CN110466757A - A kind of the bionic flapping-wing driving mechanism and driving method of active twist and folding - Google Patents
A kind of the bionic flapping-wing driving mechanism and driving method of active twist and folding Download PDFInfo
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- CN110466757A CN110466757A CN201910892481.4A CN201910892481A CN110466757A CN 110466757 A CN110466757 A CN 110466757A CN 201910892481 A CN201910892481 A CN 201910892481A CN 110466757 A CN110466757 A CN 110466757A
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- axle beam
- flapping wing
- inner segment
- wing
- driving mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
Abstract
The present invention provides the bionic flapping-wing driving mechanism and driving method of a kind of active twist and folding, the bionic flapping-wing driving mechanism of active twist and folding, comprising: rack, left driving mechanism for flapping wing and right driving mechanism for flapping wing；The left driving mechanism for flapping wing and the right driving mechanism for flapping wing are symmetrically arranged on the left and right sides of the rack；Left driving mechanism for flapping wing is identical with the structure of the right driving mechanism for flapping wing, includes motor, gear, gear shaft, preceding crank-rocker mechanism, rear crank rocker arm body, front-axle beam and the back rest.The active twist of mechanism is realized with active folding movement close-coupled, simultaneously, it ensure that multiple degrees of freedom bionic movement on the basis of mechanism form is succinct, and two kinds of motion amplitudes are active control, and can achieve by parameter adjustment optimal, the characteristics of motion realized is highly similar with the birds wing characteristics of motion.
Description
Technical field
The invention belongs to flapping wing aircraft driving mechanism design fields, and in particular to a kind of active twist and fold
Bionic flapping-wing driving mechanism and driving method.
Background technique
Micro flapping wing air vehicle is a kind of new concept aircraft for imitating Bird Flight, is had small in size, light-weight, motor-driven
Flexibly, the advantages such as high-efficient, if carry sensor and relevant data transmission and flight control system, formed mini-sized flap wings nobody
Machine platform will have broad application prospects.
Around this project, various countries have been developed that various flapping wing aircrafts, however, existing all kinds of flapping flights
Device, the passive torsion of the mainly flapping wing awing generated, passive torsion are conducive to the generation of thrust to a certain extent, so
And influenced in practice by Stiffness Distribution, state of flight and environment, passive torsion is converted with flight parameter and state, past
Toward not exclusively controllable state is in, so that the aerodynamic characteristic for being unable to control flapping wing aircraft is in optimum state.
Summary of the invention
In view of the defects existing in the prior art, the present invention provides the bionic flapping-wing driving mechanism of a kind of active twist and folding
And driving method, it can effectively solve the above problems.
The technical solution adopted by the invention is as follows:
The present invention provides the bionic flapping-wing driving mechanism of a kind of active twist and folding, comprising: rack (100), left flapping wing
Driving mechanism (200) and right driving mechanism for flapping wing (300)；The left driving mechanism for flapping wing (200) and the right flapping wing driving machine
Structure (300) is symmetrically arranged on the left and right sides of the rack (100)；
The left driving mechanism for flapping wing (200) is identical with the structure of the right driving mechanism for flapping wing (300), includes electricity
Machine, gear (A2), gear shaft (A3), preceding crank-rocker mechanism (A4), rear crank rocker arm body (A5), front-axle beam (A6) and the back rest
(A7)；Gear (A2) being rotated by the motor；The gear shaft is fixedly mounted in the center of the gear (A2)
(A3), the preceding crank-rocker mechanism (A4) is installed in the front end of the gear shaft (A3), the preceding crank-rocker mechanism (A4) with
One end of the front-axle beam (A6) is hinged, when the gear shaft (A3) rotates, drives institute by the preceding crank-rocker mechanism (A4)
Front-axle beam (A6) is stated to be fluttered and folding movement；The rear crank rocker arm body (A5) is installed in the rear end of the gear shaft (A3),
The rear crank rocker arm body (A5) and one end of the back rest (A7) are hinged, when the gear shaft (A3) rotation, synchronize logical
Crossing the rear crank rocker arm body (A5) drives the back rest (A7) to be fluttered and folding movement；The rear crank rocker arm body
(A5) and there is phase difference in the preceding crank-rocker mechanism (A4) at the beginning, cause during fluttering, the front-axle beam (A6) and
The back rest (A7) projection along the longitudinal direction is simultaneously not parallel, and then generates torsion effect in the front-back direction, by adjusting described
The size of phase difference, and then front-axle beam described in active control (A6) and the back rest (A7) generate the amplitude of twist motion.
Preferably, the preceding crank-rocker mechanism (A4) is identical with the structure of the rear crank rocker arm body (A5), described
Front-axle beam (A6) is identical with the structure of the back rest (A7).
Preferably, the preceding crank-rocker mechanism (A4) includes: preceding crank (A41) and front arm (A42)；The front-axle beam
It (A6) include the first front-axle beam inner segment (A61), the second front-axle beam inner segment (A62) and front-axle beam outer segment (A63)；
One end of the preceding crank (A41) is fixedly connected with the front end of the gear shaft (A3), the preceding crank (A41)
One end of the other end and the front arm (A42) is hinged；The other end of the front arm (A42) is axially set separately along front arm
First hinge joint (B1) and the second hinge joint (B2)；
The left end of the front-axle beam outer segment (A63) has L shape portion, and L shape portion includes the axis with the front-axle beam outer segment (A63)
To coaxial horizontal part (A631), the vertical component effect vertical with the horizontal part (A631) (A632)；At the vertical component effect (A632)
Upper setting third hinge joint (B3) and the 4th hinge joint (B4)；The third hinge joint (B3) arrives the 4th hinge joint (B4)
Distance, with the first hinge joint (B1) being equidistant to the second hinge joint (B2)；
The left end of the first front-axle beam inner segment (A61) and first hinge joint (B1) hingedly, the first front-axle beam inner segment
(A61) right end and the third hinge joint (B3) is hinged；The left end of the second front-axle beam inner segment (A62) is hinged with described second
Hingedly, the right end of the second front-axle beam inner segment (A62) and the 4th hinge joint (B4) are hinged for point (B2)；
The position of third hinge joint (B3) to the 4th hinge joint (B4) of the vertical component effect (A632) forms the right side
Bar；The position of the second hinge joint (B2) to the first hinge joint (B1) of the front arm (A42) forms left bar；
The first front-axle beam inner segment (A61), the right bar, the second front-axle beam inner segment (A62), the left bar form parallel four side
Shape mechanism；
Meanwhile the first front-axle beam inner segment (A61) is also rotatably connected with the rack (100) by shaft (C1)；Institute
The assembly point of shaft (C1) Yu the first front-axle beam inner segment (A61) are stated, is located at first hinge joint (B1) and the third is cut with scissors
Between contact (B3), by the shaft (C1), limiting the first front-axle beam inner segment (A61) can only turn around the shaft (C1)
It is dynamic；
When moving back and forth under drive of the front arm (A42) in the preceding crank (A41), due to described parallel
The formation of quadrangular mechanism and the effect of the shaft (C1) make the first front-axle beam inner segment (A61) around the shaft (C1)
Movement of fluttering is carried out, the second front-axle beam inner segment (A62) and the first front-axle beam inner segment (A61) are parallel always, before described second
Beam inner segment (A62), which synchronizes, carries out movement of fluttering；Meanwhile in one cycle, before due to the front arm (A42) and described first
The variation of angle between beam inner segment (A61) causes the second front-axle beam inner segment (A62) relative to the first front-axle beam inner segment
(A61) movement that will do it beam axial direction, when the second front-axle beam inner segment (A62) right end is located at the first front-axle beam inner segment (A61)
When the right side of right end, pushes the front-axle beam outer segment (A63) to be lifted up, form the state being folded up；When second front-axle beam
When inner segment (A62) right end is located at the left side of the first front-axle beam inner segment (A61) right end, pull the front-axle beam outer segment (A63) downward
Inclination, forms fold-down state, and therefore, the front-axle beam (A6) is during fluttering, in different positions of fluttering, driving
The front-axle beam outer segment (A63) carries out the folding of different directions.
Preferably, the distance of second hinge joint (B2) is arrived by adjusting first hinge joint (B1), described in control
The folding angles of front-axle beam outer segment (A63).
Preferably, the gear of the left driving mechanism for flapping wing (200), the gear with the right driving mechanism for flapping wing (300)
Intermeshing.
Preferably, the rack (100) uses carbon fibre composite.
The present invention also provides the driving methods of a kind of active twist and the bionic flapping-wing driving mechanism of folding, including following step
It is rapid:
Step 1, the gear of the gear of the left driving mechanism for flapping wing of motor driven (200) and right driving mechanism for flapping wing (300) into
The rotation in the opposite direction of row passes through right flapping wing to drive left flapping wing to carry out movement of fluttering by left driving mechanism for flapping wing (200)
Driving mechanism (300) drives right flapping wing to carry out movement of fluttering, also, left flapping wing is synchronous with right flapping wing symmetrically flutters；
Step 2, left flapping wing and right flapping wing carry out flapping wing twisting action simultaneously and flapping wing fold during being fluttered
Movement；
Wherein, flapping wing twisting action is accomplished by the following way:
Step 2.1, when initial, Shi Qian crank-rocker mechanism (A4) and rear crank rocker arm body (A5) have certain phase
Difference, it may be assumed that the rear crank of the preceding crank (A41) of preceding crank-rocker mechanism (A4) and rear crank rocker arm body (A5) have certain
Angle；
Step 2.2, then, when motor driven gear rotates, crank-rocker mechanism before gear is driven by gear shaft (A3)
(A4) and rear crank rocker arm body (A5) synchronization action；It is fluttered by preceding crank-rocker mechanism (A4) driving front-axle beam (A6),
The back rest is driven to flutter by rear crank rocker arm body (A5)；Due to preceding crank-rocker mechanism (A4) and rear crank rocker arm body
(A5) there is phase difference, therefore, front-axle beam (A6) and the back rest are not in same level, thus there are corresponding phase difference
The flapping wing between front-axle beam (A6) and the back rest is set to generate twisting action；
Flapping wing jackknife action is accomplished by the following way:
During flapping wing is fluttered, for front-axle beam (A6), including the first front-axle beam inner segment (A61), the second front-axle beam inner segment (A62)
With front-axle beam outer segment (A63)；Wherein, the first front-axle beam inner segment (A61) and the second front-axle beam inner segment (A62) with front-axle beam outer segment (A63)
One end is hinged, and the first front-axle beam inner segment (A61) and the second front-axle beam inner segment (A62) form parallelogram mechanism, the parallelogram
When mechanism flutters to different location, driving front-axle beam outer segment (A63) is folded up or is folded down, and then realizes that front-axle beam (A6) is folded
Effect；The back rest (A7) is identical with the folding principle of front-axle beam (A6), and then realizes the flapping wing that the back rest (A7) and front-axle beam (A6) are formed
Folding effect.
Active twist provided by the invention and the bionic flapping-wing driving mechanism and driving method of folding have the advantage that
The active twist of mechanism is realized with active folding movement close-coupled, simultaneously, on the succinct basis of mechanism form
On ensure that multiple degrees of freedom bionic movement, and two kinds of motion amplitudes are active control, and be can achieve by parameter adjustment
Optimal, the characteristics of motion realized is similar to birds wing characteristics of motion height.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the bionic flapping-wing driving mechanism of active twist and folding；
Fig. 2 is the schematic view of the front view of the bionic flapping-wing driving mechanism of active twist and folding；
Fig. 3 is the overlooking structure diagram of the bionic flapping-wing driving mechanism of active twist and folding；
Fig. 4 is the schematic perspective view of rack；
Fig. 5 is the assembling relationship figure of left driving mechanism for flapping wing and right driving mechanism for flapping wing；
Fig. 6 is the arrangement relation figure of left driving mechanism for flapping wing and right driving mechanism for flapping wing in rack；
Fig. 7 is the whole arrangement relation figure in rack of right driving mechanism for flapping wing；
Fig. 8 is arrangement relation figure of the core members in rack of right driving mechanism for flapping wing；
Fig. 9 is the structure chart of right driving mechanism for flapping wing；
Figure 10 is the structure chart in front-axle beam outer segment left end L shape portion；
Figure 11 is schematic diagram when right driving mechanism for flapping wing drives right flapping wing to flutter to uppermost position；
Figure 12 is that right driving mechanism for flapping wing drives right flapping wing to flutter down schematic diagram when flutterring to middle position；
Figure 13 is schematic diagram when right driving mechanism for flapping wing drives right flapping wing to flutter to bottom position；
Figure 14 be right driving mechanism for flapping wing drive right flapping wing flutter on schematic diagram when flutterring to middle position.
Specific embodiment
In order to which the technical problems, technical solutions and beneficial effects solved by the present invention is more clearly understood, below in conjunction with
Accompanying drawings and embodiments, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein only to
It explains the present invention, is not intended to limit the present invention.
For flapping wing aircraft in the prior art, the mainly passive the phenomenon that reversing awing generated, the present invention
The bionic flapping-wing driving mechanism of a kind of active twist and folding is provided, has the characteristics that following two: (1) bionic flapping-wing formula being flown
For row, the twist motion of the wing is to generate the major reason of thrust.And driving mechanism for flapping wing provided by the invention, it is a kind of active
The driving mechanism for flapping wing of torsion and active twist amplitude-controllable during flapping wing is fluttered, while generating active twist movement,
By the way that control is adjusted to active twist amplitude, it can make to reverse effectively enhancing lift and thrust, and then keep flapping wing pneumatically special
Property is optimal.(2) during flapping wing is fluttered, while the movement of flapping wing active folding is generated, and the amplitude-controllable of active folding,
And then effectively improve flight performance.Therefore, the present invention passes through the driving mechanism for flapping wing of active twist and folding, improves bio-imitability
Can, pneumatic efficiency is improved, can reach more preferably aerodynamic characteristic.
The bionic flapping-wing driving mechanism of active twist provided by the invention and folding has the advantage that (1) can be with more
Simple and compact mode realizes that active twist and active folding move, and realizes the bionical flight characteristic of height.(2) active twist and
Active folding, the two is mutually indepedent, can separately design, and is applied on different flapping wing aircrafts alone or in combination.(3) structure
It is compact, transmission link is few, transmission efficiency is high, high reliablity, be suitble to bionic flapping-wing flying vehicle.
Active twist structure and active folding structure are discussed in detail separately below:
(1) active twist structure
With reference to Fig. 1-Fig. 3, the bionic flapping-wing driving mechanism of active twist and folding includes: rack 100, left flapping wing driving machine
Structure 200 and right driving mechanism for flapping wing 300；Left driving mechanism for flapping wing 200 and right driving mechanism for flapping wing 300 are symmetrically arranged on rack
100 left and right sides drives left flapping wing to carry out movement of fluttering by left driving mechanism for flapping wing 200；Pass through right driving mechanism for flapping wing
300, drive right flapping wing to carry out movement of fluttering.Also, it can be seen that the gear of left driving mechanism for flapping wing 200 with reference to Fig. 5 and the right side flutterred
The gear of wing driving mechanism 300 is intermeshed, and is generated the rotary motion of relative direction, be thereby may be ensured that left flapping motion and the right side
The full symmetric property of flapping motion.
With reference to Fig. 4, rack is that carbon fiber composite board is cut, and has motor installing hole and reduction gearing axis hole thereon.
It is affixed with bolt between carbon fiber part, and reinforced with resin glue.
Left driving mechanism for flapping wing 200 is identical with the structure of right driving mechanism for flapping wing 300, includes motor, gear A 2, gear
Axis A3, preceding crank-rocker mechanism A4, rear crank rocker arm body A5, front-axle beam A6 and back rest A7；The tooth of left driving mechanism for flapping wing 200
Wheel is intermeshed with the gear of right driving mechanism for flapping wing 300.
With reference to Fig. 7 and Fig. 8, gear A 2 is mounted on the rack face, and gear A 2 rotates under the drive of the motor；In gear A 2
Gear shaft A3, crank-rocker mechanism A4, preceding crank-rocker mechanism A4 and front-axle beam before the front end of gear shaft A3 is installed is fixedly mounted in the heart
One end of A6 is hinged, when gear shaft A3 rotates, drives front-axle beam A6 to be fluttered and folding movement by preceding crank-rocker mechanism A4；
Rear crank rocker arm body A5 is installed in the rear end of gear shaft A3, and rear crank rocker arm body A5 and one end of back rest A7 are hinged, work as gear
When axis A3 rotates, synchronization is fluttered by rear crank rocker arm body A5 driving back rest A7 and folding movement；
There is phase difference in rear crank rocker arm body A5 and preceding crank-rocker mechanism A4, cause at the beginning during fluttering,
Front-axle beam A6 and the back rest A7 projection along the longitudinal direction are simultaneously not parallel, and then generate torsion effect in the front-back direction, by adjusting phase
The size of potential difference, and then active control front-axle beam A6 and back rest A7 generates the amplitude of twist motion.
Therefore, gear is fixed on the rack, the two sets of crank rocker arm bodies in gear connection front and back, also, two sets of front and back crank
Rocker arm body is coaxial.Therefore, gear drives coaxial preceding crank connected to it with rear crank with mutually synchronized under motor driven
Degree is rotated；And when current crank and rear crank movement, drive front arm and rear arm to generate reciprocating motion respectively；Before
Rocker arm and rear arm drive front-axle beam A6 and back rest A7 to carry out movement of actively back and forth fluttering respectively again.By adjusting front and back crank rotation
Phase difference, can control front and back rocker arm, to generate motion phase poor, final to control front and rear beam to generate motion phase poor, to control
Active twist amplitude generates efficient aerodynamic efficiency.
Active twist mechanism has the characteristics that and advantage:
(1) the active twist characteristics of motion passes through the phase-difference control of preceding crank-rocker and rear crank rocker arm body, and front and back is bent
The coaxial synchronized rotation of handle, it has been investigated that, the phase of rear crank rocker arm lags behind preceding crank-rocker, can produce advantageous flutter
Rule, the windup-degree of generation meet the feature that flapping wing can be made to have more excellent aerodynamic characteristic in mechanism study.
(2) Fig. 3 is referred to, the back rest that the front-axle beam of preceding crank-rocker mechanism driving is driven with rear crank rocker arm body is overlooked
Angle be arranged in parallel, structure is consistent, respectively control flapping wing different location movement.Front-axle beam connects flapping wing leading portion, and control is flutterred
The movement of wing leading portion；The back rest connects flapping wing posterior segment, controls the movement of flapping wing back segment.The Relative motion control flapping wing of front and rear beam is transported
Windup-degree during dynamic.
In this kind of active twist, wingtip windup-degree is greater than wing root windup-degree, the torsion with birds practical flight
The corner regularity of distribution is consistent.For example, after increasing along spanwise far from wing root distance, windup-degree is gradually put with reference to Fig. 2
Greatly, it can be seen that thus this effect causes the torsion angle generated at wingtip to be greater than the torsion angle at wing root, the rule and birds
Actual torsion angle distribution is consistent.
(3) active twist rule, front and rear beam are driven by coaxial crank-rocker mechanism, and revolving speed is consistent, the phase of movement
Difference is kept constant, characteristics of motion strict conformance, and there is no a variety of nonsynchronous problems of driving.
(2) active folding structure
In the present invention, preceding crank-rocker mechanism A4 is identical with the structure of rear crank rocker arm body A5, front-axle beam A6 and back rest A7
Structure it is identical.Therefore, only it is introduced for the structure of former crank-rocker mechanism A4 and front-axle beam A6.
With reference to Fig. 9 and Figure 10, preceding crank-rocker mechanism A4 includes: preceding crank A41 and front arm A42；Front-axle beam A6 includes the
One front-axle beam inner segment A61, the second front-axle beam inner segment A62 and front-axle beam outer segment A63；
One end of preceding crank A41 is fixedly connected with the front end of gear shaft A3, the other end and front arm A42 of preceding crank A41
One end it is hinged；The first hinge joint B1 and the second hinge joint B2 are axially set separately along front arm for the other end of front arm A42；
The left end of front-axle beam outer segment A63 has L shape portion, and L shape portion includes the horizontal part coaxial with the axial direction of front-axle beam outer segment A63
A631, the vertical component effect A632 vertical with horizontal part A631；Third hinge joint B3 and the 4th hinge joint are set on vertical component effect A632
B4；The distance of third hinge joint B3 to the 4th hinge joint B4, with the first hinge joint B1 being equidistant to the second hinge joint B2；
The left end of first front-axle beam inner segment A61 and the first hinge joint B1 are hinged, and the right end and third of the first front-axle beam inner segment A61 is cut with scissors
Contact B3 is hinged；The left end of second front-axle beam inner segment A62 and the second hinge joint B2 are hinged, the right end of the second front-axle beam inner segment A62 and
Four hinge joint B4 are hinged；
The position of third hinge joint B3 to the 4th hinge joint B4 of vertical component effect A632 form right bar；The second of front arm A42
The position of hinge joint B2 to the first hinge joint B1 form left bar；
First front-axle beam inner segment A61, right bar, the second front-axle beam inner segment A62, left bar form parallelogram mechanism；
Meanwhile first front-axle beam inner segment A61 be also rotatably connected with rack 100 by rotating shaft C 1；Rotating shaft C 1 and the first front-axle beam
The assembly point of inner segment A61, by rotating shaft C 1, limits in the first front-axle beam between the first hinge joint B1 and third hinge joint B3
Section A61 C1 can only be rotated around the shaft；
When moving back and forth under drive of the front arm A42 in preceding crank A41, due to the shape of parallelogram mechanism
At and rotating shaft C 1 effect, making the first front-axle beam inner segment A61, C1 carries out movement of fluttering, the second front-axle beam inner segment A62 and around the shaft
One front-axle beam inner segment A61 is parallel always, and the second front-axle beam inner segment A62, which is synchronized, carries out movement of fluttering；Meanwhile in one cycle, due to
The variation of angle between front arm A42 and the first front-axle beam inner segment A61, causes the second front-axle beam inner segment A62 relative to the first front-axle beam
Inner segment A61 will do it the movement of beam axial direction, when the second front-axle beam inner segment A62 right end is located at the right side of the first front-axle beam inner segment A61 right end
When, it pushes front-axle beam outer segment A63 to be lifted up, forms the state being folded up；Before the second front-axle beam inner segment A62 right end is located at first
When the left side of beam inner segment A61 right end, pulls front-axle beam outer segment A63 to tilt down, form fold-down state, therefore, front-axle beam A6
During fluttering, in different positions of fluttering, front-axle beam outer segment A63 is driven to carry out the folding of different directions.
Specifically, moving for active folding, the amplitude and phase of folding can pass through parallel four side of front and rear beam inner segment
The parameter of shape mechanism adjusts.That is: by adjusting the distance of the first hinge joint B1 to the second hinge joint B2, front-axle beam outer segment A63 is controlled
Folding angles.
The principle of active folding mechanism can be summarized as: preceding crank-rocker mechanism driving front-axle beam moves reciprocatingly, and front-axle beam is divided into
First front-axle beam inner segment, the second front-axle beam inner segment and front-axle beam outer segment, the first front-axle beam inner segment, the second front-axle beam inner segment, preceding crank-rocker and preceding
The vertical component effect of beam outer segment end surrounds parallelogram mechanism jointly, also, since four vertex of parallelogram mechanism are equal
Length for hinged relationship, four sides of parallelogram mechanism immobilizes, and therefore, during entire flapping wing is fluttered, puts down
Row quadrangular mechanism always can keeping parallelism quadrangular mechanism, it may be assumed that the first front-axle beam inner segment and the second front-axle beam inner segment can maintain always
Parallel relationship.But due to the reciprocating motion of preceding crank-rocker, it will lead to the interior angle variation of parallelogram mechanism, in turn
The first front-axle beam inner segment and the relative position of the second front-axle beam inner segment can be caused to change.That is: when the first front-axle beam inner segment and preceding crank
When angle is acute angle between rocker arm, as shown in Fig. 9 when state, at this point, the right end of the second front-axle beam inner segment is more than in the first front-axle beam
The right end of section, so that the right end of the second front-axle beam inner segment be made to hold up front-axle beam outer segment upwards, make front-axle beam outer segment show as it is shown in Fig. 9 to
Upper folded state.On the contrary, when angle is obtuse angle between the first front-axle beam inner segment and preceding crank-rocker, at this point, the second front-axle beam inner segment
Right end be located at the left side of the first front-axle beam inner segment right end and make so that the right end of the second front-axle beam inner segment be made to pull downward on front-axle beam outer segment
Front-axle beam outer segment shows as being folded down state.
For another example crank turns to horizontal towards right position at this time, and flapping wing is to flutter when flapping wing is in state shown in Figure 11
To the state of extreme higher position.
Then, crank rotates counterclockwise to position vertically upward, i.e. state shown in Figure 12, in the change from Figure 11 to Figure 12
During change, since angle is acute angle between the first front-axle beam inner segment and preceding crank-rocker, front-axle beam outer segment is to be folded up shape
State.
Then, when crank continue to rotate counterclockwise to it is horizontal towards left position when, i.e. state shown in Figure 13, from Figure 12 to
In the change procedure of Figure 13, since angle is obtuse angle between the first front-axle beam inner segment and preceding crank-rocker, front-axle beam outer segment be to
Lower folded state.
Then, when crank continues to rotate counterclockwise to position vertically downward, i.e. state shown in Figure 14, from Figure 13 to figure
In 14 change procedure, since angle is obtuse angle between the first front-axle beam inner segment and preceding crank-rocker, front-axle beam outer segment is downward
Folded state.
Therefore, the folding angles of front-axle beam outer segment be can control by parallelogram mechanism parameter.Pass through parallelogram machine
The movement of structure is so that front-axle beam outer segment is generated flutters relative to the active folding of front-axle beam inner segment, also, the amplitude that active folding is fluttered
It is adjustable, to improve bionical performance, improve pneumatic efficiency.
In conclusion dynamic torsion provided by the invention and the bionic flapping-wing driving mechanism folded, connection left and right is nibbled in rack
The two identical gears closed, the gear can generate the rotary motion of relative direction by motor driven.The front and back of gear
Both ends are respectively connect with preceding crank-rocker mechanism and rear crank rocker arm body, and front and back crank is coaxial, and gear drives preceding crank and rear song
Handle generates the rotation of identical speed, and front and back crank drives front arm and rear arm to generate reciprocating motion respectively.That is: front arm drives
Front-axle beam inner segment generates movement of back and forth fluttering, and rear arm drives back rest inner segment to generate movement of back and forth fluttering.
The movement of rear crank and the movement of preceding crank have certain phase difference, show as with generation front and back during fluttering
To torsion effect.The front and rear beam of flapping wing can be made to generate the amplitude of twist motion by the adjustment of phase difference.When rear crank shakes
Before the delayed phase of arm when crank-rocker, the active twist of generation conforms exactly to the height that mechanism study obtains relative to movement of fluttering
Imitate the rule of fluttering of aerodynamic characteristic.
In addition, front and rear beam inner segment is parallelogram mechanism design, front-axle beam outer segment and back rest outer segment is driven to generate opposite
The folding of inner segment is fluttered.
Preceding crank and rear crank have certain phase difference, so that generation torsion of fluttering, as the front view of Fig. 2 can be clear
See the phase difference of front and rear beam as spanwise angle constantly increases.
The present invention also provides the driving methods of a kind of active twist and the bionic flapping-wing driving mechanism of folding, including following step
It is rapid:
Step 1, the gear of the gear of the left driving mechanism for flapping wing 200 of motor driven and right driving mechanism for flapping wing 300 carries out phase
Rotation to direction passes through right flapping wing driving machine to drive left flapping wing to carry out movement of fluttering by left driving mechanism for flapping wing 200
Structure 300 drives right flapping wing to carry out movement of fluttering, also, left flapping wing is synchronous with right flapping wing symmetrically flutters；
Step 2, left flapping wing and right flapping wing carry out flapping wing twisting action simultaneously and flapping wing fold during being fluttered
Movement；
Wherein, flapping wing twisting action is accomplished by the following way:
Step 2.1, when initial, Shi Qian crank-rocker mechanism A4 and rear crank rocker arm body A5 have certain phase difference,
That is: the rear crank of the preceding crank A41 of preceding crank-rocker mechanism A4 and rear crank rocker arm body A5 has certain angle；
Step 2.2, then, when motor driven gear rotates, crank-rocker mechanism A4 before gear is driven by gear shaft A3
With rear crank rocker arm body A5 synchronization action；It drives front-axle beam A6 to flutter by preceding crank-rocker mechanism A4, passes through rear crank
The rocker arm body A5 driving back rest is fluttered；Since preceding crank-rocker mechanism A4 and rear crank rocker arm body A5 has phase difference,
Therefore, front-axle beam A6 and the back rest are not in same level there are corresponding phase difference, are thus made between front-axle beam A6 and the back rest
Flapping wing generate twisting action；
Flapping wing jackknife action is accomplished by the following way:
During flapping wing is fluttered, for front-axle beam A6, including the first front-axle beam inner segment A61, the second front-axle beam inner segment A62 and front-axle beam
Outer segment A63；Wherein, the first front-axle beam inner segment A61 and the second front-axle beam inner segment A62 are hinged with one end of front-axle beam outer segment A63, before first
Beam inner segment A61 and the second front-axle beam inner segment A62 forms parallelogram mechanism, which flutters to different location
When, driving front-axle beam outer segment A63 is folded up or is folded down, and then realizes front-axle beam A6 folding effect；Back rest A7's and front-axle beam A6
Folding principle is identical, and then realizes the folding effect for the flapping wing that back rest A7 and front-axle beam A6 is formed.
Dynamic torsion provided by the invention and the bionic flapping-wing driving mechanism folded, have the advantage that
(1) active twist with active folding of mechanism move close-coupled, realize simultaneously, in the succinct base of mechanism form
It ensure that multiple degrees of freedom bionic movement on plinth, and two kinds of motion amplitudes are active control, and can be reached by parameter adjustment
To optimal, the characteristics of motion realized is similar to birds wing characteristics of motion height.
(2) core of the invention thought is to generate active twist and active folding, and active twist passes through front and rear beam phase difference
It realizes, active folding is realized by the control of internal and external section motion phase.Due to being active mode realization, mechanism to torsion and folding
Bio-imitability it is stronger, it is more efficient, and transmission link is few, realize simple, transmission efficiency is high.
(3) since active twist is to be realized by the phase difference of front and rear beam, and front and rear beam passes through coaxial crank-rocker machine
Structure driving, the characteristics of motion is completely the same, ensure that the synchronism of movement.And the amplitude of torsion can pass through the phase of front and back crank
The careful adjusting of difference obtains best twist motion rule.
(4) characteristics of motion of the mechanism is similar to sea-gull height, and actively controllable torsion can occur for wing can with active
Control folds, and flapping wing active movement rule can be effectively controlled, to improve flight efficiency.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
Depending on protection scope of the present invention.
Claims (7)
1. the bionic flapping-wing driving mechanism of a kind of active twist and folding characterized by comprising rack (100), left flapping wing drive
Motivation structure (200) and right driving mechanism for flapping wing (300)；The left driving mechanism for flapping wing (200) and the right driving mechanism for flapping wing
(300) it is symmetrically arranged on the left and right sides of the rack (100)；
The left driving mechanism for flapping wing (200) is identical with the structure of the right driving mechanism for flapping wing (300), includes motor, tooth
Take turns (A2), gear shaft (A3), preceding crank-rocker mechanism (A4), rear crank rocker arm body (A5), front-axle beam (A6) and the back rest (A7)；Institute
State gear (A2) being rotated by the motor；The gear shaft (A3), institute is fixedly mounted in the center of the gear (A2)
The front end for stating gear shaft (A3) is installed by the preceding crank-rocker mechanism (A4), the preceding crank-rocker mechanism (A4) and the front-axle beam
(A6) one end is hinged, when the gear shaft (A3) rotates, drives the front-axle beam by the preceding crank-rocker mechanism (A4)
(A6) it is fluttered and folding movement；The rear crank rocker arm body (A5) is installed in the rear end of the gear shaft (A3), after described
Crank-rocker mechanism (A5) and one end of the back rest (A7) are hinged, synchronous by described when the gear shaft (A3) rotation
Rear crank rocker arm body (A5) the driving back rest (A7) is fluttered and folding movement；The rear crank rocker arm body (A5) and
There is phase difference in the preceding crank-rocker mechanism (A4), cause at the beginning during fluttering, the front-axle beam (A6) and it is described after
Beam (A7) projection along the longitudinal direction is simultaneously not parallel, and then generates torsion effect in the front-back direction, by adjusting the phase difference
Size, and then front-axle beam described in active control (A6) and the back rest (A7) generate the amplitude of twist motion.
2. the bionic flapping-wing driving mechanism of active twist according to claim 1 and folding, which is characterized in that bent before described
Handle rocker arm body (A4) is identical with the structure of the rear crank rocker arm body (A5), the front-axle beam (A6) and the back rest (A7)
Structure is identical.
3. the bionic flapping-wing driving mechanism of active twist according to claim 2 and folding, which is characterized in that bent before described
Handle rocker arm body (A4) includes: preceding crank (A41) and front arm (A42)；The front-axle beam (A6) includes the first front-axle beam inner segment
(A61), the second front-axle beam inner segment (A62) and front-axle beam outer segment (A63)；
One end of the preceding crank (A41) is fixedly connected with the front end of the gear shaft (A3), the preceding crank (A41) it is another
It holds hinged with one end of the front arm (A42)；The other end of the front arm (A42) is axially set separately first along front arm
Hinge joint (B1) and the second hinge joint (B2)；
The left end of the front-axle beam outer segment (A63) has L shape portion, and L shape portion includes axial same with the front-axle beam outer segment (A63)
Horizontal part (A631), the vertical component effect vertical with the horizontal part (A631) (A632) of axis；It is set on the vertical component effect (A632)
Determine third hinge joint (B3) and the 4th hinge joint (B4)；The third hinge joint (B3) to the 4th hinge joint (B4) away from
From with the first hinge joint (B1) being equidistant to the second hinge joint (B2)；
The left end of the first front-axle beam inner segment (A61) and first hinge joint (B1) hingedly, the first front-axle beam inner segment (A61)
Right end and the third hinge joint (B3) it is hinged；The left end of the second front-axle beam inner segment (A62) and second hinge joint
(B2) hingedly, the right end of the second front-axle beam inner segment (A62) and the 4th hinge joint (B4) are hinged；
The position of third hinge joint (B3) to the 4th hinge joint (B4) of the vertical component effect (A632) forms right bar；Institute
The position for stating the second hinge joint (B2) to the first hinge joint (B1) of front arm (A42) forms left bar；
The first front-axle beam inner segment (A61), the right bar, the second front-axle beam inner segment (A62), the left bar form parallelogram machine
Structure；
Meanwhile the first front-axle beam inner segment (A61) is also rotatably connected with the rack (100) by shaft (C1)；Described turn
The assembly point of axis (C1) and the first front-axle beam inner segment (A61) is located at first hinge joint (B1) and the third hinge joint
(B3) between, by the shaft (C1), limiting the first front-axle beam inner segment (A61) can only rotate around the shaft (C1)；
When moving back and forth under drive of the front arm (A42) in the preceding crank (A41), due to parallel four side
The formation of shape mechanism and the effect of the shaft (C1) carry out the first front-axle beam inner segment (A61) around the shaft (C1)
It flutters movement, the second front-axle beam inner segment (A62) and the first front-axle beam inner segment (A61) are parallel always, in second front-axle beam
Section (A62), which synchronizes, carries out movement of fluttering；Meanwhile in one cycle, due in the front arm (A42) and first front-axle beam
The variation of angle between section (A61), causes the second front-axle beam inner segment (A62) relative to the first front-axle beam inner segment (A61)
The movement that will do it beam axial direction, when the second front-axle beam inner segment (A62) right end is located at the first front-axle beam inner segment (A61) right end
When right side, pushes the front-axle beam outer segment (A63) to be lifted up, form the state being folded up；When the second front-axle beam inner segment
(A62) when right end is located at the left side of the first front-axle beam inner segment (A61) right end, the front-axle beam outer segment (A63) is pulled to tilt down,
Fold-down state is formed, therefore, the front-axle beam (A6) is during fluttering, in different positions of fluttering, described in driving
The folding of front-axle beam outer segment (A63) progress different directions.
4. the bionic flapping-wing driving mechanism of active twist according to claim 3 and folding, which is characterized in that pass through adjusting
First hinge joint (B1) arrives the distance of second hinge joint (B2), controls the folding angles of the front-axle beam outer segment (A63).
5. the bionic flapping-wing driving mechanism of active twist according to claim 1 and folding, which is characterized in that the left side is flutterred
The gear of wing driving mechanism (200) is intermeshed with the gear of the right driving mechanism for flapping wing (300).
6. the bionic flapping-wing driving mechanism of active twist according to claim 1 and folding, which is characterized in that the rack
(100) carbon fibre composite is used.
7. the driving method of a kind of active twist described in any one of claims 1-6 and the bionic flapping-wing driving mechanism of folding,
Characterized by comprising the following steps:
Step 1, the gear of the gear of the left driving mechanism for flapping wing of motor driven (200) and right driving mechanism for flapping wing (300) carries out phase
Rotation to direction is driven to drive left flapping wing to carry out movement of fluttering by left driving mechanism for flapping wing (200) by right flapping wing
Mechanism (300) drives right flapping wing to carry out movement of fluttering, also, left flapping wing is synchronous with right flapping wing symmetrically flutters；
Step 2, left flapping wing and right flapping wing carry out flapping wing twisting action simultaneously and flapping wing are folded and moved during being fluttered
Make；
Wherein, flapping wing twisting action is accomplished by the following way:
Step 2.1, when initial, Shi Qian crank-rocker mechanism (A4) and rear crank rocker arm body (A5) have certain phase difference,
That is: the rear crank of the preceding crank (A41) of preceding crank-rocker mechanism (A4) and rear crank rocker arm body (A5) have certain folder
Angle；
Step 2.2, then, when motor driven gear rotates, crank-rocker mechanism (A4) before gear is driven by gear shaft (A3)
With rear crank rocker arm body (A5) synchronization action；It is fluttered, is passed through by preceding crank-rocker mechanism (A4) driving front-axle beam (A6)
Rear crank rocker arm body (A5) the driving back rest is fluttered；Due to preceding crank-rocker mechanism (A4) and rear crank rocker arm body (A5)
With phase difference, therefore, front-axle beam (A6) and the back rest are not in same level, before thus making there are corresponding phase difference
Flapping wing between beam (A6) and the back rest generates twisting action；
Flapping wing jackknife action is accomplished by the following way:
During flapping wing is fluttered, for front-axle beam (A6), including the first front-axle beam inner segment (A61), the second front-axle beam inner segment (A62) and before
Beam outer segment (A63)；Wherein, the one end of the first front-axle beam inner segment (A61) and the second front-axle beam inner segment (A62) with front-axle beam outer segment (A63)
Hingedly, the first front-axle beam inner segment (A61) and the second front-axle beam inner segment (A62) form parallelogram mechanism, the parallelogram mechanism
When fluttering to different location, driving front-axle beam outer segment (A63) is folded up or is folded down, and then realizes that front-axle beam (A6) folds effect
Fruit；The back rest (A7) is identical with the folding principle of front-axle beam (A6), and then realizes the folding for the flapping wing that the back rest (A7) and front-axle beam (A6) are formed
Folded effect.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112278266A (en) * | 2020-09-18 | 2021-01-29 | 浙江大学 | Double-section ornithopter transmission mechanism |
| CN114735211A (en) * | 2022-03-24 | 2022-07-12 | 上海工程技术大学 | Deformable flexible deformation wing aircraft |
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| CN202717032U (en) * | 2012-04-09 | 2013-02-06 | 上海交通大学 | Bevel gear four-flap type flap driving mechanism |
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| CN106043692A (en) * | 2016-06-08 | 2016-10-26 | 中国民航大学 | Multi-freedom degree bird-like flapping wing air vehicle |
| CN107472529A (en) * | 2017-09-12 | 2017-12-15 | 南通大学 | A kind of flapping wing aircraft of interior wing twisting |
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|---|---|---|---|---|
| CN202717032U (en) * | 2012-04-09 | 2013-02-06 | 上海交通大学 | Bevel gear four-flap type flap driving mechanism |
| CN105197240A (en) * | 2015-11-05 | 2015-12-30 | 西北工业大学 | Differential variable-amplitude flapping wing driving mechanism and driving method |
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Cited By (4)
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| CN112278266A (en) * | 2020-09-18 | 2021-01-29 | 浙江大学 | Double-section ornithopter transmission mechanism |
| CN112278266B (en) * | 2020-09-18 | 2022-06-24 | 浙江大学 | Double-section ornithopter transmission mechanism |
| CN114735211A (en) * | 2022-03-24 | 2022-07-12 | 上海工程技术大学 | Deformable flexible deformation wing aircraft |
| CN114735211B (en) * | 2022-03-24 | 2023-01-20 | 上海工程技术大学 | Deformable flexible deformation wing aircraft |
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