CN107444634B - Double freedom flapping wing mechanism - Google Patents
Double freedom flapping wing mechanism Download PDFInfo
- 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
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- CN
- China
- Prior art keywords
- bar
- connecting rod
- crank
- finned surface
- rocking bar
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Classifications
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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 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
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).
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)
| 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 |
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| Publication number | Publication date |
|---|---|
| CN107444634A (en) | 2017-12-08 |
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Granted publication date: 20191126 Termination date: 20210613 |