CN116443248A - Insect-imitating flapping wing mechanism based on folding-opening mechanism and flapping wing machine - Google Patents
Insect-imitating flapping wing mechanism based on folding-opening mechanism and flapping wing machine Download PDFInfo
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- CN116443248A CN116443248A CN202310679044.0A CN202310679044A CN116443248A CN 116443248 A CN116443248 A CN 116443248A CN 202310679044 A CN202310679044 A CN 202310679044A CN 116443248 A CN116443248 A CN 116443248A
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- 239000004917 carbon fiber Substances 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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Abstract
The invention relates to an insect-imitating flapping wing mechanism based on a folding-opening mechanism and a flapping wing machine, which consists of four flapping wings and the insect-imitating flapping wing mechanism based on the folding-opening mechanism; the flapping wings are respectively arranged on the first connector (15), the second connector (16), the third connector (17) and the fourth connector (17). Compared with the prior art, the ornithopter has smaller overall volume, and can still realize that each ornithopter participates in two complete folding-opening processes in one period. Not only realizing full utilization of all flapping spaces of the single-degree-of-freedom flapping wings in a plane, but also realizing high-efficiency utilization of a closing-opening lift force mechanism. The ornithopter provided by the invention reduces the axial distance between the shafts of the rope wheel wing shaft group in the ornithopter, and simultaneously enables the ornithopter to amplify the reciprocating motion angle of the crank connecting rod group.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to an insect-imitating flapping wing mechanism based on a folding-opening mechanism and an flapping wing machine.
Background
The flapping wing aircraft is also called as a flapping wing aircraft, and refers to an aircraft with wings capable of flapping up and down like bird and insect wings and heavier than air, wherein the flapping wings not only generate lift force, but also generate forward pushing force. Compared with a conventional aircraft, the ornithopter based on the bionics principle can provide thrust by using only one set of ornithopter system instead of a propeller or a jet engine. Meanwhile, the ornithopter has the characteristics of small size, flexibility and high flight efficiency, and can realize the tricks such as vertical landing, hovering, forward flying, backward flying, diving, jerking and the like, so that the ornithopter gets the important attention of researchers at home and abroad. With the advancement of modern materials, power and processing technology, flapping wing aircraft have been able to be manufactured in near practical use.
Many insects in nature can realize hovering flight, that is, wings do reciprocating flutter in the horizontal plane. The manner in which flapping wings fly differs from fixed wings in that the aerodynamic force is produced as a result of the integration of a number of unique lift mechanisms, where the Clap-flapping mechanism (fold-open mechanism) is found to be widely present in natural insects in the wing flapping behavior that actively acquire short-term high lift peaks. Among the many flapping-wing lift mechanisms, the close-open mechanism is more suitable for single degree of freedom flapping. Single degree of freedom generally means that it can only be flapped in a plane that is fixed relative to the gantry. If the full flapping space of the single-degree-of-freedom flapping wing can be efficiently utilized, and the effect of extra lifting force generated in the folding-opening process is fully utilized, the pneumatic performance of the flapping wing machine can be obviously improved theoretically.
At present, a plurality of flapping wing driving mechanisms exist, most of the driving mechanisms are combined by traditional gears and rockers, and the disadvantage is that the space required by the arrangement of the motion mechanism is larger, and the whole volume is larger; the utilization rate of the mechanism arrangement space is low; the amplitude of the flapping wings is very limited due to the limitation of a simple crank linkage. Thereby resulting in underutilization of the aerodynamic mechanism that takes additional lift.
Disclosure of Invention
The invention aims to overcome at least one of the defects in the prior art and provide an insect-imitating flapping wing mechanism and an flapping wing machine based on a folding-opening mechanism. The ornithopter has smaller overall volume, and can still realize that each ornithopter participates in two complete folding-opening processes in one period. Not only realizing full utilization of all flapping spaces of the single-degree-of-freedom flapping wings in a plane, but also realizing high-efficiency utilization of a closing-opening lift force mechanism.
The aim of the invention can be achieved by the following technical scheme:
the invention aims at providing an insect-imitating flapping wing mechanism based on a folding-opening mechanism, which consists of a frame, a flapping assembly and a power assembly;
the power assembly consists of a motor and a reduction gear set which are connected; the reduction gear set is positioned in the frame; the motor is positioned at the bottom of the frame;
a speed reduction group output shaft for driving the flapping component is arranged in the frame; the reduction gear set drives the reduction gear set output shaft to rotate through gear rotation;
the flapping component is positioned in the frame and consists of a rope pulley wing shaft group and a crank connecting rod group; one end of the crank connecting rod group is in transmission connection with the output shaft of the speed reduction group, and the other end of the crank connecting rod group is in transmission connection with the rope pulley wing shaft group; the rope wheel wing shaft group consists of a first rope wheel wing shaft, a second rope wheel wing shaft, a third rope wheel wing shaft and a fourth rope wheel wing shaft which are arranged in a matrix manner, namely the first rope wheel wing shaft, the second rope wheel wing shaft, the third rope wheel wing shaft and the fourth rope wheel wing shaft are distributed in a rectangular form of 2 x 2;
the first rope wheel wing shaft and the third rope wheel wing shaft at the diagonal position rotate in the same direction; the first rope wheel wing shaft reversely rotates with the second rope wheel wing shaft and the fourth rope wheel wing shaft at the adjacent positions; the crank connecting rod group is in transmission connection with the output shaft of the speed reduction group. The first rope wheel wing shaft and the third rope wheel wing shaft at the diagonal position are wound and fixed in a rope winding mode of 0, so that the two shafts rotate in the same direction, and the middle of the winding position is located upwards. The second rope wheel wing shaft, the fourth rope wheel wing shaft and the first rope wheel wing shaft are fixedly wound through a rope winding in an 8 shape, so that the second rope wheel wing shaft, the fourth rope wheel wing shaft and the first rope wheel wing shaft are opposite in rotation direction, and the middle of winding positions is lower.
More specifically, the crank connecting rod group is used for converting and amplifying the continuous rotary motion transmitted by the power assembly into the reciprocating fixed-axis rotary motion of the rope pulley wing shaft group; the power assembly is connected with the crank connecting rod group and is used for outputting torque and rotating speed; the device is also provided with a power control module for providing power for the motor.
Further, the reduction gear set is a motor output shaft gear, a first double-layer gear, a second double-layer gear and a reduction gear set output shaft gear which are connected in turn in a rotating manner; the middle part of the motor output shaft gear is provided with a motor output shaft for driving the motor; the speed reduction group output shaft is fixed in the middle of the speed reduction group output shaft gear.
Further, the crank connecting rod group consists of a crank, a connecting rod, a first rope pulley and a second rope pulley; one end of the crank is joggled with the output shaft of the speed reduction group, and the other end of the crank is hinged with the connecting rod; one end of the connecting rod, which is far away from the crank, is hinged with the first rope wheel; the first rope pulley and the second rope pulley are in transmission connection through a first rope winding arranged on the surfaces of the first rope pulley and the second rope pulley; the second rope wheel is joggled with the first rope wheel wing shaft.
Further, a first positioning baffle for limiting the sliding range of the connecting rod and the crank is arranged at one end of the connecting rod hinged with the crank; one end of the connecting rod hinged with the first rope pulley is provided with a second positioning baffle for limiting the sliding range of the connecting rod and the first rope pulley.
Further, the first rope wheel wing shaft and the third rope wheel wing shaft at the diagonal position of the first rope wheel wing shaft are subjected to 0-type winding on the first rope wheel wing shaft and the third rope wheel wing shaft through second winding ropes arranged on the surfaces of the first rope wheel wing shaft and the third rope wheel wing shaft.
Further, the first rope wheel wing shaft, the second rope wheel wing shaft and the fourth rope wheel wing shaft which are arranged at the adjacent positions of the first rope wheel wing shaft and the second rope wheel wing shaft are wound in a 8 shape through the third winding ropes which are arranged on the first rope wheel wing shaft, the second rope wheel wing shaft and the fourth rope wheel wing shaft.
Further, the first connector, the second connector, the third connector and the fourth connector are correspondingly arranged at the overhanging ends of the first rope pulley wing shaft, the second rope pulley wing shaft, the third rope pulley wing shaft and the fourth rope pulley wing shaft.
Further, the power assembly has a gear ratio of at least 18.75.
Further, the rotation angle of the rope pulley wing shaft group is 39-91 degrees. The crank connecting rod group converts the continuous rotation motion transmitted by the power assembly into 39-degree reciprocating fixed-axis rotation motion and amplifies the continuous rotation motion to 91-degree reciprocating fixed-axis rotation motion.
The second object of the invention is an ornithopter which consists of four ornithopters and the insect-imitating ornithopter mechanism based on a folding-opening mechanism; the flapping wings are respectively arranged on the first connector, the second connector, the third connector and the fourth connector.
Compared with the prior art, the invention has the following advantages:
(1) The ornithopter designed by the invention has smaller overall volume, and simultaneously, each ornithopter can still participate in two complete folding-opening processes in one period. Not only realizing full utilization of all flapping spaces of the single-degree-of-freedom flapping wings in a plane, but also realizing high-efficiency utilization of a closing-opening lift force mechanism. The ornithopter provided by the invention reduces the axial distance between the shafts of the rope wheel wing shaft group in the ornithopter, and simultaneously enables the ornithopter to amplify the reciprocating motion angle of the crank connecting rod group. Compared with the prior art, the flapping angle of the invention is larger, and the motions among the four flapping wings are in a coupling relationship.
(2) The inventor finds that the flapping angle of the flapping wing can be reduced under the influence of the dimension error and the assembly reserved gap which are actually manufactured in the actual application scene in the process of completing the invention. The flapping-wing aircraft designed by the invention needs to design the angle to a certain value when designing the angle of one quarter of the circumference, and the inventor discovers that the optimal flapping effect of 90 degrees can be ensured in a certain flapping frequency range by adopting a scheme with the design angle of 94 degrees, so that the flapping-wing aircraft is called 90-degree flapping. Further, the rotation continuously output by the motor is converted into reciprocating flutter with a fixed angle.
(3) In operation, the ornithopter of the invention makes a single ornithopter flutter at 90 degrees in the horizontal plane. In each flapping period, each flapping wing can be respectively and sequentially flapped with the flapping wings on two sides for one time, so that a mechanism of folding and opening twice is realized. In the working process of the ornithopter, the resistance of the ornithopter in the horizontal direction is completely counteracted, and only the lifting force vertical to the flapping plane is generated to balance gravity, so that the hovering flight of the ornithopter is realized.
(4) The rope wheel wing shaft group in the insect-imitating flapping wing mechanism based on the folding-opening mechanism is in a unique rope winding mode, the rope wheel wing shaft group consists of a first rope wheel wing shaft, a second rope wheel wing shaft, a third rope wheel wing shaft and a fourth rope wheel wing shaft which are arranged in a matrix mode, the first rope wheel wing shaft and the third rope wheel wing shaft at the diagonal position are wound and fixed through rope winding '0', and two shafts rotate in the same direction, and the middle of the winding position is positioned above. The second rope wheel wing shaft, the fourth rope wheel wing shaft and the first rope wheel wing shaft are fixedly wound through a rope winding in an 8 shape, so that the second rope wheel wing shaft, the fourth rope wheel wing shaft and the first rope wheel wing shaft are opposite in rotation direction, and the middle of winding positions is lower. The inventor finds that under the unique rope winding mode, the small rope pulley wing shaft and the adjacent large rope pulley wing shaft can rotate reversely, and through a method of grooving and guiding at the proper position of the large rope pulley wing shaft, the method can avoid excessive friction and ensure transmission precision while having smaller overall volume.
Drawings
FIG. 1 is a schematic diagram of an embodiment of an ornithopter;
FIG. 2 is a schematic view of a flapping wing in an embodiment;
FIG. 3 is a schematic view of an embodiment of a flapping-wing mechanism;
FIG. 4 is a perspective assembly view of an embodiment of a flapping wing mechanism;
FIG. 5 is a schematic view of a frame in an embodiment;
fig. 6 is a schematic view showing the states of the second and third ropes according to the embodiment;
fig. 7 is a schematic view showing a state of the first roping in the embodiment;
fig. 8 is a schematic view of a pulley wing shaft set in an embodiment;
FIG. 9 is a schematic illustration of the first pulley wing shaft and the second pulley wing shaft, and the fourth pulley wing shaft being wrapped by a roping in an embodiment;
FIG. 10 is a schematic illustration of the first pulley wing shaft and the third pulley wing shaft wrapped by roping therebetween in an embodiment;
FIG. 11 is a schematic illustration of the first, second, third and fourth pulley wing shafts being wrapped by roping therebetween in an embodiment;
fig. 12 is a schematic view of the roping between the first sheave and the second sheave in the embodiment;
FIG. 13 is a pictorial view of the flapping wing mechanism and its components of the embodiment;
the reference numerals in the figures indicate: 1-a first double-layer gear; 2-a second double layer gear; 3-a reduction group output shaft gear; 4-a speed reduction group output shaft; 5-crank; 6-a first positioning baffle; 7-connecting rods; 8-a second positioning baffle; 9-a first sheave; 10-a second sheave; 11-a first pulley wing shaft; 12-a second pulley wing shaft; 13-a third pulley wing shaft; 14-fourth pulley wing shaft; 15-a first connector; 16-a second connector; 17-a third connector; 18-a fourth connector; 19-a motor output shaft gear; 20-top cover; 21-a first flapping wing; 22-a second flapping wing; 23-third flapping wings; 24-fourth flapping wings; 25-a frame; 26-first roping; 27-a second roping; 28-third roping.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. The present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are provided, but the protection scope of the present invention is not limited to the following embodiments.
Examples
The ornithopter is shown in figures 1-5, and consists of four ornithopters and an insect-imitating ornithopter mechanism based on a folding-opening mechanism; the insect-imitating flapping wing mechanism based on the folding-opening mechanism is annularly provided with a first connector 15, a second connector 16, a third connector 17 and a fourth connector 17 which are uniformly distributed. The flapping wings consist of a first flapping wing 21, a second flapping wing 22, a third flapping wing 23 and a fourth flapping wing 24; the first flapping wing 21, the second flapping wing 22, the third flapping wing 23, and the fourth flapping wing 24 are respectively mounted on the first connector 15, the second connector 16, the third connector 17, and the fourth connector 17.
An insect-imitating flapping wing mechanism based on a folding-opening mechanism, as shown in figures 2-4, comprises a frame 25, a flapping assembly and a power assembly;
referring to fig. 4 in detail, the power assembly is composed of a motor and a reduction gear set which are connected; the reduction gear set is positioned in the frame; the motor is positioned at the bottom of the frame; a speed reduction group output shaft 4 for driving the flapping component is arranged in the frame; the reduction gear set drives the reduction gear set output shaft 4 to rotate through gear rotation;
referring to fig. 3 and 4 in detail, the flapping assembly is located in the frame 25 and consists of a rope pulley wing shaft group and a crank connecting rod group; the pulley wing shaft group is arranged in a cavity formed by the frame 25 and the top cover 20, and performs reciprocating fixed-shaft rotation motion in a working state; the crank connecting rod group is arranged in a cavity at the lower end of the frame 25 and is used for converting and amplifying the continuous rotary motion transmitted by the power assembly into the reciprocating fixed-shaft rotary motion of the rope pulley wing shaft group; the power assembly is connected with the crank connecting rod group and is used for outputting torque and rotating speed; the flapping wing mechanism is also provided with a power supply control module connected with the power assembly.
Referring to fig. 4 in detail, one end of the crank connecting rod group is in transmission connection with the output shaft 4 of the speed reduction group, and the other end of the crank connecting rod group is in transmission connection with the rope pulley wing shaft group; the pulley wing shaft group consists of a first pulley wing shaft 11, a second pulley wing shaft 12, a third pulley wing shaft 13 and a fourth pulley wing shaft 14 which are arranged in a matrix; the first pulley wing shaft 11 rotates in the same direction as the third pulley wing shaft 13 at the diagonal position thereof; the first pulley wing shaft 11 rotates reversely with the second pulley wing shaft 12 and the fourth pulley wing shaft 14 at the adjacent positions; the crank connecting rod group is in transmission connection with the output shaft 4 of the speed reduction group.
Referring to fig. 6 to 11 in detail, specifically, the first pulley wing shaft 11 and the third pulley wing shaft 13 at the diagonal position thereof perform 0-type winding on the first pulley wing shaft 11 and the third pulley wing shaft 13 through the second winding ropes 27 arranged on the surfaces of the first pulley wing shaft 11 and the third pulley wing shaft 13, the winding positions are positioned above the middle, and the first pulley wing shaft 11 and the third pulley wing shaft 13 realize the same-direction rotation. The first rope wheel wing shaft 11 and the second rope wheel wing shaft 12 and the fourth rope wheel wing shaft 14 which are adjacent to the first rope wheel wing shaft 11 are wound in a 8 shape through the third winding ropes 28 which are arranged on the first rope wheel wing shaft 11, the second rope wheel wing shaft 12 and the fourth rope wheel wing shaft 14, the winding positions are lower than the middle, and the first rope wheel wing shaft 11, the second rope wheel wing shaft 12 and the fourth rope wheel wing shaft 14 realize reverse rotation; that is, the second pulley wing shaft 12 and the fourth pulley wing shaft 14 rotate in the same direction, and the first pulley wing shaft 11 rotates in the opposite direction.
Referring to fig. 4 in detail, the reduction gear set is a motor output shaft gear 19, a first double-layer gear 1, a second double-layer gear 2 and a reduction gear set output shaft gear 3 which are connected in turn in a rotating manner; a motor output shaft for driving the motor is arranged in the middle of the motor output shaft gear 19; the speed reduction group output shaft 4 is fixed in the middle of the speed reduction group output shaft gear 3.
Referring to fig. 4 in detail, the crank connecting rod group consists of a crank 5, a connecting rod 7, a first rope pulley 9 and a second rope pulley 10; one end of the crank 5 is joggled with the output shaft 4 of the speed reduction group, and the other end is hinged with the connecting rod 7; one end of the connecting rod 7 far away from the crank 5 is hinged with a first rope wheel 9; the first rope pulley 9 and the second rope pulley 10 are in transmission connection through a first winding rope 26 arranged on the surfaces of the first rope pulley 9 and the second rope pulley 10; the second sheave 10 is joggled with the first sheave wing shaft 11. One end of the connecting rod 7 hinged with the crank 5 is provided with a first positioning baffle 6 for limiting the sliding range of the connecting rod 7 and the crank 5; the end of the connecting rod 7 hinged with the first rope wheel 9 is provided with a second positioning baffle 8 for limiting the sliding range of the connecting rod 7 and the first rope wheel 9. The overhanging ends of the first pulley wing shaft 11, the second pulley wing shaft 12, the third pulley wing shaft 13 and the fourth pulley wing shaft 14 are correspondingly provided with a first connector 15, a second connector 16, a third connector 17 and a fourth connector 18.
The rotation angle of the pulley wing shaft group is 39-91 degrees. The crank connecting rod group converts the continuous rotation motion transmitted by the power assembly into 39-degree reciprocating fixed-axis rotation motion and amplifies the continuous rotation motion to 91-degree reciprocating fixed-axis rotation motion.
More specifically, the insect-imitating flapping wing mechanism based on the folding-opening mechanism has a cuboid overall shape, the top surface of the cuboid is square with a side length of 18 mm, and the main determining factors of the size are the design and the assembly size of the rope wheel wing shaft group. The theoretical distance between the wing shafts of the adjacent rope wheels is 7 mm, the practical distance between the wing shafts of the diagonal position in overlooking angle is 9.899 mm because the pretightening force needs to be applied during rope winding is smaller than the theoretical value, and the practical distance is smaller in the same way.
In the crank-link assembly, the crank-link assembly receives the input continuous rotation and converts the input continuous rotation into reciprocating motion, and the first rope pulley 9 and the second rope pulley 10 in the crank-link assembly amplify the rotation angle. The roping radii of the first sheave 9 and the second sheave 10 are 8.14 mm and 3.5 mm, respectively, and the theoretical value of the axial center distance is 13.04 mm, which is small in practice due to the presence of the pre-tightening force of the roping. The first sheave 9 takes only a part of the central angle of 108 degrees in order to reduce unnecessary volume and mass. The first rope wheel 9 is provided with a hinge shaft at the same radius as 8.14 and is connected with a hinge hole on the connecting rod 7, the other end of the connecting rod 7 is connected with the crank 5, the calculated length of the crank 5 is 2.717 mm, and the whole is coaxially and fixedly connected with the output shaft of the gear set to continuously rotate. The distance between the rotating shaft of the first rope wheel 9 and the output shaft of the gear set, namely the rotating shaft of the crank, is 13.04 millimeters, the distance is the same as the axial center distance between the rotating shafts of the first rope wheel 9 and the second rope wheel 10, and the axis of the crank 5 coincides with the axis of the second rope wheel 10, so that the main purpose is to reasonably distribute the reciprocating motion period and utilize the limited space.
The reduction gear set is three-stage gear transmission, and the transmission ratio is 18.75. The plastic gear with the modulus of 0.5 sold in the market is selected.
The assembling method of the insect-imitating flapping wing mechanism based on the folding-opening mechanism comprises the following steps:
placing the pulley wing shaft group in the frame 25, and then covering the top cover 20; corresponding bearings are required to be installed at two ends of the wing shaft. Placing the crank-link set in a cavity at the lower end of the frame 25; the reduction gear set is arranged at the bottom of the frame 25 and is connected with the crank connecting rod set through a reduction set output shaft 4 in the reduction gear set; the output shaft 4 of the speed reducing group is provided with a bearing; and finally, connecting the power assembly with a power control module.
Fig. 13 is a physical diagram of the flapping wing mechanism and its components in this embodiment, fig. 13a is an assembled physical diagram of the pulley wing shaft set, fig. 13b is a physical diagram of the frame 25, fig. 13c is a physical diagram of the top cover 20, fig. 13d is a physical diagram of the components of the reduction gear set, and fig. 13e is a physical diagram of the flapping wing mechanism.
In this embodiment, most parts can be obtained by 3D printing, and part of the shaft is a carbon fiber thin rod and a thin metal rod.
The frame 25 of the ornithopter is printed in SLA3D mode, the material is GENL photosensitive resin, the gear is a plastic gear, and the gear rotating shaft and the speed reduction group output shaft 4 are carbon fiber rods with the diameter of 2 mm.
The hinge shafts at the two ends of the connecting rod 7 are metal rods with the diameter of 1 millimeter.
The two ends of each shaft in the pulley wing shaft group are respectively provided with a bearing, wherein the lower bearings of the driving shafts are respectively 3 mm in inner diameter, 6 mm in outer diameter and 2.5 mm in thickness, and the upper bearings are respectively 2 mm in inner diameter, 5 mm in outer diameter and 2.5 mm in thickness as the bearings of the other shafts. The first sheave 9 has two bearings, each having an inner diameter of 1 mm and an outer diameter of 3 mm and being one mm thick. From one of the lower ends of the first rope wheel wing shafts 11, eight bearings are arranged in a anticlockwise sequence in a overlooking angle relative to the whole ornithopter,
the output shaft 4 of the speed reducing group is provided with a bearing, and the specification is as follows: the inner diameter is 2 mm, the outer diameter is 5 mm, and the thickness is 2.5 mm.
The motor is a self-specified and self-sold 20000 kv brushless motor of a certain business, and the power control module is a Fusi remote control module.
The flapping wing framework is a 0.8 millimeter carbon fiber thin rod, and the assembly mode of the flapping wing framework and the wing membrane is gluing.
The rope is low-elasticity 8-woven PE wire with the diameter of about 0.23 mm, and the rope winding mode is shown in fig. 6 and 7.
The total weight of the ornithopter is about 19.34 g, wherein the weight of the motor and the control circuit is about 5.49 g, the weight of the battery is about 4.53 g, and the weight of the mechanical mechanism is about 9.36 g.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the invention in any way, and any person skilled in the art may make modifications or alterations to the disclosed technical content to the equivalent embodiments. However, any simple modification, equivalent variation and variation of the above embodiments according to the technical substance of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (10)
1. An insect-imitating flapping wing mechanism based on a folding-opening mechanism is characterized in that the flapping wing mechanism consists of a frame (25), a flapping assembly and a power assembly;
the power assembly consists of a motor and a reduction gear set which are connected; the reduction gear set is positioned in the frame (25); the motor is positioned at the bottom of the frame (25);
a speed reduction group output shaft (4) for driving the flapping assembly is arranged in the frame (25), and the speed reduction group output shaft (4) is driven to rotate by the speed reduction group through gear rotation;
the flapping component is positioned in the frame (25) and consists of a rope pulley wing shaft group and a crank connecting rod group; one end of the crank connecting rod group is in transmission connection with the speed reduction group output shaft (4), and the other end of the crank connecting rod group is in transmission connection with the rope pulley wing shaft group; the rope wheel wing shaft group consists of a first rope wheel wing shaft (11), a second rope wheel wing shaft (12), a third rope wheel wing shaft (13) and a fourth rope wheel wing shaft (14) which are arranged in a matrix; the first rope wheel wing shaft (11) and a third rope wheel wing shaft (13) at the diagonal position rotate in the same direction; the first rope wheel wing shaft (11) reversely rotates with the second rope wheel wing shaft (12) and the fourth rope wheel wing shaft (14) at the adjacent positions; the crank connecting rod group is in transmission connection with the output shaft (4) of the speed reduction group.
2. The insect-imitating flapping wing mechanism based on the folding-unfolding mechanism according to claim 1, wherein the reduction gear set is a motor output shaft gear (19), a first double-layer gear (1), a second double-layer gear (2) and a reduction group output shaft gear (3) which are connected in turn in a rotating manner;
a motor output shaft for driving the motor is arranged in the middle of the motor output shaft gear (19);
the speed reduction group output shaft (4) is fixed in the middle of the speed reduction group output shaft gear (3).
3. An insect-imitating flapping wing mechanism based on a folding-unfolding mechanism as claimed in claim 1, wherein the crank connecting rod group consists of a crank (5), a connecting rod (7), a first rope wheel (9) and a second rope wheel (10);
one end of the crank (5) is joggled with the output shaft (4) of the speed reduction group, and the other end is hinged with the connecting rod (7); one end of the connecting rod (7) far away from the crank (5) is hinged with the first rope wheel (9); the first rope wheel (9) and the second rope wheel (10) are in transmission connection through a first rope winding (26) arranged on the surfaces of the first rope wheel (9) and the second rope wheel (10); the second rope wheel (10) is joggled with the first rope wheel wing shaft (11).
4. An insect-imitating flapping wing mechanism based on a folding-unfolding mechanism as claimed in claim 3, wherein one end of the connecting rod (7) hinged with the crank (5) is provided with a first positioning baffle (6) for limiting the sliding range of the connecting rod (7) and the crank (5); one end of the connecting rod (7) hinged with the first rope wheel (9) is provided with a second positioning baffle (8) used for limiting the sliding range of the connecting rod (7) and the first rope wheel (9).
5. An insect-imitating flapping wing mechanism based on a folding-unfolding mechanism as claimed in claim 1, wherein the first rope wheel wing shaft (11) and the third rope wheel wing shaft (13) at the diagonal positions thereof are subjected to 0-type winding on the first rope wheel wing shaft (11) and the third rope wheel wing shaft (13) through second ropes (27) arranged on the surfaces of the first rope wheel wing shaft (11) and the third rope wheel wing shaft (13).
6. An insect-imitating flapping wing mechanism based on a folding-unfolding mechanism as claimed in claim 1, wherein the first rope wheel wing shaft (11) and the second rope wheel wing shaft (12) and the fourth rope wheel wing shaft (14) which are adjacent to the first rope wheel wing shaft (11), the second rope wheel wing shaft (12) and the fourth rope wheel wing shaft (14) are wound in a shape of 8 by a third rope (28) arranged on the first rope wheel wing shaft (11), the second rope wheel wing shaft (12) and the fourth rope wheel wing shaft (14).
7. An insect-imitating flapping wing mechanism based on a folding-unfolding mechanism as claimed in claim 1, wherein the overhanging ends of the first rope wheel wing shaft (11), the second rope wheel wing shaft (12), the third rope wheel wing shaft (13) and the fourth rope wheel wing shaft (14) are correspondingly provided with a first connector (15), a second connector (16), a third connector (17) and a fourth connector (18).
8. An insect-simulated ornithopter mechanism based on a fold-open mechanism as claimed in claim 1, wherein said power assembly has a transmission ratio of at least 18.75.
9. An insect-imitating flapping wing mechanism based on a folding-unfolding mechanism according to claim 1, wherein the rotation angle of the pulley wing shaft group is 39-91 degrees.
10. An ornithopter comprising four ornithopters and an insect-like ornithopter mechanism according to any one of claims 1-9, wherein the mechanism is based on a fold-open mechanism;
the flapping wings are respectively arranged on the first connector (15), the second connector (16), the third connector (17) and the fourth connector (17).
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| CN202310679044.0A CN116443248B (en) | 2023-06-09 | 2023-06-09 | Insect-imitating flapping wing mechanism based on folding-opening mechanism and flapping wing machine |
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| CN116443248B (en) | 2023-09-26 |
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