CN111846219B - Parallel differential type two-degree-of-freedom flapping wing mechanism - Google Patents
Parallel differential type two-degree-of-freedom flapping wing mechanism Download PDFInfo
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- CN111846219B CN111846219B CN202010772502.1A CN202010772502A CN111846219B CN 111846219 B CN111846219 B CN 111846219B CN 202010772502 A CN202010772502 A CN 202010772502A CN 111846219 B CN111846219 B CN 111846219B
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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Abstract
The present disclosure provides a parallel differential two-degree-of-freedom flapping-wing mechanism, comprising: the wing plate is fixedly connected with the driving assembly through the connecting rod; the parallel-connection driving mechanism has the beneficial effects that the differential gear train structure is adopted, the movement accuracy and the movement range are increased, the parallel-connection driving mode is adopted, the two bevel gears are used as driving wheels, and the driven wheels are driven to move together, so that each degree of freedom in the flapping and rotation two-degree-of-freedom movement is borne by the two driving wheels, the burden of the motor is reduced, and the structure is more compact.
Description
Technical Field
The present disclosure relates to an aircraft, and more particularly to a parallel differential two-degree-of-freedom flapping-wing mechanism.
Background
Flapping motion is widely found in natural insects (e.g., dragonfly), birds (e.g., hummingbird) and aquatic organisms (e.g., turtle). The flapping wing aircraft has higher aerodynamic efficiency and stability than fixed wing aircraft and rotary wing aircraft due to the more prominent viscous action of the fluid under the low reynolds number. Therefore, the flapping wing is widely applied to low Reynolds number motions of a micro aircraft, an underwater vehicle and the like.
For a micro aircraft, the design of the flapping wing mechanism is crucial. The flapping-wing movement is composed of flapping and rotating of wings. Most of the existing miniature flapping wing aircrafts only adjust the flapping motion with single degree of freedom by adjusting the rotating speed of a single motor, the rotating motion can only act on the flexible wing through aerodynamic force to enable the flexible wing to deform for passive adjustment, and the flexible wing cannot be actively controlled, so that the motion law of flapping wing organisms in the nature cannot be completely simulated, and the motion force and the control force of the aircrafts are insufficient. Flapping wing mechanisms capable of achieving flapping and rotation two-degree-of-freedom adjustment are mostly designed in a series structure, namely flapping and rotation are respectively driven by separate motors and are not matched with each other. The motion precision of the series structure is poor, the motor is heavy in burden, and the motor which is responsible for the rotation motion needs to be fixed on the wing and flap along with the wing, so that the efficiency of the mechanism is reduced, and the motion range is limited.
Disclosure of Invention
To solve at least one of the above technical problems, the present disclosure provides a parallel differential two-degree-of-freedom flapping wing mechanism.
According to one aspect of the present disclosure, a parallel differential two-degree-of-freedom flapping wing mechanism comprises: the wing plate is fixedly connected with the driving assembly through the connecting rod;
the driving assembly comprises a first driving wheel, a second driving wheel, a driven wheel and a connecting assembly, the first driving wheel, the second driving wheel and the driven wheel are connected with the main body assembly through the connecting assembly, the first driving wheel, the second driving wheel and the driven wheel are right-angle bevel gears with the same modulus, the first driving wheel and the second driving wheel are arranged in a coaxial mirror image mode, the driven wheel is arranged between the first driving wheel and the second driving wheel, the driven wheel is simultaneously meshed with the first driving wheel and the second driving wheel in a tooth pattern mode, and the wing plates are fixedly connected with the driven wheel through the connecting rod.
Specifically, the main part subassembly includes a main body frame and No. two main body frames, a main body frame with No. two main body frame mirror images set up, a action wheel passes through coupling assembling with a main body frame rotatable coupling, No. two action wheels pass through coupling assembling with No. two main body frame rotatable coupling, pass through from the driving wheel coupling assembling with a main body frame with No. two main body frame slidable coupling.
Specifically, a main body frame the main body frame of No. two includes base, bearing mount ring and arc limiting plate, the base includes diaphragm and riser, be provided with the drive hole on the riser, the bearing mount ring is fixed to be set up the medial surface of riser, the first side of arc limiting plate with the medial surface fixed connection of riser.
Preferably, the bearing mounting ring and the drive bore are coaxially disposed.
The connecting assembly comprises a first bearing, a second bearing, a third bearing and a sliding block, the first driving wheel is rotatably connected with the bearing mounting ring of the first main body frame through the first bearing, and the second driving wheel is rotatably connected with the bearing mounting ring of the second main body frame through the second bearing;
the rear side face of the sliding block is attached to the front side face of the arc limiting plate, a mounting hole is formed in the middle of the sliding block, and the driven wheel is connected with the mounting hole of the sliding block in a rotatable mode through the third bearing.
Preferably, the rear side face of the slider is of a curved surface structure, the curved surface diameter of the rear side face of the slider is equal to the curved surface diameter of the inner side face of the arc limiting plate, and the width of the slider is equal to the sum of the width of the arc limiting plate of the first main body frame and the width of the arc limiting plate of the second main body frame.
Specifically, the connecting rod with from the coaxial setting of driving wheel, the axis of connecting rod with the axis of action wheel sets up perpendicularly, the first end of connecting rod with from the top surface fixed connection of driving wheel, the second end of connecting rod with the minor face midpoint fixed connection of pterygoid lamina, just the connecting rod with the minor face of pterygoid lamina sets up perpendicularly.
Preferably, the outer diameter of the first bearing/the second bearing is equal to the inner diameter of the bearing mounting ring, the inner diameter of the third bearing is equal to the inner diameter of the mounting hole, the inner diameter of the first bearing is equal to the major diameter of the first driving wheel, the inner diameter of the second bearing is equal to the major diameter of the second driving wheel, and the major diameter of the third bearing is equal to the major diameter of the driven wheel.
Specifically, torque output shafts of the two motors are fixedly connected with a gear shaft of the first driving wheel and a gear shaft of the second driving wheel respectively.
Preferably, the rotational speeds and rotational phase differences of the two motors are independent of each other.
According to at least one embodiment of the present disclosure, the beneficial effects of the present disclosure are:
the differential gear train structure is adopted, the movement accuracy and the movement range are increased, the parallel driving mode is adopted, the two bevel gears are used as driving wheels, and the driven wheels are driven to move together, so that each degree of freedom in the flapping and rotation two-degree-of-freedom movement is borne by the two driving wheels, the burden of the motor is reduced, and the structure is more compact.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
FIG. 1 is an exploded view of a parallel differential two degree-of-freedom flapping wing mechanism according to the present disclosure.
Fig. 2 is a schematic structural diagram of the body frame No. one/body frame No. two according to the present disclosure.
FIG. 3 is a schematic structural view of the slider according to the present disclosure.
Reference numerals:
the device comprises a 1-first main body frame, a 2-second main body frame, a 3-first driving wheel, a 4-second driving wheel, a 5-driven wheel, a 6-first bearing, a 7-second bearing, a 8-third bearing, a 9-sliding block, a 10-wing plate, an 11-connecting rod, a 21-vertical plate, a 22-bearing mounting ring, a 23-arc limiting plate, a 91-mounting hole and a 92-curved surface structure.
Detailed Description
The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
The motion structure realizes two-degree-of-freedom motion consisting of flapping and rotation in flapping wing motion by simultaneously adjusting the rotation speed and the rotation phase difference of the two driving wheels and matching in parallel. The structure is simple and reliable, the miniaturization is easy, and the device can be applied to the fields of miniature flapping wing aircrafts, laboratory flapping wing flight research, underwater flapping wing aircrafts and the like.
A parallel differential two-degree-of-freedom flapping wing mechanism, comprising: the wing plate driving device comprises a wing plate 10, a connecting rod 11, a driving assembly and a main body assembly, wherein the driving assembly is fixedly arranged in the main body assembly, and the wing plate 10 is fixedly connected with the driving assembly through the connecting rod 11;
drive assembly includes action wheel 3, No. two action wheels 4, from driving wheel 5 and coupling assembling, action wheel 3, No. two action wheels 4 and follow driving wheel 5 are connected with the main part subassembly through coupling assembling, action wheel 3, No. two action wheels 4, from driving wheel 5 for the same right angle bevel gear of modulus, the coaxial mirror image setting of action wheel 3 and No. two action wheels 4, from driving wheel 5 setting between action wheel 3 and No. two action wheels 4, and from driving wheel 5 simultaneously with action wheel 3 and No. two action wheel 4 insection meshing, pterygoid lamina 10 is through connecting rod 11 and from driving wheel 5 fixed connection.
The driving component consists of two driving wheels, a driven wheel 5 and a bearing matched with the driven wheel. The two driving wheels are bevel gears with coincident axes, the driven wheel 5 is a bevel gear which is positioned at the inner sides of the two driving wheels and is simultaneously meshed with the two driving wheels, and the two driving wheels, the driven wheel and the driven wheel form a differential gear train.
The main part subassembly includes main body frame 1 and No. two main body frame 2, and a main body frame 1 and No. two main body frame 2 mirror image set up, and action wheel 3 passes through coupling assembling and a main body frame 1 rotatable coupling, and No. two action wheels 4 pass through coupling assembling and No. two main body frame 2 rotatable coupling, from driving wheel 5 through coupling assembling and a main body frame 1 and No. two main body frame 2 slidable connection.
No. 1/2 main body frame of main body frame includes base, bearing mount ring 22 and arc limiting plate 23, and the base includes diaphragm and riser 21, is provided with the driving hole on the riser 21, and the fixed medial surface that sets up at riser 21 of bearing mount ring 22, the first side of arc limiting plate 23 and riser 21's medial surface fixed connection, bearing mount ring 22 and the coaxial setting of driving hole.
The vertical plate 21 is vertically fixed on the transverse plate. The main body component is formed by connecting a first main body frame 1 and a second main body frame 2 which are symmetrical left and right, and provides restraint and support for fixing the position of a first driving wheel 3/a second driving wheel 4 and the motion track of a driven wheel 5.
The connecting assembly comprises a first bearing 6, a second bearing 7, a third bearing 8 and a sliding block 9, the first driving wheel 3 is rotatably connected with a bearing mounting ring 22 of the first main body frame 1 through the first bearing 6, and the second driving wheel 4 is rotatably connected with the bearing mounting ring 22 of the second main body frame 2 through the second bearing 7;
the rear side face of the slider 9 is attached to the front side face of the arc limiting plate 23, the middle of the slider 9 is provided with a mounting hole 91, the driven wheel 5 is rotatably connected with the mounting hole 91 of the slider 9 through a third bearing 8, the rear side face of the slider 9 is of a curved surface structure 92, the curved surface diameter of the rear side face of the slider 9 is equal to the curved surface diameter of the inner side face of the arc limiting plate 23, and the width of the slider 9 is equal to the sum of the width of the arc limiting plate 23 of the first main body frame 1 and the width of the arc limiting plate 23 of the second main body frame 2.
The outer diameter of the first bearing 6 is the same as the diameter of the bearing mounting ring 22 of the first main body frame 1, and the inner diameter of the first bearing is the same as the diameter of the first driving wheel 3, so that the first bearing 6 can be fixedly embedded in the first main body frame 1, axial and circumferential positioning is provided for the first driving wheel 3, and lubrication is provided for rotation of the first driving wheel 3.
No. two bearing 7 external diameters are the same with No. two main body frame 2's bearing collar 22 diameter, and the internal diameter is the same with No. two action wheel 4's diameter for No. two bearing 7 can be fixed inlay in No. two main body frame 2, provide axial and circumference location for No. two action wheel 4, and provide the lubrication for No. two action wheel 4's rotation.
The outer diameter of the third bearing 8 is the same as the diameter of the mounting hole 91 of the sliding block 9, and the inner diameter of the third bearing is the same as the diameter of the driven wheel 5, so that the third bearing 8 can be fixedly embedded in the sliding block 9, axial and circumferential positioning is provided for the driven wheel 5, and lubrication is provided for rotation of the driven wheel 5.
The diameter of the curved surface of the sliding block 9 is the same as the diameter of the arc limiting plates 23 of the first main body frame 1 and the second main body frame 2, so that the sliding block 9 can slide in the limiting grooves. The slide 9 provides support for the third bearing 8 so that the movement of the driven wheel 5 is limited in the movement of engagement with the two driving wheels.
Connecting rod 11 with from the coaxial setting of driving wheel 5, the axis of connecting rod 11 sets up with the axis of action wheel 3 is perpendicular, the first end of connecting rod 11 with from the top surface fixed connection of driving wheel 5, the second end of connecting rod 11 and the minor face midpoint fixed connection of pterygoid lamina 10, and the minor face of connecting rod 11 and pterygoid lamina 10 sets up perpendicularly.
The wing plate 10 can be a rectangular plate or a plate body with other shapes, the specific structure can be determined according to specific use conditions, only one end of the wing plate 10 needs to be fixedly connected with the connecting rod 11 in use, and the wing plate 10 and the connecting rod 11 cannot rotate relatively.
The torque output shafts of the two motors are respectively and fixedly connected with the gear shaft of the first driving wheel 3 and the gear shaft of the second driving wheel 4, and the rotating speeds and the rotating phase differences of the two motors are independent.
When the mechanism moves, the two motors input power through the gear shaft of the first driving wheel 3 and the gear shaft of the second driving wheel 4 respectively and convert the power into the rotation of the two driving wheels. The two driving wheels transmit motion to the driven wheels 5 engaged therewith, respectively. The driven wheel 5 converts the motion of the two driving wheels into composite motion consisting of flapping along the axes of the driving wheels and rotation along the axes of the driven wheel 5, and transmits the composite motion to the wing plate 10 through a gear shaft of the driven wheel 5, and finally, the two-degree-of-freedom flapping-wing motion consisting of flapping and overturning of the wing plate 10 is realized.
The specific motion control is as follows: (the bevel gear rotates in the positive direction, clockwise when looking at the bevel gear face for sight)
1. Realization of flapping law of wing plate 10: when the first driving wheel 3 rotates at an angular speed w1(w1>0) and the second driving wheel 4 rotates at an angular speed-w 1, the driven wheel 5 drives the wing plates 10 to flap along the axis of the driving wheels at an angular speed w 1.
2. The rotation rule of the wing plate 10 is realized: when the primary wheel 3 rotates at an angular speed w2(w2>0), and the secondary wheel 4 rotates at an angular speed w2, the driven wheel 5 drives the wing plates 10 to rotate along the axis of the driven wheel 5 at an angular speed w 2.
3. The realization of the flapping wing motion with two degrees of freedom of the wing plate 10: when the first driving wheel 3 rotates at an angular speed w3 and the second driving wheel 4 rotates at an angular speed w4, the driven wheel 5 drives the wing plates 10 at an angular speed
Making a flapping motion along the axis of the driving wheel
Rotating around the axis of the driven wheel 5.
In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.
Claims (8)
1. A parallel differential type two-degree-of-freedom flapping wing mechanism is characterized by comprising: the wing plate is fixedly connected with the driving assembly through the connecting rod;
the driving assembly comprises a first driving wheel, a second driving wheel, a driven wheel and a connecting assembly, the first driving wheel, the second driving wheel and the driven wheel are connected with the main body assembly through the connecting assembly, the first driving wheel, the second driving wheel and the driven wheel are right-angle bevel gears with the same modulus, the first driving wheel and the second driving wheel are coaxially arranged in a mirror image mode, the driven wheel is arranged between the first driving wheel and the second driving wheel, the driven wheel is meshed with the first driving wheel and the second driving wheel at the same time in a tooth pattern mode, and the wing plates are fixedly connected with the driven wheel through the connecting rods;
the main body assembly comprises a first main body frame and a second main body frame, the first main body frame and the second main body frame are arranged in a mirror image mode, the first driving wheel is rotatably connected with the first main body frame through the connecting assembly, the second driving wheel is rotatably connected with the second main body frame through the connecting assembly, and the driven wheel is slidably connected with the first main body frame and the second main body frame through the connecting assembly;
the connecting assembly comprises a first bearing, a second bearing, a third bearing and a sliding block, the first driving wheel is rotatably connected with the bearing mounting ring of the first main body frame through the first bearing, and the second driving wheel is rotatably connected with the bearing mounting ring of the second main body frame through the second bearing;
the slider middle part is provided with the mounting hole, follow the driving wheel through No. three bearings with the mounting hole rotatable coupling of slider.
2. The parallel differential two-degree-of-freedom flapping wing mechanism of claim 1, wherein the first main frame/the second main frame comprises a base, a bearing mounting ring and an arc-shaped limiting plate, the base comprises a transverse plate and a vertical plate, a driving hole is formed in the vertical plate, the bearing mounting ring is fixedly arranged on the inner side face of the vertical plate, the first side edge of the arc-shaped limiting plate is fixedly connected with the inner side face of the vertical plate, and the rear side face of the sliding block is attached to the front side face of the arc-shaped limiting plate.
3. The parallel differential two-degree-of-freedom flapping wing mechanism of claim 2, wherein the bearing mounting ring and the drive aperture are coaxially disposed.
4. The parallel differential two-degree-of-freedom flapping wing mechanism of claim 2, wherein the back side of the sliding block is a curved surface structure, the curved surface diameter of the back side of the sliding block is equal to the curved surface diameter of the inner side surface of the arc limiting plate, and the width of the sliding block is equal to the sum of the width of the arc limiting plate of the first main frame and the width of the arc limiting plate of the second main frame.
5. The parallel differential two-degree-of-freedom flapping wing mechanism of claim 1, wherein the connecting rod is coaxially arranged with the driven wheel, the central axis of the connecting rod is perpendicular to the central axis of the first driving wheel, the first end of the connecting rod is fixedly connected with the top surface of the driven wheel, the second end of the connecting rod is fixedly connected with the middle point of the short side of the wing plate, and the connecting rod is perpendicular to the short side of the wing plate.
6. The parallel differential two-degree-of-freedom flapping wing mechanism of claim 5, wherein the outer diameter of the first bearing/the second bearing is equal to the inner diameter of the bearing mounting ring, the inner diameter of the third bearing is equal to the inner diameter of the mounting hole, the inner diameter of the first bearing is equal to the major diameter of the first driving wheel, the inner diameter of the second bearing is equal to the major diameter of the second driving wheel, and the major diameter of the third bearing is equal to the major diameter of the driven wheel.
7. The parallel differential two-degree-of-freedom flapping wing mechanism of claim 5, wherein torque output shafts of the two motors are fixedly connected with a gear shaft of the first driving wheel and a gear shaft of the second driving wheel respectively.
8. The parallel differential two-degree-of-freedom flapping wing mechanism of claim 7, wherein the rotational speed and the rotational phase difference of the two motors are independent of each other.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010772502.1A CN111846219B (en) | 2020-08-04 | 2020-08-04 | Parallel differential type two-degree-of-freedom flapping wing mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010772502.1A CN111846219B (en) | 2020-08-04 | 2020-08-04 | Parallel differential type two-degree-of-freedom flapping wing mechanism |
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| CN111846219A CN111846219A (en) | 2020-10-30 |
| CN111846219B true CN111846219B (en) | 2021-09-24 |
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| CN113086188B (en) * | 2021-04-20 | 2022-08-02 | 清华大学 | Sliding rail mechanism-based flapping wing device with variable angle of wing surface of simulated bee wing |
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| CN101249887A (en) * | 2008-04-08 | 2008-08-27 | 北京航空航天大学 | Aileron rotary retractable flapping wing device |
| CN102167159A (en) * | 2011-03-31 | 2011-08-31 | 上海交通大学 | Bevel gear train flapping-wing aircraft |
| CN102616375A (en) * | 2012-04-09 | 2012-08-01 | 上海交通大学 | Bevel gear four-wing type flapping wing mini-aircraft |
| CN103241379A (en) * | 2013-05-16 | 2013-08-14 | 中国科学院长春光学精密机械与物理研究所 | Flapping wing device for achieving active torsion for flapping wings and wing planes of aerofoil |
| JP2020050315A (en) * | 2018-09-28 | 2020-04-02 | 国立大学法人東京工業大学 | Flapping operation mechanism, method of using flapping operation mechanism, and propulsion device using flapping operation mechanism |
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2020
- 2020-08-04 CN CN202010772502.1A patent/CN111846219B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101249887A (en) * | 2008-04-08 | 2008-08-27 | 北京航空航天大学 | Aileron rotary retractable flapping wing device |
| CN102167159A (en) * | 2011-03-31 | 2011-08-31 | 上海交通大学 | Bevel gear train flapping-wing aircraft |
| CN102616375A (en) * | 2012-04-09 | 2012-08-01 | 上海交通大学 | Bevel gear four-wing type flapping wing mini-aircraft |
| CN103241379A (en) * | 2013-05-16 | 2013-08-14 | 中国科学院长春光学精密机械与物理研究所 | Flapping wing device for achieving active torsion for flapping wings and wing planes of aerofoil |
| JP2020050315A (en) * | 2018-09-28 | 2020-04-02 | 国立大学法人東京工業大学 | Flapping operation mechanism, method of using flapping operation mechanism, and propulsion device using flapping operation mechanism |
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