CN108454850A - A kind of imitative bird flapping flight device of cylindrical cam universal joint - Google Patents
A kind of imitative bird flapping flight device of cylindrical cam universal joint Download PDFInfo
- Publication number
- CN108454850A CN108454850A CN201810068635.3A CN201810068635A CN108454850A CN 108454850 A CN108454850 A CN 108454850A CN 201810068635 A CN201810068635 A CN 201810068635A CN 108454850 A CN108454850 A CN 108454850A
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- CN
- China
- Prior art keywords
- cylindrical cam
- universal joint
- wing
- flapping
- spring
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
Abstract
The invention discloses a kind of cylindrical cam universal joints to imitate bird flapping flight device, belong to imitative bird robot field, including pedestal and be symmetrically distributed in pedestal both sides wing bar, with wing bar linkage flapping wing, the middle of the base is equipped with cylindrical cam, cylindrical cam top is fixed with big belt wheel, the middle of the base sliding is fixed with a driving motor, its output shaft is connected with a small pulley, big belt wheel is connect with small pulley by belt, is equipped with universal joint connecting rod, universal joint, spring lever one, spring, spring lever two, micromotor between cylindrical cam and wing bar successively.The present invention drives cylindrical cam rotation by driving motor, and then drives universal joint, wing bar movement, realizes that flapping wing is fluttered up and down；The overturning of flapping wing is realized by the rotation of micromotor, promotes lift suffered when flight.The present apparatus is simple in structure, safe and reliable, stability is high, can effectively improve flapping flight efficiency, is particularly suitable for flying under the environment such as strong wind, high wind.
Description
Technical field
The present invention relates to flapping wing robot field, specifically a kind of cylindrical cam universal joint imitates bird flapping flight dress
It sets.
Background technology
Bird-imitating ornithopter device people is capable of the flying method of natural imitation circle birds, real by constantly periodically patting flapping wing
It now flies, assistant can be opened or is closed during beating, to realize air draft or go for a drive.Existing major part Bird-imitating ornithopter device people
Mainly using toggle, slider-crank mechanism, crank gear mechanism etc..Although above-mentioned Bird-imitating ornithopter device robot mechanism knot
Structure is simple, but it generally requires the rotation primary up and down motion that could realize flapping wing in one week, and sport efficiency is low.In addition big portion
Point flapping wing do not fully consider go for a drive, air draft principle, therefore the resistance in flapping wing swing process is larger, and flight efficiency is relatively low.
Based on this, this case application is proposed.
Invention content
The present invention provides a kind of cylindrical cam universal joints to imitate bird flapping flight device, and flapping wing is driven using cylindrical cam
It swings, is rotated using minitype motor driving flapping wing, to realize air draft or go for a drive.
To achieve the above object, the technical solution adopted by the present invention is：A kind of imitative bird flapping wing of cylindrical cam universal joint is winged
Luggage is set, including pedestal and the lateral symmetry wing bar for being divided into pedestal both sides, the flapping wing with wing bar linkage, pedestal are equipped with " Contraband "
Shape fixed seat, " Contraband " shape fixed seat bottom are embedded with bearing, the output shaft mating connection of bearing and cylindrical cam bottom end, the circle
Column cam face offers end to end groove, and the top of the cylindrical cam is fixedly connected with a big belt wheel, big belt wheel top
Output shaft be connected a bearing, the bearing be embedded in " Contraband " shape fixed seat top.
The big belt wheel has small pulley, small pulley and the output set on driving motor below by belt horizontal connection
Axis is fixedly connected, and driving motor is fixed in an adjusting seat, and adjusting seat is fixedly installed in a tensioning slideway base by trip bolt
On, tensioning slideway base is mounted on the base.
It is arranged with universal joint connecting rod in the groove of the cylindrical cam, one end of universal joint connecting rod universal-joint,
The other end of universal joint is fixedly and coaxially connected with spring lever one, and one middle section of the spring lever is rotatably connected on a support base
On, support base is fixed on the base.The other end of the spring lever one has been fixedly and coaxially connected spring, and the other end of spring is successively
It is fixedly connected with spring lever two, micromotor, the output shaft of the micromotor and one end of wing bar are fixedly and coaxially connected, wing bar
The other end is fixedly and coaxially connected with flapping wing.
For the flapping wing in arc curved under middle part protuberance, both sides, both sides are symmetrical；Asymmetrical one middle side part of both sides of flapping wing
It is fixedly connected with wing bar.
Preferably, the adjusting seat both sides are equipped with tensioning slideway base, and adjusting seat is slidably set to the tensioning slideway base of both sides
Between, sliding slot is offered along adjusting seat glide direction, sliding slot is equipped at least one not less than sliding slot at the top of tensioning slideway base
Trip bolt, the trip bolt rotation are set in sliding slot and fix the adjusting seat below sliding slot.
Preferably, the axis collinear of the axis and cylindrical cam of the big belt wheel, the axis and driving motor of small pulley are defeated
The axis collinear of shaft.
Preferably, the depth of the cylindrical cam upper groove is enough universal joint connecting rod is made to remain with groove to contact.
Preferably, the shape of the groove on the cylindrical cam is periodically variable curve.
Preferably, the support base includes U-shaped seat and the rotation axis set on U-shaped seat middle and upper part.
Preferably, one both ends of the spring lever are rod-like structures, and centre is the ring-shaped structure equipped with circular through hole, the circle
Cyclic structure is matched with the rotation axis on support base.
Preferably, the rigidity of the spring is enough the weight of support spring bar two, micromotor, wing bar and flapping wing.
Preferably, it is fixed with velocity sensor on the spring lever one.
Preferably, the cylindrical cam, spring lever one, spring lever two, wing bar, rotation axis are hollow structure.
Beneficial effects of the present invention：One, the present invention using driving motor drive cylindrical cam rotation, to drive with its according to
Universal joint, the wing bar of secondary linkage move, action of fluttering above and below realization flapping wing.Universal joint connecting rod can be in the groove of cylindrical cam
Middle sliding, universal joint can rotate the angle for adjusting the other end, prevent and block or stuck situation, cause flapping wing robot without
Method works normally.Minitype motor driving wing bar is swung, and makes to go for a drive when pendulum makes ventilation, the bottom on flapping wing by changing flapping wing angle,
To reduce on flapping wing put when resistance, increase the flapping wing bottom when lift and thrust, improve the flight efficiency of flapping wing.
Two, structure of the invention is symmetrical, is conducive to the balance that flapping wing robot realizes power, and the groove above cylindrical cam can be with
For the curve that monocycle or multicycle change, so as to the frequency of flexible modulation flapping wing.
Three, for adjusting seat of the present invention to adjust small pulley and big belt wheel to same plane, adjusting seat passes through edge-on setting
Slideway can slide on pedestal, so as to tightening belt, improve transmission efficiency, belt can absorbing, vibration effect is smaller, the present invention
Simple in structure, convenient for adjusting, reliability is high, flexibility is good.
Description of the drawings
Fig. 1 is the overall schematic of the specific embodiment of the invention.
Fig. 2 is Fig. 1 partial enlarged views of the present invention.
Fig. 3 is the front view of the specific embodiment of the invention.
Fig. 4 is Fig. 3 enlarged fragmentary cross sections of the present invention.
Fig. 5 is to put status diagram on flapping wing of the present invention.
Wherein：1-pedestal, 2-tensioning slideway bases, 21-sliding slots, 22-trip bolts, 3-adjusting seats, 4-driving electricity
Machine, 41-output shafts, 5-belts, 51-small pulleys, 52-big belt wheels, 6-" Contraband " shape fixed seats, 7-cylindrical cams, 71-
Groove, 8-universal joints, 81-universal joint connecting rods, 9-support bases, 10a-spring lever one, 10b-spring, 10c-spring lever
Two, 11-micromotors, 11a-wing bar, 12-flapping wings, 13-velocity sensors, 14-rotation axis.
Specific implementation mode
To make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, with reference to
Specific implementation mode, the present invention is further explained.
As shown in Figure 1, a kind of 7 universal joint of cylindrical cam, 8 formula imitates 12 flight instruments of bird flapping wing, including pedestal 1 and laterally right
Claim two flapping wings 12 for being divided into 1 both sides of pedestal.12 one end of flapping wing is equipped with the axis of rotation, and the other end is sector, sector portion middle part
Curved and both sides are symmetrical under protuberance, both sides.Flapping wing 12 is connected by wing bar 11a and pedestal 1.Pedestal 1 is equipped with cylindrical cam 7
With driving motor 4, cylindrical cam 7 passes through " Contraband " shape fixed seat 6 is fixed on pedestal 1, and driving motor 4 is set by an adjusting seat 3
It sets on pedestal 1, and suitable height is kept with cylindrical cam 7.The top of cylindrical cam 7 is equipped with big belt wheel 52, and side is opened
Equipped with end to end periodically variable groove 71.Small pulley 51, small pulley 51 are fixed on the output shaft 41 of driving motor 4
It is located in same level with big belt wheel 52, is sequentially connected by belt 5 therebetween.The axis and cylinder of above-mentioned big belt wheel 52
The axis collinear of cam 7, the axis collinear of 4 output shaft 41 of axis and driving motor of small pulley 51.
3 both sides of adjusting seat are equipped with tensioning slideway base 2, and adjusting seat 3 is slidably set between both sides tensioning slideway base 2, makes tune
For bed rearrangement 3 slidably on pedestal 1, slide top offers sliding slot 21 along 3 glide direction of adjusting seat, and sliding slot 21, which is equipped with, to be not less than
The trip bolt 22 of sliding slot 21, the rotation of trip bolt 22 is set in sliding slot 21 and fixes the adjusting seat 3 of 21 lower section of sliding slot, such as Fig. 4 institutes
Show.Pedestal 1, which can be used angle steel and be welded to connect, in the present embodiment is made.
In conjunction with shown in Fig. 2, the left and right side of cylindrical cam 7 is respectively equipped with a support base 9, support base 9 and cylindrical cam 7 it
Between be equipped with universal joint 8 and universal joint connecting rod 81 and link.It is arranged with universal joint connecting rod in the groove 71 of the cylindrical cam 7
81, one end of 81 universal-joint 8 of universal joint connecting rod, the other end and one 10a of spring 10b bars of universal joint 8 are coaxially fixed to be connected
It connects, one middle sections 10a of spring 10b bars are rotatably connected on a support base 9, and support base 9 is fixed on pedestal 1.It is described
The other end of one 10a of spring 10b bars has been fixedly and coaxially connected spring 10b, and the other end of spring 10b is fixedly connected sequentially and has spring
10b bars two, micromotor 11, the output shaft 41 of the micromotor 11 and one end of wing bar 11a are fixedly and coaxially connected, wing bar 11a
The other end be fixedly and coaxially connected with flapping wing 12.
It is fixed with velocity sensor 13 on one 10a of spring 10b bars to detect the speed that robot flapping wing 12 is flapped, and will inspection
It surveys result and feeds back to the control system in robot, to control the rotation of micromotor 11.The rigidity of spring 10b in the present embodiment
It is sufficiently large, it is sufficient to support spring 10b bars two, micromotor 11, wing bar 11a and flapping wing 12 weight, can effectively play vibration damping work
With spring 10b is for slowing down motor rotation impact caused by fuselage.In the present embodiment, to mitigate weight, ensureing flight effect
Rate, cylindrical cam 7, one 10a of spring 10b bars, spring 10b bars two, wing bar 11a, rotation axis 14 are hollow structure.
As shown in figure 5, when flapping wing 12 is swung up, driving motor 4 is driven by small pulley 51, belt 5, big belt wheel 52
Cylindrical cam 7 rotates, and one end that universal joint connecting rod 81 is connect with groove 71 is moved to 71 song of groove from the peak of groove 71
The minimum point of line, universal joint 8 can rotate adjusting position, to prevent sports cards from living, one 10a of spring 10b bars, spring 10b, bullet
Spring 10b bars two, micromotor 11, wing bar 11a and flapping wing 12 are swung up, and micromotor 11 rotates up to flapping wing 12 at this time
Vertically, the air circulation of 12 top of such flapping wing, lower section, reduces the resistance put on flapping wing 12 and be subject in the process.
When flapping wing 12 is to lower swing, universal joint connecting rod 81 follows cylindrical cam 7 to rotate, and is transported from the minimum point of groove 71
It moves to peak, universal joint 8 can rotate adjusting position, to prevent sports cards from living, one 10a of spring 10b bars, spring 10b, bullet
Spring 10b bars two, micromotor 11, wing bar 11a and flapping wing 12 are to lower swing, and 11 quick rotation of micromotor is until flutter at this time
The wing 12 can realize that maximum is gone for a drive effect, with lift and thrust caused by increasing during 12 bottom of flapping wing.
In conclusion the present invention drives cylindrical cam 7 to rotate using belt 5, make the universal joint to link with it 8 according to cylinder
Groove 71 on cam 7 pumps, some rotations can occur for universal joint 8 in the process, in order to avoid occur stuck
Phenomenon, and then wing bar 11a is driven to swing up and down, to realize that about 12 flapping wing is fluttered.Wing bar 11a is controlled by micromotor 11 to exist
Upper pendulum rotates during the bottom, and to change 12 angle of flapping wing, aerofoil is horizontal when enabling when being put on flapping wing 12 vertical aerofoil, the bottom,
With this reduce on flapping wing 12 put when resistance, increase by 12 bottom of flapping wing when lift and thrust, improve flapping wing 12 flight efficiency.
As known by the technical knowledge, the present invention can pass through the embodiment party of other essence without departing from its spirit or essential feature
Case is realized.Therefore, embodiment disclosed above, all things considered are all merely illustrative, not the only.Institute
Have within the scope of the present invention or is included in the invention in the change being equal in the scope of the present invention.
Claims (8)
1. a kind of cylindrical cam universal joint imitates bird flapping flight device, including pedestal and the lateral symmetry pedestal both sides that are divided into
Wing bar, the flapping wing with wing bar linkage, it is characterised in that：Pedestal is equipped with " Contraband " shape fixed seat, and " Contraband " shape fixed seat bottom is embedded
There is a bearing, the output shaft of bearing and cylindrical cam bottom end is connected, and the cylindrical cam surface offers end to end recessed
The top of slot, the cylindrical cam is fixedly connected with a big belt wheel, output shaft one bearing of mating connection on big belt wheel top, the bearing
Embedded in the top of " Contraband " shape fixed seat；The big belt wheel has a small pulley by belt horizontal connection, small pulley with set below
The output shaft of driving motor be fixedly connected, driving motor is fixed in an adjusting seat, and adjusting seat passes through trip bolt and fixes peace
Loaded on a tensioning slideway base, tensioning slideway base is mounted on the base；Universal joint company is arranged in the groove of the cylindrical cam
Extension bar, one end of universal joint connecting rod universal-joint, the other end and the spring lever one of universal joint are fixedly and coaxially connected, the bullet
One middle section of spring base is rotatably connected on a support base, and support base is fixed on the base；The other end of the spring lever one is same
Axis is fixedly connected with spring, and the other end of spring, which is fixedly connected sequentially, spring lever two, micromotor, the output of the micromotor
One end of axis and wing bar is fixedly and coaxially connected, and the other end and the flapping wing of wing bar are fixedly and coaxially connected；The flapping wing in middle part protuberance,
Curved arc, both sides are symmetrical under both sides；Asymmetrical one middle side part of both sides of flapping wing is fixedly connected with wing bar.
2. a kind of cylindrical cam universal joint according to claim 1 imitates bird flapping flight device, it is characterised in that：It is described
Adjusting seat both sides are equipped with tensioning slideway base, and adjusting seat is slidably set between the tensioning slideway base of both sides, at the top of tensioning slideway base
Sliding slot is offered along adjusting seat glide direction, sliding slot is equipped at least one trip bolt not less than sliding slot, the fastening spiral shell
Nail rotation, which is set in sliding slot, fixes the adjusting seat below sliding slot.
3. a kind of cylindrical cam universal joint according to claim 1 imitates bird flapping flight device, it is characterised in that：It is described
The axis of big belt wheel and the axis collinear of cylindrical cam, the axis of small pulley and the axis collinear of driving motor output shaft.
4. a kind of cylindrical cam universal joint according to claim 1 imitates bird flapping flight device, it is characterised in that：It is described
The shape of groove on cylindrical cam is periodically variable curve.
5. a kind of cylindrical cam universal joint according to claim 1 imitates bird flapping flight device, it is characterised in that：It is described
Support base includes U-shaped seat and the rotation axis set on U-shaped seat middle and upper part.
6. a kind of cylindrical cam universal joint according to claim 1 imitates bird flapping flight device, it is characterised in that：It is described
One both ends of spring lever are rod-like structures, and centre is the ring-shaped structure equipped with circular through hole, on the ring-shaped structure and support base
Rotation axis match.
7. a kind of cylindrical cam universal joint according to claim 1 imitates bird flapping flight device, it is characterised in that：It is described
It is fixed with velocity sensor on spring lever one.
8. a kind of cylindrical cam universal joint according to claim 1 imitates bird flapping flight device, it is characterised in that：It is described
Cylindrical cam, spring lever one, spring lever two, wing bar, rotation axis are hollow structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810068635.3A CN108454850B (en) | 2018-01-24 | 2018-01-24 | Cylindrical cam universal joint type bird-flapping-wing-imitating flying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810068635.3A CN108454850B (en) | 2018-01-24 | 2018-01-24 | Cylindrical cam universal joint type bird-flapping-wing-imitating flying device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108454850A true CN108454850A (en) | 2018-08-28 |
| CN108454850B CN108454850B (en) | 2021-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810068635.3A Active CN108454850B (en) | 2018-01-24 | 2018-01-24 | Cylindrical cam universal joint type bird-flapping-wing-imitating flying device |
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| CN (1) | CN108454850B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109292085A (en) * | 2018-10-27 | 2019-02-01 | 王金海 | A kind of flapping wing transmission device of flapping-wing aircraft |
| CN109533324A (en) * | 2019-01-21 | 2019-03-29 | 宁波大学 | Butterfly multifunctional bionic robot |
| CN110171568A (en) * | 2019-06-14 | 2019-08-27 | 山东大学 | One kind can hover flapping wing aircraft |
| CN111994266A (en) * | 2020-09-02 | 2020-11-27 | 广西大学 | Folding wing ornithopter |
| CN112319793A (en) * | 2020-11-26 | 2021-02-05 | 广东国士健科技发展有限公司 | Flapping wing aircraft with wing pieces capable of adjusting attack angle |
| CN112607013A (en) * | 2020-12-21 | 2021-04-06 | 梁渤涛 | Flapping wing type aircraft wing vibration driving mechanism |
| CN112937855A (en) * | 2019-12-11 | 2021-06-11 | 北京信息科技大学 | Bird-wing imitating mechanism |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN112937855A (en) * | 2019-12-11 | 2021-06-11 | 北京信息科技大学 | Bird-wing imitating mechanism |
| CN111994266A (en) * | 2020-09-02 | 2020-11-27 | 广西大学 | Folding wing ornithopter |
| CN112319793A (en) * | 2020-11-26 | 2021-02-05 | 广东国士健科技发展有限公司 | Flapping wing aircraft with wing pieces capable of adjusting attack angle |
| CN112607013A (en) * | 2020-12-21 | 2021-04-06 | 梁渤涛 | Flapping wing type aircraft wing vibration driving mechanism |
| WO2022134394A1 (en) * | 2020-12-21 | 2022-06-30 | 梁渤涛 | Flapping wing drive mechanism of flapping wing-type aircraft |
| CN112607013B (en) * | 2020-12-21 | 2024-03-19 | 梁渤涛 | Flapping wing driving mechanism of flapping wing type aircraft |
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| CN108454850B (en) | 2021-04-30 |
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