right finned surface of symmetrical configuration setting Mechanism.
The crank includes the first crank and the second crank, and the 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 rack 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 link mechanism.
Rack 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 between second crank, second connecting rod and the second rocking bar by revolute pair connection, make the second crank, second connecting rod and Second rocking bar forms link mechanism.
The left finned surface rotating mechanism includes: half finned surface I, half finned surface II, support frame, bar III and bar IV;The branch Support includes: bar I, resistance bar I, resistance bar II and bar II;Half side finned surface I is hinged with the bar I, and the other side is the same as bar III Hingedly, half side finned surface II is hinged with bar II, and the other side is hinged with bar IV;The first connecting rod and the first rocking bar hinge It is connected to A point, the other end of the bar III and bar IV are point articulated with the A respectively;The support frame and rack passes through rolling Bearing links together.
As being enclosed with flexible material on the 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, movement mainly by member structure come Realize the motor pattern of double freedom, stabilization reliable for operation, since 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 apparent inside configuration additional dynamic load and impact, It is not in due to the intermittent vibration that cam commutates and generates, the problem of generating fatigue rupture, while influencing flight stability.
Double freedom flapping wing mechanism of the present invention, link mechanism are four-bar mechanism, and wing can be driven to carry out the period Property large amplitude high frequency flap, and wing have quickreturn characteristics.By the coordinated movement of various economic factors of flapping mechanism and finned surface rotating mechanism, drive Dynamic wing carries out multivariant movement, 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 when lower bat, air lift when not only can be reduced air drag when flutterring but also can improve lower clap.Due to Flexible lapping on support frame reduces the impulse damage of finned surface and support frame, is optimized in structure using flexible material and is easy There is the place destroyed.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the schematic diagram of the left finned surface rotating mechanism of the present invention.
In figure: 1, rack, 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,
8, 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;
9, right finned surface rotating mechanism.
Specific embodiment
As depicted in figs. 1 and 2, a kind of double freedom flapping wing mechanism, comprising: flapping mechanism and finned surface rotating mechanism;It is described Flapping mechanism include crank, connecting rod and rocking bar, the finned surface rotating mechanism includes the left finned surface rotation of symmetrical configuration setting Mechanism 8 and right finned surface rotating mechanism 9.
The crank includes the first crank 2 and the second crank 3, and the connecting rod includes first connecting rod 4 and second connecting rod 5, the rocking bar includes the first rocking bar 6 and the second rocking bar 7;Rack 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, first connecting rod 4 and the first rocking bar 6 Revolute pair connection is crossed, the first crank 2, first connecting rod 4 and the first rocking bar 6 composition link mechanism are made.
Rack 1 passes sequentially through second crank 3, second connecting rod 5 and the second rocking bar 7 and 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 it connects, makes the second crank 3, Two connecting rods 5 and the second rocking bar 7 form link mechanism.Limited block is respectively arranged on the first connecting rod 4 and second connecting rod 5.
For the flapping mechanism to realize fluttering for wing, link mechanism is four-bar mechanism, identical and symmetrical by structure The four-bar mechanism of arrangement forms, and motion principle: crank is power input source, and rocking bar realization in four-bar mechanism is driven to swing up and down, Swinging up and down for rocking bar will drive wing to flutter up and down therewith.
The left finned surface rotating mechanism 8 includes: half finned surface I8g, half finned surface II8h, support frame, bar III8e and bar IV8f;The support frame is as a rigid body, comprising: bar I8a, resistance bar I8b, resistance bar II8c and bar II8d;The resistance bar I8b and resistance bar II8c play position-limiting action, do not connect with half finned surface I8g, half finned surface II8h.The resistance bar I8b and resistance bar II8c On be enclosed with flexible material, half finned surface I8g and half finned surface II8h with resistance bar I8b and resistance bar II8c contact when, flexible material subtracts Small vibration and impact.
Half side finned surface I8g is hinged with the bar I8a, and the other side is hinged with bar III8e, half finned surface The side II8h is hinged with bar II8d, and the other side is hinged with bar IV8f;The first connecting rod 4 and the first rocking bar 6 is articulated with A point, The other end of the bar III8e and bar IV8f are point articulated with the A respectively;The support frame and rack 1 passes through the axis of rolling It holds 8i to link together, realizes that support frame is fluttered up and down together with wing.
The 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 to half finned surface I8g by bar III8e in motion process, is allowed to around rod I8a rotation;First connecting rod 4 applies torque to half finned surface II8h by bar IV8f, is allowed to around rod II8d rotation, realizes finned surface deformation To reduce flapping wing resistance, increase lift.
When clapping 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, the contact position-limiting action due to resistance bar I8b, resistance bar II8c with finned surface, the folder of finned surface and ground Until angle α is gradually decrease to 0 degree.
When flutterring on wing, angle becomes larger between bar III8e, bar IV8f, and double finned surface side applies torque, make half finned surface around Bar I8a, bar II8d are turned out, due to the contact position-limiting action for hindering bar I8b, hindering bar II8c and 4 upper limit position block of first connecting rod, partly After finned surface and ground angle α increase to certain angle, just stop around rod I8a, bar II8d rotation.
Flexible material package 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 makes finned surface and the angle α on ground rule variation during fluttering: folder when above flutterring Angle α increases to certain angle, can reduce and flutter resistance;Angle α is reduced to 0 degree when lower bat, is capable of increasing air to wing Lift.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto, Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.

Claims (3)

1. a kind of double freedom flapping wing mechanism, characterized by comprising: flapping mechanism and finned surface rotating mechanism;
The flapping mechanism includes crank, connecting rod and rocking bar, and the finned surface rotating mechanism includes a left side for symmetrical configuration setting Finned surface rotating mechanism (8) and right finned surface rotating mechanism (9);
The crank includes the first crank (2) and the second crank (3), and the connecting rod includes that first connecting rod (4) and second connect Bar (5), the rocking bar include the first rocking bar (6) and the second rocking bar (7);
Rack (1) passes sequentially through first crank (2), first connecting rod (4) and the first rocking bar (6) with left finned surface rotating mechanism (8) it links 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) form link mechanism;
Rack (1) passes sequentially through second crank (3), second connecting rod (5) and the second rocking bar (7) with right finned surface rotating mechanism (9) it links 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) form link mechanism;
The 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);
The support frame includes: bar I (8a), resistance bar I (8b), resistance bar II (8c) and bar II (8d);
Half side (8g) finned surface I with the bar I (8a) hingedly, the other side with bar III (8e) hingedly, half finned surface Hingedly with bar II (8d), the other side is hinged with bar IV (8f) for the side (8h) II;
The first connecting rod (4) and the first rocking bar (6) is articulated with A point, the other end of the bar III (8e) and bar IV (8f) It is point articulated with the A respectively;
The support frame and rack (1) 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 on the 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 on the first connecting rod (4) and second connecting rod (5).
CN201710443677.6A 2017-06-13 2017-06-13 Double freedom flapping wing mechanism Expired - Fee Related CN107444634B (en)

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 CN107444634A (en) 2017-12-08
CN107444634B true 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)

* Cited by examiner, † Cited by third party
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

Patent Citations (9)

* Cited by examiner, † Cited by third party
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
CN107444634A (en) 2017-12-08

Similar Documents

Publication Publication Date Title
US10414233B2 (en) Multi-bearing-point independent suspension
US6659397B1 (en) Control system for ornithopter
CN106882375B (en) A kind of deformable flying bird robot of wing main body
CN105818881B (en) Linkage Form of Bionics Mechanical Legs and its quadruped robot
CN103224025B (en) Single driving-link flapping-wing flying robot space mechanism
CN204846312U (en) Prevent wind bionical water skipper robot of unrestrained type with mode conversion function
CN110466755B (en) Chord length self-adaptive telescopic flapping wing suitable for active torsion flapping mechanism and flapping wing machine
CN106218866A (en) A kind of backplate follower of undercarriage
CN108082473A (en) The flapping wing structure and aircraft of a kind of achievable cooperative motion
CN207875998U (en) A kind of tail-rotor structure and the unmanned plane with it
CN107444634B (en) Double freedom flapping wing mechanism
CN208747582U (en) A kind of straight-arm aerial work platform
US2455866A (en) Aircraft of rotary wing type
CN206678932U (en) A kind of lever aids in buffering type automobile bumper
CN104963786B (en) Transmission control mechanism for retracting and expanding adjusting piece
WO2019127045A1 (en) Rotor system and unmanned aerial vehicle
WO2022134394A1 (en) Flapping wing drive mechanism of flapping wing-type aircraft
CN207390270U (en) A kind of eccentric driving device for shaking(-pan) conveyer
CN206374977U (en) Unmanned plane rotor folding and unfolding controlling organization and unmanned plane rotor extension and retraction system
CN107472526A (en) A kind of single crank double rocking lever is without difference driving mechanism for flapping wing
RU2089461C1 (en) Flapping propulsor
US3073394A (en) Mounting jet reaction driven blades of helicopter propellers
US1490787A (en) Wind motor
CN208630836U (en) A kind of small drone MLG Door mechanism
CN209505905U (en) It is a kind of to put sufficient peace and convert lower limb structure completely

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
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