CN114212159B - Single-motor-driven locust-simulated jump flapping wing double-movement-mode mechanism - Google Patents
Single-motor-driven locust-simulated jump flapping wing double-movement-mode mechanism Download PDFInfo
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- CN114212159B CN114212159B CN202111400221.4A CN202111400221A CN114212159B CN 114212159 B CN114212159 B CN 114212159B CN 202111400221 A CN202111400221 A CN 202111400221A CN 114212159 B CN114212159 B CN 114212159B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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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 invention discloses a single-motor-driven locust jumping-simulated flapping wing double-movement-mode mechanism, which simulates the lifting process of a locust, and designs a jumping mechanism based on a still-Fensen II type six-bar mechanism, wherein the jumping mechanism can realize a more superior shank end linear movement track compared with a four-bar jumping mechanism. According to the flapping observation of the locust, a serial four-bar flapping wing mechanism combining a crank sliding block and a double-rocker amplifying mechanism is designed, and the four-bar flapping wing mechanism has good motion following performance and transmission characteristics. Two unidirectional bearings with opposite free rotation directions are adopted, so that the driving and switching of a single motor to two motion modes of jumping and flapping wings are realized, and the slow compression energy storage and instantaneous release of the torsion spring are realized through an incomplete gear to realize jumping; after the jump, the motor realizes the expected flapping rule from switching the rotation direction. The invention realizes the combination and rapid switching of two movement modes of locust jump and ornithopter flight, and has better simulation performance.
Description
Technical Field
The invention belongs to the technical field of bionic robots, and particularly relates to a locust jumping flapping wing simulated double-movement-mode mechanism.
Background
The locust has various movement modes such as crawling, jumping, flapping wing flying and gliding, and is an important bionic object for exploring the robot with multiple movement modes. On one hand, the locust can jump to reach the initial speed required by the flapping wing flight, and on the other hand, after the taking off, the locust can effectively prolong the movement distance through the flapping wing flight and gliding. In the face of a complex unstructured environment in practical application, the multiple motion modes have great significance for improving the adaptability and the flexibility of the mobile robot.
Through researching the locust after jumping and opening the flapping wing flying, a mechanism which is driven by a single motor and imitates the double movement modes of the locust to jump and flapping is designed, and the process similar to that of the locust can be realized. The main focus of this mechanism is the compact and efficient drive and mode switching design of the two motion modes. In chinese patent CN108860596a, a micro-motor driven four-bar linear bionic jumping mechanism is proposed, which can achieve a better equivalent shank end linear track, but needs to be further improved. In chinese patent CN103112513a, a locust-like flapping-wing robot with posture adjusting function is provided, the left wing and the right wing of the locust-like flapping-wing robot can realize independent control of flapping-wing functions, and the tail part of the flapping-wing robot with variable posture can swing up, down, left and right relative to the body, so as to meet the requirement of air posture adjustment. In chinese patent CN108394484a, a locust-like jumping robot with a gliding function is proposed, and under the combined action of a buffering leg mechanism and a gliding wing mechanism, the robot can realize stable landing after the jumping is completed.
In chinese patent CN106956727a, based on metamorphic mechanism, a locust-like flying jump robot was developed, which uses a main motor to drive the flapping wing mechanism and the jump mechanism, and uses a linear motor to lock and release the jump mechanism, and which continuously flutters during the take-off process, so as to realize the coupling between the two movement modes. In chinese patent CN108860596a, a flapping wing robot simulating locust bouncing and taking off is developed, and the robot is similar to CN106956727a in that the flapping wings are opened simultaneously in the energy storage process, after the bouncing off the ground, the flapping wing is switched to a single movement mode, and meanwhile, the steering engines on the feet and the tail wing can respectively adjust the bouncing angle and the flying angle. In the design scheme, during the jumping energy storage process, large air resistance is generated along with the movement of the flapping wings, so that the jumping process is interfered, and the jumping speed and the jumping stability are affected. On the other hand, the presence of multiple motors results in a complex mechanism, an increase in overall weight, and a close correlation between jump performance and self-mass, resulting in difficulty in the design of the mechanism to ultimately achieve its intended function.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a single-motor-driven locust-jumping-simulated flapping-wing double-movement-mode mechanism which simulates the jumping process of a locust, and designs a jumping mechanism based on a still-Fensen II-type six-bar mechanism, wherein the jumping mechanism can realize a more superior shank end linear movement track compared with a four-bar jumping mechanism. According to the flapping observation of the locust, a serial four-bar flapping wing mechanism combining a crank sliding block and a double-rocker amplifying mechanism is designed, and the four-bar flapping wing mechanism has good motion following performance and transmission characteristics. Two unidirectional bearings with opposite free rotation directions are adopted, so that the driving and switching of a single motor to two motion modes of jumping and flapping wings are realized, and the slow compression energy storage and instantaneous release of the torsion spring are realized through an incomplete gear to realize jumping; after the jump, the motor realizes the expected flapping rule from switching the rotation direction. The invention realizes the combination and rapid switching of two movement modes of locust jump and ornithopter flight, and has better simulation performance.
The technical scheme adopted for solving the technical problems is as follows:
a single motor driven locust-simulated flapping wing double-movement-mode mechanism comprises a frame, a transmission mechanism, a four-bar flapping wing mechanism and a jumping mechanism which are connected in series;
the frame comprises a main frame 123, an auxiliary frame 201 of the flapping wing mechanism and two supporting front legs 124; the flapping wing mechanism subframe 201 and the main frame 123 are fixed together at two sides of the main frame 123 by adopting a flapping wing mechanism subframe fixing screw 202 and a flapping wing mechanism subframe fixing nut 203; the two supporting front legs 124 are installed in the reserved positioning holes on the main frame 123 and fixedly connected with the main frame 123 in a cementing manner, so as to stably support the whole mechanism;
the transmission mechanism comprises a miniature direct current motor 101, a main shaft gear and primary speed reduction high-speed gear 102, a first duplex gear 103, a first transmission shaft 104, a flapping wing driving unidirectional gear module 106, a hot melt nut fixed driving belt pulley module 108, a transmission belt 110, a second transmission shaft 111, a third transmission shaft 112, a jump driving unidirectional gear module 113, a hot melt nut fixed gear module 114, a second duplex gear 115, a third duplex gear 116, a fourth transmission shaft 117, a five-stage speed reduction low-speed gear and duplex incomplete driving gear 119 and a fifth transmission shaft 120;
The flapping wing drive unidirectional gear module 106 includes a flapping wing gear 106a and a flapping wing drive unidirectional bearing 106b;
the jump drive unidirectional gear module 113 includes a jump gear 113a and a jump drive unidirectional bearing 113b;
the miniature direct current motor 101 is installed in a positioning hole reserved on the stand 123 and is fixedly connected with the stand 123 in an interference and glue joint mode; the main shaft gear and primary speed reduction high-speed gear 102 is fixedly connected with the output shaft of the miniature direct current motor 101 through interference fit and is meshed with the end face gear of the first duplex gear 103; the pinion gear of the first double gear 103 is meshed with the flapping wing gear 106a and the jump gear 113a at the same time; the outer ring of the flapping wing driving one-way bearing 106b is in interference fit with the flapping wing gear 106a, and the inner ring of the flapping wing driving one-way bearing 106b is in transition fit with the second transmission shaft 111; the outer ring of the jump drive one-way bearing 113b is in interference fit with the jump gear 113a, and the inner ring of the jump drive one-way bearing 113b is in transition fit with the third transmission shaft 112; the free rotation direction of the flapping wing driving one-way bearing 106b is clockwise, and the free rotation direction of the jump driving one-way bearing 113b is anticlockwise;
the hot melt nut fixed driving belt pulley module 108 is arranged on the second transmission shaft 111, and transmits power to the series four-bar flapping wing mechanism through the transmission belt 110, so that the series four-bar flapping wing mechanism is driven; two ends of the second transmission shaft 111 and the third transmission shaft 112 are arranged in a positioning hole reserved on the main frame 123 and are in interference fit with bearings in the positioning hole;
The hot melt nut fixed gear module 114 is mounted on the third transmission shaft 112 and is meshed with the bull gear of the second duplex gear 115; the pinion gear of the second duplex gear 115 is meshed with the bull gear of the third duplex gear 116; the second duplex gear 115 is coaxial with the first duplex gear 103 and is sleeved on the first transmission shaft 104 in an empty mode; the third duplex gear 116 is sleeved on the fourth transmission shaft 117 in an empty mode; a pinion gear of the third double gear 116 is meshed with one of the incomplete drive gears of the five-stage reduction low-speed gear-double incomplete drive gear 119; the five-stage reduction low-speed gear and double incomplete driving gear 119 is sleeved on the fifth transmission shaft 120 in an empty mode; the first transmission shaft 104, the fourth transmission shaft 117 and the fifth transmission shaft 120 are all installed in positioning holes reserved on the main frame 123;
when the micro direct current motor 101 rotates clockwise, the first duplex gear 103 rotates anticlockwise, the jump driving unidirectional gear module 113 rotates clockwise, the third transmission shaft 112 rotates clockwise, the hot melt nut fixed gear module 114 arranged on the third transmission shaft 112 rotates clockwise, and then five-stage speed reduction is realized through the second duplex gear 115, the third duplex gear 116 and the five-stage speed reduction low-speed gear and duplex incomplete driving gear 119 in sequence, and the final output is used as the input of the jump mechanism; at this time, the flapping wing gear 106a rotates clockwise, and the flapping wing drives the unidirectional bearing 106b to rotate clockwise, so the second transmission shaft 111 remains stationary, and the driving of the tandem four-bar flapping wing mechanism cannot be realized;
When the miniature direct current motor 101 rotates anticlockwise, the first duplex gear 103 rotates clockwise, the flapping wing drives the unidirectional gear module 106 to rotate anticlockwise, the second transmission shaft 111 rotates anticlockwise, the hot melt nut arranged on the second transmission shaft 111 fixes the driving belt wheel module 108 to rotate anticlockwise, and then power is transmitted to the series four-bar flapping wing mechanism through the transmission belt 110; at this time, the jumping gear 113a rotates counterclockwise, and the jumping driving unidirectional bearing 113b rotates counterclockwise, so the third transmission shaft 112 remains stationary, and driving of the jumping mechanism cannot be achieved;
the series four-bar flapping mechanism comprises a driven pulley and flapping mechanism crank part 204, a sixth transmission shaft 206, a flapping mechanism crank part 207, a carbon fiber square tube 208, a first flat-head optical axis 209, a third bearing 210, a flapping link 211, a common slider 212, a copper sleeve 214, an optical axis slider guide rail 215, a second pin 216, a left first rocker 217, a right first rocker, a left link 218, a right link, a left second rocker 219, a right second rocker, a left wing fixing rod 220, a right wing fixing rod, a second flat-head optical axis 221, a third flat-head optical axis 224, a fourth flat-head optical axis 225, a fifth flat-head optical axis 227, a keel 228, a wing trailing edge fixing groove 229, a left thin film wing 230, a right thin film wing, a sixth flat-head optical axis, a seventh flat-head optical axis, an eighth flat-head optical axis and a ninth flat-head optical axis;
The driven belt pulley and flapping wing mechanism crank part 204 is connected with the hot melt nut fixed driving belt pulley module 108 through a transmission belt 110; the driven belt wheel and flapping wing mechanism crank part 204 and the flapping wing mechanism crank part 207 form a flapping wing mechanism crank through the matching of the molded surfaces of the carbon fiber square tubes 208, and the flapping wing mechanism crank, the flapping wing connecting rod 211 and the shared sliding block 212 form a crank sliding block mechanism; the movable pulley and flapping wing mechanism crank part 204 is in clearance fit with a first flat head optical axis 209, and the first flat head optical axis 209 is arranged in a positioning hole reserved on the flapping wing mechanism auxiliary frame 201 through a bearing; the flapping wing mechanism crank part 207 is connected with a bearing arranged in a positioning hole reserved on the flapping wing mechanism auxiliary frame 201 through a sixth transmission shaft 206; the inner ring of the third bearing 210 is hinged with the crank part 204 of the driven pulley and flapping wing mechanism; one end of the flapping wing connecting rod 211 is in interference fit with the third bearing 210, and the other end of the flapping wing connecting rod is hinged with the common sliding block 212 through a pin shaft; the common slide block 212 is in interference fit with two copper sleeves 214, and the copper sleeves 214 and the optical axis slide block guide rail 215 form a sliding pair; the two optical axis slide block guide rails 215 are in interference fit with the reserved positioning holes on the flapping wing mechanism auxiliary frame 201;
A second pin shaft 216 is installed in a positioning hole at the upper part of the common slide block 212; the second pin shaft 216 and the sliding grooves of the left first rocker 217 and the right first rocker form a sliding pair; when the common slider 212 moves up and down, the left first rocker 217 and the right first rocker rotate, so that power is input to the series four-bar flapping wing mechanism;
the left first rocker 217 is hinged with a positioning hole on the flapping wing mechanism auxiliary frame 201 through a second flat head optical axis 221, and is hinged with the left connecting rod 218 through a fourth flat head optical axis 225; the left connecting rod 218 and the left second rocker 219 are hinged through a fifth flat head optical axis 227, and the left second rocker 219 is hinged with a positioning hole on the auxiliary frame 201 of the flapping wing mechanism through a third flat head optical axis 224; the left wing fixing rod 220 is mounted in a positioning hole on the left second rocker 219 in a gluing manner, and is glued to one edge of the left film wing 230, and the other edge of the left film wing 230 is glued to a keel 228 fixedly connected to the auxiliary frame 201 of the flapping wing mechanism and is fixed in a wing rear edge fixing groove 229;
the right first rocker is hinged with a positioning hole on the auxiliary frame 201 of the flapping wing mechanism through a sixth flat head optical axis, and is hinged with the right connecting rod through a seventh flat head optical axis; the right connecting rod and the right second rocker are hinged through an eighth flat-head optical axis, and the right second rocker is hinged with a positioning hole on the auxiliary frame 201 of the flapping wing mechanism through a ninth flat-head optical axis; the right wing fixing rod is arranged in a positioning hole on the right second rocker in a gluing mode, is glued with one edge of the right film wing, is glued with a keel 228 fixedly connected to the auxiliary frame 201 of the flapping wing mechanism, and is fixed in a wing rear edge fixing groove 229;
The jump mechanism comprises a first link 301, a torsion spring 302, a second link 303, a third link 304, a fourth link 305, a fifth link 306, a support foot 307, a sixth truncated optical axis 311, a seventh truncated optical axis 312, an eighth truncated optical axis 314, and a ninth truncated optical axis 315;
the fifth connecting rod 306 comprises a fifth connecting rod printing joint 306a, a fifth connecting rod pin 306b and a fifth connecting rod carbon fiber rod 306c; the support foot 307 includes a support foot print joint 307a and a support foot carbon fiber rod 307b;
the first link 301 includes an incomplete driven gear 301a, a first link second member 301b, a first link third member 301c, a first optical axis 301d, a second optical axis 301e, a bearing roller 301f, and a square tube 301g; the incomplete driven gear 301a, the first connecting rod second part 301b and the first connecting rod third part 301c are all arranged on the square tube 301g to form transition fit; the second optical axis 301e is installed in a positioning hole in the square tube 301g in a clearance mode, and meanwhile the second optical axis 301e is installed on the inner wall of a bearing roller 301f which is in interference fit in the positioning hole reserved on the main frame 123, so that interference fit is formed; the first optical axis 301d is installed in a positioning hole on the incomplete driven gear 301a, the first connecting rod second part 301b and the first connecting rod third part 301c in an interference manner;
Four torsion springs 302 are respectively arranged on the outer circles of the first connecting rod second part 301b and the first connecting rod third part 301c, one pin of each torsion spring 302 is tangential to the first optical axis 301d, and the other pin is tangential to the circular upright post of the main frame 123; one end of the second connecting rod 303 is hinged with the incomplete driven gear 301a through a ninth flat head optical axis 315, and the other end of the second connecting rod 303 is hinged with a fifth connecting rod printing joint 306a through a seventh flat head optical axis 312; one end of the third connecting rod 304 is hinged with the incomplete driven gear 301a, and the other end is hinged with the fifth connecting rod printing joint 306 a; one end of the fourth link 305 is hinged to a positioning hole reserved on the main frame 123 through a sixth flat-head optical axis 311, and the other end of the fourth link is hinged to a fifth link printing joint 306 a;
the fifth connecting rod printing joint 306a and the fifth connecting rod carbon fiber rod 306c are fixed through 3 fifth connecting rod pin shafts 306 b; the fifth connecting rod carbon fiber rod 306c is hinged with the supporting foot 307 through an eighth flat head optical axis 314; the supporting foot 307 is composed of three supporting foot carbon fiber rods 307b and a supporting foot printing joint 307a, wherein the supporting foot carbon fiber rods 307b are installed in positioning holes reserved on the supporting foot printing joint 307a and fixedly connected through gluing and the like;
The other incomplete driving gear and the incomplete driven gear 301a of the five-stage speed reduction low-speed gear and the duplex incomplete driving gear 119 are meshed, so that the first connecting rod 301 of the jumping mechanism is driven, and the torque spring 302 in the jumping mechanism is slowly stored and instantaneously released by utilizing the incomplete gears, so that the locust-simulated jumping flapping wing double-motion mode mechanism jumps.
When the miniature direct current motor 101 rotates clockwise, power is transmitted from the miniature direct current motor 101 to the jump mechanism through a transmission mechanism, and compression energy storage and instantaneous release of a torsion spring in the jump mechanism are realized through a five-stage reduction low-speed gear and a double incomplete driving gear 119 and an incomplete driven gear 301a incomplete gear; after the locust jumping flapping wing simulated double-movement-mode mechanism jumps, when the miniature direct current motor 101 is switched from clockwise rotation to anticlockwise rotation, power is transmitted from the miniature direct current motor 101 to the series four-bar flapping wing mechanism through the transmission mechanism, so that the expected flapping rule is realized.
Further, the hot melt nut fixed driving pulley module 108 includes a driving pulley 108a, a first hot melt nut 108b, and a first jackscrew 108c; the driving pulley 108a is mounted on the second transmission shaft 111 by interference of the first hot melt nut 108b and the first jackscrew 108 c.
Further, the hot melt nut fixed gear module 114 includes a three stage reduction high speed gear 114a, a second hot melt nut 114b, and a second jackscrew 114c; the tertiary reduction high speed gear 114a is interference mounted on the third drive shaft 112 by a second hot melt nut 114b and a second jackscrew 114 c.
Further, the jump mechanism is an improvement on the six-bar jump mechanism of the still-Fensen II type.
Further, the flapping frequency of the series four-bar flapping wing mechanism is 20Hz, the flapping amplitude is 60 degrees, and the cycle change rule of the flapping angle with the lower-slapping and upper-slapping time ratio of 1.5 is realized.
The beneficial effects of the invention are as follows:
the invention realizes the driving and the motion switching of the jumping mechanism and the tandem four-bar flapping wing mechanism by adopting two unidirectional bearings with opposite free rotation directions and utilizing a single motor, and the two motion modes are completely independent and do not interfere with each other. Meanwhile, the improved still-Fensen II type six-bar mechanism has better imitation and can realize better jump stability; the series four-bar flapping wing mechanism fits the flapping wing movement rule of the locust well, has good transmission characteristic and movement following performance, and has compact structure and lighter overall mass. The whole machine has the advantages of compact and simple structure, and has better imitation in the aspects of motion mode switching and layout.
Drawings
FIG. 1 is a schematic diagram of the whole mechanism of the present invention: the jump mechanism is in a completely contracted state, and the flapping wing mechanism is in an upper flapping limit state.
Fig. 2 is a second overall schematic diagram of the mechanism of the present invention: the jump mechanism is in a fully unfolded state, and the flapping wing mechanism is in an upper flapping limit state.
FIG. 3 is a schematic diagram of the mechanism of the six-bar jump mechanism of the invention of the mechanism Stefan II type.
FIG. 4 is a schematic diagram of a mechanism of the present invention in which a four-bar flapping wing mechanism is connected in series.
Fig. 5 is a schematic diagram of a transmission part of the mechanism of the present invention: and (5) front axle measurement.
Fig. 6 is a second schematic diagram of a transmission part of the mechanism of the present invention: and (5) rear axle measurement.
FIG. 7 is a schematic diagram of the assembly of the flapping-drive unidirectional gear module and the jump-drive unidirectional gear module of the mechanism of the present invention.
FIG. 8 is a schematic view of a hot melt nut fixed gear module of the mechanism of the present invention.
Fig. 9 is a schematic view of a mechanism of the present invention with a hot melt nut fixed driving pulley module.
FIG. 10 is a schematic view of a flapping wing mechanism of the present invention: and (5) front axle measurement.
FIG. 11 is a second schematic illustration of the flapping wing mechanism of the present invention: a component.
FIG. 12 is a schematic diagram of a mechanism jump mechanism according to the present invention: still Fensen type II six-bar jumping foot ensemble.
FIG. 13 is a second schematic diagram of a mechanism jump mechanism according to the present invention: the still-Fensen II type six-bar jumping foot is in a fully unfolded state.
FIG. 14 is a schematic diagram of a mechanism jump mechanism of the present invention III: the still-Fensen type II six-bar jump foot is in a fully compressed state.
In the figure, a 101-miniature direct current motor, a 102-main shaft gear and a primary speed reduction high-speed gear, a 103-first double gear, a 104-first transmission shaft, a 105-first bearing, a 106-flapping wing driving unidirectional gear module, a 106 a-flapping wing gear, a 106 b-flapping wing driving unidirectional bearing, a 107-first shaft sleeve, a 108-hot melt nut fixed driving pulley module, a 108 a-driving pulley, a 108 b-first hot melt nut, a 108 c-first jackscrew, a 109-second shaft sleeve, a 110-transmission belt, a 111-second transmission shaft, a 112-third transmission shaft, a 113-jump driving unidirectional gear module, a 113 a-jump gear, a 113 b-jump driving unidirectional bearing, a 114-hot melt nut fixed gear module and a 114 a-tertiary speed reduction high-speed gear, 114 b-a second hot melt nut, 114 c-a second jackscrew, 115-a second duplex gear, 116-a third duplex gear, 117-a fourth drive shaft, 118-a third sleeve, 119-a five-stage reduction low speed gear and duplex incomplete drive gear, 120-a fifth drive shaft, 121-a fourth sleeve, 122-a fifth sleeve, 123-a main frame, 124-a supporting front leg, 201-a flapping-wing mechanism subframe, 202-a flapping-wing mechanism subframe fixing screw, 203-a flapping-wing mechanism subframe fixing nut, 204-a driven pulley and flapping-wing mechanism crank member, 205-a second bearing, 206-a sixth drive shaft, 207-a flapping-wing mechanism crank member, 208-a carbon fiber square tube, 209-a first flat head optical axis, 210-a third bearing, 211-a first flapping-wing link, 212-shared slider, 213-first pin, 214-copper bush, 215-optical axis slider guide rail, 216-second pin, 217-first left rocker, 218-left link, 219-second left rocker, 220-left wing fixing lever, 221-second flat optical axis, 222-sixth bush, 223-seventh bush, 224-third flat optical axis, 225-fourth flat optical axis, 226-eighth bush, 227-fifth flat optical axis, 228-keel, 229-wing trailing edge fixing groove, 230-left thin film wing, 301-first link, 301 a-incomplete driven gear, 301 b-first link second member, 301 c-first link third member, 301 d-first optical axis, 301 e-second optical axis, 301 f-bearing roller, 301 g-square tube, 302-torsion spring, 303-second link, 304-third link, 305-fourth link, 306-fifth link, 306 a-fifth link print articulation, 306 b-fifth link pin, 306 c-fifth link carbon fiber rod, 307-support foot, 307 a-support foot print articulation, 307 b-support foot carbon fiber rod, 308-third pin, 309-fourth pin, 310-fifth pin, 311-sixth flat-head optical axis, 312-seventh flat-head optical axis, 313-ninth pin sleeve, 314-eighth flat-head optical axis, 315-ninth flat-head optical axis, 316-tenth pin sleeve.
Detailed Description
The invention will be further described with reference to the drawings and examples.
In order to better simulate the jumping process of a locust, the invention provides a jumping mechanism based on a still-Fensen II type six-bar mechanism, and the jumping mechanism is combined with a kinematics and a jumping dynamics model of the mechanism, and the size parameters, the mass distribution, the moment of inertia, the spring stiffness coefficient and the like of the mechanism are optimally designed by utilizing a longhorn beetle whisker search algorithm.
According to experimental data of the flapping observation of the locust, a result of analyzing aerodynamics of the flapping wing motion of the locust by using fluid simulation software Fluent is utilized, a flapping angle periodic variation rule with a flapping frequency of 20Hz, a flapping amplitude of 60 degrees and a lower-beat-up time ratio of 1.5 is selected and used as a design target of the flapping wing mechanism. The four-bar flapping wing mechanism with the combined crank sliding block and the double-rocker amplifying mechanism is designed, the dimension parameters of the mechanism are optimally designed by utilizing a longhorn beetle whisker searching algorithm, and the designed four-bar flapping wing mechanism with the combined crank sliding block and the double-rocker amplifying mechanism has good motion following performance and transmission characteristics, and meanwhile, the four-bar flapping wing mechanism with the combined crank sliding block and the double-rocker amplifying mechanism is compact in structure and light in overall mass.
According to the invention, two unidirectional bearings with opposite free rotation directions are adopted, so that the driving and switching of two motion modes by a single motor are realized, when the motor is clockwise, power is transmitted to the jump mechanism from the motor through the transmission device, and the slow compression energy storage and instantaneous release of the torsion spring in the Stefan II-type six-bar jump mechanism are realized through the incomplete gear, so that the jump is realized; after the jump, when the motor is switched from clockwise to anticlockwise, power is transmitted to the flapping wing mechanism from the motor through the transmission mechanism, and the expected flapping rule is realized.
The invention comprises a transmission mechanism, a still Fensen II type six-bar jumping mechanism and a series four-bar flapping wing mechanism, and is characterized in that:
two unidirectional bearings with opposite free steering are adopted in the transmission mechanism, so that the driving and switching of two motion modes by a single motor are realized. The first-stage reduction gear is shared by the jumping mechanism and the flapping wing mechanism and comprises a miniature direct current motor, a main shaft gear, a first-stage reduction high-speed gear and a first duplex gear, wherein the first duplex gear is a first-stage reduction low-speed gear, a second-stage reduction high-speed gear, and a pinion in the duplex gear can be regarded as the output of a reduction gearbox. The reduction gearbox comprises one-stage reduction and is externally meshed, so that the rotation direction of a gear at the output end of the reduction gearbox is opposite to the rotation direction of the motor. The jump gear and the two-stage speed reduction low-speed gear are fixedly connected with a one-way bearing with a counterclockwise free rotation direction, and the flapping wing gear and the two-stage speed reduction low-speed gear are fixedly connected with a one-way bearing with a clockwise free rotation direction.
When the motor rotates clockwise, the gear at the output end of the reduction box rotates anticlockwise, so that the jumping gear rotates clockwise, but the free rotation direction of the jumping gear and the fixed one-way bearing is anticlockwise, so that the transmission shaft at the inner side of the one-way bearing and the one-way bearing rotate clockwise together. And the other side of the shaft is fixedly connected with the transmission shaft to realize clockwise rotation, and the second duplex gear, namely the three-stage speed reduction low-speed gear and the four-stage speed reduction high-speed gear, is driven by gear engagement until five-stage speed reduction is realized, the five-stage speed reduction low-speed gear and the incomplete driving gear are used as the final output of the jump speed reduction driving system, and the torque spring in the Stefan II type six-bar jump mechanism is driven by the incomplete gear to carry out slow energy storage and quick release. The flapping wing gear rotates clockwise, and the free rotation direction of the flapping wing driving one-way bearing fixedly connected with the flapping wing gear is also clockwise, so that the transmission shaft at the inner side of the one-way bearing is not interfered, and the flapping wing mechanism can not be driven.
When the motor rotates anticlockwise, the output gear of the reduction gearbox rotates clockwise, the flapping wing gear rotates anticlockwise, and the free rotation direction of the flapping wing driving one-way bearing fixedly connected with the output gear is clockwise, so that the transmission shaft at the inner side of the one-way bearing and the one-way bearing rotate anticlockwise together. And the driving belt wheel is fixedly connected with the transmission shaft at the other side of the transmission shaft, and also rotates anticlockwise, and power is transmitted from the driving belt wheel to the driven belt wheel and flapping wing mechanism crank part through the belt, so that the driven belt wheel and flapping wing mechanism crank part is driven to rotate anticlockwise. The driven belt wheel and flapping wing mechanism crank part and the crank of the series four-bar mechanism are fixedly connected with the transmission shaft, so that the series flapping wing mechanism is driven. The jumping gear rotates anticlockwise, and the free rotation direction of the jumping drive one-way bearing fixedly connected with the jumping gear is anticlockwise, so that a transmission shaft at the inner side of the one-way bearing is not interfered, and the jumping gear is kept static, and cannot drive the jumping mechanism.
As shown in figures 1 and 2, the locust-simulated flapping-wing double-movement-mode mechanism driven by a single motor comprises a frame, a transmission mechanism, a four-bar flapping-wing mechanism and a jumping mechanism which are connected in series;
the frame is composed of two parts, namely a main frame 123 and a sub-frame 201 of the flapping wing mechanism. The flapping wing mechanism sub-frame 201 and the main frame 123 are fixed on two sides by using two flapping wing mechanism sub-frame fixing screws 202 and six flapping wing mechanism sub-frame fixing nuts 203, and the tensioning of the transmission belt 110 is realized. The two support front legs 124 are used for stably supporting the whole robot, are installed in the reserved positioning holes on the main frame 123, and are fixedly connected through gluing and the like.
As shown in fig. 5 to 7, the transmission mechanism portion:
the miniature direct current motor 101 is installed in a positioning hole reserved on the stand 123 and is fixedly connected with the stand 123 in an interference and glue joint mode. The main shaft gear and the primary reduction high-speed gear 102 are fixedly connected with the motor output shaft through interference fit, and are meshed with the first duplex gear, namely the face gear in the primary reduction low-speed gear and the secondary reduction high-speed gear 103. The pinion in the first duplex gear 103 is meshed with the flapping wing gear 106a and the jump gear 113a, wherein the outer ring of the flapping wing driving unidirectional bearing 106b is in interference fit with the flapping wing gear 106a, and the inner ring is in transition fit with the second transmission shaft 111; the outer ring of the jump drive one-way bearing 113b is in interference fit with the jump gear 113a, and the inner ring is in transition fit with the third transmission shaft 112. Wherein the free rotation direction of the flapping-wing drive one-way bearing 106b and the jump-drive one-way bearing 113b are opposite.
As shown in fig. 9, the driving pulley 108a is installed on the second transmission shaft 111 in an interference manner through the first hot-melt nut 108b and the first jackscrew 108c, and transmits power to the driven pulley and flapping wing mechanism crank part 204 through the transmission belt 110, and the driven pulley and flapping wing mechanism crank part 204 is in clearance fit with the first flat-head optical axis 209, so that the driving of the flapping wing mechanism is realized. The two ends of the second transmission shaft 111 and the third transmission shaft 112 are installed in the reserved positioning holes on the main frame 123 and are in interference fit with the bearings 105 in the positioning holes.
As shown in fig. 8, the three-stage reduction high-speed gear 114a is mounted on the third transmission shaft 112 by interference through a second hot melt nut 114b and a second jackscrew 114c, and is meshed with a second duplex gear, i.e., a three-stage reduction low-speed gear and a four-stage reduction high-speed gear 115; the second duplex gear 115 is meshed with a third duplex gear, namely a four-stage speed reduction low-speed gear and a five-stage speed reduction high-speed gear 116, so that multi-stage speed reduction is realized; the second duplex gear 115 is coaxial with the first duplex gear 103 and is sleeved on the first transmission shaft 104. The third double gear 116 and the two third sleeves 118 are sleeved on the fourth transmission shaft 117. The fifth-stage reduction low-speed gear and double incomplete driving gear 119 and two fourth shaft sleeves 121 and a fifth shaft sleeve 122 are sleeved on the fifth transmission shaft 120 together. The first drive shaft 104, the fourth drive shaft 117 and the fifth drive shaft 120 are all mounted in positioning holes reserved on the main frame 123. The five-stage reduction low-speed gear doubles as the incomplete driving gear 119 and the incomplete driven gear 301a are meshed, so that the first connecting rod 301 in the still Fensen II type six-rod mechanism is driven, and the incomplete gear is utilized to realize slow energy storage and instant release of the torsion spring 302 in the jump mechanism.
As shown in fig. 10 and 11, the flapping wing mechanism part:
the schematic diagram of the flapping wing mechanism is shown in fig. 4, wherein the driven pulley and flapping wing mechanism crank part 204 and the flapping wing mechanism crank part 207 form a flapping wing mechanism crank through the profile matching of a carbon fiber square tube 208, and the flapping wing mechanism crank, the first flapping wing connecting rod 211 and the shared slide block 212 correspond to the crank slide block part components 7, 8 and 9 in the schematic diagram of the mechanism in fig. 4 respectively and form a crank slide block mechanism. The driven pulley and flapping wing mechanism crank part 204 is in clearance fit with the first flat head optical axis 209, the first flat head optical axis 209 is in interference fit with the second bearing 205, and the two second bearings 205 are in interference fit with the reserved positioning holes on the flapping wing mechanism auxiliary frame 201. One end of the first flapping link 211 is in an interference fit with the third bearing 210. The inner ring of the third bearing 210 is hinged with the crank part 204 of the driven pulley and flapping wing mechanism, and the other end is hinged with the common sliding block 212 through a first pin shaft 213. The common slide block 212 is in interference fit with two copper sleeves 214, and the copper sleeves 214 and the optical axis slide block guide rails 215 form a sliding pair, wherein the two optical axis slide block guide rails 215 are in interference fit with the reserved positioning holes on the flapping wing mechanism auxiliary frame 201. Copper sleeve 214 facilitates improved transmission efficiency and heat dissipation.
The common slider 212 is an important component in a tandem four-bar flapping mechanism, and is shared by the slider-crank mechanism, which is the driven member in the slider-crank mechanism, and the two double-rocker amplifying mechanisms, which are the driving members in the two double-rocker amplifying mechanisms. A first pin 213 is installed in a positioning hole in the common slide block 212, and a second pin 216 is installed in another positioning hole in a vertical plane at a certain distance above, and simultaneously, sliding pairs are formed by the second pin 216 and sliding grooves in the left first rocker 217 and the right first rocker. When the common slider 212 moves up and down, the left first rocker 217 and the right first rocker input power to the double-rocker amplifying mechanism. The shared slider 212 plays an important role between the crank slider mechanism and the double-rocker amplifying mechanism, and realizes the vertical transformation between the plane where the flapping wings flap is located and the plane where the jumping mechanism is located, and the spatial layout of the flapping legs and wings of the locust is consistent.
The structure of the left and right double-rocker amplifying mechanism is completely identical, so that only the left double-rocker amplifying mechanism is described. The left first rocker 217, left link 218 and second left rocker 219 correspond to the components 10, 11 and 12, respectively, in the mechanism diagram of fig. 4. The left first rocker 217 is hinged to a positioning hole on the sub-frame 201 of the flapping wing mechanism through a second flat head optical axis 221, and is hinged to the left connecting rod 218 through a fourth flat head optical axis 225. The left connecting rod 218 and the second left rocker 219 are hinged through a fifth truncated optical axis 227, and the left second rocker 219 is hinged to a positioning hole on the sub-frame 201 of the flapping wing mechanism through a third truncated optical axis 224 and an eighth sleeve 226. The left wing fixing rod is installed in the locating hole on the left second rocker 219 in a gluing mode, and is simultaneously glued with one edge of the left film wing 230, and the other edge of the left film wing 230 is glued with the keel 228 fixedly connected to the auxiliary frame 201 of the flapping wing mechanism and is fixed in the wing trailing edge fixing groove 229.
As shown in fig. 12 to 14, the jump mechanism section:
the schematic diagram of the still-Fensen II-type six-bar jump mechanism is shown in fig. 3, and the still-Fensen II-type six-bar jump mechanism is composed of six connecting bars, wherein the numbers 1-6 respectively correspond to a first connecting bar 301, a second connecting bar 303, a third connecting bar 304, a fourth connecting bar 305, a fifth connecting bar 306 and a main frame 123 in the part diagrams. The first link 301 is composed of a plurality of members, and the incomplete driven gear 301a, the first link second member 301b, and the first link third member 301c are mounted on the square tube 301g to form a transition fit. Meanwhile, a second optical axis 301e is installed in a positioning hole in the square tube 301g in a clearance manner, and the optical axis is installed on the inner wall of the bearing roller 301f which is in interference fit in the positioning hole left on the main frame 123, so that interference fit is formed. The first optical axis 301d is interference-fitted in positioning holes on the incomplete driven gear 301a, the first link second member 301b, and the first link third member 301 c.
Four torsion springs 302 are mounted on the outer circles of the first link second member 301b and the first link third member 301c, one leg being tangential to the first optical axis 301d and the other leg being tangential to the circular post on the main frame 123. One end of the two second links 303 is hinged to the incomplete driven gear 301a through a ninth truncated optical axis 315 and a tenth bushing 316, and the other end is hinged to the fifth member printing joint 306a through a seventh truncated optical axis 312 and a ninth bushing 313. One end of the third link 304 is hinged to the incomplete driven gear 301a through a third pin shaft three 08, and the other end is hinged to the fifth part printing joint 306a through a fourth pin shaft 309. One end of the fourth link 305 is hinged to a positioning hole reserved on the main frame through a sixth truncated optical axis 311, and the other end of the fourth link is hinged to a fifth part printing joint 306a through a fifth pin 310.
The fifth part print knuckle 306a and the fifth part carbon fiber rod 306c are secured by 3 fifth part pins 306 b. The fifth component carbon fiber rod 306c is hinged to the support foot 307 by an eighth flat head optical axis 314. The supporting foot 307 is composed of three supporting foot carbon fiber rods 307b and a supporting foot printing joint 307a, wherein the supporting foot carbon fiber rods 307b are installed in positioning holes reserved on the supporting foot printing joint 307a and fixedly connected through gluing and the like.
The invention improves the jumping mechanism and the simulation and take-off stability, and improves the flapping wing mechanism, the space layout of the jumping mechanism and the flapping wing mechanism is similar to that of the locust of a bionic object, the movement switching between the two movement modes is realized by utilizing a single motor, the two movement modes are not interfered with each other, and the flapping wing mechanism can be switched to the flapping wing flight after taking-off and landing.
Claims (5)
1. The locust-simulated flapping wing jumping double-movement-mode mechanism driven by a single motor is characterized by comprising a frame, a transmission mechanism, a four-bar flapping wing mechanism and a jumping mechanism which are connected in series;
the frame comprises a main frame (123), an auxiliary frame (201) of the flapping wing mechanism and two supporting front legs (124); fixing the flapping wing mechanism sub-frame (201) and the main frame (123) together at two sides of the main frame (123) by adopting a flapping wing mechanism sub-frame fixing screw (202) and a flapping wing mechanism sub-frame fixing nut (203); the two supporting front legs (124) are arranged in the reserved positioning holes on the main frame (123) and fixedly connected with the main frame (123) in a gluing mode, so as to stably support the whole mechanism;
The transmission mechanism comprises a miniature direct current motor (101), a main shaft gear and one-stage speed reduction high-speed gear (102), a first duplex gear (103), a first transmission shaft (104), a flapping wing driving unidirectional gear module (106), a hot melt nut fixed driving pulley module (108), a transmission belt (110), a second transmission shaft (111), a third transmission shaft (112), a jump driving unidirectional gear module (113), a hot melt nut fixed gear module (114), a second duplex gear (115), a third duplex gear (116), a fourth transmission shaft (117), a five-stage speed reduction low-speed gear and one-stage incomplete driving gear (119) and a fifth transmission shaft (120);
the flapping wing driving one-way gear module (106) comprises a flapping wing gear (106 a) and a flapping wing driving one-way bearing (106 b);
the jump drive unidirectional gear module (113) comprises a jump gear (113 a) and a jump drive unidirectional bearing (113 b);
the miniature direct current motor (101) is arranged in a positioning hole reserved on the frame (123) and is fixedly connected with the frame (123) in an interference and glue joint mode; the main shaft gear and the primary speed reduction high-speed gear (102) are fixedly connected with an output shaft of the miniature direct current motor (101) through interference fit and are meshed with an end face gear of the first duplex gear (103); the pinion of the first duplex gear (103) is meshed with the flapping wing gear (106 a) and the jump gear (113 a) at the same time; the outer ring of the flapping wing driving one-way bearing (106 b) is in interference fit with the flapping wing gear (106 a), and the inner ring of the flapping wing driving one-way bearing (106 b) is in transition fit with the second transmission shaft (111); the outer ring of the jump drive one-way bearing (113 b) is in interference fit with the jump gear (113 a), and the inner ring of the jump drive one-way bearing (113 b) is in transition fit with the third transmission shaft (112); the free rotation direction of the flapping wing driving one-way bearing (106 b) is clockwise, and the free rotation direction of the jump driving one-way bearing (113 b) is anticlockwise;
The hot melt nut fixed driving belt wheel module (108) is arranged on the second transmission shaft (111) and transmits power to the series four-rod flapping wing mechanism through the transmission belt (110) so as to drive the series four-rod flapping wing mechanism; both ends of the second transmission shaft (111) and the third transmission shaft (112) are arranged in a reserved positioning hole on the main frame (123) and are in interference fit with a bearing in the positioning hole;
the hot melt nut fixed gear module (114) is arranged on the third transmission shaft (112) and meshed with a large gear of the second duplex gear (115); the pinion of the second duplex gear (115) is meshed with the bull gear of the third duplex gear (116); the second duplex gear (115) is coaxial with the first duplex gear (103) and is sleeved on the first transmission shaft (104) in an empty mode; the third duplex gear (116) is sleeved on the fourth transmission shaft (117) in an empty mode; a pinion gear of the third double gear (116) is meshed with one incomplete driving gear of the five-stage reduction low-speed gear and double incomplete driving gear (119); the five-stage speed reduction low-speed gear and duplex incomplete driving gear (119) is sleeved on the fifth transmission shaft (120) in an empty mode; the first transmission shaft (104), the fourth transmission shaft (117) and the fifth transmission shaft (120) are all arranged in a reserved positioning hole on the main frame (123);
When the miniature direct current motor (101) rotates clockwise, the first duplex gear (103) rotates anticlockwise, the jump drive unidirectional gear module (113) rotates clockwise, the third transmission shaft (112) rotates clockwise, the hot melt nut fixed gear module (114) arranged on the third transmission shaft (112) rotates clockwise, and then five-stage speed reduction is realized through the second duplex gear (115), the third duplex gear (116) and the five-stage speed reduction low-speed gear and duplex incomplete driving gear (119) in sequence, and the final output is used as the input of the jump mechanism; at the moment, the flapping wing gear (106 a) rotates clockwise, and the flapping wing drives the one-way bearing (106 b) to rotate clockwise, so that the second transmission shaft (111) is kept static, and the driving of the series four-bar flapping wing mechanism cannot be realized;
when the miniature direct current motor (101) rotates anticlockwise, the first duplex gear (103) rotates clockwise, the flapping wing drives the unidirectional gear module (106) to rotate anticlockwise, the second transmission shaft (111) rotates anticlockwise, the hot melt nut arranged on the second transmission shaft (111) fixes the driving belt wheel module (108) to rotate anticlockwise, and then power is transmitted to the series four-rod flapping wing mechanism through the transmission belt (110); at the moment, the jumping gear (113 a) rotates anticlockwise, and the jumping drive one-way bearing (113 b) rotates anticlockwise, so that the third transmission shaft (112) keeps static, and the driving of the jumping mechanism cannot be realized;
The series four-bar flapping mechanism comprises a driven belt wheel and flapping mechanism crank part (204), a sixth transmission shaft (206), a flapping mechanism crank part (207), a carbon fiber square tube (208), a first flat-head optical axis (209), a third bearing (210), a flapping wing connecting rod (211), a shared sliding block (212), a copper sleeve (214), an optical axis sliding block guide rail (215), a second pin shaft (216), a left first rocker (217), a right first rocker, a left connecting rod (218), a right connecting rod, a left second rocker (219), a right second rocker, a left wing fixing rod (220), a right wing fixing rod, a second flat-head optical axis (221), a third flat-head optical axis (224), a fourth flat-head optical axis (225), a fifth flat-head optical axis (227), a keel (228), a wing trailing edge fixing groove (229), a left thin film wing (230), a right flat-head optical axis, a sixth flat-head optical axis, a seventh flat-head optical axis, an eighth flat-head optical axis and a ninth flat-head optical axis;
the driven belt wheel and flapping wing mechanism crank part (204) is connected with the hot melt nut fixed driving belt wheel module (108) through a transmission belt (110); the driven belt wheel and flapping wing mechanism crank part (204) and the flapping wing mechanism crank part (207) form a flapping wing mechanism crank through the matching of the molded surfaces of the carbon fiber square tubes (208), and the flapping wing mechanism crank, the flapping wing connecting rod (211) and the shared slide block (212) form a crank slide block mechanism; the movable pulley and flapping wing mechanism crank part (204) is in clearance fit with a first flat head optical axis (209), and the first flat head optical axis (209) is arranged in a positioning hole reserved on a flapping wing mechanism auxiliary frame (201) through a bearing; the flapping wing mechanism crank part (207) is connected with a bearing arranged in a positioning hole reserved on the auxiliary frame (201) of the flapping wing mechanism through a sixth transmission shaft (206); the inner ring of the third bearing (210) is hinged with a crank part (204) of the driven pulley and flapping wing mechanism; one end of the flapping wing connecting rod (211) is in interference fit with the third bearing (210), and the other end of the flapping wing connecting rod is hinged with the common sliding block (212) through a pin shaft; the common sliding block (212) is in interference fit with the two copper sleeves (214), and the copper sleeves (214) and the optical axis sliding block guide rail (215) form a sliding pair; the two optical axis slide block guide rails (215) are in interference fit with the reserved positioning holes on the auxiliary frame (201) of the flapping wing mechanism;
A second pin shaft (216) is arranged in a positioning hole at the upper part of the common sliding block (212); the second pin shaft (216), the left first rocker (217) and the sliding groove of the right first rocker form a sliding pair; when the shared slide block (212) moves up and down, the left first rocker (217) and the right first rocker rotate, so that power is input to the series four-rod flapping wing mechanism;
the left first rocker (217) is hinged with a positioning hole on the auxiliary frame (201) of the flapping wing mechanism through a second flat head optical axis (221), and is hinged with the left connecting rod (218) through a fourth flat head optical axis (225); the left connecting rod (218) and the left second rocker (219) are hinged through a fifth flat head optical axis (227), and the left second rocker (219) is hinged with a positioning hole on the auxiliary frame (201) of the flapping wing mechanism through a third flat head optical axis (224); the left wing fixing rod (220) is arranged in a positioning hole on the left second rocker (219) in a gluing mode, is glued with one edge of the left film wing (230), and the other edge of the left film wing (230) is glued with a keel (228) fixedly connected to the auxiliary frame (201) of the flapping wing mechanism and is fixed in a wing rear edge fixing groove (229);
the right first rocker is hinged with a positioning hole on a sub-frame (201) of the flapping wing mechanism through a sixth flat head optical axis, and is hinged with the right connecting rod through a seventh flat head optical axis; the right connecting rod and the right second rocker are hinged through an eighth flat-head optical axis, and the right second rocker is hinged with a positioning hole on a sub-frame (201) of the flapping wing mechanism through a ninth flat-head optical axis; the right wing fixing rod is arranged in a positioning hole on the right second rocker in a gluing mode, is glued with one edge of the right film wing, is glued with a keel (228) fixedly connected to the auxiliary frame (201) of the flapping wing mechanism, and is fixed in a wing rear edge fixing groove (229);
The jump mechanism comprises a first connecting rod (301), a torsion spring (302), a second connecting rod (303), a third connecting rod (304), a fourth connecting rod (305), a fifth connecting rod (306), a supporting foot (307), a sixth truncated optical axis (311), a seventh truncated optical axis (312), an eighth truncated optical axis (314) and a ninth truncated optical axis (315);
the fifth connecting rod (306) comprises a fifth connecting rod printing joint (306 a), a fifth connecting rod pin shaft (306 b) and a fifth connecting rod carbon fiber rod (306 c); the support foot (307) comprises a support foot printing joint (307 a) and a support foot carbon fiber rod (307 b);
the first connecting rod (301) comprises an incomplete driven gear (301 a), a first connecting rod second part (301 b), a first connecting rod third part (301 c), a first optical axis (301 d), a second optical axis (301 e), a bearing roller (301 f) and a square tube (301 g); the incomplete driven gear (301 a), the first connecting rod second part (301 b) and the first connecting rod third part (301 c) are all arranged on the square tube (301 g) to form transition fit; the second optical axis (301 e) is installed in a locating hole in the square tube (301 g) in a clearance mode, and meanwhile the second optical axis (301 e) is installed on the inner wall of a bearing roller (301 f) which is in interference fit in the locating hole reserved on the main frame (123) to form interference fit; the first optical axis (301 d) is installed in the positioning holes on the incomplete driven gear (301 a), the first connecting rod second part (301 b) and the first connecting rod third part (301 c) in an interference mode;
Four torsion springs (302) are arranged on the outer rings of the second part (301 b) of the first connecting rod and the third part (301 c) of the first connecting rod, one pin of each torsion spring (302) is tangent to the first optical axis (301 d), and the other pin of each torsion spring is tangent to the circular upright post of the main frame (123); one end of the second connecting rod (303) is hinged with the incomplete driven gear (301 a) through a ninth flat head optical axis (315), and the other end of the second connecting rod (303) is hinged with a fifth connecting rod printing joint (306 a) through a seventh flat head optical axis (312); one end of the third connecting rod (304) is hinged with the incomplete driven gear (301 a), and the other end of the third connecting rod is hinged with the fifth connecting rod printing joint (306 a); one end of the fourth connecting rod (305) is hinged with a positioning hole reserved on the main frame (123) through a sixth flat-head optical axis (311), and the other end of the fourth connecting rod is hinged with a fifth connecting rod printing joint (306 a);
the fifth connecting rod printing joint (306 a) and the fifth connecting rod carbon fiber rod (306 c) are fixed through 3 fifth connecting rod pin shafts (306 b); the fifth connecting rod carbon fiber rod (306 c) is hinged with the supporting foot (307) through an eighth flat head optical axis (314); the support foot (307) is composed of three support foot carbon fiber rods (307 b) and a support foot printing joint (307 a), wherein the support foot carbon fiber rods (307 b) are arranged in positioning holes reserved on the support foot printing joint (307 a) and fixedly connected through gluing and the like;
The other incomplete driving gear of the five-stage speed reduction low-speed gear and the double incomplete driving gear (119) are meshed with the incomplete driven gear (301 a), so that a first connecting rod (301) of the jumping mechanism is driven, and the incomplete gear is utilized to realize slow energy storage and instant release of a torsion spring (302) in the jumping mechanism, so that the locust-simulated jumping flapping wing double-motion mode mechanism jumps;
when the miniature direct current motor (101) rotates clockwise, power is transmitted from the miniature direct current motor (101) to the jump mechanism through the transmission mechanism, and the torsion spring in the jump mechanism is compressed, stored and instantaneously released to realize jumping through the five-stage reduction low-speed gear and the incomplete driving gear (119) and the incomplete driven gear (301 a); after the locust jumping-simulated flapping wing double-movement-mode mechanism jumps, when the miniature direct current motor (101) is switched from clockwise rotation to anticlockwise rotation, power is transmitted from the miniature direct current motor (101) to the series four-bar flapping wing mechanism through the transmission mechanism, so that the expected flapping rule is realized.
2. A single motor driven locust jump flapping wing simulated dual motion mode mechanism according to claim 1, wherein the hot melt nut fixed drive pulley module (108) comprises a drive pulley (108 a), a first hot melt nut (108 b) and a first jackscrew (108 c); the driving pulley (108 a) is installed on the second transmission shaft (111) in an interference mode through the first hot melt nut (108 b) and the first jackscrew (108 c).
3. A single motor driven locust jump flapping wing simulated dual motion mode mechanism according to claim 1, wherein said hot melt nut fixed gear module (114) comprises a three stage reduction high speed gear (114 a), a second hot melt nut (114 b) and a second jackscrew (114 c); the three-stage speed reduction high-speed gear (114 a) is installed on the third transmission shaft (112) in an interference mode through the second hot melt nut (114 b) and the second jackscrew (114 c).
4. A single motor actuated locust jumping flapping wing double motion mode mechanism as claimed in claim 1 wherein said jumping mechanism is modified on the basis of a stevenson type II six bar jumping mechanism.
5. The single motor driven locust jumping flapping wing simulated double motion mode mechanism according to claim 1, wherein the flapping frequency of the series four-bar flapping wing mechanism is 20Hz, the flapping amplitude is 60 degrees, and the period change rule of the flapping angle with the lower beat-up time ratio of 1.5 is realized.
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| CN106956727A (en) * | 2017-04-05 | 2017-07-18 | 电子科技大学 | Imitative locust flight hopping robot and its flight control method based on metamorphic mechanisms |
| CN113022850A (en) * | 2021-05-11 | 2021-06-25 | 北京航空航天大学 | Hovering type micro bionic double-flapping-wing flying robot |
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| KR100451984B1 (en) * | 2001-11-16 | 2004-10-08 | 주식회사 뉴로스 | Power-Driven Ornithopter |
| CN106184445B (en) * | 2016-07-25 | 2018-03-27 | 西北工业大学 | A kind of micro machine drives the four bionical hopping mechanisms of bar straight line |
| CN109018338B (en) * | 2018-07-23 | 2021-10-15 | 黄永胜 | Bionic flapping wing flight mechanism and aircraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106956727A (en) * | 2017-04-05 | 2017-07-18 | 电子科技大学 | Imitative locust flight hopping robot and its flight control method based on metamorphic mechanisms |
| CN113022850A (en) * | 2021-05-11 | 2021-06-25 | 北京航空航天大学 | Hovering type micro bionic double-flapping-wing flying robot |
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