CN108528711A - The flapping wings of a kind of variable amplitude and pitch angle are fluttered structure - Google Patents
The flapping wings of a kind of variable amplitude and pitch angle are fluttered structure Download PDFInfo
- Publication number
- CN108528711A CN108528711A CN201810322974.XA CN201810322974A CN108528711A CN 108528711 A CN108528711 A CN 108528711A CN 201810322974 A CN201810322974 A CN 201810322974A CN 108528711 A CN108528711 A CN 108528711A
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- Prior art keywords
- wing frame
- pitch angle
- wing
- change
- fluttered
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- 230000033001 locomotion Effects 0.000 claims abstract description 17
- 241000237858 Gastropoda Species 0.000 claims description 3
- 238000005452 bending Methods 0.000 claims description 2
- 150000001875 compounds Chemical class 0.000 abstract description 4
- 230000007812 deficiency Effects 0.000 abstract description 2
- 239000011664 nicotinic acid Substances 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000036544 posture Effects 0.000 description 4
- 238000013507 mapping Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
Abstract
It flutters structure the invention discloses the flapping wings of a kind of variable amplitude and pitch angle, doing conical rotary using crank axle drives the sine up and down of flapping wing to flutter, wing frame is driven to change with crank axle relative position using turbine and worm arrangement works, it flutters amplitude to change wing frame, is rotated using cube structure and drive the rotation of wing frame and flutter pitch angle to change wing frame.The present invention realizes the fluttering of wing, luffing and angle simultaneously in compact structure, and it is independent of each other, it is simple in structure, it is efficient, it can effectively solve existing flapping wing structure and cannot achieve the control of the compound movements such as hovering, advance, retrogressing, steering, up and down and the deficiency of switching.
Description
Technical field
It flutters structure the present invention relates to a kind of flapping wings, the flapping wings of especially a kind of variable amplitude and pitch angle are flutterred
Dynamic structure, the structure can hovering, advance, retrogressing, steering, up and down etc. are complicated to transport on Bionic ornithopter, achieving
The control and switching of dynamic posture.
Background technology
Currently, the tradition on Bionic ornithopter is fluttered, structure is crank Tiebar structure, as shown in Figure 1.
Can only realize one-way movement using the Bionic ornithopter of crank Tiebar structure, cannot achieve hovering, advance, retrogressing,
The control and switching of the compound movements posture such as steering, up and down, this is very big for the movement limitation of flapping-wing aircraft, makes practicality
Value reduces.
Invention content
For overcome apply traditional crank Tiebar structure Bionic ornithopter cannot achieve hovering, advance, retrogressing, steering, on
The deficiency of compound movements gesture stability and switching such as rise, decline, the present invention provides a kind of variable amplitude and the novel of pitch angle flutters
The wing is fluttered structure, and the structure control is simple, Bionic ornithopter can be made to realize hovering, preceding under the premise of not dramatically increasing weight
Into the control and switching of the compound movements postures such as, retrogressing, steering, up and down.
The technical solution adopted in the present invention is：
The flapping wings of a kind of variable amplitude and pitch angle are fluttered structure, including wing frame, drive mechanism, luffing structure and angle
Structure；Drive mechanism is fluttered up and down for driving wing frame to do, and luffing structure becomes corner structure and use for changing the amplitude of fluttering of wing frame
Unitary rotation is carried out to change wing frame pitch angle in driving wing frame.
In above-mentioned technical proposal, further, the drive mechanism includes crank axle, and the bending of crank axle front end is in song
Handle, rear end make crankshaft rotation for connecting power input；Two parallel bars are fixed on wing frame, it is flat that crank axle front end is inserted into two
Between row bar.Crankshaft rotation, the tapered rotation in front end are fluttered to take wing frame sinusoidal to.
Further, the luffing structure includes the worm and gear combination being placed on by bearing on crank axle, described
It includes cube to become corner structure, and cube is placed on worm screw and the two axially-fixed and radial can relatively rotate, and cube front end is cut with scissors with wing frame
It connects, worm gear rotation driving worm screw, which is axially moveable, drives cube axial movement to flutter amplitude to change wing frame, applies in cube
External force makes its rotation to change wing frame pitch angle.
Further, fixing sleeve is fixed on the worm screw, worm screw front end circumference is equipped with hook protrusion, convex by hook
It rises and limits the axial movement of cube together with fixing sleeve, in addition to so that easy for installation, offered on the circumference of worm screw front end
Several axial slides are coaxially provided with sliding slot set inside front end, and sliding slot is put on equipped with the protrusion with worm screw upper hopper chute equivalent, and protrusion is embedding
In in sliding slot, sliding slot set is connect with crank between centers by bearing.
Further, angle gear is connected with by bearing on worm gear, is fixed on angle gear and is parallel to crank axle
Axial sliding bar, cube are placed on sliding bar and can be slided along sliding bar.
When work, turbine rotation can be driven by steering engine, realize worm screw axial movement.Cube twists connecting fin frame and and worm screw
Axial restraint, the axial movement of worm screw drives the cube of connection, and then drives the axial movement of wing frame.At this time wing frame double drive bar with
The bonding position P of bent axle can change, and the radius of turn r of bonding position P, which is generated, on crank axle changes, and the width of fluttering of wing frame
It spends A and is equal to radius of turn r, to realize the change for amplitude of fluttering.The rotation of angle gear, angle gear and side are driven by steering engine
Body is radially fixed by several fixed links, and cube rotates therewith, and realizes the rotation of wing frame.Wing frame central symmetry plane and horizontal plane
Angle be pitch angle α, pitch angle α changes with the rotation of wing frame.
Axial restraint is not radial solid between the present invention is connected by three's bearing and realized, and bearing connection can provide union piece
Fixed demand.The present invention can be achieved luffing, angle and wing three of fluttering and work independently and not interfere with each other, and whens specific works can be by cunning
Slot set is fixedly connected with axle sleeve, and axle sleeve is placed on crank axle, and axle sleeve is fixedly connected with flapping wing rack realizes sliding slot set axial direction and diameter
To fixation, structure through the invention drives flapping wing rack to realize the complicated fortune such as hovering, advance, retrogressing, steering, up and down
Dynamic posture.
The invention has the advantages that structure that can be through the invention during wing is fluttered realizes the width that wing is fluttered
Degree and pitch angle variation, overall structure is small and exquisite, light-weight.
Description of the drawings
The present invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is the structural schematic diagram of traditional structure of fluttering；
Fig. 2 is a kind of transmission principle figure of specific embodiment of the present invention.Power input is provided by motor in figure, the input of steering engine power
It is provided respectively by corresponding steering engine, output of fluttering is fluttered for sine.
Fig. 3 is the half-sectional view of Fig. 2 embodiments of the present invention.
Fig. 4 is the vertical view of Fig. 2 embodiments of the present invention.
Fig. 5 is the partial view of transmission gear (1) in Fig. 2 embodiments of the present invention.Be successively from top to bottom from left to right front view,
Half sectional view, vertical view and trimetric drawing.
Fig. 6 is the partial view of flapping wing rack (3) in Fig. 2 embodiments of the present invention.It is from left to right half sectional view, positive three axis successively
Mapping and vertical view.This part is the portion intercepts of flapping wing rack.
Fig. 7 is the partial view of turbine (4) in Fig. 2 embodiments of the present invention.It is from left to right rearview successively from top to bottom, half-sectional
View, vertical view and trimetric drawing.
Fig. 8 is the partial view of angle gear (6) in Fig. 2 embodiments of the present invention.It is from left to right positive three axis successively from top to bottom
Mapping, simple sectional view, vertical view and right view.
Fig. 9 is the partial view of worm screw (8) in Fig. 2 embodiments of the present invention.It is from left to right vertical view, forward sight successively from top to bottom
Figure, trimetric drawing and simple sectional view.
Figure 10 is the partial view of sliding slot set (10) in Fig. 2 embodiments of the present invention.Be successively from top to bottom from left to right vertical view,
Front view, simple sectional view and trimetric drawing.
Figure 11 is the partial view of cube (11) in Fig. 2 embodiments of the present invention.It is from left to right upward view, just successively from top to bottom
Three axonometric drawings, partial sectional view and right view.
Figure 12 is the partial view of wing frame (13) in Fig. 2 embodiments of the present invention.It is from left to right vertical view, right view and just successively
Three axonometric drawings.
In figure：1. transmission gear；2. axle sleeve；3. flapping wing rack；4. turbine；5. bearing 1；6. angle gear；7. bearing 2；8. snail
Bar；9. fixing sleeve；10. sliding slot set；11. cube；12. bearing 3；13. wing frame；14. crank axle；
Specific implementation mode
With reference to embodiment, the present invention is described in more detail, and following embodiment is explanation of the invention and this hair
It is bright to be not limited to following embodiment.
The variable amplitude of the present invention and the flapping wings of pitch angle are fluttered structure, including wing frame, drive mechanism, luffing knot
Structure and change corner structure；Drive mechanism for drive wing frame do up and down flutter, luffing structure for changing wing frame amplitude of fluttering,
Become corner structure for driving wing frame to carry out unitary rotation to change wing frame pitch angle.In the embodiment depicted in figure 2, transmission gear 1
Input power is fixedly connected with crank axle 14, crank axle front end is at an angle to do coniform rotation, and crank axle is inserted into wing frame 13
Between two parallel bars, wing frame does sine up and down by two parallel bars by the drive of crank axle 14 flutters output, and wing is by connecting hole
Position connecting fin frame 13, and then be driven.
Turbine 4 is inputted by power above and below steering engine and is rotated, and worm screw 8 is driven to be moved forward and backward in an axial direction.In conjunction with Fig. 2, fixing sleeve 9
It is fixedly connected with worm screw 8,8 front end hook arrangement of worm screw limits the back-and-forth motion of cube 11 with fixing sleeve 9, therefore cube 11 can be in snail
It rotates but cannot be moved forward and backward on bar 8.Thus worm screw 8 drives cube 11 to move axially back and forth, and then complete to drive 13 axis of wing frame
To movement.13 two bars of wing frame and the bonding position P of 14 crank section of crank axle change at this time, the rotation of bonding position P
Radius r generates variation, and the amplitude A of fluttering of wing frame 13 is equal to radius of turn r, to realize the change for amplitude of fluttering.
Angle gear 6 is inputted by steering engine rotational power and is rotated, four bars and the fixed company in four holes position on angle gear 6
It connects, cube 11 slidably, is freely rotated, the rotation band of angle gear 6 on four bars since cube 11 is limited by four bars
The rotation for having moved cube 11, to realize that wing frame 13 rotates.The angle of 13 central symmetry plane of wing frame and horizontal plane is pitch angle α,
Pitch angle α changes with the rotation of wing frame.To realize the change of wing pitch angle.
Several axial slides are offered on 8 front end circumference of worm screw, sliding slot set 9 are coaxially provided with inside front end, sliding slot covers on 9
Equipped with the protrusion with worm screw upper hopper chute equivalent, protrusion is in sliding slot, in the half sectional view of Fig. 3, axle sleeve 2 only with flapping wing rack
3, sliding slot set 10 is fixedly connected with bearing 15, and sliding slot set 10 thus limits axial movement and rotation, while bearing 15 and turbine 4
Connection makes turbine 4 define axial position but rotatable.Sliding slot set 10 and the relative position of turbine 4 are fixed, and sliding slot set 10 is not
Rotatably, worm screw 8 can normal movement.Crank axle 14 should make the diameter of axle enough in 2 inner rotation of axle sleeve not generate friction as possible
Less than 2 internal diameter of axle sleeve, or lubricating oil can be filled between the two.Axial movement can be achieved in sliding slot set protrusion in worm screw front sliding slot
But it is radially fixed, turbine by bearing and axle sleeve axial restraint but still can radial rotating, before angle gear is by bearing and turbine
Portion's axial restraint but still can radial rotating, cube and worm screw front axial restraint but still can radial rotating.Change can finally be reached
Width, angle and wing flutter structure autonomous working and do not interfere with each other.
Claims (5)
- The structure 1. flapping wings of a kind of variable amplitude and pitch angle are fluttered, it is characterized in that：Including wing frame, drive mechanism, luffing Structure and change corner structure；Drive mechanism for drive wing frame do up and down flutter, luffing structure for changing wing frame width of fluttering Degree becomes corner structure for driving wing frame to carry out unitary rotation to change wing frame pitch angle.
- The structure 2. flapping wings of variable amplitude according to claim 1 and pitch angle are fluttered, it is characterized in that：The biography Dynamic structure includes crank axle (14), and the bending of crank axle front end is in crank, and rear end makes crankshaft rotation for connecting power input；Wing Two parallel bars are fixed on frame (13), crank axle front end is inserted between two parallel bars.
- The structure 3. flapping wings of variable amplitude according to claim 2 and pitch angle are fluttered, it is characterized in that：The change Width structure includes the worm and gear combination being placed on by bearing on crank axle (14), and the change corner structure includes cube (11), Cube (11) is placed on worm screw (8) and the two axially-fixed and radial can relatively rotate, and cube (11) front end is hinged with wing frame (13), Worm gear (4) rotation driving worm screw (8), which is axially moveable, drives cube (11) to move axially to change wing frame and flutter amplitude, cube (11) applying external force on makes its rotation to change wing frame pitch angle.
- The structure 4. flapping wings of variable amplitude according to claim 3 and pitch angle are fluttered, it is characterized in that：The snail It is fixed with fixing sleeve (9) on bar (8), worm screw (8) front end is equipped with hook protrusion, hook protrusion and fixing sleeve (9) limitation side together The axial movement of body (11) offers several axial slides on the circumference of worm screw (8) front end, and inside is coaxially provided with sliding slot set (10), there is the protrusion with sliding slot equivalent, protrusion is in sliding slot, between sliding slot set (10) and crank axle (14) on sliding slot set (10) It is connected by bearing.
- The structure 5. flapping wings of variable amplitude according to claim 3 and pitch angle are fluttered, it is characterized in that：In worm gear (4) angle gear (6) is connected with by bearing on, the sliding bar for being parallel to crank axle axial direction, side are fixed on angle gear (6) Body (11) is placed on sliding bar and can be slided along sliding bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810322974.XA CN108528711A (en) | 2018-04-11 | 2018-04-11 | The flapping wings of a kind of variable amplitude and pitch angle are fluttered structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810322974.XA CN108528711A (en) | 2018-04-11 | 2018-04-11 | The flapping wings of a kind of variable amplitude and pitch angle are fluttered structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108528711A true CN108528711A (en) | 2018-09-14 |
Family
ID=63479678
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810322974.XA Pending CN108528711A (en) | 2018-04-11 | 2018-04-11 | The flapping wings of a kind of variable amplitude and pitch angle are fluttered structure |
Country Status (1)
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| CN (1) | CN108528711A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109263964A (en) * | 2018-11-22 | 2019-01-25 | 汕头大学 | A kind of bionical dragonfly wing driving mechanism of mandril groove with ball pair |
| CN109436319A (en) * | 2018-11-07 | 2019-03-08 | 天津大学 | Flapping wing aircraft wing agitates the transmission controlling mechanism of frequency, direction and amplitude |
| 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 |
| CN109885908A (en) * | 2019-01-30 | 2019-06-14 | 北京理工大学 | A kind of bionical ventilation sized flap wings system of novel wing and more vortex interaction mechanism based method analysis |
| CN112009681A (en) * | 2020-08-05 | 2020-12-01 | 北京航空航天大学 | Bionic flapping wing micro aircraft with adjustable flapping angle average position and flight control method thereof |
| DE102020205601B3 (en) | 2020-05-04 | 2021-08-12 | Festo Se & Co. Kg | Gear arrangement for a flapping wing aircraft |
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| JP2008254714A (en) * | 2007-03-30 | 2008-10-23 | Bunri Gakuen | Ornithopter |
| JP2010018059A (en) * | 2008-07-08 | 2010-01-28 | Chiba Inst Of Technology | Ornithopter |
| DE102013004188A1 (en) * | 2013-03-12 | 2014-09-18 | Festo Ag & Co. Kg | Coupling device and turbomachine |
| CN106379532A (en) * | 2016-09-23 | 2017-02-08 | 北京航空航天大学 | Flapping-wing flapping angle changing mechanism |
| CN208429233U (en) * | 2018-04-11 | 2019-01-25 | 浙江大学 | The flapping wings of variable amplitude and pitch angle are fluttered structure |
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2018
- 2018-04-11 CN CN201810322974.XA patent/CN108528711A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008254714A (en) * | 2007-03-30 | 2008-10-23 | Bunri Gakuen | Ornithopter |
| JP2010018059A (en) * | 2008-07-08 | 2010-01-28 | Chiba Inst Of Technology | Ornithopter |
| DE102013004188A1 (en) * | 2013-03-12 | 2014-09-18 | Festo Ag & Co. Kg | Coupling device and turbomachine |
| CN106379532A (en) * | 2016-09-23 | 2017-02-08 | 北京航空航天大学 | Flapping-wing flapping angle changing mechanism |
| CN208429233U (en) * | 2018-04-11 | 2019-01-25 | 浙江大学 | The flapping wings of variable amplitude and pitch angle are fluttered structure |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436319A (en) * | 2018-11-07 | 2019-03-08 | 天津大学 | Flapping wing aircraft wing agitates the transmission controlling mechanism of frequency, direction and amplitude |
| CN109263964A (en) * | 2018-11-22 | 2019-01-25 | 汕头大学 | A kind of bionical dragonfly wing driving mechanism of mandril groove with ball pair |
| CN109263964B (en) * | 2018-11-22 | 2024-02-23 | 汕头大学 | Ejector rod groove bionic dragonfly wing driving mechanism with ball pair |
| 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 |
| CN109885908A (en) * | 2019-01-30 | 2019-06-14 | 北京理工大学 | A kind of bionical ventilation sized flap wings system of novel wing and more vortex interaction mechanism based method analysis |
| CN109885908B (en) * | 2019-01-30 | 2021-01-15 | 北京理工大学 | Novel feather wing bionic ventilation flapping wing system and multi-vortex interference mechanism analysis method |
| DE102020205601B3 (en) | 2020-05-04 | 2021-08-12 | Festo Se & Co. Kg | Gear arrangement for a flapping wing aircraft |
| CN113602491A (en) * | 2020-05-04 | 2021-11-05 | 费斯托股份两合公司 | Transmission mechanism assembly for flapping wing type aircraft |
| US11873883B2 (en) | 2020-05-04 | 2024-01-16 | Festo Se & Co. Kg | Gear for a flapping wing aircraft |
| CN112009681A (en) * | 2020-08-05 | 2020-12-01 | 北京航空航天大学 | Bionic flapping wing micro aircraft with adjustable flapping angle average position and flight control method thereof |
| CN112009681B (en) * | 2020-08-05 | 2022-03-11 | 北京航空航天大学 | Bionic flapping wing micro aircraft with adjustable flapping angle average position and flight control method thereof |
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Application publication date: 20180914 |
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