CN113247247B - Control structure of imitative bird feather muscle - Google Patents
Control structure of imitative bird feather muscle Download PDFInfo
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- CN113247247B CN113247247B CN202110741738.3A CN202110741738A CN113247247B CN 113247247 B CN113247247 B CN 113247247B CN 202110741738 A CN202110741738 A CN 202110741738A CN 113247247 B CN113247247 B CN 113247247B
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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
A control structure of bird feather muscle imitation belongs to the technical field of bionic design. It includes the bionical follicle of a plurality of, is connected by bionical antagonistic muscle between the adjacent four bionical follicles and forms the rectangular frame structure, bionical antagonistic muscle includes bionical feather muscle of falling and the bionical feather muscle of carrying that falls the crisscross setting of feather muscle, the bionical follicle neck of carrying a bionical follicle of connecting the one end of feather muscle, the other end connect the front end of adjacent bionical follicle vesicle, the follicle neck of a bionical follicle is connected to the one end of bionical feather muscle of falling, and the rear end of adjacent bionical follicle vesicle is connected to the other end. The bionic feather lifting and descending device designs the position arrangement of the bionic artificial muscles by analyzing the inter-muscle linkage principle, and pulls the bionic bleb by using the pulling force generated by the contraction of the bionic artificial muscles, so that the lifting, descending or rotating motion of the bionic feather is controlled, and the flying actions of turning, decelerating, landing and the like of an aircraft provided with the bionic feather lifting and descending device are further controlled.
Description
Technical Field
The invention belongs to the technical field of bionic structures, and particularly relates to a control structure of bird feather muscle imitation.
Background
Feather muscles are located in the dermis of birds, and belong to a unique smooth muscle. The current research on feather muscles is mainly limited to anatomical level, and Lucas and Stettenheim, published in 1972 in the book "dissection of Avian body wall" (Avian Anatony integral "), describes in detail the connection pattern, orientation and site of the feather muscles in various regions of the Avian body.
With reference to different parts of the body, feather muscles are mainly divided into muscles with feather and muscles without feather. The feather-containing area is mainly distributed in the back area and the leg area, and the feather-free area is mainly distributed on two sides of the body, so that the feathers are sparse. Comparing the feather muscles of the two areas, the feather muscle with the feather area is dense and strong, and the feather muscle without the feather area is loose and dispersed. As a whole, the feather muscle always takes the bleb as a base point, and connects the surrounding blebs to form a net structure, as shown in figure 1.
The feather muscles of birds are well developed, which is related to the complex functions that feathers have. Feather muscles are not simple two-dimensional structures, and have very complex three-dimensional distribution below each follicle, which is a periodically repeated distribution rule with the follicles as a unit.
On a bionic aircraft, the control of the bionic feather is required to realize the control of the flight path of the bionic aircraft. Therefore, the control structure of the simulated bird feather muscle is provided, and the structure is connected with the simulated bubble structure, so that the control of the simulated feather can be realized.
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide a structure simulating the feather muscles of birds, which is mounted on an aircraft and can control the flight actions of the aircraft such as turning, decelerating, landing, etc.
The invention provides the following technical scheme: the utility model provides a control structure of imitative bird feather muscle which characterized in that: including the bionical follicle of a plurality of, be connected by bionical antagonistic muscle between the adjacent four bionical follicles and form the rectangular frame structure, bionical antagonistic muscle includes bionical feather muscle of falling and falls the bionical feather muscle of carrying that the feather muscle is crisscross to be set up with bionical feather, the bionic follicle neck of a bionical follicle is connected to bionical one end of carrying the feather muscle, and the front end of adjacent bionical follicle vesicle is connected to the other end, the follicle neck of a bionical follicle is connected to bionical one end of falling the feather muscle, and the rear end of adjacent bionical follicle vesicle is connected to the other end.
The bionic hypo muscles and the bionic Lupus-lifting muscles are subdivided into a plurality of muscle bundles, and the muscle bundles in the bionic hypo muscles and the muscle bundles in the bionic Lupus-lifting muscles are mutually inserted and passed through.
The bionic hypo-feather muscle and/or the bionic Lupus-lifting muscle are/is provided with a split which is convenient for the muscle bundle to penetrate.
Bionic elastic tendons are inserted between the muscle bundles in the bionic hypo-feather muscle and the bionic Lucilia muscles and the bionic bleb.
And a plurality of bionic distractor muscles are arranged between the follicular necks of the two adjacent bionic follicles, and are arranged along the radial direction of the bionic follicles to form four right-angle sides of a rectangular frame structure consisting of four adjacent bionic follicles.
The muscles of the retracting muscles are subdivided into muscle bundles, and the diameter of the muscle bundles of the retracting muscles is smaller than that of the muscle bundles in the bionic hypo muscles and the bionic apo muscles.
In the rectangular frame structure formed by four adjacent bionic blebs, an oblique muscle is arranged between the two bionic blebs at oblique opposite angles, one end of the oblique muscle is connected with the bleb sac of one bionic bleb, and the other end of the oblique muscle is connected with the bleb neck of the other bionic bleb.
The bionic artificial muscles are used for lowering the feather, lifting the feather, pulling the muscles and the oblique muscles, the electric active polymer EPA, the ionic polymer-metal composite material IPMC or the pneumatic artificial muscle PMA are used for the bionic artificial muscles, and the elastic tendon is made of an elastic metal material.
The bionic hypo-feather muscle, the bionic lift-feather muscle, the distractor muscle and the oblique muscle are connected with the bionic bleb through a hinge assembly.
The hinge assembly comprises a connecting cylinder, a ball body and a shell, the front part of the ball body extends into one end of the shell and can freely rotate along the end part of the end of the shell, the rear part of the ball body is connected with the connecting cylinder, the connecting cylinder is connected with corresponding bionic artificial muscles through a first bolt, the shell is connected with the bionic filter bulb through a second bolt, and a cylindrical connecting piece connected with the shell is arranged on the outer side of the bionic filter bulb.
By adopting the technology, compared with the prior art, the invention has the following beneficial effects:
the bionic feather lifting and descending device designs the position arrangement of the bionic artificial muscles by analyzing the inter-muscle linkage principle, and pulls the bionic bleb by using the pulling force generated by the contraction of the bionic artificial muscles, so that the lifting, descending or rotating motion of the bionic feather is controlled, and the flying actions of turning, decelerating, landing and the like of an aircraft provided with the bionic feather lifting and descending device are further controlled.
Drawings
FIG. 1 is a diagram of the feather muscle distribution in different areas of the back of a newborn bird;
FIG. 2 is a three-dimensional population distribution map of feather muscles;
FIG. 3 is a schematic sectional view of the main view of an antagonist muscle of a row of biomimetic follicles;
FIG. 4 is a front view of a row of biomimetic filter vesicles being pulled toward a skin surface location;
FIG. 5 is a top view of two interfollicular antagonist muscles;
FIG. 6 is a three-dimensional distribution diagram of a bionic antagonistic muscle;
FIG. 7 is a three-dimensional profile of a retracting muscle;
fig. 8 is a three-dimensional distribution diagram of the oblique muscles.
In the figure: 1. bionic filtering soaking; 2. a biomimetic antagonistic muscle; 21. bionic feather muscle lowering; 22. bionic feather extracting muscle; 3. bionic elastic tendon; 4. distractor muscles; 5. the oblique muscle; 6. connecting the columns; 7. a sphere; 8. a housing; 9. a first bolt; 10. a second bolt; 11. a cylindrical connector; A. a first terminal; B. and a second endpoint.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
On the contrary, the invention is intended to cover alternatives, modifications, equivalents and alternatives which may be included within the spirit and scope of the invention as defined by the appended claims. Furthermore, in the following detailed description of the present invention, certain specific details are set forth in order to provide a better understanding of the present invention. It will be apparent to one skilled in the art that the present invention may be practiced without these specific details.
Referring to fig. 1-8, a schematic structure of a control structure of bird-like feather muscles is shown in fig. 2, a square formed by four bionic blebs 1 is used as a unit, the structure mainly includes four bionic blebs 1, four pairs of bionic antagonistic muscles 2, four distractors 4, and two oblique muscles 5, nearly twenty pairs of bionic antagonistic muscles 2 (including bionic levator 21 and bionic descender 22) are connected between every two adjacent bionic blebs 1, the movement of the bionic blebs 1 is controlled by the extension and contraction of the bionic muscles, and the bionic feathers are installed in the bionic blebs 1 and move together with the bionic blebs.
Wherein, the lifting, descending and rotating motion of the bionic feather occur simultaneously. The lifting and descending of the bionic feather are mainly driven by the contraction of bionic feather muscles, and the rotation of the bionic feather depends on the connection mode of the bionic muscles and the bionic bleb 1 and the combination of different types of bionic muscles.
Specifically, as shown in fig. 3-4, in fig. 4, the bionic feather is in a lifting posture, the bionic feather lifting muscle 22 connects the two bionic follicles 1, when the bionic feather lifting muscle 22 contracts, it will shorten and exert the same pulling force on its two ends, the bottom (i.e. end point two B) of the bionic follicle 1 near the skin surface is subjected to a downward pulling force, so that the feather is in a more upright position; at the same time, the other end of the bionic levator 22 pulls the upper end (i.e. endpoint one A) of the next bionic bleb 1 to move to a more upright position
During the lifting and lowering of the biomimetic feather, it can be considered to rotate around an axis at right angles to the axis of the biomimetic follicle 1, and the fulcrum is assumed to be near the skin appearance. Because the end point one a is near the fulcrum, the pulling force acts less than the end point two B at a location further from the fulcrum.
Specifically, the bionic feather is in a descending posture in fig. 2, and when the bionic bleb 1 moves from an almost horizontal position to an upright position, the bionic feather descending muscle 21 passively elongates. When the bionic hypo-feather muscle 21 contracts, the bottom (end point two B) of the bionic follicle 1 is pulled upwards, the upper end (end point one A) of the next bionic follicle 1 connected with the other end of the muscle is pulled downwards, the end point one A and the end point two B are both pulled to the vicinity of the surface of the skin, and the bionic feather is pulled to the body.
Specifically, a pair of the biomimetic antagonistic muscles 2 between the biomimetic follicles 1 are crossed with each other through a longitudinal slit. Fig. 3 and 4 are cross-sectional views of the bionic follicular muscle junction showing the crossing and interdigitating penetration between a pair of bionic antagonistic muscles 2, in which only the bionic levator 22 is breached and pierced by the bionic deluge 21.
Specifically, as shown in fig. 5, the bionic muscle is divided into a plurality of muscle bundles, one muscle bundle of the bionic levator 22 is close to the bionic bleb 1 at the first endpoint a, the other muscle bundle is bent around the circumference of the bionic bleb 1, and finally, the bionic bleb 1 is connected with the second endpoint B. The muscle bundles surrounding the biomimetic bleb enable the biomimetic bleb to produce a rotational motion. The same is true at the other end of the bionic levator 22, so that when the bionic levator 22 contracts, the bionic blebs 1 connecting the bionic blebs 1 at the two ends of the muscle rotate anticlockwise.
Specifically, the bionic elastic tendon 3 is used as a bridge connecting the bionic muscle and the follicular wall, and as shown in fig. 3, a layer of tissue is connected between the muscle bundle of the bionic descending-feather muscle 21 and the bionic lifting-feather muscle 22 and the follicular wall, and is the bionic elastic tendon 3.
Specifically, as shown in fig. 6, a rectangular frame structure composed of 4 bionic blebs 1 is used as a unit, and a pair of bionic antagonistic muscles 2 is focused between every two adjacent bionic blebs 1, and the bionic levator 22 and the bionic deluster 21 are crossed and penetrated with each other and are respectively connected with the bottom and the neck of the bionic blebs 1. When the bionic pinnate descending muscles 21 contract, all the bionic blebs 1 descend in one direction and are attached to the surface of the skin in a consistent direction due to the linkage effect among the muscles; similarly, when the bionic levator 22 contracts, all the bionic levator 22 pull the bionic bleb 1 in the same direction, so that the bionic bleb 1 is finally positioned in an upright position.
Specifically, a plurality of retracting muscles 4 exist between two adjacent bionic blebs 1, as shown in fig. 7, only one retracting muscle 4 is drawn between the adjacent bionic blebs 1 as a schematic diagram, in a rectangular frame structure with four bionic blebs 1 as a unit, the retracting muscle 4 spans a quadrilateral narrow size and is arranged along the radial direction of the bionic blebs 1, the retracting muscle 4 connects the necks of the adjacent bionic blebs 1 together, and no matter what posture the feather is, the pulling force applied to the feather by the two ends can better fix the posture of the feather.
Specifically, a plurality of oblique muscles 5 exist among the bionic blebs 1, and one of the oblique muscles 5 is shown in fig. 8. One end of the oblique muscle 5 is attached to the follicular sac, the other end is attached to the follicular neck pointing to the oblique diagonal line, and the attachment points at the two ends of the oblique muscle 5 are the same as those of the bionic levator 22, so that the oblique muscle 5 also serves as the bionic levator 22, and the oblique muscle 5 and the bionic levator 22 exert pulling force on the bionic follicular 1 to lift the bionic levator when contracting.
Wherein, the bionic artificial muscles are adopted as the materials of the bionic hypo-feather muscle 21, the bionic apo-feather muscle 22, the retractor muscle 4 and the oblique muscle 5, and the current main technical mature bionic artificial muscles comprise:
EPA (electroactive polymers) capable of physical deformation under the action of current, voltage or electric field, converting electrical energy into mechanical energy;
IPMC (ionic polymer-metal composite), which is an electromechanical coupling system, is largely deformed and bent toward the anode when a voltage is applied in the thickness direction of the IPMC (direct phenomenon); in contrast, when IPMC is subjected to bending deformation, voltage is generated in the thickness direction of IPMC (reverse phenomenon);
PMA (pneumatic artificial muscle) uses a deformation-limiting support material as a skeleton, and inside the skeleton is an inflatable balloon (or balloon-like) structure, which performs various compliant actions by the inflation and deflation of the balloon.
The bionic elastic tendon 3 is made of elastic metal material (such as high manganese steel) and is used as a bridge for connecting the bionic filtering bubble 1 and the artificial muscle.
Specifically, the bionic descending feather muscle 21, the bionic lifting feather muscle 22, the retracting muscle 4, the oblique muscle 5 and the bionic bleb 1 are connected through hinge assemblies.
The hinge assembly comprises a connecting column body 6, a sphere body 7 and a shell 8, wherein the connecting column body 6 is fixed on the sphere body 7 and moves together with the sphere body 7; the shell 8 is the cylindrical shell shape, and spheroid 7 is deep into in the shell 8, and 8 one end of shell are the disc, and the disc diameter slightly is less than spheroid 7 diameter for spheroid 7 exposes the part outside 8 shells of shell and can freely rotate. The bionic muscle and the connecting column 6 are fixed by two bolts I9, the cylindrical connecting piece 11 protruding from the surface of the bionic bleb 1 can be embedded into the other end of the shell 8, and the cylindrical connecting piece 11 and the shell 8 are fixed by four bolts II 10. Through the spherical hinge assembly, the bionic artificial muscle can rotate together with the ball body 7, and multi-degree-of-freedom rotation of the bionic artificial muscle is achieved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a control structure of imitative bird feather flesh muscle which characterized in that: including a plurality of bionical bleb (1), be connected by bionical antagonism muscle (2) between adjacent four bionical blebs (1) and form rectangular frame structure, bionical antagonism muscle (2) including bionical feather muscle (21) and with bionical feather muscle (21) crisscross bionical feather muscle (22) of carrying that sets up of falling, the bleb neck of a bionical bleb (1) is connected to the one end of bionical feather muscle (22), the front end of adjacent bionical bleb (1) filter vesicle is connected to the other end, the bleb neck of a bionical bleb (1) is connected to the one end of bionical feather muscle (21) of falling, the rear end of adjacent bionical bleb (1) filter vesicle is connected to the other end.
2. The structure of claim 1, wherein the muscles of the bionic descending muscles (21) and the bionic lifting muscles (22) are subdivided into a plurality of muscle bundles, and the muscle bundles of the bionic descending muscles (21) and the muscle bundles of the bionic lifting muscles (22) are interlaced.
3. The structure of claim 2, wherein the bionic hypo-feather muscle (21) and/or bionic levator muscle (22) is provided with slits for facilitating penetration of the muscle bundle.
4. A control structure of simulated bird feather muscles according to claim 2, characterized in that a simulated elastic tendon (3) is inserted between the muscle bundle in the simulated descending muscles (21), the simulated lifting muscles (22) and the simulated bleb (1).
5. The control structure of the feather muscle of the simulated birds as claimed in claim 4, wherein a plurality of bionic distracting muscles (4) are arranged between the follicular necks of two adjacent bionic follicles (1), and a plurality of bionic distracting muscles (4) are arranged along the radial direction of the bionic follicles (1) and form four right-angle sides of a rectangular frame structure formed by four adjacent bionic follicles (1).
6. A control structure imitating feather muscles of birds as claimed in claim 5, characterized in that the muscles of the distractor muscle (4) are subdivided into muscle bundles, the diameter of the muscle bundle of the distractor muscle (4) is smaller than the diameter of the muscle bundles of the bionic hypo-feather muscle (21) and the bionic apo-feather muscle (22).
7. The control structure of the feather muscles of the simulated birds as claimed in claim 6, wherein in the rectangular frame structure formed by the adjacent four simulated follicles (1), an oblique muscle (5) is arranged between the two simulated follicles (1) at the oblique angle, one end of the oblique muscle (5) is connected with the follicle sac of one simulated follicle (1), and the other end is connected with the follicle neck of the other simulated follicle (1).
8. The control structure of the feather muscle of birds as claimed in claim 7, wherein said bionic muscles of descending feather (21), lifting feather (22), retracting (4) and oblique (5) are bionic artificial muscles, said bionic artificial muscles are selected from EPA, IPMC or PMA, and said bionic elastic tendon (3) is selected from elastic metal materials.
9. The bird feather muscle control structure as claimed in claim 8, wherein the bionic hypo-feather muscle (21), the bionic levator (22), the retractor muscle (4) and the oblique muscle (5) are connected with the bionic bleb (1) through hinge assemblies.
10. The control structure of the feather muscle of the simulated birds as claimed in claim 9, wherein the hinge assembly comprises a connecting cylinder (6), a sphere (7) and a shell (8), the front part of the sphere (7) extends into one end of the shell (8) and can freely rotate along the end of the shell (8), the rear part of the sphere (7) is connected with the connecting cylinder (6), the connecting cylinder (6) is connected with the corresponding bionic artificial muscle through a first bolt (9), the shell (8) is connected with the bionic bleb (1) through a second bolt (10), and a cylinder connecting piece (11) connected with the shell (8) is arranged outside the bionic bleb (1).
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| CN202110741738.3A CN113247247B (en) | 2021-06-30 | 2021-06-30 | Control structure of imitative bird feather muscle |
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| CN202110741738.3A CN113247247B (en) | 2021-06-30 | 2021-06-30 | Control structure of imitative bird feather muscle |
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| CN113247247B true CN113247247B (en) | 2022-07-29 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| FR2904966A3 (en) * | 2006-08-21 | 2008-02-22 | Frederic Farid Saouas | MECHANIZED AND COMPUTER-ASSISTED BIRD-SHAPED AIRPLANE |
| CN201415756Y (en) * | 2009-07-02 | 2010-03-03 | 中国科学院沈阳自动化研究所 | Flapping-wing type fly-simulated robot |
| CN101804864B (en) * | 2010-03-31 | 2012-05-30 | 杨绍河 | Bionic wing of flapping-wing aircraft |
| CN112888628A (en) * | 2018-09-07 | 2021-06-01 | 弗莱吉尔迪公司 | Machine bird |
| CN112407273B (en) * | 2020-11-25 | 2022-11-04 | 浙江工业大学 | Bird prey variant-imitating wing |
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