CN107891980A - A kind of four-degree-of-freedom flapping motion mechanism - Google Patents
A kind of four-degree-of-freedom flapping motion mechanism Download PDFInfo
- Publication number
- CN107891980A CN107891980A CN201711013554.5A CN201711013554A CN107891980A CN 107891980 A CN107891980 A CN 107891980A CN 201711013554 A CN201711013554 A CN 201711013554A CN 107891980 A CN107891980 A CN 107891980A
- Authority
- CN
- China
- Prior art keywords
- wing
- connecting rod
- degree
- vertically arranged
- stopper slot
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of four-degree-of-freedom flapping motion mechanism, it is related to mechanical movement field, the mechanism includes frame, wing, upper and lower flapping mechanism, swing mechanism and spanwise twist mechanism；The remodeling that driving wing is fluttered with the mechanism of swing for the slider-crank mechanism of high degree of symmetry up and down, drives left and right two panels wing by same actuator respectively；The mechanism for driving wing twist motion is the remodeling of rocker slider, and left and right two panels wing is driven by different actuators.Whole mechanism is parallel institution, and the mechanism reduces the movement inertia of movement parts, can realize the high-speed motion of wing；The synchronism fluttered of wing when mechanism can be good at solving ornithopter flight or so, while certain left-right asymmetry property is remained, more complicated flapping wing mode can be tested.
Description
Technical field
The present invention relates to multiple-degree-of-freedom mechanism Sports Field, more particularly to a kind of four-degree-of-freedom flapping wing mechanism motion.
Background technology
The concept of minute vehicle is to organize RAND companies in 1992 in a research report by the military think tank in the U.S.
In first propose.
Flapping wing aircraft is different from conventional aircraft, using the flapping flight mode being widely present in nature, its
Flying power and lift derive from the wing fluttered up and down, so the flapping wing mechanism design of flapping wing aircraft seems particularly heavy
Will.Number space flapping wing mechanism causes the left and right of wing to be fluttered asymmetry due to the driving link arrangement reason such as asymmetry mostly at present,
And then influence the flight stability of flapping-wing aircraft, and many reliable flapping wing mechanisms be all derived by simple crank and rocker mechanism and
Come, handling poor although flight stability, mobility deficiency.
The content of the invention
For solve flapping wing mechanism it is existing the defects of, the invention provides a kind of flapping wing mechanism of four-degree-of-freedom, flapping wing
Mechanism has flutters up and down, swing and along four frees degree of spanwise twist motion.
The present invention is achieved by following technique effect：
A kind of four-degree-of-freedom flapping motion mechanism, the mechanism include frame, wing, upper and lower flapping mechanism, swing machine
Structure and spanwise twist mechanism；
The frame includes frame main body, is vertically arranged direction stopper slot, horizontal direction stopper slot and wing motion sphere-trough pair；Institute
It is symmetrical vertical structure to state frame main body, and the wing motion sphere-trough pair is fixedly installed on the left and right sides of frame main body,
Horizontal direction stopper slot is arranged on one end of wing motion sphere-trough pair；The direction stopper slot that is vertically arranged is fixedly installed on frame main body
On, and it is parallel with the base in frame main body；The front and rear sides of the base of frame main body are provided with projection；Before the projection is divided into
Raised and rear projection；
The wing is rod-like structure；Wing one end is arranged in wing motion sphere-trough pair, can be along wing motion sphere-trough pair
Motion；The wing other end is provided with the first ball；And it is hinged by the first ball with being vertically arranged connecting rod one end；Cylinder is installed on wing
Cam；
The flapping mechanism up and down is eccentric mechanism rocker device, including the first driving wheel, the first drive link, in put connection
Bar and it is vertically arranged connecting rod；First driving wheel is arranged in the front projection of frame main body；First driving wheel passes through rotation
Pair is hinged with first drive link one end；The first drive link other end is put on connecting rod center in being arranged on；In put connecting rod both ends
It is hinged respectively with being vertically arranged one end of connecting rod；The first ball-joint being vertically arranged on the other end and wing of connecting rod, and the company of being vertically arranged
Extension bar is moved being vertically arranged in the plane of direction stopper slot limitation；
The swing mechanism is to heart crank and rocker mechanism, including the second driving wheel, the second drive link, horizontal connection
Bar and T-shaped gag lever post；Second driving wheel is arranged in the rear projection of frame main body；Second driving wheel passes through revolute pair
It is hinged with second drive link one end；The second drive link other end is arranged on the center of horizontal brace rod, horizontal brace rod
The one end of both ends respectively with T-shaped gag lever post is hinged；The other end of T-shaped gag lever post is arranged on wing, and T-shaped gag lever post passes through water
Square to stopper slot；
The spanwise twist mechanism is rocker device, including rocking bar, connecting rod and steering wheel mounting seat；The connecting rod
The ball of one end is secondary to be arranged in the curved groove of cylindrical cam；The connecting rod other end and rocking bar it is be hinged；The other end and rudder of rocking bar
Machine mounting seat is hinged；Steering wheel is installed in steering wheel mounting seat.
Further, the steering wheel mounting seat carries limiting plate, and the limiting plate is stuck on wing.
Further, the second ball is provided with the wing；Second ball is placed in the track of wing motion sphere-trough pair.
Further, described T-shaped connecting rod one end is rectangle dead slot structure, and wing passes through the rectangle dead slot structure.
Further, the horizontal direction stopper slot is curved-surface structure symmetrical above and below, and T-shaped connecting rod can be in level side
Swung into stopper slot.
Further, the direction stopper slot that is vertically arranged is made up of front and rear parallel flat board.
Further, the front and rear projection is arranged on the center of support body base.
Further, the wing motion sphere-trough pair is convex structure.
Brief description of the drawings
Fig. 1 is the overall structure diagram of four-degree-of-freedom flapping motion mechanism of the present invention；
Fig. 2 is wing schematic diagram of the present invention；
Fig. 3 is the T-shaped gag lever post structural representation in swing mechanism of the present invention；
Fig. 4 is spanwise twist mechanism schematic diagram of the present invention.
Reference is as follows：
The driving wheels of 1- first；The drive links of 2- first；Connecting rod is put in 3-；4- is vertically arranged connecting rod；5- is vertically arranged direction stopper slot；
6- wing motion sphere-trough pairs；7- rocking bars；8- steering wheel mounting seats；9- steering wheels；10- connecting rods；The second driving wheels of 11- 12- second is passed
Lever；13- horizontal brace rods；14- horizontal direction stopper slots；15-T type gag lever posts；16- wings；The balls of 17- first；18- cylinders are convex
Wheel；The balls of 19- second.
Embodiment
To do further understanding to the present invention, the present invention is further detailed below in conjunction with the accompanying drawings：
With reference to shown in accompanying drawing 1, a kind of four-degree-of-freedom flapping motion mechanism, including frame, wing 16, upper and lower flapping mechanism,
Swing mechanism and spanwise twist mechanism.Flapping mechanism, swing mechanism and the spanwise twist machine up and down
The motion of structure composition is parallel moving mechanism, is not interfere with each other between each motion.The frame is spacing including being vertically arranged direction
Groove 5, horizontal direction stopper slot 14, wing motion sphere-trough pair 6 and frame main body.
With reference to shown in accompanying drawing 2, the wing 16 is a root long bar, and the first ball 17, cylindrical cam are sequentially distributed on bar
18th, the second ball 19.
The flapping mechanism up and down include the first driving wheel 1, the first drive link 2, in put connecting rod 3 and be vertically arranged connecting rod 4；
First driving wheel 1 makees 360 degree of rotations by motor driving, and the motion of the first driving wheel 1 will be transmitted to the first drive link 2, the
The both ends of one drive link 2 are connected to two and are vertically arranged connecting rod 4, and being vertically arranged direction stopper slot 5 due to being vertically arranged connecting rod 4 limits, can only
In the move in plane parallel with yz planes, and in put connecting rod 3 also can only be in the plane interior edge where being vertically arranged direction stopper slot 5
Move in z directions.Couple due to being vertically arranged the ball pair end of connecting rod 4 with wing 16, and the second ball 19 on wing 16 has been limited in machine
In wing motion sphere-trough pair 6, the up and down motion of connecting rod 3 is put in causing will cause the upper and lower of wing 16 to flutter.
The swing mechanism includes driving wheel 11, the second drive link 12, horizontal brace rod 13 and T-shaped gag lever post 15.
The motion of the T-shaped gag lever post 15 is limited by horizontal direction stopper slot 14, can only be in the horizontal direction in the plane of stopper slot 14
Motion.Second driving wheel 11 makees 360 degree of rotations by motor driving, and the rotation of the second driving wheel 11 will drive the second drive link
12 motions, and then drive horizontal brace rod 13 to make horizontal translating movement, T-shaped gag lever post 14 will drive wing 16 to make swing fortune
It is dynamic.
The spanwise twist mechanism includes steering wheel mounting seat 8, rocking bar 7 and connecting rod 10.The bottom of steering wheel mounting seat 8
Portion is rotary shaft, and whole spanwise twist mechanism can be allowed when wing 16 is moving back and forth all the time along spanwise.
Rocking bar 7 is driven by steering wheel 9, is precisely controlled the angle of rocking bar 7, and the ball end for driving connecting rod 10 is able to along the wing by the motion of rocking bar 7
Direction motion is opened up, then drives wing 16 to make the twist motion of spanwise by the cylindrical cam 18 on wing 16.
With reference to shown in accompanying drawing 3, the structure of T-shaped gag lever post 15 in the swing mechanism is one end revolute pair, and T-shaped end is
The movement slots in vertical links direction.
With reference to shown in accompanying drawing 4, the steering wheel mounting seat 8 carries gag lever post, ensures the direction of steering wheel mounting seat 8 and the wing of wing 16
It is consistent to open up direction.
The embodiment is preferred embodiment of the invention, but the present invention is not limited to above-mentioned embodiment, not
Away from the present invention substantive content in the case of, those skilled in the art can make it is any it is conspicuously improved, replace
Or modification belongs to protection scope of the present invention.
Claims (8)
1. a kind of four-degree-of-freedom flapping motion mechanism, it is characterised in that the mechanism includes frame, wing (16), machine of fluttering up and down
Structure, swing mechanism and spanwise twist mechanism；
The frame includes frame main body, is vertically arranged direction stopper slot (5), horizontal direction stopper slot (14) and wing motion sphere-trough pair
(6)；The frame main body is symmetrical vertical structure, and the wing motion sphere-trough pair (6) is fixedly installed on frame main body
The left and right sides, horizontal direction stopper slot (14) are arranged on one end of wing motion sphere-trough pair (6)；It is described to be vertically arranged direction stopper slot
(5) it is fixedly installed in frame main body, and it is parallel with the base in frame main body；The front and rear sides of the base of frame main body are all provided with
It is equipped with projection；The projection is divided into front and rear projection；
The wing (16) is rod-like structure；Wing (16) one end is arranged in wing motion sphere-trough pair (6), can be along wing motion
Sphere-trough pair (6) moves；Wing (16) other end is provided with the first ball (17)；And by the first ball (17) and it is vertically arranged connecting rod (4)
One end is hinged；Cylindrical cam (18) is installed on wing (16)；
The flapping mechanism up and down is eccentric mechanism rocker device, including the first driving wheel (1), the first drive link (2), in the company of putting
Extension bar (3) and it is vertically arranged connecting rod (4)；First driving wheel (1) is arranged in the front projection of frame main body；Described first actively
Wheel (1) is hinged by revolute pair and the first drive link (2) one end；First drive link (2) other end puts connecting rod (3) in being arranged on
On center；In put connecting rod (3) both ends and be hinged respectively with being vertically arranged one end of connecting rod (4)；It is vertically arranged the other end of connecting rod (4)
It is be hinged with the first ball (17) on wing (16), and be vertically arranged connecting rod (4) and be vertically arranged shifting in the plane of direction stopper slot (5) limitation
It is dynamic；
The swing mechanism is to heart crank and rocker mechanism, including the second driving wheel (11), the second drive link (12), level
Connecting rod (13) and T-shaped gag lever post (15)；Second driving wheel (11) is arranged in the rear projection of frame main body；Described second
Driving wheel (11) is hinged by revolute pair and the second drive link (12) one end；Second drive link (12) other end is arranged on water
On the center of flushconnection bar (13), the one end of horizontal brace rod (13) both ends respectively with T-shaped gag lever post (15) is hinged；It is T-shaped spacing
The other end of bar (15) is arranged on wing (16), and T-shaped gag lever post (15) passes through horizontal direction stopper slot (14)；
The spanwise twist mechanism is rocker device, including rocking bar (7), connecting rod (10) and steering wheel mounting seat (8)；It is described
The ball of connecting rod (10) one end is secondary to be arranged in the curved groove of cylindrical cam (18)；Connecting rod (10) other end and rocking bar (7)
It is be hinged；The other end of rocking bar (7) is be hinged with steering wheel mounting seat (8)；Steering wheel (9) is installed in steering wheel mounting seat (8).
2. four-degree-of-freedom flapping motion mechanism according to claim 1, it is characterised in that steering wheel mounting seat (8) band
Limited location plate, the limiting plate are stuck on wing (16).
3. four-degree-of-freedom flapping motion mechanism according to claim 1, it is characterised in that be provided with the wing (16)
Second ball (19)；Second ball (19) is placed in the track of wing motion sphere-trough pair (6).
4. four-degree-of-freedom flapping motion mechanism according to claim 1, it is characterised in that the T-shaped connecting rod (15) one
Hold and pass through the rectangle dead slot structure for rectangle dead slot structure, wing (16).
5. four-degree-of-freedom flapping motion mechanism according to claim 1, it is characterised in that the horizontal direction stopper slot
(14) it is curved-surface structure symmetrical above and below, and T-shaped connecting rod (15) can swing in stopper slot (14) in the horizontal direction.
6. four-degree-of-freedom flapping motion mechanism according to claim 1, it is characterised in that described to be vertically arranged direction stopper slot
(5) it is made up of front and rear parallel flat board.
7. four-degree-of-freedom flapping motion mechanism according to claim 1, it is characterised in that the front and rear projection is set
Put in the center of support body base.
8. four-degree-of-freedom flapping motion mechanism according to claim 1, it is characterised in that the wing motion sphere-trough pair
(6) it is convex structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711013554.5A CN107891980B (en) | 2017-10-26 | 2017-10-26 | Four-degree-of-freedom flapping-wing motion mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711013554.5A CN107891980B (en) | 2017-10-26 | 2017-10-26 | Four-degree-of-freedom flapping-wing motion mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107891980A true CN107891980A (en) | 2018-04-10 |
| CN107891980B CN107891980B (en) | 2020-01-24 |
Family
ID=61803796
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711013554.5A Active CN107891980B (en) | 2017-10-26 | 2017-10-26 | Four-degree-of-freedom flapping-wing motion mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107891980B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108674689A (en) * | 2018-05-18 | 2018-10-19 | 北京航空航天大学 | Tandem flapping wing experiment porch |
| CN109383794A (en) * | 2018-09-28 | 2019-02-26 | 合肥联合飞机科技有限公司 | A kind of all-wing aircraft dynamic structure |
| CN109760835A (en) * | 2018-11-23 | 2019-05-17 | 西北工业大学太仓长三角研究院 | A kind of flapping wing aircraft driving mechanism for flapping wing for science and education demonstration |
| CN109911197A (en) * | 2019-04-01 | 2019-06-21 | 吉林大学 | A kind of four-degree-of-freedom flapping wing aircraft device |
| CN112124581A (en) * | 2020-09-03 | 2020-12-25 | 哈尔滨工业大学（深圳） | Flight control device and aircraft |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20050006374A (en) * | 2003-07-08 | 2005-01-17 | 한국과학기술연구원 | Actuating Apparatus Using Piezoelectric Actuator and Air Vehicle Using It |
| CN102874409A (en) * | 2012-10-30 | 2013-01-16 | 东南大学 | Flapping wing and turning device of micro aerial vehicle |
| CN205113712U (en) * | 2015-11-20 | 2016-03-30 | 武汉科技大学 | Two degree of freedom flapping wing aircraft |
| CN106585980A (en) * | 2016-12-07 | 2017-04-26 | 郑州轻工业学院 | Four-degree of freedom beetle-imitated foldable flapping-wing micro flying robot |
| CN107150804A (en) * | 2017-06-21 | 2017-09-12 | 吉林大学 | A kind of wing has the flapping wing aircraft of Three Degree Of Freedom |
-
2017
- 2017-10-26 CN CN201711013554.5A patent/CN107891980B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20050006374A (en) * | 2003-07-08 | 2005-01-17 | 한국과학기술연구원 | Actuating Apparatus Using Piezoelectric Actuator and Air Vehicle Using It |
| CN102874409A (en) * | 2012-10-30 | 2013-01-16 | 东南大学 | Flapping wing and turning device of micro aerial vehicle |
| CN205113712U (en) * | 2015-11-20 | 2016-03-30 | 武汉科技大学 | Two degree of freedom flapping wing aircraft |
| CN106585980A (en) * | 2016-12-07 | 2017-04-26 | 郑州轻工业学院 | Four-degree of freedom beetle-imitated foldable flapping-wing micro flying robot |
| CN107150804A (en) * | 2017-06-21 | 2017-09-12 | 吉林大学 | A kind of wing has the flapping wing aircraft of Three Degree Of Freedom |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108674689A (en) * | 2018-05-18 | 2018-10-19 | 北京航空航天大学 | Tandem flapping wing experiment porch |
| CN109383794A (en) * | 2018-09-28 | 2019-02-26 | 合肥联合飞机科技有限公司 | A kind of all-wing aircraft dynamic structure |
| CN109383794B (en) * | 2018-09-28 | 2021-09-21 | 合肥联合飞机科技有限公司 | Flying wing power structure |
| CN109760835A (en) * | 2018-11-23 | 2019-05-17 | 西北工业大学太仓长三角研究院 | A kind of flapping wing aircraft driving mechanism for flapping wing for science and education demonstration |
| CN109911197A (en) * | 2019-04-01 | 2019-06-21 | 吉林大学 | A kind of four-degree-of-freedom flapping wing aircraft device |
| CN109911197B (en) * | 2019-04-01 | 2024-02-20 | 吉林大学 | Four-degree-of-freedom ornithopter device |
| CN112124581A (en) * | 2020-09-03 | 2020-12-25 | 哈尔滨工业大学（深圳） | Flight control device and aircraft |
| CN112124581B (en) * | 2020-09-03 | 2022-05-13 | 哈尔滨工业大学（深圳） | Flight control device and aircraft |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107891980B (en) | 2020-01-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107891980A (en) | A kind of four-degree-of-freedom flapping motion mechanism | |
| CN102750850B (en) | Three-rotational-freedom series-parallel driving mechanism | |
| CN105151298B (en) | The empennage regulating mechanism and flapping-wing aircraft that a kind of achievable pitching and yaw independently regulate and control | |
| CN110065630A (en) | A kind of bionic flapping-wing flying robot | |
| CN105619388B (en) | A kind of freedom degree parallel connection rotatable platform mechanism for driving decoupling to arrange | |
| CN101734375A (en) | Flapping apparatus of subminiature bionic flapping wing aircraft | |
| CN103241379A (en) | Flapping wing device for achieving active torsion for flapping wings and wing planes of aerofoil | |
| CN201354146Y (en) | Flapping mechanism of mechanical bird | |
| CN202765291U (en) | Insect aircraft imitating flapping wing mechanism | |
| CN110104173A (en) | One kind plunderring torsional mode three-freedom miniature flapping wing aircraft | |
| CN102350698A (en) | Six-DOF (degree of freedom) parallel mechanism containing 5R closed-loop branch chain | |
| US20160036374A1 (en) | Solar cell support assembly | |
| CN206047985U (en) | A kind of Jia Guan mechanisms | |
| CN110525637A (en) | A kind of angular adjustment apparatus and aircraft | |
| CN102180263B (en) | External gear engaged flapping wing raising force generation device | |
| CN104843162B (en) | Dolphin stroke drives water cycle | |
| CN210479022U (en) | Multi-degree-of-freedom flapping wing mechanism of simulated hummingbird flapping wing aircraft | |
| CN207982106U (en) | A kind of nail riveter structure for freezer liner corner points riveting | |
| CN207709697U (en) | A kind of column for freezer liner corner points riveting follows closely riveting module | |
| CN105972180A (en) | Cam structure for vertical wire vibration | |
| CN103341584B (en) | Linear lifting forging manipulator for optimizing lifting driving device | |
| CN106142113B (en) | A kind of manipulator crawl Weighing mechanism | |
| CN206857003U (en) | A kind of coupling driving bionic flapping-wing flying vehicle | |
| CN219731192U (en) | Connecting rod mechanism for jacquard | |
| CN104088107B (en) | Without the High-Speed Automatic dropping liquid machine of pipeline |
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 |