CN113184181B - Simulated insect flapping wing experiment mechanism - Google Patents
Simulated insect flapping wing experiment mechanism Download PDFInfo
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- CN113184181B CN113184181B CN202110525988.3A CN202110525988A CN113184181B CN 113184181 B CN113184181 B CN 113184181B CN 202110525988 A CN202110525988 A CN 202110525988A CN 113184181 B CN113184181 B CN 113184181B
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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 utility model relates to a simulated insect flapping wing experiment mechanism, which comprises a wing plate, a first driving component and a supporting component, wherein the first driving component is arranged in the supporting component; the first driving assembly comprises a first driving wheel, a first connecting shaft, a second driving wheel, a second connecting shaft, a third driven wheel and a third connecting shaft, the first driving wheel, the second driving wheel and the third driven wheel are all bevel gears, the first driving wheel and the second driving wheel are arranged in a mirror image mode, the first connecting shaft and the second connecting shaft are arranged in a mirror image mode, the third driven wheel is arranged between the first driving wheel and the second driving wheel, and the third driven wheel is meshed with the first driving wheel and the second driving wheel simultaneously; the first driving wheel is detachably connected with the first connecting shaft, the second driving wheel is detachably connected with the second connecting shaft, and the third driven wheel is detachably connected with the third connecting shaft; the end part of the wing plate is connected with the end part of the third connecting shaft. The parts of the application are reasonable in split, and after the easily damaged parts are abraded, the parts can be replaced in a precise small range, and the maintenance cost is effectively reduced.
Description
Technical Field
The utility model relates to an aircraft experiment technical field especially relates to a simulation insect flapping wing experimental mechanism.
Background
The traditional large aircraft cannot meet the requirements in specific scenes due to the limitation of the size and the maneuverability of the traditional large aircraft, such as indoor and outdoor monitoring, exploration, disaster relief and the like in the civil field; reconnaissance and detection, tracking and anti-tracking, interference and attack, and the like in military operations. Until the end of the twentieth century, micro Air Vehicles (MAV) were first proposed by the United states Defense Advanced Research Program Agency (DARPA) to make insect flapping flight a research hotspot based on the development of Micro-Electro-Mechanical Systems (MEMS) and the deep research on biological flight mechanism. Miniature aircraft requires small-size, high mobility, long duration, and with traditional fixed wing and rotor mode contrast, the flapping wing mode is more suitable for miniature aircraft of small-size, therefore the pneumatic mechanism of insect flight is awaited urgent research.
Because the flapping frequency of the insects is high and the flying state is changeable in the flying process, the difficulty of directly researching the flying mechanism of the insects from living observation is high. In order to further study the flying mechanism of the insect flapping wing, researchers adopt a model experiment mode, and realize the flapping wing motion rule of the insect by driving the model wing, so that the pneumatic information such as flow field, stress and the like in the insect flapping wing process is obtained.
The patent application with the application number of CN202010772502.1 discloses a parallel differential type two-degree-of-freedom flapping wing mechanism, which adopts a differential gear train structure to increase the accuracy and the motion range of motion, adopts a parallel driving mode, takes two bevel gears as driving wheels to drive a driven wheel to move together, so that each degree of freedom in flapping and rotating two-degree-of-freedom motion is borne by two driving wheels, the burden of a motor is reduced, and the structure is more compact; however, the flapping wing mechanism has the following problems: the parts are not reasonably disassembled, and after the easily damaged parts are worn, the parts cannot be accurately replaced in a small range, other intact parts related to the easily damaged parts must be replaced at the same time, and the maintenance cost is increased.
In addition, when the existing flapping wing model uses a force sensor to collect various parameters of the flapping wing, the vibration of the wing tip is large, and the collected data has vibration interference.
In addition, in order to avoid the problem of limited structural design caused by selecting too many standard parts, the flapping wing mechanism comprises a large number of non-standard parts, and the non-standard parts are manufactured in a machining mode, so that the manufacturing period is long and the steps are complex.
Therefore, the application provides a simulated insect flapping wing experimental mechanism.
Disclosure of Invention
To address at least one of the above technical problems, the present disclosure provides a simulated insect flapping wing experimental facility.
The technical scheme adopted by the invention is as follows:
a simulated insect flapping wing experiment mechanism comprises a wing plate, a first driving assembly and a supporting assembly, wherein the first driving assembly is installed in the supporting assembly;
the first driving assembly comprises a first driving wheel, a first connecting shaft, a second driving wheel, a second connecting shaft, a third driven wheel and a third connecting shaft, the first driving wheel, the second driving wheel and the third driven wheel are all bevel gears, the first driving wheel and the second driving wheel are arranged in a mirror image mode, the first connecting shaft and the second connecting shaft are arranged in a mirror image mode, the third driven wheel is arranged between the first driving wheel and the second driving wheel, and the third driven wheel is meshed with the first driving wheel and the second driving wheel simultaneously;
the first driving wheel is detachably connected with the first connecting shaft, the second driving wheel is detachably connected with the second connecting shaft, and the third driven wheel is detachably connected with the third connecting shaft;
the end part of the wing plate is connected with the end part of the third connecting shaft.
Preferably, the first driving wheel is provided with a first key groove, the first connecting shaft is provided with a first limit key, and the first limit key extends into the first key groove and is matched with the first limit key;
the second driving wheel is provided with a second key groove, the second connecting shaft is provided with a second limiting key, and the second limiting key extends into the second key groove and is matched with the second limiting key;
the third driven wheel is provided with a third key groove, the third connecting shaft is provided with a third limiting key, and the third limiting key extends into the third key groove and is matched with the third limiting key.
Preferably, the support assembly comprises a first frame and a second frame which are oppositely arranged, the first frame is detachably provided with a first base, the second frame is detachably provided with a second base, the first driving wheel is rotatably and fixedly arranged on the first base, and the second driving wheel is rotatably and fixedly arranged on the second base.
Preferably, a first bearing is fixedly installed on the first base, the first driving wheel is rotatably and fixedly installed on the first base through the first bearing, a second bearing is fixedly installed on the second base, and the second driving wheel is rotatably and fixedly installed on the second base through the second bearing.
Preferably, the first frame has a first tapered positioning hole, and the second frame has a second tapered positioning hole;
the first base is provided with a first annular positioning conical surface, the first base is arranged in the first conical positioning hole, and the first annular positioning conical surface is matched with the first conical positioning hole;
the second base is provided with a second annular positioning conical surface, the second base is arranged in the second conical positioning hole, and the second annular positioning conical surface is matched with the second conical positioning hole.
Preferably, the swing device further comprises an arc swing seat, wherein a first arc guide groove is formed in the left end of the arc swing seat, and a second arc guide groove is formed in the right end of the arc swing seat;
the first base is provided with a first guide boss which is positioned in the first arc-shaped guide groove and matched with the first arc-shaped guide groove;
the second base is provided with a second guide boss which is positioned in the second circular arc-shaped guide groove and matched with the second circular arc-shaped guide groove;
the circular arc swinging seat can rotate around the first guide boss and the second guide boss;
the third driven wheel is rotatably and fixedly arranged in the circular arc swinging seat.
Preferably, the device further comprises a fourth driving wheel, a fifth driving wheel, a sixth driving wheel, a seventh driving wheel, a fourth connecting shaft, a fifth connecting shaft, a first driving device and a second driving device;
the fourth driving wheel is detachably connected with the first connecting shaft, the fourth driving wheel is provided with a fourth key groove, and the first limiting key extends into the fourth key groove and is matched with the fourth key groove;
the fifth driving wheel is detachably connected with the second connecting shaft, the fifth driving wheel is provided with a fifth key groove, and the second limiting key extends into the fifth key groove and is matched with the fifth key groove;
the sixth driving wheel is connected with an output shaft of the first driving device through the fourth connecting shaft, the seventh driving wheel is connected with an output shaft of the second driving device through the fifth connecting shaft, the sixth driving wheel is meshed with the fourth driving wheel, and the seventh driving wheel is meshed with the fifth driving wheel.
Preferably, the device further comprises a third base, a fourth base, a first limiting groove and a second limiting groove;
the sixth driving wheel is rotatably and fixedly arranged on the third base, and the seventh driving wheel is rotatably and fixedly arranged on the fourth base;
the first limiting groove is located on the outer surfaces of the first frame and the first base, the second limiting groove is located on the outer surfaces of the second frame and the second base, the third base is installed in the first limiting groove and limits the first base, and the fourth base is installed in the second limiting groove and limits the second base.
Preferably, the first driving wheel, the second driving wheel, the third driven wheel, the fourth driving wheel, the fifth driving wheel, the sixth driving wheel, the seventh driving wheel, the first connecting shaft, the second connecting shaft, the third connecting shaft, the first frame, the second frame, the first base, the second base, the arc-shaped swinging seat, the third base, the fourth base and the wing plate are all manufactured by 3D printing.
Preferably, the third connecting shaft end is connected to the wing plate end through a clamping plate assembly, the clamping plate assembly includes a first clamping plate, a first cushion pad, a second clamping plate and a second cushion pad, the first clamping plate and the second clamping plate are arranged oppositely, the first cushion pad is fixed to the inner side of the first clamping plate, the second cushion pad is fixed to the inner side of the second clamping plate, and the wing plate end is clamped between the first cushion pad and the second cushion pad.
In summary, the present application has the following beneficial effects:
(1) The parts are more reasonably disassembled, and the easily damaged parts can be accurately replaced in a small range after being worn, so that other intact parts associated with the easily damaged parts do not need to be replaced, and the maintenance cost is effectively reduced;
(2) The buffer gaskets on the two sides are used for buffering and damping, so that the interference of vibration on data collected by the force sensor is reduced, the noise collected by the force sensor is reduced, and the quality of collected data is improved.
(3) And part of the non-standard parts are manufactured in a 3D printing mode, so that the limitation of structural design is avoided, the manufacturing steps are simplified, and the manufacturing period is shortened.
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 a schematic structural view of example 1 of the present invention;
FIG. 2 is an enlarged view at A in FIG. 1;
FIG. 3 is a schematic view of the engagement of a first drive assembly with a wing according to the present invention;
FIG. 4 is an exploded view of the first drive wheel and the first connecting shaft of the present invention;
FIG. 5 is an exploded view of the second driving wheel and the second connecting shaft of the present invention;
FIG. 6 is an exploded view of the third driving wheel and the third connecting shaft of the present invention;
FIG. 7 is a schematic view of the support assembly of the present invention;
FIG. 8 is a schematic view of the first base engaging a first drive wheel in accordance with the present invention;
FIG. 9 is a schematic view of the second base engaging a second drive wheel in accordance with the present invention;
FIG. 10 is a schematic view of a first frame construction of the present invention;
FIG. 11 is a schematic view of a second frame construction of the present invention;
FIG. 12 is a schematic view of the first driving assembly, the first base, the second base, and the arc-shaped swing seat of the present invention;
FIG. 13 is a schematic view of the structure of the circular arc swinging seat of the present invention;
FIG. 14 is a schematic structural view of example 5 of the present invention;
FIG. 15 is an enlarged view at B of FIG. 14;
FIG. 16 is an exploded view of the fourth drive wheel and the first connecting shaft of the present invention;
FIG. 17 is an exploded view of the fifth drive wheel and the second connecting shaft of the present invention;
FIG. 18 is an angular schematic view of the support assembly of the present invention;
FIG. 19 is a schematic view of another angle of the support assembly of the present invention;
FIG. 20 is a schematic view of the cleat assembly of the present invention engaged with a wing plate;
fig. 21 is a schematic view of a cleat assembly of the present invention.
The labels in the figure are:
1 is a wing plate, 2 is a first driving wheel, 3 is a first connecting shaft, 4 is a second driving wheel, 5 is a second connecting shaft, 6 is a third driven wheel, 7 is a third connecting shaft, 8 is a first frame, 9 is a second frame, 10 is a first base, 11 is a second base, 12 is an arc swinging seat, 13 is a fourth driving wheel, 14 is a fifth driving wheel, 15 is a sixth driving wheel, 16 is a seventh driving wheel 17 is a fourth connecting shaft, 18 is a fifth connecting shaft, 19 is a first driving device, 20 is a second driving device, 21 is a third base, 22 is a fourth base, 23 is a first limiting groove, 24 is a second limiting groove, 25 is a first clamping plate, 26 is a first buffer gasket, 27 is a second clamping plate, 28 is a second buffer gasket, 29 is a supporting column, and 30 is a supporting beam;
2-1 is a first key groove, 3-1 is a first limit key, 4-1 is a second key groove, 5-1 is a second limit key, 6-1 is a third key groove, 7-1 is a third limit key, 8-1 is a first tapered locating hole, 9-1 is a second tapered locating hole, 10-1 is a first bearing, 10-2 is a first annular locating conical surface, 10-3 is a first guide boss, 10-4 is a fourth bearing, 11-1 is a second bearing, 11-2 is a second annular locating conical surface, 11-3 is a second guide boss, 11-4 is a fifth bearing, 12-1 is a first arc guide groove, 12-2 is a second arc guide groove, 12-3 is a third bearing, 13-1 is a fourth key groove, and 14-1 is a fifth key groove.
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.
Example 1
As shown in fig. 1 to 6, an experimental mechanism for simulating insect flapping wings is characterized in that: the wing plate driving device comprises a wing plate 1, a first driving assembly and a supporting assembly, wherein the first driving assembly is arranged in the supporting assembly;
the first driving assembly comprises a first driving wheel 2, a first connecting shaft 3, a second driving wheel 4, a second connecting shaft 5, a third driven wheel 6 and a third connecting shaft 7, the first driving wheel 2, the second driving wheel 4 and the third driven wheel 6 are all bevel gears, the modulus of the first driving wheel 2, the modulus of the second driving wheel 4 and the modulus of the third driven wheel 6 are the same and are right-angle bevel gears, the first driving wheel 2 and the second driving wheel 4 are arranged in a mirror image mode, the first connecting shaft 3 and the second connecting shaft 5 are arranged in a mirror image mode, the third driven wheel 6 is arranged between the first driving wheel 2 and the second driving wheel 4, the third driven wheel 6 is simultaneously meshed with the first driving wheel 2 and the second driving wheel 4, the axis of the first driving wheel 2 is superposed with the axis of the first connecting shaft 3, the axis of the second driving wheel 4 is superposed with the axis of the second connecting shaft 5, the axis of the first connecting shaft 3 is superposed with the axis of the second connecting shaft 5, the axis of the third driven wheel 6 is superposed with the axis of the third connecting shaft 7, and the axis of the third connecting shaft 7 is perpendicular to the axis of the first connecting shaft 3 and the second connecting shaft 5;
the first driving wheel 2 is detachably connected with one end of the first connecting shaft 3, the second driving wheel 4 is detachably connected with one end of the second connecting shaft 5, the third driven wheel 6 is detachably connected with one end of the third connecting shaft 7, the other ends of the first connecting shaft 3 and the second connecting shaft 5 are used for being connected with driving equipment, and the driving equipment is used for respectively controlling the first driving wheel 2 and the second driving wheel 4 to rotate through the first connecting shaft 3 and the second connecting shaft 5;
the end of the wing plate 1 is connected to the other end of the third connecting shaft 7.
The first driving wheel 2, the second driving wheel 4 and the third driven wheel 6 can rotate around their axes relative to the supporting assembly, and the third driven wheel 6 can swing around the axes of the first driving wheel 2 and the second driving wheel 4, specifically, because the third driven wheel 6 is simultaneously meshed with the first driving wheel 2 and the second driving wheel 4, the first driving wheel 2 and the second driving wheel 4 can control the third driven wheel 6 to rotate around its own axis, and further control the wing plate 1 to rotate through the third connecting shaft 7, and at the same time, the first driving wheel 2 and the second driving wheel 4 can also control the third driven wheel 6 to swing around their axes, and further control the wing plate 1 to flap through the third connecting shaft 7, and in addition, the first driving wheel 2 and the second driving wheel 4 can also control the third driven wheel 6 to do the aforementioned combined movement of rotation and swing, and further realize the combined movement of the wing plate 1, and the aforementioned three movement principles are disclosed in detail in the earlier patent application No. CN202010772502.1 filed by the present applicant and are repeated herein; the bevel gears are detachably connected with the respective connecting shafts, and after the bevel gears are worn and damaged, the bevel gears can be replaced independently without replacing the connecting shafts which correspond to the bevel gears completely, so that the maintenance cost is effectively reduced.
Specifically, the first driving wheel 2 is provided with a first key groove 2-1, the first connecting shaft 3 is provided with a first limit key 3-1, the first limit key 3-1 extends into the first key groove 2-1 and is matched with the first limit key, the end part of the first connecting shaft 3 extends into the first driving wheel 2, and the first driving wheel 2 is detachably connected with the first connecting shaft 3 through the matching of the first limit key 3-1 and the first key groove 2-1;
the second driving wheel 4 is provided with a second key groove 4-1, the second connecting shaft 5 is provided with a second limiting key 5-1, the second limiting key 5-1 extends into the second key groove 4-1 and is matched with the second limiting key, the end part of the second connecting shaft 5 extends into the second driving wheel 4, and the second driving wheel 4 is detachably connected with the second connecting shaft 5 through the matching of the second limiting key 5-1 and the second key groove 4-1;
the third driven wheel 6 is provided with a third key groove 6-1, the third connecting shaft 7 is provided with a third limiting key 7-1, the third limiting key 7-1 extends into the third key groove 6-1 and is matched with the third key groove, the end part of the third connecting shaft 7 extends into the third driven wheel 6, and the third driven wheel 6 is detachably connected with the third connecting shaft 7 through the cooperation of the third limiting key 7-1 and the third key groove 6-1.
Through the cooperation of keyway and spacing key, both realized bevel gear and the dismantled of connecting axle separately and be connected, after bevel gear wearing and tearing damage, can change bevel gear alone, and need not to change and correspond the intact connecting axle, reduced the maintenance cost, and the installation dismantlement process is convenient, simultaneously, has realized following action process again: the rotary motion of the first connecting shaft 3 can be transmitted to the first driving wheel 2, the rotary motion of the second connecting shaft 5 can be transmitted to the second driving wheel 4, and the rotary and oscillating motion of the third driven wheel 6 can be transmitted to the third connecting shaft 7.
Example 2
As shown in fig. 7 to 9, on the basis of embodiment 1, the supporting assembly includes a first frame 8 and a second frame 9 which are oppositely arranged, the first frame 8 and the second frame 9 are arranged in a mirror image manner, the first frame 8 and the second frame 9 are detachably and fixedly connected together, a first base 10 is detachably mounted on the first frame 8, a second base 11 is detachably mounted on the second frame 9, the first base 10 and the second base 11 are arranged in a mirror image manner, the first driving wheel 2 is rotatably and fixedly mounted on the first base 10, and the second driving wheel 4 is rotatably and fixedly mounted on the second base 11. Adopt detachable the connection between frame and the base that corresponds, after the base wearing and tearing damage, can change the base alone, and need not to change and correspond good frame, effectively reduced the maintenance cost.
Specifically, a first bearing 10-1 is fixedly installed on the first base 10, the first driving wheel 2 is rotatably and fixedly installed on the first base 10 through the first bearing 10-1, a second bearing 11-1 is fixedly installed on the second base 11, and the second driving wheel 4 is rotatably and fixedly installed on the second base 11 through the second bearing 11-1. The frame is detachably connected with the corresponding base, and after the bearing fixedly arranged in the base is abraded and damaged, the base and the bearing can be independently replaced without replacing the corresponding good frame, so that the maintenance cost is effectively reduced.
Example 3
As shown in fig. 8 to 11, on the basis of embodiment 2, the first frame 8 has a first positioning hole 8-1 having a taper shape, and the second frame 9 has a second positioning hole 9-1 having a taper shape;
the first base 10 is provided with a first annular positioning conical surface 10-2, the first base 10 is arranged in the first conical positioning hole 8-1, and the first annular positioning conical surface 10-2 is matched with the first conical positioning hole 8-1;
the second base 11 is provided with a second annular positioning conical surface 11-2, the second base 11 is installed in the second conical positioning hole 9-1, and the second annular positioning conical surface 11-2 is matched with the second conical positioning hole 9-1.
The conical positioning hole of the frame is matched with the annular positioning conical surface of the base, so that the base and the frame can be quickly and accurately positioned and centered when being installed, the installation is convenient and quick, and the installation efficiency is ensured.
Example 4
As shown in fig. 8, 9, 12, and 13, in addition to embodiment 3, the present invention further includes an arc swinging base 12, wherein the left end of the arc swinging base 12 has a first arc guiding groove 12-1, and the right end of the arc swinging base 12 has a second arc guiding groove 12-2;
the first base 10 is provided with a first guide boss 10-3, and the first guide boss 10-3 is positioned in the first circular arc-shaped guide groove 12-1 and matched with the first circular arc-shaped guide groove;
the second base 11 is provided with a second guide boss 11-3, and the second guide boss 11-3 is positioned in the second circular arc-shaped guide groove 12-2 and matched with the second circular arc-shaped guide groove;
the arc swinging seat 12 can rotate around the first guide boss 10-3 and the second guide boss 11-3;
the third driven wheel 6 is rotatably and fixedly mounted in the arc-shaped swing seat 12, specifically, the third driven wheel 6 is rotatably and fixedly mounted at the rear end inside the arc-shaped swing seat 12 through a third bearing 12-3, the front end of the arc-shaped swing seat 12 is provided with a bearing, the front end of the third connecting shaft 7 is supported through the bearing, the front end of the third connecting shaft 7 is used for being connected and fixed with the end part of the wing plate 1, the first driving wheel 2 and the second driving wheel 4 control the third driving wheel to swing within a certain angle range around the axis of the first driving wheel 2 and the second driving wheel 4, and the arc-shaped swing seat 12 rotates within a certain angle range around the first guide boss 10-3 and the second guide boss 11-3.
The arc-shaped swing seat 12 is an independent part and is matched with the first guide boss 10-3 and the second guide boss 11-3 for use, the assembly and disassembly are convenient, when the arc-shaped swing seat 12 is worn and damaged, the arc-shaped swing seat 12 can be replaced independently, and the maintenance cost is effectively reduced.
Example 5
As shown in fig. 14 to 19, on the basis of embodiment 4, the present invention further includes a fourth driving wheel 13, a fifth driving wheel 14, a sixth driving wheel 15, a seventh driving wheel 16, a fourth connecting shaft 17, a fifth connecting shaft 18, a first driving device 19, and a second driving device 20, where the fourth driving wheel 13, the fifth driving wheel 14, the sixth driving wheel 15, and the seventh driving wheel 16 are all bevel gears, the first driving device 19 and the second driving device 20 are all motors, and in addition, a supporting column 29 and a supporting beam 30 may be further provided, the supporting beam 30 is fixedly disposed on the top of the supporting column 29, the first frame 8 and the second frame 9 are fixedly connected with the bottom of the supporting column 29, and the first driving device 19 and the second driving device 20 are fixedly mounted on the supporting beam 30;
the fourth driving wheel 13 is detachably connected with the first connecting shaft 3, the fourth driving wheel 13 is provided with a fourth key groove 13-1, the first limiting key 3-1 extends into the fourth key groove 13-1 and is matched with the fourth key groove, the end part of the first connecting shaft 3 extends into the fourth driving wheel 13, and the detachable connection is realized through the matching of the first limiting key 3-1 and the fourth key groove 13-1;
the fifth driving wheel 14 is detachably connected with the second connecting shaft 5, the fifth driving wheel 14 is provided with a fifth key groove 14-1, a second limiting key 5-1 extends into the fifth key groove 14-1 and is matched with the fifth key groove, the end part of the second connecting shaft 5 extends into the fifth driving wheel 14, and the detachable connection is realized through the matching of the second limiting key 5-1 and the fifth key groove 14-1;
the sixth driving wheel 15 is connected with an output shaft of the first driving device 19 through a fourth connecting shaft 17, the sixth driving wheel 15 is detachably connected with the fourth connecting shaft 17 in a limiting key and key groove mode, the seventh driving wheel 16 is connected with an output shaft of the second driving device 20 through a fifth connecting shaft 18, the seventh driving wheel 16 is detachably connected with the fifth connecting shaft 18 in a limiting key and key groove mode, the sixth driving wheel 15 is meshed with the fourth driving wheel 13, and the seventh driving wheel 16 is meshed with the fifth driving wheel 14.
The first base 10 is fixedly provided with a fourth bearing 10-4, the fourth driving wheel 13 is rotatably and fixedly arranged on the first base 10 through the fourth bearing 10-4, the second base 11 is fixedly provided with a fifth bearing 11-4, and the fifth driving wheel 14 is rotatably and fixedly arranged on the second base 11 through the fifth bearing 11-4.
The rotary motion of the first driving device 19 is transmitted to the fourth connecting shaft 17 through the output shaft thereof, and is sequentially transmitted to the sixth driving wheel 15, the fourth driving wheel 13, the first connecting shaft 3 and the first driving wheel 2 through the fourth connecting shaft 17, the rotary motion of the second driving device 20 is transmitted to the fifth connecting shaft 18 through the output shaft thereof, and is sequentially transmitted to the seventh driving wheel 16, the fifth driving wheel 14, the second connecting shaft 5 and the second driving wheel 4 through the fifth connecting shaft 18, and finally the third driven wheel 6 is controlled to do rotary motion, swing motion or combined rotary and swing motion through the rotary motion of the first driving wheel 2 and the second driving wheel 4, so that the purpose of controlling the action of the wing plate 1 is achieved.
Further, the device also comprises a third base 21, a fourth base 22, a first limiting groove 23 and a second limiting groove 24, wherein the cross sections of the third base 21 and the fourth base 22 are rectangular, and the cross sections of the first limiting groove 24 and the second limiting groove 21 are rectangular;
the sixth driving wheel 15 is rotatably and fixedly mounted on the third base 21, and the seventh driving wheel 16 is rotatably and fixedly mounted on the fourth base 22, specifically, the sixth driving wheel 15 is rotatably and fixedly mounted on the third base 21 through a bearing, and the seventh driving wheel 16 is rotatably and fixedly mounted on the fourth base 22 through a bearing;
the first limiting groove 23 is located on the outer surfaces of the first frame 8 and the first base 10, the second limiting groove 24 is located on the outer surfaces of the second frame 9 and the second base 11, the third base 21 is installed in the first limiting groove 23 and limits the first base 10, and the fourth base 22 is installed in the second limiting groove 24 and limits the second base 11.
The cooperation of third base 21 and first spacing recess 23 has realized spacing to the axial of first base 10 and circumference, and the cooperation of fourth base 22 and second spacing recess 24 has realized spacing to the axial of second base 11 and circumference.
Example 6
On the basis of embodiment 5, the first driving wheel 2, the second driving wheel 4, the third driven wheel 6, the fourth driving wheel 13, the fifth driving wheel 14, the sixth driving wheel 15, the seventh driving wheel 16, the first connecting shaft 3, the second connecting shaft 5, the third connecting shaft 7, the first frame 8, the second frame 9, the first base 10, the second base 11, the arc-shaped swing seat, the third base 21, the fourth base 22 and the wing plate 1 are all manufactured by 3D printing, the 3D printing material is standard rigid resin, the non-standard part is manufactured by 3D printing, the structural design is prevented from being limited, the manufacturing steps are simplified, and the manufacturing period is shortened.
Example 7
As shown in fig. 20 and 21, in embodiment 1, 2, 3, 4, 5 or 6, an end portion of the third link shaft 7 is connected to an end portion of the wing plate 1 by a clip assembly including a first clip 25, a first cushion pad 26, a second clip 27, and a second cushion pad 28, the first clip 25 and the second clip 27 are disposed to face each other, the first cushion pad 26 is fixed to an inner side of the first clip 25, the second cushion pad 28 is fixed to an inner side of the second clip 27, and an end portion of the wing plate 1 is sandwiched between the first cushion pad 26 and the second cushion pad 28; specifically, first splint 25 and second splint 27 are printed through 3D and are made, and 3D prints and uses the material to be standard rigidity resin, and first buffer spacer 26 and second buffer spacer 28 are the rubber material, cushions the shock attenuation through the buffer spacer of both sides, reduces the noise that force sensor collected, improves the data quality of gathering.
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 of the 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 (5)
1. The utility model provides a simulation insect flapping wing experimental mechanism which characterized in that: the wing plate driving device comprises a wing plate (1), a first driving assembly and a supporting assembly, wherein the first driving assembly is installed in the supporting assembly;
the first driving assembly comprises a first driving wheel (2), a first connecting shaft (3), a second driving wheel (4), a second connecting shaft (5), a third driven wheel (6) and a third connecting shaft (7), wherein the first driving wheel (2), the second driving wheel (4) and the third driven wheel (6) are all bevel gears, the first driving wheel (2) and the second driving wheel (4) are arranged in a mirror image mode, the first connecting shaft (3) and the second connecting shaft (5) are arranged in a mirror image mode, the third driven wheel (6) is arranged between the first driving wheel (2) and the second driving wheel (4), and the third driven wheel (6) is meshed with the first driving wheel (2) and the second driving wheel (4) simultaneously;
the first driving wheel (2) is detachably connected with the first connecting shaft (3), the second driving wheel (4) is detachably connected with the second connecting shaft (5), and the third driven wheel (6) is detachably connected with the third connecting shaft (7);
the end part of the wing plate (1) is connected with the end part of the third connecting shaft (7);
the first driving wheel (2) is provided with a first key groove (2-1), the first connecting shaft (3) is provided with a first limit key (3-1), and the first limit key (3-1) extends into the first key groove (2-1) and is matched with the first limit key;
the second driving wheel (4) is provided with a second key groove (4-1), the second connecting shaft (5) is provided with a second limiting key (5-1), and the second limiting key (5-1) extends into the second key groove (4-1) and is matched with the second limiting key;
the third driven wheel (6) is provided with a third key groove (6-1), the third connecting shaft (7) is provided with a third limiting key (7-1), and the third limiting key (7-1) extends into the third key groove (6-1) and is matched with the third limiting key;
the supporting assembly comprises a first frame (8) and a second frame (9) which are arranged oppositely, a first base (10) is detachably mounted on the first frame (8), a second base (11) is detachably mounted on the second frame (9), the first driving wheel (2) is rotatably and fixedly mounted on the first base (10), and the second driving wheel (4) is rotatably and fixedly mounted on the second base (11);
a first bearing (10-1) is fixedly installed on the first base (10), the first driving wheel (2) is rotatably and fixedly installed on the first base (10) through the first bearing (10-1), a second bearing (11-1) is fixedly installed on the second base (11), and the second driving wheel (4) is rotatably and fixedly installed on the second base (11) through the second bearing (11-1);
the first frame (8) is provided with a first conical positioning hole (8-1), and the second frame (9) is provided with a second conical positioning hole (9-1);
the first base (10) is provided with a first annular positioning conical surface (10-2), the first base (10) is installed in the first conical positioning hole (8-1), and the first annular positioning conical surface (10-2) is matched with the first conical positioning hole (8-1);
the second base (11) is provided with a second annular positioning conical surface (11-2), the second base (11) is installed in the second conical positioning hole (9-1), and the second annular positioning conical surface (11-2) is matched with the second conical positioning hole (9-1);
the swing mechanism is characterized by further comprising an arc swing seat (12), wherein a first arc guide groove (12-1) is formed in the left end of the arc swing seat (12), and a second arc guide groove (12-2) is formed in the right end of the arc swing seat (12);
the first base (10) is provided with a first guide boss (10-3), and the first guide boss (10-3) is positioned in the first circular arc-shaped guide groove (12-1) and matched with the first circular arc-shaped guide groove;
the second base (11) is provided with a second guide boss (11-3), and the second guide boss (11-3) is positioned in the second circular arc-shaped guide groove (12-2) and is matched with the second circular arc-shaped guide groove;
the circular arc swinging seat (12) can rotate around the first guide boss (10-3) and the second guide boss (11-3);
the third driven wheel (6) is rotatably and fixedly arranged in the circular arc swinging seat (12).
2. The simulated insect flapping wing experimental facility of claim 1, wherein: the device also comprises a fourth driving wheel (13), a fifth driving wheel (14), a sixth driving wheel (15), a seventh driving wheel (16), a fourth connecting shaft (17), a fifth connecting shaft (18), first driving equipment (19) and second driving equipment (20);
the fourth driving wheel (13) is detachably connected with the first connecting shaft (3), the fourth driving wheel (13) is provided with a fourth key groove (13-1), and the first limiting key (3-1) extends into the fourth key groove (13-1) and is matched with the fourth limiting key;
the fifth driving wheel (14) is detachably connected with the second connecting shaft (5), the fifth driving wheel (14) is provided with a fifth key groove (14-1), and the second limiting key (5-1) extends into the fifth key groove (14-1) and is matched with the fifth key groove;
the sixth driving wheel (15) is connected with an output shaft of the first driving device (19) through the fourth connecting shaft (17), the seventh driving wheel (16) is connected with an output shaft of the second driving device (20) through the fifth connecting shaft (18), the sixth driving wheel (15) is meshed with the fourth driving wheel (13), and the seventh driving wheel (16) is meshed with the fifth driving wheel (14).
3. The simulated insect flapping wing experimental facility of claim 2, wherein: the device also comprises a third base (21), a fourth base (22), a first limiting groove (23) and a second limiting groove (24);
the sixth driving wheel (15) is rotatably and fixedly arranged on the third base (21), and the seventh driving wheel (16) is rotatably and fixedly arranged on the fourth base (22);
the first limiting groove (23) is located on the outer surfaces of the first frame (8) and the first base (10), the second limiting groove (24) is located on the outer surfaces of the second frame (9) and the second base (11), the third base (21) is installed in the first limiting groove (23) and limits the first base (10), and the fourth base (22) is installed in the second limiting groove (24) and limits the second base (11).
4. The simulated insect flapping wing experimental facility of claim 3, wherein: the three-dimensional printing machine is characterized in that the first driving wheel (2), the second driving wheel (4), the third driven wheel (6), the fourth driving wheel (13), the fifth driving wheel (14), the sixth driving wheel (15), the seventh driving wheel (16), the first connecting shaft (3), the second connecting shaft (5), the third connecting shaft (7), the first frame (8), the second frame (9), the first base (10), the second base (11), the arc swinging seat, the third base (21), the fourth base (22) and the wing plate (1) are all manufactured through 3D printing.
5. A simulated insect flapping wing test mechanism according to any one of claims 1 to 4, wherein: third connecting axle (7) tip pass through the splint subassembly with pterygoid lamina (1) end connection, the splint subassembly includes first splint (25), first buffer washer (26), second splint (27), second buffer washer (28), first splint (25) with second splint (27) set up relatively, first buffer washer (26) are fixed first splint (25) are inboard, second buffer washer (28) are fixed second splint (27) are inboard, pterygoid lamina (1) tip clamp is in first buffer washer (26) with between second buffer washer (28).
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