CN109808881B - Bionic foldable double-wing flapping mechanism - Google Patents
Bionic foldable double-wing flapping mechanism Download PDFInfo
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- CN109808881B CN109808881B CN201910256495.7A CN201910256495A CN109808881B CN 109808881 B CN109808881 B CN 109808881B CN 201910256495 A CN201910256495 A CN 201910256495A CN 109808881 B CN109808881 B CN 109808881B
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Abstract
The invention relates to a bionic foldable double-wing flapping mechanism, which particularly realizes the folding, unfolding and flapping of double wings by utilizing a forward and reverse rotation driving gear set of a single motor, can realize the flapping effects of front and rear wings under different amplitudes and different phases, and imitates the biological characteristics of two pairs of wings of an insect so as to improve the flight aerodynamic performance of the insect. The mechanism is mainly applied to improving the complex environment adaptability of the microminiature ornithopter, so that the functions of search and rescue, surveying and mapping, reconnaissance, near-body counter-terrorism, cluster attack and interference and the like can be better realized.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a bionic foldable double-wing flapping mechanism.
Background
Flapping wing flight is a flight mode of flying animals after the biological evolution of hundreds of millions of years, and nearly millions of birds and insects select flapping wing flight, which indicates that the flapping wing flight is the optimal flight mode. Research shows that the flapping-wing robot has the characteristics of high efficiency, flexibility, concealment and the like compared with a fixed-wing robot and a rotor robot, and the flapping-wing robot can be used for military reconnaissance, observation, electronic interference, target tracking, nuclear biochemical sampling, even defense and attack, civil monitoring, search and rescue, surveying and mapping, investigation and the like, so that the research of the flapping-wing robot becomes a hotspot.
The flapping wing mechanism mainly comprises a double-wing flapping wing mechanism simulating an insect flapping wing mode and a single-wing flapping wing mechanism simulating birds, the single-wing flapping wing mechanism is researched more at home and abroad at present, the double-wing flapping wing mechanism is researched less, but the double-wing flapping wing mechanism has important application value for the research of a miniature flapping wing machine. In nature, tiny insects with small body sizes cannot have a tail wing like birds, so that double wings are required to be fully utilized, for example, a locust utilizes a front wing to achieve the functions of adjusting the course and rotating, and utilizes a rear wing to provide the ascending force of flight, which has great inspiring significance for the research and development of miniature ornithopters, but the research of the double-wing ornithopter mechanism faces the problems that a driver and a controller are complex, the mechanism is heavy, and the ornithopter with different amplitudes and different phases of the front wing and the rear wing like insects cannot be realized. In addition, the existing flapping wing mechanism has few functions of folding the wings, the wings can be folded by insects and birds, on one hand, the utilization of space can be reduced, the wings can be hidden conveniently, on the other hand, the wings can be protected from being damaged, the folding research of the existing single-wing mechanism is less, the folding of the double-wing mechanism is rare, and if the problems can be solved, the practical value of the miniature flapping wing machine can be greatly improved.
The prior chinese patent CN105799932A proposes "a full-automatic foldable flapping wing for flapping wing type micro air vehicle" similar to the present invention. The invention provides a full-automatic foldable flapping wing for a bionic flapping wing type aircraft, which realizes wing folding and unfolding by utilizing a built-in heat source to drive a cylindrical sliding block to move back and forth through heating liquid.
The prior Chinese patent CN102381476A proposes a miniature semi-active folding flapping wing similar to the present invention. The invention provides a miniature semi-active folding flapping wing, which comprises a front beam, an oblique beam, a wing rib and a covering, wherein a single wing is divided into two sections, and a fixed folding seat, a folding head rocker arm and a soft steel wire rope are connected to realize asymmetric up-and-down flapping of the flapping wing.
Therefore, the invention provides a mechanism for controlling folding motion of double wings and flapping motion of the double wings by utilizing the transmission of a forward and reverse rotation driving gear set of a single motor and realizing different amplitude flapping and different phase flapping of the double wings of the mechanism by utilizing the installation positions of a crankshaft and a crank, aiming at the problems in a double-wing flapping wing mechanism.
Disclosure of Invention
The invention solves the technical problems that: the invention aims to provide a simple and feasible mechanism design, which can realize the folding flapping wings of the double wings of the miniature flapping-wing aircraft, and realize the flapping of the front wing and the rear wing at different phases and the flapping of the front wing and the rear wing at different amplitudes, thereby not only solving the flapping-wing problem of the double-wing miniature flapping-wing aircraft, but also solving the double-wing folding problem of the double-wing miniature flapping-wing aircraft, greatly improving the practical value of the flapping-wing aircraft, and completing tasks under a complex environment through remote control.
The technical scheme of the invention is as follows: the utility model provides a bionical folded cascade double-wing flapping mechanism, includes body frame, flapping wing mechanism, folding mechanism, drive mechanism and motor, flapping wing mechanism include a pair of front wing subassembly and a pair of back wing subassembly, they respectively the symmetry install the both sides at the body frame, folding mechanism include a pair of front pull rod and a pair of back pull rod, on their one end is connected to the preceding driven lever and the back driven lever of flapping wing mechanism both sides respectively, on the other end is connected to the spiral rack of installing on the body frame, the seesaw through spiral rack realizes the expansion and folding of double-wing, drive mechanism's subassembly is installed respectively on the body frame, can realize folding and the flapping of double-wing respectively through drive mechanism, the motor fix on the motor mount on the body frame for drive mechanism.
The flapping wing mechanism comprises a pair of front wing components and a pair of rear wing components; the front wing assembly comprises a front wing surface, a first crank, a front driving rod and a front driven rod, wherein one end of the front driving rod is connected with the front end of the main frame, and the other end of the front driving rod is rotatably connected with the front driven rod through a connecting pin; two ends of the first crank are provided with circular rings, one end of the first crank is connected with one end of the crankshaft, and the other end of the first crank is in rotating connection with the front driving rod through a connecting pin; the rear wing assembly comprises a rear wing surface, a second crank, a rear driving rod and a rear driven rod, one end of the rear driving rod is rotatably connected with the middle part of the main frame, and the other end of the rear driving rod is rotatably connected with the rear driven rod through a connecting pin; two ends of the second crank are provided with circular rings, one end of the second crank is connected with the other end of the crankshaft, and the other end of the second crank is in rotating connection with the rear driving rod through a connecting pin;
the folding mechanism comprises a front pull rod, a rear pull rod, a torsion spring, a spiral rack, a first connecting piece and a second connecting piece; the torsional spring is arranged on a connecting pin of the front driving rod and the front driven rod, and two arms of the torsional spring are respectively arranged in inner holes of the front driving rod and the front driven rod; the first connecting pieces are symmetrically arranged on the front driven rod and the rear driven rod on two sides of the main frame, and the second connecting pieces are respectively arranged at two ends of the spiral rack; the spiral rack is just clamped in the grooves at the two sides of the rear groove of the upper support through the two side edges, so that the spiral rack can move back and forth in the rear groove of the upper support, the two ends of the front pull rod are spherical connectors, one end of the front pull rod is connected to a ball head of a first connecting piece on the front driven rod, the other end of the front pull rod is connected to a ball head of a second connecting piece at the front end of the spiral rack, so that the front pull rod can be respectively connected with the first connecting piece and the second connecting piece in a 360-degree rotating mode, the two ends of the rear pull rod are also spherical connectors, one end of the rear pull rod is connected to the ball head of the first connecting piece on the rear driven rod, the other end of the rear pull rod is connected to a ball head of the second connecting piece at the rear end of the spiral rack, so that the rear pull rod can be respectively connected with the first connecting piece and the second connecting piece in a 360-degree rotating mode, and the front pull rod and the rear pull rod are symmetrically installed on the two sides of the main frame;
the transmission mechanism comprises a driving gear, a flapping wing gear, a folding gear, a crankshaft, a transmission shaft, a spiral gear and a one-way bearing; the driving gear is fixed on the output shaft of the motor; the flapping wing gear is meshed with the driving gear; the unidirectional bearing I is fixedly connected to the central hole of the flapping wing gear; the flapping wing gear is arranged on the main frame through a crankshaft penetrating through the one-way bearing I; the folding gear is meshed with the driving gear, and the one-way bearing II is fixedly connected to a central hole of the spiral gear; one end of the transmission shaft is fixed on a central hole of the folding gear, and the other end of the transmission shaft is connected to a one-way bearing II of the spiral gear, so that the folding gear and the spiral gear are installed on the main frame; the spiral gear is meshed with the spiral rack on the main frame, and the motor controls the transmission mechanism to realize folding and flapping-wing movement through the power supply and the control system.
The invention further adopts the technical scheme that: the main frame is provided with a flapping wing mechanism through an upper bracket, a spiral rack for driving the folding is arranged through a rear groove of the upper bracket, a motor and a transmission mechanism are arranged through a lower bracket, and the upper bracket and the lower bracket are fixedly connected into a whole; the complete unfolding of the flapping wing mechanism means that a front driving rod and a front driven rod for bonding the front side of the front wing surface and a rear driving rod and a rear driven rod for bonding the front side of the rear wing surface are respectively perpendicular to the upper bracket axis of the main bracket.
Effects of the invention
The invention has the technical effects that:
(1) the folding mechanism designed by the invention realizes the folding and unfolding of the double wings by driving the spiral gear strips to move back and forth through the front pull rod and the rear pull rod, and the flapping wing mechanism of the invention realizes the flapping of the double wings by driving four cranks connected to the front driving rod and the rear driving rod through one crankshaft.
(2) The invention realizes different phase flapping of the double wings by changing the length of the first bent shaft at the two ends of the crankshaft, and realizes different amplitude flapping of the front wing and the rear wing by changing the distance between the crank and the front and rear active connecting positions to the main frame.
(3) The transmission mechanism designed by the invention respectively drives the flapping wing gear and the spiral gear through the driving gear, realizes that the flapping wing gear idles when the motor rotates forwards and the spiral gear drives the spiral rack to move backwards to realize double-wing folding by fixedly connecting two one-way bearings with opposite directions at the central holes of the flapping wing gear and the spiral gear, realizes double-wing flapping when the motor rotates backwards and the spiral gear idles and the double wings expand under the action of the spring, and the flapping wing gear drives the crankshaft to realize double-wing flapping, and when the motor does not rotate, the mechanism keeps the double wings in an expanded state. The transmission mechanism designed by the invention can realize folding and flapping wing movement of double wings through a single motor, not only can reduce the self weight of the mechanism and is more favorable for flight, but also simplifies the transmission system of the mechanism and ensures that the driving is more controllable.
Drawings
FIG. 1 is a schematic view of the overall mechanism of an embodiment of the present invention
FIG. 2 is a top view of FIG. 1
FIG. 3 is a schematic view of the airfoil of FIG. 1 with the front and rear airfoils removed
FIG. 4 is a schematic view of the main frame mechanism
FIG. 5 is a schematic view of the flapping wing mechanism
FIG. 6 is a schematic view of the front active lever and torsion spring
FIG. 7 is a front follower link and a partially enlarged schematic view
FIG. 8 is a schematic view of a folding mechanism and a partial enlargement
FIG. 9 is a schematic view of a double ball screw and a single ball screw
FIG. 10 is a schematic view of a transmission mechanism
FIG. 11 is a schematic view of a helical gear, helical rack and flapping wing gear
In the drawing, 1, a main frame, 2, a motor, 3, an upper bracket, 4, a front wing surface, 5, a first crank, 6, a connecting pin, 7, a front driving rod, 8, a front driven rod, 9, a hollow cylinder, 10, a front cylinder, 11, a incomplete U-shaped groove, 12, a front driving rod connecting hole, 13, a front driven rod connecting hole, 14, a complete U-shaped groove, 15, a crankshaft, 16, a circular ring, 17, a rear wing surface, 18, a rear driving rod, 19, a rear driven rod, 20, a middle cylinder, 21, a front pull rod, 22, a rear pull rod, 23, a torsion spring, 24, a spiral rack, 25, a first connecting piece, 26, a second connecting piece, 27, an inner hole, 28, a front driven rod screw hole, 29, a rear driven rod, 30, a spiral rack front end screw hole, 31, a spiral rack rear end screw hole, 32, an upper bracket rear groove, 33, a driving gear, 34, a flapping wing, 35, a folding gear, 36, a transmission shaft, 37. the spiral gear 38, the one-way bearing I, 39, the one-way bearing II, 40, the motor fixing frame 41, the lower support frame 42 and the second crank.
Detailed Description
With reference to figures 1-11 of the drawings,
the technical scheme of the invention is a bionic foldable double-wing flapping mechanism which comprises a main frame, a flapping wing mechanism, a folding mechanism, a transmission mechanism and a motor. The method is characterized in that:
the flapping wing mechanism comprises a pair of front wings and a pair of rear wings, which are symmetrically arranged on two sides of the main frame respectively, wherein each front wing comprises a front wing surface, a first crank, a connecting pin, a front driving rod and a front driven rod, one end of the front driving rod is a hollow cylinder and is rotatably connected with the cylinder at the front end of the main frame, the other end of the front driving rod is rotatably connected with the front driven rod through the connecting pin, two ends of the first crank are circular rings, one end of the first crank is rotatably connected to a bent shaft at one end of a crankshaft, the other end of the first crank is rotatably connected with the circular ring fixedly connected with the lower end of the front driving rod through the connecting pin, the side edge of the front wing surface is bonded on an upper bracket of the main frame, the front edge of the front wing surface is bonded on the front driving rod and the front driven rod, the rear wings comprise rear wing surfaces, a second crank, the connecting pin, a rear driving rod and a rear driven rod, one end of the rear driving rod is a hollow cylinder, the rear wing surface is rotatably connected with a cylinder in the middle of the main frame, the other end of the rear wing surface is rotatably connected with the rear driven rod through a connecting pin, two ends of the second crank are provided with circular rings, one end of the second crank is connected to a bent shaft at the other end of the crankshaft, the other end of the second crank is rotatably connected with the rear driving rod through the connecting pin, the side edge of the rear wing surface is bonded on the upper surface of the upper bracket of the main frame, the front edge of the rear wing surface is bonded on the upper surfaces of the rear driving rod and the rear driven rod,
the folding mechanism comprises a front pull rod, a rear pull rod, a torsional spring, a spiral rack, a first connecting piece and a second connecting piece, wherein the torsional spring is arranged on a connecting pin of the front driving rod and the front driven rod, two arms of the torsional spring are respectively arranged in inner holes of the front driving rod and the front driven rod, the first connecting piece is symmetrically arranged on the front driven rod and the rear driven rod at two sides of the main frame, the second connecting piece is respectively arranged at two ends of the spiral rack, the spiral rack is just clamped in two side grooves of the rear groove of the upper bracket through two side edges, so that the spiral rack can move back and forth in the rear groove of the upper bracket, two ends of the front pull rod are spherical connectors, one end of each spherical connector is connected to a ball head of the first connecting piece on the front driven rod, the other end of each spherical connector is connected to a ball head on the second connecting piece at the front end of the spiral rack, two ends of the rear pull rod are also spherical connectors, one end of the front pull rod and the rear pull rod are symmetrically arranged on two sides of the main frame.
The transmission mechanism comprises a driving gear, a flapping wing gear, a folding gear, a crankshaft, a transmission shaft, a spiral gear and a one-way bearing, the driving gear is fixed on the output shaft of the motor, the flapping wing gear is meshed with the driving gear, the one-way bearing I is fixedly connected on a central hole of the flapping wing gear, the flapping wing gear is arranged on the main frame through a crankshaft penetrating through the one-way bearing I, the folding gear is engaged with the driving gear, the one-way bearing II is fixedly connected on the central hole of the spiral gear, one end of the transmission shaft is fixed on the central hole of the folding gear, the other end of the transmission shaft is connected to a second one-way bearing of the spiral gear, thereby the folding gear and the spiral gear are arranged on the main frame, the spiral gear is meshed with the spiral rack on the main frame, the motor controls the transmission mechanism to realize folding and flapping wing movement through a power supply and a control system.
The invention also includes such structural features:
(1) the spiral gear is arranged in the middle of the rear groove of the upper support of the main frame, when the two wings are completely unfolded, the rear end of the spiral rack is just meshed with the spiral gear, when the two wings are completely folded, the front end of the spiral rack is just meshed with the spiral gear, and the two wings can keep folded under the condition that the spiral gear continues to rotate. When the two wings are completely unfolded, a space of 5-10mm is reserved between the front end of the spiral rack and the front end of the rear groove, the front pull rod and the rear pull rod drive the spiral rack to move forwards within a certain range when the two wings flap downwards, and the second connecting piece at the front end of the spiral rack is positioned in front of the middle cylinder, so that the front pull rod does not touch the rear driving rod when the front wing and the rear wing flap out of phase, and the front wing and the rear wing flap can flap smoothly.
(2) The torsion spring adopted by the invention is a 180-degree torsion spring, so that the front driving rod and the front driven rod can be kept on the same straight line, the front driven rod is quickly restored to be on the same straight line with the front driving rod due to the action of the torsion spring after the double wings are folded, when the double wings are unfolded, as the connecting ends of the front driving rod and the rear driving rod and the front driving rod and the rear driven rod are provided with a non-through U-shaped groove and a connecting hole is reserved at the position of the U-shaped groove, the connecting ends of the front driven rod and the rear driven rod are L-shaped, and the parts of the connecting ends of the front driving rod and the rear driving rod, which are inserted into the U-shaped grooves of the front driving rod and the rear driving rod, are provided with a through U-shaped groove and are just in running fit with the front driving rod and the U-shaped groove, so that the rotating angle between the front driving rod and the front driven rod cannot be larger than 180 degrees, the front driving rod adopted by the invention is longer than the rear driving rod, and the front wings can be completely folded.
(3) The mounting directions of the one-way bearings respectively mounted on the flapping wing gear and the spiral gear are opposite, so that when the motor rotates forwards or reversely, only one-way bearing is in rotating connection, only folding motion or flapping wing motion is realized, and when the motor does not rotate, the mechanism keeps a double-pair wing spreading state. The spiral gear and the spiral rack adopted by the invention have the same modulus, and the spiral angles are all 45 degrees, so that the force in the front-back moving direction of the spiral rack is maximum when the spiral gear is matched with the spiral rack.
(4) The diameters of the ball heads on the first connecting piece and the second connecting piece are the same as the diameters of the spherical connectors at the two ends of the front pull rod and the rear pull rod, 360-degree rotation fit can be achieved, when the two wings flap, the front pull rod and the rear pull rod pull the spiral rack to move back and forth in the rear groove of the support on the main frame along with the two wings flap, and the influence on the two wings flap is reduced. The invention adopts the structure that each end of the crank shaft is provided with two bent shaft positions for installing two cranks, the distances from the connecting positions of the cranks and the front and rear driving rods to the main frame can be different, so that the amplitude difference of the front and rear wings can be realized, and the two ends of the crank shaft can realize the different phase flapping of the front and rear wings of the miniature double-pair wing mechanism like insects by utilizing the different lengths of the first bent shaft.
(5) The front wing surface and the rear wing surface are made of waterproof, breathable, soft, light and tough Tyvek paper, and the rest parts are made of POM engineering plastics.
The invention is described in more detail below with reference to the accompanying drawings:
the embodiment is as follows: referring to fig. 1 and 2, the bionic foldable double-wing flapping mechanism comprises a main frame 1, a flapping wing mechanism, a folding mechanism, a transmission mechanism and a motor 2;
referring to fig. 1, 2, 3, 5, 6, 7, the flapping wing mechanism includes a pair of front wings and a pair of rear wings, which are symmetrically installed on both sides of an upper bracket 3 of a main frame, respectively, the front wings include a front wing surface 4, a first crank 5, a connecting pin 6, a front driving rod 7 and a front driven rod 8, one end of the front driving rod 7 is a hollow cylinder 9, which is matched with a front cylinder 10 at the front end of the upper bracket to form a rotary connection, the other end of the front driving rod 7 is provided with a non-completely through U-shaped groove 11, and a front driving rod connecting hole 12 is arranged at a position which does not completely pass through the U-shaped groove 11, and is rotatably connected with the front driven rod 8 through the connecting pin 6 and a front driven rod connecting hole 13, the front driven rod connecting end is L-shaped, the part of the front driven rod which is inserted into the non-completely through U-shaped groove 11 is a completely pass through the U-shaped groove 14 and is rotatably matched therewith, the L-shaped front driving rod and the front driven rod connecting end make the front driving rod and front driven rod rotate around the connecting pin, the rotation angles of the crank arms are not more than 180 degrees, two ends of the first crank 5 are provided with circular rings, one circular ring is rotatably connected to a crank shaft 15, the other circular ring is connected to a circular ring 16 fixedly connected to the lower end of the front driving rod through a connecting pin 6 so as to form a rotary connection with the front driving rod, the side edge of the front wing surface 4 is bonded to the upper surface of an upper bracket of the main frame, the front edge of the front wing surface is bonded to the upper surfaces of the front driving rod 7 and the front driven rod 8, the rear wing comprises a rear wing surface 17, a second crank 42, the connecting pin 6, a rear driving rod 18 and a rear driven rod 19, the rear driving rod is the same as the front driving rod, one end of the rear driving rod is a hollow cylinder and is matched with a middle cylinder 20 at the middle end of the upper bracket to form a rotary connection, the other end of the rear driving rod is rotatably connected with the rear driven rod through the connecting pin, the same as the front driving rod, and the connecting end of the rear driven rod is L-shaped, the rotating angle between the rear driving rod and the rear driven rod is not larger than 180 degrees, two ends of the second crank 42 are provided with circular rings, one circular ring is connected to the crankshaft 15, the other circular ring is connected to the circular ring fixedly connected to the lower end of the rear driving rod through the connecting pin 6 so as to form rotating connection with the rear driving rod, the side edge of the rear wing surface 17 is bonded to the upper surface of the upper bracket, and the front edge of the rear wing surface is bonded to the upper surfaces of the rear driving rod and the rear driven rod.
Referring to fig. 1, 2, 3, 8 and 9, the folding mechanism includes a front pull rod 21, a rear pull rod 22, a torsion spring 23, a spiral rack 24, a first connecting piece 25 and a second connecting piece 26, the torsion spring is installed on a connecting pin 6 in a U-shaped groove 14 through which a front driven rod completely passes, two arms of the torsion spring are respectively installed in inner holes 27 of a front driving rod and a front driven rod, the first connecting piece 25 is symmetrically installed on a front driven rod screw hole 28 and a rear driven rod screw hole 29 at two sides of a main frame, the second connecting piece 26 is respectively installed on a spiral rack front end screw hole 30 and a spiral rack rear end screw hole 31, the spiral rack 24 is just clamped in grooves at two sides of an upper bracket rear groove 32 through two sides, so that the spiral rack moves back and forth in the upper bracket rear groove 32, two ends of the front pull rod 21 are spherical connectors, one end of each front pull rod is connected to a ball head of the first connecting piece 25 of the front driven rod 8, the other end is connected to a ball head on a second connecting piece 26 at the front end of the spiral rack, two ends of the rear pull rod 22 are also spherical connectors, one end is connected to the ball head of a first connecting piece 25 on the rear driven rod 19, the other end is connected to a ball head on the second connecting piece 26 at the rear end of the spiral rack, and the front pull rod and the rear pull rod are symmetrically arranged on two sides of the main frame.
Referring to fig. 1, 3, 10 and 11, the driving mechanism includes a driving gear 33, a flapping wing gear 34, a folding gear 35, a crankshaft 15, a transmission shaft 36, a spiral gear 37, a one-way bearing 38 and a one-way bearing 39, the driving gear 33 is fixed on the output shaft of the motor 2, the flapping wing gear is engaged with the driving gear, the one-way bearing 38 is fixedly connected on the central hole of the flapping wing gear 34 and installs the flapping wing gear 34 on the main frame 1 by the crankshaft 15 passing through the one-way bearing 38, the folding gear is engaged with the driving gear, the one-way bearing 39 is fixedly connected on the central hole of the spiral gear 37, one end of the transmission shaft 36 is fixed on the central hole of the folding gear, the other end is connected to the one-way bearing of the spiral gear, thereby installing the folding gear and the spiral gear on the main frame 1, the spiral gear is engaged with the spiral rack 24 installed on the rear slot 32 of the upper bracket of the main frame, the motor 2 is arranged on a motor fixing frame 40 on the main frame and is connected with a power supply and a control system to realize folding and flapping wing movement by controlling the positive rotation and the negative rotation of the motor.
The working process of the invention is as follows: firstly, the mechanism drives the motor 2 to rotate forwards through a control system in a double-wing unfolding state, the motor 2 drives the driving gear 33 fixed on the output shaft of the motor to rotate forwards, the driving gear drives the folding gear 35 meshed with the driving gear to rotate backwards on one side and also drives the flapping-wing gear 34 meshed with the flapping-wing gear to rotate backwards, the folding gear drives the transmission shaft 36 fixed in the central hole of the folding gear to rotate backwards, the transmission shaft drives the one-way bearing II 39 to rotate along with the one-way bearing II, the one-way bearing II is fixedly connected with the central hole of the spiral gear 37, the rotation of the one-way bearing II 39 enables the spiral gear to rotate, so that the spiral gear is meshed with the spiral rack 24 to enable the spiral rack to move backwards along the rear groove 32 of the upper bracket, double-wing folding is realized by pulling the front pull rod 21 and the rear pull rod 22, meanwhile, the reverse rotation of the flapping-wing gear 34 enables the one-way bearing I fixedly connected with the central hole of the flapping-wing gear to form empty connection with the crankshaft 15 due to the installation directions of the one-way bearing I and the one-way bearing II 38 and the one-way bearing II, the crankshaft 15 can not be driven to rotate, so that the two wings can not flap and only can be folded, when the two wings are completely folded, the front end of the spiral rack 24 moves to the matching position of the spiral gear 37, and the motor 2 continues to rotate forwards to keep the two wings to keep the folded state. When the motor 2 is driven to rotate reversely by the control system, the motor drives the driving gear 33 on the output shaft of the motor to rotate reversely, the driving gear 33 drives the flapping wing gear 34 engaged with the driving gear to rotate normally, meanwhile, the folding gear 35 engaged with the folding gear is also driven to rotate normally, the folding gear drives the transmission shaft 36 fixed in the central hole of the folding gear to rotate normally, at the moment, the forward rotation of the transmission shaft is in idle connection with the one-way bearing II 39, the spiral gear 37 cannot be driven to rotate, the spiral rack 24 is rapidly restored to the initial position under the action of the torsion spring 23 at the joint of the front driving rod 7 and the front driven rod 8, the double wings are completely unfolded, meanwhile, the one-way bearing I38 fixedly connected with the central hole of the transmission shaft drives the crankshaft 15 to rotate, the crankshaft rotates to drive the crank 5 to drive the front driving rod 7 and the rear driving rod 18 on the two sides of the main frame to flap up and down, the flapping motion of the double wings is realized, when the motor 2 rotates normally again, the mechanism stops flapping wings to realize double-wing folding, thereby realizing continuous work of the mechanism.
Claims (2)
1. A bionic foldable double-wing flapping mechanism is characterized by comprising a main frame (1), a flapping wing mechanism, a folding mechanism, a transmission mechanism and a motor (2), wherein the flapping wing mechanism comprises a pair of front wing assemblies and a pair of rear wing assemblies which are symmetrically arranged on two sides of the main frame (1) respectively, the folding mechanism comprises a pair of front pull rods (21) and a pair of rear pull rods (22), one ends of the front pull rods and the rear pull rods are connected to a front driven rod (8) and a rear driven rod (19) on two sides of the flapping wing mechanism respectively, the other ends of the front pull rods and the rear pull rods are connected to a spiral rack (24) arranged on the main frame (1), unfolding and folding and unfolding of double wings are realized through forward and backward movement of the spiral rack (24), the components of the transmission mechanism are arranged on the main frame (1) respectively, folding and flapping of the double wings can be realized through the transmission mechanism respectively, and the motor (2) is fixed on a motor fixing frame (40), for driving the transmission mechanism;
the front wing assembly comprises a front wing surface (4), a first crank (5), a front driving rod (7) and a front driven rod (8), wherein one end of the front driving rod is connected with the front end of the main frame, and the other end of the front driving rod is rotatably connected with the front driven rod through a connecting pin (6); two ends of the first crank (5) are circular rings, one end of the first crank is connected with one end of the crankshaft (15), and the other end of the first crank is in rotating connection with the front driving rod through a connecting pin (6); the rear wing assembly comprises a rear wing surface (17), a second crank (42), a rear driving rod (18) and a rear driven rod (19), one end of the rear driving rod is rotatably connected with the middle part of the main frame (1), and the other end of the rear driving rod is rotatably connected with the rear driven rod (19) through a connecting pin (6); two ends of the second crank (42) are circular rings, one end of the second crank is connected with the other end of the crank shaft (15), and the other end of the second crank is in rotating connection with the rear driving rod (18) through a connecting pin (6);
the folding mechanism comprises a front pull rod (21), a rear pull rod (22), a torsion spring (23), a spiral rack (24), a first connecting piece (25) and a second connecting piece (26); a torsion spring (23) is arranged on a connecting pin (6) of the front driving rod (7) and the front driven rod (8), and two arms of the torsion spring are respectively arranged in inner holes of the front driving rod and the front driven rod; the first connecting pieces (25) are symmetrically arranged on the front driven rod (8) and the rear driven rod (19) at two sides of the main frame (1), and the second connecting pieces (26) are respectively arranged at two ends of the spiral rack (24); the spiral rack is just clamped in the grooves at the two sides of the rear groove (32) of the upper bracket through the two side edges, thereby realizing the forward and backward movement of the spiral rack in the rear groove of the upper bracket, two ends of the front pull rod (21) are spherical connectors, one end of the front pull rod is connected to the ball head of a first connecting piece on the front driven rod (8), the other end of the front pull rod is connected to a ball head on a second connecting piece at the front end of the spiral rack, thereby leading the front pull rod to be respectively connected with the first connecting piece and the second connecting piece in a 360-degree rotating way, the two ends of the rear pull rod (22) are also spherical connectors, one end of the rear pull rod is connected to the ball head of a first connecting piece on the rear driven rod (19), the other end of the rear pull rod is connected to a ball head on a second connecting piece at the rear end of the spiral rack, therefore, the rear pull rod (22) can be respectively connected with the first connecting piece and the second connecting piece in a 360-degree rotating manner, and the front pull rod and the rear pull rod are symmetrically arranged on two sides of the main frame (1);
the transmission mechanism comprises a driving gear (33), a flapping wing gear (34), a folding gear (35), a crankshaft (15), a transmission shaft (36), a spiral gear (37) and a one-way bearing; the driving gear is fixed on an output shaft of the motor (2); the flapping wing gear is meshed with the driving gear; the one-way bearing I (38) is fixedly connected to the central hole of the flapping wing gear; the flapping wing gear is arranged on the main frame (1) through a crankshaft (15) penetrating through the one-way bearing I; the folding gear is meshed with the driving gear, and a one-way bearing II (39) is fixedly connected to a central hole of the spiral gear; one end of the transmission shaft is fixed on a central hole of the folding gear, and the other end of the transmission shaft is connected to a one-way bearing II of the spiral gear, so that the folding gear and the spiral gear are installed on the main frame; the spiral gear is meshed with a spiral rack (24) on the main frame, and the motor (2) controls the transmission mechanism to realize folding and flapping wing movement through a power supply and a control system.
2. The bionic foldable double-wing flapping mechanism of claim 1, wherein the main frame (1) is provided with a flapping wing mechanism through an upper bracket (3), a spiral rack (24) for driving the folding is arranged through a rear groove (32) of the upper bracket, a motor (2) and a transmission mechanism are arranged through a lower bracket (41), and the upper bracket and the lower bracket are fixedly connected into a whole; the complete expansion of the flapping wing mechanism means that a front driving rod (7) and a front driven rod (8) for adhering the front side of the front wing surface (4) and a rear driving rod (18) and a rear driven rod (19) for adhering the front side of the rear wing surface (17) are respectively vertical to the axis of an upper bracket (3) of the main frame.
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| CN112046742A (en) * | 2020-09-13 | 2020-12-08 | 西北工业大学 | Flapping wing mechanism with wing spreading capability |
| CN112407277A (en) * | 2020-11-30 | 2021-02-26 | 北京机电工程研究所 | Bionic flapping wing aircraft |
| CN112874781B (en) * | 2021-02-08 | 2022-09-20 | 哈尔滨工业大学 | Wing flapping mechanism of bat flapping wing imitating aircraft |
| CN113859528B (en) * | 2021-09-16 | 2023-07-18 | 西北工业大学太仓长三角研究院 | Dragonfly-imitating flapping wing aircraft |
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