CN108001680A - A kind of multi-layer mini-type bionic flapping-wing flying vehicle - Google Patents
A kind of multi-layer mini-type bionic flapping-wing flying vehicle Download PDFInfo
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- CN108001680A CN108001680A CN201711227838.4A CN201711227838A CN108001680A CN 108001680 A CN108001680 A CN 108001680A CN 201711227838 A CN201711227838 A CN 201711227838A CN 108001680 A CN108001680 A CN 108001680A
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- wing
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
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Abstract
The invention discloses a kind of multi-layer mini-type bionic flapping-wing flying vehicle, belong to mechanical design field.The multi-layer mini-type bionic flapping-wing flying vehicle includes double-deck dual-crank-rocker mechanism, driving mechanism and flexible wing mechanism；Driving mechanism produces driving force and passes to double-deck dual-crank-rocker mechanism, double-deck dual-crank-rocker mechanism produces corresponding flutter track and actively upset, the flexible wing mechanism being connected with double-deck dual-crank-rocker mechanism is driven, realizes the function of fluttering at the same time with flip-flop movement.By the rocking bar length for setting two layers of mechanism up and down, crank length, length of connecting rod changes phase difference during two layers of dual-crank-rocker mechanism movement when parameter, so that flex-wing is rotated while fluttering, produce the angle of attack, flex-wing produces large deformation at the same time, forms passive upset, ensures to produce compared with lift.The mechanism has the function of while realizes to flutter and reverse wing etc., has the characteristics that compact-sized, compact, quality be extremely light, mechanical flexibility.
Description
Technical field
The invention belongs to mechanical design field, is specifically a kind of multi-layer mini-type bionic flapping-wing flying vehicle.
Background technology
At present, bionic micro flapping wing aircraft has attracted wide attention, due to compact volume and efficient flight
Mechanism makes it play an important role in the field of military affairs etc..
Although it is suggested at present in the research of bionic flying micro-robot, there are many mechanisms to design, such as
Single crank rocker device, dual-crank-rocker mechanism etc., but these mechanisms are largely only capable of realization and flutter action, it is difficult at the same time into
Row is fluttered and reversed；It can only such as drive wing to do single dof mobility, can not realize and flutter as the insect or birds
Overturn wing at the same time, it is impossible to produce lift and thrust using effect is overturn, therefore be extremely difficult to the flight of insect or birds
Mode, causes flight efficiency low.
The content of the invention
The present invention for existing bionic micro flapping wing aircraft mechanism during sporting flying there are the problem of and not
Foot, it is proposed that a kind of multi-layer mini-type bionic flapping-wing flying vehicle, which can realize at the same time flutters and reverse the functions such as wing, has
Compact-sized, compact, quality be extremely light and the features such as mechanical flexibility.
The multi-layer mini-type bionic flapping-wing flying vehicle, including double-deck dual-crank-rocker mechanism, driving mechanism and flex-wing
Mechanism.Driving mechanism produces driving force and passes to double-deck dual-crank-rocker mechanism, and double-deck dual-crank-rocker mechanism produces corresponding
Flutter and track and actively overturn, drive the flexible wing mechanism being connected with double-deck dual-crank-rocker mechanism, realize and flutter at the same time
And flip-flop movement.
The double-deck crank and rocker mechanism includes rack, biased gear, upper links, lower link, lower-left rocking bar, a left side
Upper rocking bar, upper right rocking bar and bottom right rocking bar.
Rack frame structure triangular in shape, connects four biased gears, four partially respectively on the base frame of triangle
Gear is put to be divided into two layers up and down；Vertex of a triangle position connects two layers of rocking bar up and down by rack interstitial hole；Two layers of rocking bar point
Wei not upper left rocking bar, lower-left rocking bar, upper right rocking bar and bottom right rocking bar.Each rocking bar connects a connecting rod by pin respectively；Four
A connecting rod is divided into upper links and lower link；Each connecting rod connects a biased gear by pin at the same time；Wherein upper left
Biased gear engages the biased gear of upper right；The biased gear of the biased gear engagement bottom right of lower-left；Meanwhile the biased teeth on upper strata
Wheel connects the biased gear of lower floor by pin；
Every layer of intermeshing two biased gear constitutes a crank.The connection of each rocking bar and connecting rod, connecting rod with
The connection of biased gear, takes interference fit and clearance fit, ensures transmission stability.
The driving mechanism includes hollow-cup motor, motor gear, transmission shaft and two travelling gears.
Hollow-cup motor is installed on the center of rack, and motor shaft is connected with motor gear, exports power；Motor gear
A travelling gear is engaged, two travelling gears are respectively fixedly connected to be arranged vertically in rack in the both ends of transmission shaft, transmission shaft；Often
A travelling gear engages a biased gear respectively, and two biased gears are located at homonymy；
The flexible wing mechanism includes symmetrical two fin roots and two flex-wings；Each flex-wing is fixed on fin root
Side.Each fin root opposite side is connected with two layers of rocking bar up and down of double-deck crank and rocker mechanism, and fin root top is connected by pin
Connect rocking bar and form revolute pair, flex-wing is freely rotated, fin root lower part is provided with groove, and lower floor's rocking bar moves back in groove
It is dynamic to form sliding pair, the angle of attack of flex-wing is changed.
The operation principle of the multi-layer mini-type bionic flapping-wing flying vehicle is as follows：
During the motion, hollow-cup motor produces power to aircraft, and motor gear carries out power output, then transmission shaft
Power is respectively transmitted on every layer of dual-crank-rocker mechanism with travelling gear, driving biased gear movement, drives respectively
Portion's connecting rod and lower link movement, so as to drive the movement of four rocking bars, and then cause the movement of fin root drive flex-wing；
Due to upper left rocking bar, lower-left rocking bar, upper right rocking bar, bottom right rocking bar, upper links, lower link dimensional parameters not
Together so that the angle difference of fluttering of upper and lower two layers of rocking bar, the fin root being connected from rocking bar produce different upsets in the different time
Movement, at the same flex-wing while movement due to air drag, flexible portion produces moderate finite deformation, can play at the same time similar
In the effect of upset, i.e., passive upset, finally causes sleeve mechanism is realized at the same time to flutter and overturn.
The invention has the advantages that：
(1) a kind of multi-layer mini-type bionic flapping-wing flying vehicle, have it is simple and compact for structure, compact, quality is extremely light, mechanism
The features such as flexible, can realize bionic flapping-wing function；
(2) a kind of multi-layer mini-type bionic flapping-wing flying vehicle, most of parts are made of 3D printing technique, are reduced whole
Machine quality, and it is easy to modification optimization；
(3) a kind of multi-layer mini-type bionic flapping-wing flying vehicle, employs the more common plastic gear of in the market, mitigates weight
Amount, reduces cost, is easy to process and assemble in kind；
(4) a kind of multi-layer mini-type bionic flapping-wing flying vehicle, while the action fluttered and overturn is realized, produce and actively attack
Angle；
(5) a kind of multi-layer mini-type bionic flapping-wing flying vehicle, employs flex-wing design, is produced while producing and actively overturning
Raw passive upset, overcomes the deficiency of actively upset, produces sufficiently large lift.
Brief description of the drawings
Fig. 1 is a kind of structure diagram of multi-layer mini-type bionic flapping-wing flying vehicle of the present invention；
Fig. 2 is a kind of double-deck Double crank rocker structure diagram of multi-layer mini-type bionic flapping-wing flying vehicle of the present invention；
Fig. 3 is a kind of driving mechanism structure schematic diagram of multi-layer mini-type bionic flapping-wing flying vehicle of the present invention；
Fig. 4 is a kind of flex-wing mechanism structure schematic diagram of multi-layer mini-type bionic flapping-wing flying vehicle of the present invention；
In figure：
1- flex-wing 2- upper lefts rocking bar 3- biased gears
4- rack 5- upper links 6- hollow-cup motors
7- travelling gear 8- transmission shaft 9- upper right rocking bars
10- fin root 11- bottom rights rocking bar 12- lower-lefts rocking bar
13- lower link 14- motor gears
Embodiment
Below in conjunction with drawings and examples, the present invention is described in further detail.
A kind of multi-layer mini-type bionic flapping-wing flying vehicle of the present invention, has the function of while realizes to flutter and reverse wing etc.；Such as
It is overall to include double-deck dual-crank-rocker mechanism, driving mechanism and flexible wing mechanism shown in Fig. 1.
The driving mechanism produces driving force and passes to double-deck dual-crank-rocker mechanism, double-deck dual-crank-rocker mechanism
For passing power, by setting the parameters such as the rocking bar length of two layers of mechanism up and down, crank length, length of connecting rod to change two layers
Phase difference when dual-crank-rocker mechanism moves, so that flexible wing mechanism produces corresponding track of fluttering, and is fluttering
It is carried out at the same time and actively overturns, produce the angle of attack, symmetrical due to actively overturning both sides caused by movement, first half term movement, which produces, rises
Power, the second half produces resistance, therefore the flexible wing mechanism used produces large deformation, causes passively to overturn, and ensures to produce and relatively rises higher
Power.
The double-deck crank and rocker mechanism, as shown in Fig. 2, connecting including rack 4, biased gear 3, upper links 5, lower part
Bar 13, lower-left rocking bar 12, upper left rocking bar 2, upper right rocking bar 9 and bottom right rocking bar 11.
Triangular frame structure is made by 3D printing file printing in rack 4, mitigates total quality, for connecting all parts
And it is fixed.There are several reinforcing ribs in rack 4, for ensureing frame strength, play the role of positioning at the same time.
Four biased gears 3 are connected on the triangle base frame of rack 4 respectively, four biased gears 3 are divided to for upper and lower two
Layer；The vertex position of triangular framing connects two layers of rocking bar up and down by rack interstitial hole；Two layers of rocking bar is respectively upper left rocking bar
2nd, lower-left rocking bar 12, upper right rocking bar 9 and bottom right rocking bar 11.
Rocking bar is made using resin of 3D printing, and printing precision is higher, with multiple connecting holes；Each rocking bar passes through pin
Nail connects a connecting rod respectively；Four connecting rods are divided into upper links 5 and lower link 13；Each connecting rod is connected by pin at the same time
One biased gear 3；Wherein the biased gear 3 of upper left engages the biased gear 3 of upper right；The biased gear 3 of lower-left engages bottom right
Biased gear 3；Meanwhile the biased gear 3 on upper strata connects the biased gear 3 of lower floor by pin；
Every layer of intermeshing two biased gear 3 constitutes a crank, mitigates parts quality；Two sets of biased gears
3 are installed in rack 4, while one end of connecting rod is connected with biased gear 3, and the other end is connected with rocking bar, passing power.
Each layer of dual-crank-rocker mechanism is at sustained height, ensures symmetry and stationarity in motion process.Often
The connection of a rocking bar and connecting rod, connecting rod and the connection of biased gear 3, take interference fit and clearance fit, ensure stable drive
Property；Advantageously ensure that the identical gearratio of dual-crank-rocker mechanism, ensure the symmetry of movement.
The biased gear 3 is equipped with crank location hole, and all rocking bars are equipped with rocking bar location hole, by setting connecting rod
Length, crank location hole, the position of rocking bar location hole, determine the angle range of rocking bar, and then determine that wing is fluttered angle
Scope.
The driving mechanism is as shown in figure 3, including hollow-cup motor 6, motor gear 14, transmission shaft 8 and two transmissions
Gear 7.
Hollow-cup motor 6 is installed on whole 4 center, reduces volume, makes structure compacter；Motor shaft and motor
Gear 14 connects, and exports power, and motor gear 14 engages a travelling gear 7, and two travelling gears 7 are respectively fixedly connected in transmission shaft
8 both ends, transmission shaft 8 are arranged vertically in rack 4；Each travelling gear 7 engages a biased gear 3 respectively, and two inclined
Put gear 3 and be located at homonymy；As two travelling gears 7 engage the biased gear 3 of upper left and the biased gear 3 of lower-left respectively；Or
Two travelling gears 7 engage the biased gear 3 of upper right and the biased gear 3 of bottom right respectively.
Hollow-cup motor 6 produces power, is delivered to by motor gear 14 on travelling gear 7, and transmission shaft 8 drives the other end
Travelling gear 7 rotate, both power is delivered in biased gear 3 afterwards, is driven.Every layer of 3 phase of biased gear
Mutually it is intermeshed while engagement with travelling gear 7, ensures the symmetry and accuracy of movement.
The flexible wing mechanism is as shown in figure 4, including symmetrical two fin roots 10 and two flex-wings 1；Using double forks
For rhinoceros cockchafer wing as bionical object, the wing arteries and veins is carbon fiber 3D integration printing shapings.
Each flex-wing 1 is pasted onto the side of fin root 10 using polyimide film between two layers of rocking bar by seccotine
It is affixed with fin root in groove.Each 10 opposite side of fin root is connected with two layers of rocking bar up and down of double-deck crank and rocker mechanism, fin root
10 tops connect rocking bar by pin and form revolute pair, flex-wing 1 is freely rotated, and 10 lower part of fin root is provided with groove, under
Layer rocking bar moves back and forth composition sliding pair in groove, the angle of attack of flex-wing 1 is changed, and realizes and actively overturns.
In the active switching mechanism, existed by the motion phase difference of double-deck dual-crank-rocker mechanism and then definite wing
The excursion of the angle of attack in switching process.
Using flex-wing scheme, i.e., since the reason of air drag is that flexible portion produces larger change while movement
Shape, can function similarly to the effect of upset at the same time, produce the movement angle of attack, increase lift.
The operation principle of the multi-layer mini-type bionic flapping-wing flying vehicle is as follows：
Aircraft during the motion, first produces power by hollow-cup motor 6, and motor gear 14 carries out power output, connects
And power is respectively transmitted on every layer of dual-crank-rocker mechanism by transmission shaft 8 and travelling gear 7, driving biased gear 3 is transported
It is dynamic, drive upper links 5 and lower link 13 to move respectively, so as to drive the movement of four rocking bars, and then cause 10 band of fin root
The movement of dynamic flex-wing 1；
Due to upper left rocking bar 2, lower-left rocking bar 12, upper right rocking bar 9, bottom right rocking bar 11, upper links 5, lower link 13
Dimensional parameters are different so that the angle difference of fluttering of upper and lower two layers of rocking bar, i.e., in the fin root 10 for making to be connected from rocking bar different
Time produces different flip-flop movement, at the same flex-wing 1 while movement since air drag, flexible portion produce larger change
Shape, can function similarly to the effect of upset at the same time, also produce passive upset so that sleeve mechanism is realized at the same time to be fluttered and overturn
Function.
During the motion, by setting the parameters such as the rocking bar length of two layers of mechanism up and down, crank length, length of connecting rod
Change phase difference during two layers of dual-crank-rocker mechanism movement, so that wing is rotated while fluttering, produce the angle of attack,
Symmetrical due to actively overturning both sides caused by movement, first half term movement produces lift, and the second half produces resistance, therefore use
Flex-wing produces large deformation, produces passive upset, ensures to produce compared with lift.
Claims (7)
- A kind of 1. multi-layer mini-type bionic flapping-wing flying vehicle, it is characterised in that including double-deck dual-crank-rocker mechanism, driving mechanism and Flexible wing mechanism；Driving mechanism produces driving force and passes to double-deck dual-crank-rocker mechanism, and double-deck dual-crank-rocker mechanism produces corresponding Flutter and track and actively overturn, drive the flexible wing mechanism being connected with double-deck dual-crank-rocker mechanism, realize flutter at the same time with Flip-flop movement；The double-deck crank and rocker mechanism includes rack, four biased gears, four connecting rods and four rocking bars；Four biased gears are divided into be fixed in rack for two layers up and down, and the top of rack line of symmetry passes through in the connection of rack interstitial hole Lower two layers of rocking bar；Each rocking bar connects a connecting rod respectively；Each connecting rod connects a biased gear at the same time；Wherein upper left is inclined Put the biased gear of gear engagement upper right；The biased gear of the biased gear engagement bottom right of lower-left；Meanwhile the biased gear on upper strata The biased gear of lower floor is connected by pin；Every layer of intermeshing two biased gear constitutes a crank；The driving mechanism includes hollow-cup motor, motor gear, transmission shaft and two travelling gears；Hollow-cup motor is installed on the center of rack, and motor shaft is connected with motor gear, exports power；Motor gear engages One travelling gear, while the travelling gear is connected in one end of transmission shaft, transmission shaft is arranged vertically in rack, transmission shaft The other end is symmetrically connected another travelling gear；Each travelling gear engages a biased gear, and two biased gears respectively Positioned at homonymy；The flexible wing mechanism includes symmetrical two fin roots and two flex-wings；Each flex-wing is fixed on the one of fin root Side；Each fin root opposite side is connected with two layers of rocking bar up and down of double-deck crank and rocker mechanism, and fin root top is connected by pin Rocking bar forms revolute pair, flex-wing is freely rotated, fin root lower part is provided with groove, and lower floor's rocking bar moves back and forth in groove Sliding pair is formed, the angle of attack of flex-wing is changed.
- 2. a kind of multi-layer mini-type bionic flapping-wing flying vehicle as claimed in claim 1, it is characterised in that the rack is beaten by 3D File printing is printed, triangular frame structure is made, connects four biased gears respectively on the base frame of triangle；Triangle Vertex position pass through rack interstitial hole connection up and down two layers of rocking bar；Two layers of rocking bar is respectively upper left rocking bar, lower-left rocking bar, upper right Rocking bar and bottom right rocking bar；Four connecting rods are divided into upper links and lower link.
- A kind of 3. multi-layer mini-type bionic flapping-wing flying vehicle as claimed in claim 1, it is characterised in that the rocking bar and connecting rod Connection, the connection of connecting rod and biased gear takes interference fit and clearance fit, ensures transmission stability.
- 4. a kind of multi-layer mini-type bionic flapping-wing flying vehicle as claimed in claim 1, it is characterised in that described is bilevel Four rocking bar length are different with the length parameter of four connecting rods, cause the angle difference of fluttering of upper and lower two layers of rocking bar, with rocking bar phase Fin root even produces different flip-flop movements in the different time；At the same time flex-wing movement while due to air drag, it is soft Property part produce moderate finite deformation, the effect of upset can be functioned similarly at the same time, i.e., passive upset, finally make it that sleeve mechanism is same Shi Shixian is fluttered and overturn.
- 5. a kind of multi-layer mini-type bionic flapping-wing flying vehicle as claimed in claim 1, it is characterised in that in the biased gear Equipped with crank location hole, all rocking bars are equipped with rocking bar location hole, and by setting the length of connecting rod, crank location hole, rocking bar are fixed The position in position hole, determines the angle range of rocking bar, and then determines that wing is fluttered the scope at angle.
- A kind of 6. multi-layer mini-type bionic flapping-wing flying vehicle as claimed in claim 1, it is characterised in that the flexible wing mechanism Using Allomyrina dichotoma wing as bionical object, wing arteries and veins is carbon fiber 3D integration printing shapings；Each flex-wing is pasted onto in the side groove of fin root between two layers of rocking bar using polyimide film by seccotine, It is affixed with fin root.
- A kind of 7. multi-layer mini-type bionic flapping-wing flying vehicle as claimed in claim 1, it is characterised in that the active tipper In structure, the change model of wing angle of attack in switching process is determined by the motion phase difference of double-deck dual-crank-rocker mechanism Enclose.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711227838.4A CN108001680B (en) | 2017-11-29 | 2017-11-29 | A kind of multi-layer mini-type bionic flapping-wing flying vehicle |
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| CN201711227838.4A CN108001680B (en) | 2017-11-29 | 2017-11-29 | A kind of multi-layer mini-type bionic flapping-wing flying vehicle |
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| CN108001680B CN108001680B (en) | 2019-10-25 |
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| CN109050910A (en) * | 2018-07-17 | 2018-12-21 | 北京航空航天大学 | Bionic flying micro-robot based on crank rocker Yu passive rotating mechanism |
| CN109080829A (en) * | 2018-10-15 | 2018-12-25 | 南京航空航天大学 | A kind of micro flapping wing air vehicle based on flexible hinge |
| CN109972093A (en) * | 2019-03-22 | 2019-07-05 | 中车工业研究院有限公司 | A kind of bionical configuration optical-thermal conversion material of high polymer and its preparation method and application |
| CN110606200A (en) * | 2019-10-10 | 2019-12-24 | 南京航空航天大学 | Bionic miniature flapping wing aircraft |
| CN111634414A (en) * | 2020-04-29 | 2020-09-08 | 南京航空航天大学 | Micro-miniature bionic flapping wing mechanism |
| CN112965531A (en) * | 2021-03-04 | 2021-06-15 | 中国矿业大学 | Microminiature aircraft for unmanned detection of coal mine goaf and method thereof |
| CN113148146A (en) * | 2021-05-08 | 2021-07-23 | 北京航空航天大学 | Bionic flapping mechanism applied to hovering type micro flapping wing aircraft |
| CN113386958A (en) * | 2021-06-15 | 2021-09-14 | 东北大学 | Phase-variable double-flapping-wing mechanism and micro aircraft |
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| CN113148146B (en) * | 2021-05-08 | 2022-07-12 | 北京航空航天大学 | Bionic flapping mechanism applied to hovering type micro flapping wing aircraft |
| CN113386958A (en) * | 2021-06-15 | 2021-09-14 | 东北大学 | Phase-variable double-flapping-wing mechanism and micro aircraft |
| CN113386958B (en) * | 2021-06-15 | 2024-01-09 | 东北大学 | Phase-changing double-flapping-wing mechanism and micro air vehicle |
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| Publication number | Publication date |
|---|---|
| CN108001680B (en) | 2019-10-25 |
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