CN113247248B - Bionic connecting structure for cooperative motion of secondary flying feather of falcon and ulna - Google Patents
Bionic connecting structure for cooperative motion of secondary flying feather of falcon and ulna Download PDFInfo
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- CN113247248B CN113247248B CN202110741740.0A CN202110741740A CN113247248B CN 113247248 B CN113247248 B CN 113247248B CN 202110741740 A CN202110741740 A CN 202110741740A CN 113247248 B CN113247248 B CN 113247248B
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Abstract
Secondary flying feather of falcon and ulna concerted movement's bionical connection structure belongs to bionic structure technical field. It is including installing the bionical wing of bionical secondary wingtip ulna skeleton, adhering to the bionical tendon on bionical wing, the row form distributes at a plurality of bionical secondary wingtip roots of bionical wing one side, link to each other through swivel connected coupler activity between tip and the bionical wing of bionical secondary wingtip root, a plurality of it has bionical linear connection structure to adhere to on the bionical secondary wingtip root. The bionic structure is structurally designed by researching a tendon-epidermis connection mechanism of secondary flying feathers of a bird of prey and combining related knowledge of kinematics, and in the structure, the bionic secondary flying feather roots are connected, fixed and controlled by the arranged bionic linear connection structure, the dorsal bionic tendon bundles and the ventral bionic tendon bundles, so that the sliding, opening and closing motions of the bionic secondary flying feather roots can be realized.
Description
Technical Field
The invention belongs to the technical field of bionic structures, and particularly relates to a bionic connecting structure for cooperative motion of secondary flying falcon and ulna.
Background
The secondary feathers cover the outside of ulna muscles at the upper arms of the birds to form inner wing parts of the wings, and under the drive of upper arm joints and muscles, inner wing surfaces of the feathers can move along with the secondary feathers. Because the secondary plumes have larger radian and length, larger lift force can be generated.
The secondary flying feather has important influence on the flying of birds, and researches show that the flying distance can be obviously reduced by cutting off the secondary flying feather at the wing tips. Researchers have taken images of the habitat of the grassland carving using airborne and high-speed video, investigating the effect of aeroelastic feather deflection in unsteady aerodynamics. It has been found that one of the reasons birds have high maneuverability in flight is the ability of the wings to deform so that the bird can quickly switch between smooth gliding and deep-space stalling. The feathers can be deformed in a very convenient and effective manner, which gives birds excellent flying ability. The study of the feathers of birds reveals the physical mechanisms by which the potential drag and lift are generated.
When flying in the air, birds can flexibly change flying postures in a very short time, and the flying device has very high maneuvering performance. The bionic aircraft taking birds as a bionic prototype has wide prospects in the fields of military and civil use due to good pneumatic efficiency, concealment, low noise and the like.
Disclosure of Invention
In view of the above problems in the prior art, the invention aims to provide a bionic connection structure for cooperative movement of secondary flying fins of a falcon and an ulna, which can be used for assembling and connecting wings of a bionic aircraft.
The invention provides the following technical scheme: secondary flying feather of falcon and ulna concerted movement's bionical connection structure, its characterized in that: including installing the bionical wing of bionical secondary wingtip ulna skeleton, adhering to the bionical tendon on bionical wing, the row form distributes at a plurality of bionical secondary wingtip roots of bionical wing one side, link to each other through swivel connected coupler activity between tip and the bionical wing of bionical secondary wingtip root, a plurality of it has bionical linear connection structure to adhere to on the bionical secondary wingtip.
The bionic connection structure for the secondary winged feather and the ulna of the falcon in the cooperative motion is characterized in that the bionic tendon is located on one side of the back of the bionic wing, a plurality of dorsal bionic tendon bundles corresponding to the secondary winged feather are arranged on the bionic tendon, one end of each dorsal bionic tendon bundle is attached to the bionic tendon, and the other end of each dorsal bionic tendon bundle is attached to the corresponding secondary winged feather.
The bionic connection structure for cooperative motion of the secondary falcon fletching and the ulna is characterized in that a plurality of first sub-beams are distributed at the positions, attached to the roots of the bionic secondary fletching, of the bionic tendon bundles on the back side, and the first sub-beams are distributed in a tree-shaped manner along the back side bionic tendon bundles and wrapped on the roots of the bionic secondary fletching.
Swimming falcon secondary winged feather and ulna concerted movement's bionical connection structure, its characterized in that bionical wing belly one side is equipped with the bionic tendon that grows muscle of ventral side of a plurality of and bionical secondary winged feather plume one-to-one, the bionical tendon one end of ventral side is attached to bionical wing, and the other end is equipped with a plurality of second beam splits, a plurality of the second beam split is arborescent form and distributes to attach to on bionical secondary winged feather plume.
The bionic connection structure for the cooperative motion of the secondary winged plumes and the ulna is characterized in that a triangular structure is formed among the ventral bionic muscle tendon bundles, the radial line of the wing and the corresponding axial line of the root of the bionic secondary winged plumes.
The bionic connection structure for the cooperative motion of the secondary winged plumes and the ulna of the falcon is characterized in that the bionic linear connection structure is bionic muscles with a layered structure, and the bionic linear connection structure covers the surfaces of a plurality of bionic secondary winged plumes.
The bionic connection structure for cooperative motion of the secondary fins and the ulna is characterized in that the rotary connecting piece comprises a first circular ring piece and a second circular ring piece, the first circular ring piece and the second circular ring piece are arranged opposite to the first circular ring piece, and the first circular ring piece and the second circular ring piece are identical in structure.
The bionic connecting structure is characterized in that a connecting piece is jointly wrapped between the first circular ring piece and the second circular ring piece, and the first circular ring piece and the connecting piece and the second circular ring piece and the connecting piece are connected through a first fixing piece and a second fixing piece respectively.
The bionic connection structure for the secondary flying feather of the falcon and the ulna in cooperative motion is characterized in that the main bodies of the first circular ring piece and the second circular ring piece are pipe-mounted structures, one end of each pipe-mounted structure is provided with a through groove, two sheet structures are formed on two sides of the through groove, and the two sheet structures on the first circular ring piece and the two sheet structures on the second circular ring piece are correspondingly and alternately arranged.
The bionic connection structure for the secondary flying feather of the falcon and the ulna in cooperative motion is characterized in that the connecting piece is of a cuboid structure, the fixing piece is of a columnar structure, the fixing piece penetrates through the first circular ring piece and the connecting piece, and the second fixing piece penetrates through the second circular ring piece and the connecting piece. By adopting the technology, compared with the prior art, the invention has the following beneficial effects:
1) the tendon-epidermis connection mechanism of the secondary flying feather of the bird of prey is researched, and the structure design of the bionic structure is completed by combining related knowledge of kinematics, wherein in the structure, the bionic secondary flying feather root is connected, fixed and controlled by the arranged bionic linear connection structure, the dorsal bionic tendon bundles simulating the muscle regeneration and the ventral bionic tendon bundles simulating the muscle regeneration, so that the sliding, opening and closing motions of the bionic secondary flying feather root can be realized;
2) According to the bionic secondary feather-like root, the connection ends of the back-side bionic tendon bundles, the ventral bionic tendon bundles and the bionic secondary feather root are respectively provided with the first beam splitter and the second beam splitter which are arranged in a tree shape, and the first beam splitter and the second beam splitter are wrapped on the bionic secondary feather, so that the connection and control among the back-side bionic tendon bundles, the ventral bionic tendon bundles and the bionic secondary feather root are more stable;
3) according to the bionic wing, a triangular structure is formed among the radial line of the wing, the axial line of the pinna root and the ventral bionic tendon bundles, and the characteristic of stable structure of the triangular structure is utilized, so that the ventral bionic tendon bundles cannot rotate towards the back side of the wing and can only rotate towards the ventral side of the wing, and the degree of freedom of motion of the bionic secondary fletching pinna root is limited to a certain extent;
4) in the invention, a row of bionic secondary feather roots are connected through the arranged bionic linear connecting structure, so that the bionic secondary feather roots are stably limited, the bionic secondary feather roots cannot rotate at will to a large extent, and the bionic secondary feather roots can drive the adjacent bionic secondary feather roots to be linked when moving.
Drawings
FIG. 1 is a schematic view of the adhesion of bionic tendons on the back side of a wing according to the present invention;
FIG. 2 is a schematic view of the adhesion of bionic tendons on the ventral side of a wing according to the present invention;
FIG. 3 is a schematic view of a delta structure of the ventral adhesion mechanism of the airfoil of the present invention;
FIG. 4 is a schematic view of a bionic linear connection structure of the ventral side of the airfoil of the invention;
FIG. 5 is a schematic three-dimensional rotation of a bionic feather root according to the present invention;
FIG. 6 is a schematic view of a rotary joint according to the present invention;
FIG. 7 is a schematic structural diagram of the entire bionic connection structure of the present invention.
In the figure: 1. a bionic wing; 2. bionic secondary feather root; 3. bionic tendon; 4. the dorsal part simulates tendon bundles of muscle growing; 401. a first beam splitting; 5. the ventral side simulates tendon bundles of muscle regeneration; 501. second beam splitting; 6. a wing radial line; 7. a feather root axial line; 8. a biomimetic linear connection structure; 9. a rotating connector; 10. a first ring piece; 11. a second ring piece; 12. a connecting member; 13. a first fixing member; 14. a second fixing member; 15. a first bolt; 16. and a second bolt.
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 thorough 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. 1-7, the bionic connection structure for the cooperative movement of the secondary winglets of the falcon and the ulna comprises the following contents:
(1) the bionic secondary flying feather is adhered to the back wing:
as shown in fig. 1, which is a schematic diagram of adhesion of bionic tendons 3 on the back side of a bionic wing 1, a bionic tendon 3 is attached along the bionic wing 1, a plurality of back-side bionic tendon bundles 4 are separated along the bionic tendon 3, and the other ends of the back-side bionic tendon bundles 4 are attached to a bionic secondary filoplume root 2. The dorsal bionic tendon bundles 4 are separated from the bionic tendon 3 and extend out, and are attached to the bionic secondary fletching root 2 from the point A, then the first beam splitter 401 on the dorsal bionic tendon bundles 4 is divergently wrapped around the fletching root in a tree shape and extends to the terminal point B, and all parts from the point A to the point B are firmly attached to the bionic secondary fletching root 2. The bionic tendon 3 is uniformly distributed with dorsal bionic tendon bundles 4, and one dorsal bionic tendon bundle 4 corresponds to one bionic secondary filoplume root 2.
Seen from the back side of the wing, the bionic secondary feather roots 2 are distributed on one side of the wing in rows along the wing, and bionic muscles and bionic tendons on the surface of the bionic feather roots play roles in connection, fixation and control.
The rotary connecting piece 9 connects the bionic wing 1 and the bionic secondary feather root 2.
The swivel connection 9 is shown in fig. 6. The rotating connecting piece 9 is composed of a first circular ring piece 10 and a second circular ring piece 11 which are identical in structure and opposite in position, a connecting piece 12 is wrapped between the first circular ring piece 10 and the second circular ring piece 11, a first fixing piece 13 penetrates through the first circular ring piece 10 and the second circular ring piece 11 respectively to connect the first circular ring piece and the second circular ring piece, and a second fixing piece 14 penetrates through the second circular ring piece 11 and the connecting piece 12 to connect the first circular ring piece and the second circular ring piece. When the rotary connecting piece 9 is connected between the bionic wing 1 and the bionic secondary feather root 2, the second ring piece 11 is fixed on the bionic wing 1 through the first bolt 15, the first ring piece 10 is fixed on the bionic secondary feather root 2 through the second bolt 16, and the internal thread of the corresponding part is consistent with the external thread of the bolt in specification.
(2) The bionic secondary flying feather is in an adhesion structure on a ventral wing:
as shown in fig. 2, which is a schematic diagram of adhesion of ventral bionic muscle tendon bundles 5 on the ventral side of the bionic wing 1, ventral bionic muscle tendon bundles 5 are directly extended from the wing at positions corresponding to the dorsal bionic muscle tendon bundles 4 on the dorsal side of the bionic wing 1, one end point C of each ventral bionic muscle tendon bundle 5 is directly attached to the bionic wing 1, and a second beam splitter 501 at the other end point D is attached to the bionic secondary feather root 2 in a tree-like manner.
As shown in fig. 3, the radial line 6 of the wing, the ventral bionic muscle tendon 5 and the axial line 7 of the bionic secondary fletching feather 2 form a triangular structure. The triangular structure has stability and plays a role in limiting the movement of the bionic feather root to a certain extent, namely, the ventral bionic muscle tendon 5 cannot be stretched continuously, and the bionic secondary feather root 2 cannot rotate towards the back side of the bionic wing 1 and can only rotate towards the ventral side of the bionic wing 1.
(3) Bionic linear connection structure between the bionic feather roots:
fig. 4 is a schematic structural diagram of a bionic linear connection 8 on the ventral side of the wing. In the whole length range of the bionic secondary feather root 2, a layer of bionic linear connecting structure 8 with loose tissue is attached, and thin-layer-shaped bionic muscles cover the surface of the bionic secondary feather root 2 to connect a row of bionic secondary feather roots 2. The bionic secondary feather root 2 is not only stably limited, so that the bionic secondary feather root 2 cannot rotate at will to a large extent, but also can drive two adjacent bionic secondary feathers to be linked when the bionic secondary feather root 2 moves. When the joints at the two ends of the ulna of the bionic wing 1 move, namely the bionic wing 1 performs telescopic action, the bionic linear connecting structure 8 of the bionic secondary feather root 2 needs to complete linear mapping between different bionic secondary feather roots 2 to complete the action due to different rotation angles of the two joints.
4) The bionic feather root adhesion mechanism has the following influence on the degree of freedom:
from the back side of the wing, a spatial rectangular coordinate system O-xyz is established by taking the base of the bionic secondary feather plume 2 as the origin, the plume axial line 7 of the bionic plume as the z axis, the tail end direction of the bionic wing 1 as the y axis and the direction perpendicular to the surface of the bionic wing 1 to the ventral side as the x axis, as shown in FIG. 5.
When the bionic secondary feather roots 2 rotate around the x axis, the bionic secondary feathers slide along the wing surfaces, and the bionic linear connecting structure 8 connected between the bionic secondary feather roots 2 plays a role in driving different bionic secondary feather roots 2 to move. Because the connection is loose, the bionic secondary feather roots 2 can not drive other bionic feather roots when rotating at a small angle, and only when rotating at a large angle, the bionic linear connection structure 8 can drive other bionic secondary feather roots 2 to rotate together. The loose bionic linear connection structure 8 can not play a main role, but plays a role in assisting the bionic secondary plume root 2 to move.
When the bionic secondary flying feather root 2 moves around the y axis, the bionic secondary flying feather is unfolded and folded. Because the radial line 6 of the wing, the ventral bionic muscle tendon 5 and the axial line 7 of the feather root of the bionic secondary fletching feather 2 form a stable triangular structure and the non-stretchability of the ventral bionic muscle tendon 5, the bionic secondary fletching feather 2 cannot rotate anticlockwise around the y axis, namely rotate at a positive angle. When the rotation is a positive angle, the secondary flying feather is warped outwards on the wing surface, but the wings of the body feather of the bird are arranged in a tile shape from front to back, so that the outline of the whole wing becomes streamline, the resistance in flight can be greatly reduced, in addition, the feather plays a role in protecting the epidermis, therefore, the feather can not be warped outwards easily, and the freedom degree in the direction is limited by the connection of the tendons. In a general state, the ventral bionic tendon 5 is in a tensioned state, and the dorsal bionic tendon 4 is in a relaxed state. When the dorsal bionic muscle tendon 4 is tensioned, the ventral bionic muscle tendon 5 is in a relaxed state, and the bionic secondary winglets cling to the surface of the bionic wing 1 and represent furling motion of the bionic secondary winglets; if the state returns to the normal state, the state is represented as an opening motion of the bionic secondary plumage.
The bionic secondary plume root 2 can not rotate around the axis of the bionic secondary plume root, so that the bionic secondary plume root has no rotational degree of freedom around the z axis.
(5) A kinematic transformation matrix of the bionic secondary feather root 2:
based on the established spatial rectangular coordinate system O-xyz, the initial position coordinates of the bionic secondary plume root 2 are as follows:
when rotated by θ about the x-axis, the transformation matrix is:
where θ may be a positive or negative angle.
When rotated by θ about the y-axis, it transforms the matrix:
where theta can only be a negative angle.
The bionic tendon 3, the dorsal bionic tendon 4, the ventral bionic tendon 5, the first sub-bundle 401, the second sub-bundle 501 and the bionic linear connecting structure 8 can be connected with corresponding structures by gluing and the like.
The overall schematic diagram of the bionic connection structure of the invention is shown in FIG. 7.
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 (9)
1. Secondary flying feather of falcon and ulna concerted movement's bionical connection structure, its characterized in that: the bionic wing comprises a bionic wing (1) provided with a bionic secondary flying feather ulna skeleton, a bionic tendon (3) attached to the bionic wing (1), and a plurality of bionic secondary flying feather roots (2) distributed on one side of the bionic wing (1) in a row shape, wherein the end part of each bionic secondary flying feather root (2) is movably connected with the bionic wing (1) through a rotating connecting piece (9), and a bionic linear connecting structure (8) is attached to each bionic secondary flying feather root (2);
Bionic tendon (3) are located bionic wing (1) back one side, are equipped with the imitative tendon of regenerating muscle (4) of dorsal part that a plurality of roots and bionic secondary all-round feather root (2) one-to-one on bionic tendon (3), the one end of the imitative tendon of regenerating muscle (4) of dorsal part is attached on bionic tendon (3), and the other end is attached on bionic secondary all-round feather root (2).
2. A bionic connection structure for synergistic movement of secondary falcon feathers and ulna as claimed in claim 1, characterized in that a plurality of first beam splitters (401) are distributed at the positions of the back side bionic tendon bundles (4) attached to the bionic secondary feather fletching roots (2), and a plurality of first beam splitters (401) are arranged in a tree-like divergent manner along the back side bionic tendon bundles (4) and wrapped on the bionic secondary feather feathering roots (2).
3. A bionic connection structure for synergistic movement of secondary fins of falcon and ulna according to claim 1, characterized in that a plurality of ventral bionic tendon bundles (5) corresponding to the bionic secondary fins (2) are arranged on one side of the abdomen of the bionic wing (1), one end of the ventral bionic tendon bundles (5) is attached to the bionic wing (1), the other end of the ventral bionic tendon bundles is provided with a plurality of second beam splitters (501), and the plurality of second beam splitters (501) are distributed in tree shape and attached to the bionic secondary fins (2).
4. A bionic connection structure for synergistic movement of secondary falcon feathers and ulna as claimed in claim 3, characterised in that a triangular structure is formed between the ventral bionic tendon (5), the radial line (6) of the wing and the axial line (7) of the corresponding bionic secondary feather plume (2).
5. A bionic connection structure for synergistic movement of secondary falcon feathers and ulna according to claim 1, characterised in that the bionic linear connection structure (8) is a laminar structure of bionic muscles covering the surface of a number of said bionic secondary feathers (2).
6. The bionic connection structure for the secondary falcon flying feather and the ulna to move cooperatively according to claim 1, characterized in that the rotary connecting piece (9) comprises a first circular ring piece (10) and a second circular ring piece (11) arranged opposite to the first circular ring piece (10), and the first circular ring piece (10) and the second circular ring piece (11) are identical in structure.
7. The bionic connection structure for the secondary flying fins and the ulna in coordinated movement of the falcon as claimed in claim 6, wherein the first circular ring piece (10) and the second circular ring piece (11) jointly wrap the connecting piece (12), and the first circular ring piece (10) and the connecting piece (12) and the second circular ring piece (11) and the connecting piece (12) are respectively connected through the first fixing piece (13) and the second fixing piece (14).
8. The bionic connecting structure for the secondary flying fins and the ulna of the tennons as claimed in claim 7, wherein the main bodies of the first circular ring piece (10) and the second circular ring piece (11) are both of a tube-type structure, one end of the tube-type structure is provided with a through groove, two sheet-shaped structures are formed on two sides of the through groove, and the two sheet-shaped structures on the first circular ring piece (10) and the two sheet-shaped structures on the second circular ring piece (11) are correspondingly and alternately arranged.
9. A bionic connection structure for secondary fin-like fins and ulna combined movement according to claim 8, characterized in that the connection piece (12) is of a rectangular parallelepiped structure, the first fixing piece (13) is of a cylindrical structure, the first fixing piece (13) penetrates through the first circular ring piece (10) and the connection piece (12), and the second fixing piece (14) penetrates through the second circular ring piece (11) and the connection piece (12).
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| CN202110741740.0A CN113247248B (en) | 2021-06-30 | 2021-06-30 | Bionic connecting structure for cooperative motion of secondary flying feather of falcon and ulna |
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| CN202110741740.0A CN113247248B (en) | 2021-06-30 | 2021-06-30 | Bionic connecting structure for cooperative motion of secondary flying feather of falcon and ulna |
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| FR2904966A1 (en) * | 2006-08-21 | 2008-02-22 | Frederic Farid Saouas | Air space traversing device for e.g. propeller plane, has hollow and rigid plastic skeleton of seagull provided with mechanical muscles, and batteries connected by wires and printed circuit board for adapting to elements of device |
| CN104260886B (en) * | 2014-09-26 | 2016-08-17 | 北京航空航天大学 | A kind of micro flapping wing air vehicle imitative feather cracking lift-rising mechanism |
| WO2020049600A1 (en) * | 2018-09-07 | 2020-03-12 | Flygildi Ehf. | Robotic bird |
| CN112407273B (en) * | 2020-11-25 | 2022-11-04 | 浙江工业大学 | Bird prey variant-imitating wing |
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