CN116853497A - Insect-imitating multi-degree-of-freedom flapping-wing mechanism and flapping-wing machine - Google Patents
Insect-imitating multi-degree-of-freedom flapping-wing mechanism and flapping-wing machine Download PDFInfo
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- CN116853497A CN116853497A CN202311107444.0A CN202311107444A CN116853497A CN 116853497 A CN116853497 A CN 116853497A CN 202311107444 A CN202311107444 A CN 202311107444A CN 116853497 A CN116853497 A CN 116853497A
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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 multi-degree-of-freedom flapping wing mechanism and an flapping wing machine, and relates to the technical field of aircrafts, wherein the flapping wing machine consists of the insect-imitating multi-degree-of-freedom flapping wing mechanism and a flapping wing; the flapping wings are inserted on the rod sleeve; the flapping angle of the flapping wing ranges from 0 to 100 degrees, the torsion range ranges from 0 to 45 degrees and the swing range ranges from 1 to 18 degrees. Compared with the prior art, the invention designs the ornithopter with the multi-degree-of-freedom flapping wing mechanism, the flapping wing mechanism can realize flapping, torsion and swing, the flapping wing mechanism can realize space 8-shaped track flapping, and the left wing and the right wing can be controlled to realize different amplitudes.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to an insect-imitating multi-degree-of-freedom flapping wing mechanism and an ornithopter.
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.
In the flapping wing flight of insects, the wings of the insects can realize elliptical or 8-shaped tracks, and the tracks are formed by combining three movements of flapping, torsion and swinging. However, many of the current designs are single degree of freedom ornithopters that include flapping, and double degree of freedom ornithopters that include "twist + flap". In addition, the structure of the miniature ornithopter cannot be complex, and the design of the flapping wing mechanism with multiple degrees of freedom and multiple controls is not adopted.
Disclosure of Invention
The invention aims to overcome at least one of the defects in the prior art and provide an insect-imitating multi-degree-of-freedom flapping wing mechanism and an flapping wing aircraft.
The aim of the invention can be achieved by the following technical scheme:
the invention aims at providing an insect-imitating multi-degree-of-freedom flapping wing mechanism, which consists of a frame, a power assembly and a flapping assembly;
the power assembly consists of a motor and a reduction gear set which are meshed with each other; the reduction gear set is positioned in the frame; the motor is positioned at the bottom of the frame; an output shaft for driving the flapping component is arranged on the frame; the reduction gear set is meshed with the output shaft for transmission;
the flapping components are symmetrically distributed on two sides of the frame; the flapping assembly consists of a crank, a crank connecting rod, a wing shoulder and a rod sleeve for connecting the flapping wings; one end of the crank is fixed with the output shaft, and the other end of the crank is in spherical hinge connection with the crank connecting rod; one end of the crank connecting rod, which is far away from the crank, is hinged with the wing shoulder; one end of the wing shoulder far away from the crank connecting rod is provided with a through hole for placing a rod sleeve; the rod sleeve passes through the through hole on the wing shoulder, one end of the rod sleeve is hinged with the crank connecting rod, and the other end of the rod sleeve is connected with the flapping wing.
Further, the reduction gear set consists of a motor output shaft gear, a second gear, a third gear and a fourth gear which are sequentially meshed and connected; the middle part of the motor output shaft gear is provided with a motor output shaft for driving the motor; the output shaft is fixed in the middle of the fourth gear.
Further, a supporting component for supporting the flapping wing mechanism is arranged at the bottom of the wing shoulder.
Further, the supporting component consists of a Y-shaped seat hinged with the wing shoulder and a seat rod for supporting the Y-shaped seat.
Further, the seat rod is provided with a J-shaped blade which is inserted in the seat rod. A wing shoulder connecting rod is arranged between the J-shaped blade and the wing shoulder; one end of the wing shoulder connecting rod is hinged with the J-shaped blade; the other end is hinged with the wing shoulder.
In order to achieve high flapping frequencies of the flapping wing mechanism, the weight and number of moving parts need to be reduced as much as possible, i.e. the overall total moment of inertia of the flapping assembly should be reduced as much as possible so that the energy consumption of the high frequency reciprocating motion is as low as possible. Therefore, the method for splitting the spherical hinge of the wing shoulder is adopted, the swinging degree of freedom is selected to control, the transmission of the J-shaped blade execution control is designed, and the control part is completely separated from the flapping component, so that the moment of inertia is not excessively increased. The J-shaped blade is a bionic thought, the design inspiration is derived from the scapula, and the movement of the J-shaped blade during flapping can be obviously seen to be very similar to the movement of the scapula. The control of the spherical shoulder hinge joint is divided into two parts, one part is used for controlling a J-shaped blade, the other part is used for controlling coupling motion transmitted by a gear system, and a set of control is explicitly given in the embodiment of the invention to illustrate that the control method can be applied to the design of the flapping-wing aircraft in actual flight, various tracks including 8-shaped space flapping tracks can be realized, and the same type of wing tip track (such as 8-shaped tracks with slightly different shapes) can also occur at different positions relative to a frame.
Spatial flutter is a motion that has three degrees of freedom in space. However, in the present invention, the flapping actually performs the spatial flapping with two degrees of freedom coupled, so the present invention actually only needs to control two degrees of freedom. When one or more degrees of freedom to be controlled are extracted (one degree of freedom is extracted in the present invention), control is required to be exerted on the one or more degrees of freedom, so that some motion-transmitting components are required, the J-blade is the component, the motion of which is only two degrees of freedom, one is sliding along the seat post, and the other is twisting around the seat post, wherein the twisting around the seat post is the motion of the other component is transferred, and no additional control is exerted on the one or more degrees of freedom, namely the one degree of freedom (one degree of freedom of linear motion) which is considered to be controlled by the present invention is transmitted upwards through the J-blade and the wing shoulder connecting rod, and the one degree of freedom is changed into the swinging motion of the rod sleeve.
More specifically, the two degrees of freedom controlled in the present invention are the overall flapping and J-blade movement transferred by the gears, respectively. The J-shaped blade has two motion modes of follow-up (namely, the flapping wing moves while the control mechanism also performs corresponding control motion) and fixed (the flapping wing moves, and the control mechanism stops when reaching a preset position), the follow-up can form various tracks, the degree of freedom is regarded as effective during the follow-up, the fixed degree of freedom can form a coupling track according to different fixed positions, and the degree of freedom is regarded as "locked" after the fixed degree of freedom. That is, the flapping wing is a three degree of freedom spatial motion, but due to the coupling of the mechanism motion, the control of the flapping wing (one-sided) has only two degrees of freedom. The invention can form 8-shaped tracks by controlling the follow-up and fixing movement modes, and the pneumatic effects of the tracks with different shapes are naturally different only if the shapes of the 8-shaped tracks are different. The flapping wing mechanism designed by the invention has a degradation function, when a control mechanism on one side is changed from follow-up to fixed, a wing tip track on the side is degenerated from an active 8-shaped track to a passive 8-shaped track or a flapping track, and the passive 8-shaped track can be formed even if the J-shaped blade does not exert control due to the coupling of motion and the action of multiple forces in the motion process.
Further, T-shaped sliding blocks are arranged between the seat rods which are symmetrically distributed; the two ends of the T-shaped sliding block are inserted in seat rods which are symmetrically distributed and are abutted with the J-shaped blade. The guide rail of the T-shaped sliding block is a seat rod at two sides and a guide rod in the middle, and the three rods are positioned together to ensure accuracy.
Further, a guide rod and a positioning spring are arranged in the middle of the T-shaped sliding block. In certain embodiments of the invention, the flapping wing mechanism incorporates a positioning spring in place due to the freedom of control not exerted, the positioning spring being used herein to maintain the wing in a natural attitude while in flight when the mechanism is not in operation, for ease of observation and investigation.
Further, the flapping wing mechanism is provided with control units for symmetrically distributing the flapping wings to complete different flapping tracks.
The second object of the invention is an ornithopter comprising the insect-imitating multi-degree-of-freedom ornithopter mechanism and an ornithopter; the flapping wings are inserted on the rod sleeve.
Further, the flapping angle of the flapping wing is 0-100 degrees, the torsion range is 0-45 degrees, and the swing range is 1-18 degrees.
Compared with the prior art, the invention has the following advantages:
(1) The constraint of the wing root part of the bionic wing can be regarded as a spherical hinge constraint, the high-level constraint (high pair) of a plurality of degrees of freedom of the spherical hinge is disassembled into simple constraint of a common plane hinge and other single degrees of freedom, the simple constraint is combined according to the control requirement, namely, the spherical hinge is changed into superposition of a plurality of plane hinges, the transformation process of disassembly and combination ensures that the final motion performance of the mechanism has equivalence before and after transformation, and meanwhile, the requirement of control is considered, so that the mode of superposition combination after disassembly is required to be adjusted and optimized, and finally, the flapping wing mechanism is formed.
(2) The trajectory along which the wing tip can move, i.e. the ability of the wing to move, is limited by root constraints. The invention designs an ornithopter with a multi-degree-of-freedom ornithopter mechanism, wherein the ornithopter mechanism is convenient for optimizing the pneumatic effect: the mechanism can respectively realize a plurality of different flapping tracks, namely wing tip tracks, by the control unit, reasonably select and combine the two side wings in the achievable track set, and execute the two side wings as required to form different pneumatic effects, so that the aim of controlling the movement of the ornithopter is fulfilled by controlling the wing tip tracks of the ornithopter.
Specifically, when one side wing executes an active 8-shaped track flutter, the other side wing can selectively execute the same motion, and the aerodynamic forces at two sides are balanced; the other flank can also selectively execute flapping movement, and the aerodynamic forces at the two sides are balanced; or the wing on the other side selectively executes different 8-shaped track movements, and the aerodynamic forces on the two sides are unbalanced at the moment, and the movement of the whole frame caused by the unbalance is determined according to the shape and the size of the two annular parts of the 8-shaped track which are specifically selected and executed; likewise, the two flanks may each perform an exactly opposite 8-shaped trajectory; the motion trail of the two flanks of the mechanism can be selected, and the whole weight of the motion parts of the mechanism is smaller, but the control method is richer as described above, unlike other selectable mechanism schemes.
The invention designs the ornithopter with the multi-degree-of-freedom flapping wing mechanism, which can realize flapping, torsion and swing, and the flapping wing mechanism can realize the flapping of a space 8-shaped track and can control the left wing and the right wing to realize different amplitudes. Meanwhile, a plurality of channel mechanisms are not adopted for shunt driving, and a complex mechanism is not used for realizing a plurality of movements simultaneously, so that the device can be cited to a microminiature ornithopter;
the variable track ornithopter type experimental model and the flight model based on the actual flight requirement are combined into one model, related variables can be conveniently controlled during the experiment, the experiment is more convenient and reliable, and meanwhile, the situation that the whole body of the ornithopter type experimental model is overweight or a control mechanism is too complex to be capable of turning from the experiment to the actual flight is avoided. The invention designs an experimental machine and a prototype actually applied to flight.
(5) The invention can be applied to the tail-free ornithopter. By applying different controls to the J-shaped blade, the mechanism for executing the 8-shaped track of the active control can be degenerated into a mechanism for executing the passive 8-shaped track or a mechanism for executing the flutter track. When the mechanism is a mechanism for executing an actively controlled 8-shaped track, three degrees of freedom of the flight state of the ornithopter, namely an X-axis pitching, a Y-axis rolling and a Z-axis rotating, can be realized only by different combinations of aerodynamic effects generated by movements of different tracks of wings, and cannot be realized after the mechanism is degenerated into a passive 8-shaped track mechanism or a flapping mechanism. Therefore, the invention can be degenerated from the ornithopter without the tail wing to the type with the tail wing control, namely, the ornithopter is applicable to two types, and the design has the advantages that the following problems are solved: in analysing the aerodynamic properties of a flapping wing, it is often difficult to analyse the specific performance advantages and differences in different control modes caused by the flapping trajectories of the wing due to the inability to control well the "variables" when switching between different control modes of the flapping wing (e.g. with and without the tail wing), since two control modes are usually implemented with very different mechanisms.
Drawings
FIG. 1 is a left rear side view of an insect-imitating multiple degree of freedom ornithopter mechanism of example 1;
FIG. 2 is a front left side view of the simulated insect multiple degree of freedom ornithopter mechanism of example 1;
FIG. 3 is a schematic view showing the spatial position of the gear reduction group in embodiment 1;
FIG. 4 is a schematic view of the overall rear side of the ornithopter of example 1;
FIG. 5 is an overall schematic of the ornithopter of example 2;
FIG. 6 is an overall schematic of the ornithopter of example 3;
FIG. 7 is an overall schematic of the ornithopter of example 4;
FIG. 8 is an overall schematic of the ornithopter of example 5;
FIG. 9 is an overall schematic of the ornithopter of example 6;
FIG. 10 is a graphical representation of the swing angle of a wing of the ornithopter of example 1;
the reference numerals in the figures indicate: 1-a motor output shaft gear; 2-a second gear; 3-a third gear; 4-fourth gear; 5-crank; 6-crank connecting rod; 7-a rod sleeve; 8-wing shoulders; 9-Y-shaped seats; 10-wing shoulder connecting rod; 11-J-shaped blade; 12-seat bar; 13-a guide rod; a 14-T shaped slider; 15-a frame; 16-an output shaft; 17-flapping wings; 18-a control end connector; 19-a first linear steering engine; 20-a second spring; 21-positioning a sliding block; 22-a second linear steering engine; 23-a third linear steering engine; 24-fifth gear; 25-gear links; 26-a third spring; 27-fourth springs.
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.
Example 1
An insect-imitating multi-degree-of-freedom flapping wing mechanism, see fig. 1 and 2, comprises a frame 15, a power assembly and a flapping assembly;
the power assembly consists of a motor and a reduction gear set which are meshed with each other; the reduction gear set is positioned in the frame 15; the motor is positioned at the bottom of the frame 15; the frame 15 is provided with an output shaft 16 for driving the flapping component; the reduction gear set is meshed with the output shaft 16 for transmission;
as shown in fig. 1-3, the reduction gear set consists of a motor output shaft gear 1, a second gear 2, a third gear 3 and a fourth gear 4 which are sequentially meshed and connected; a motor output shaft for driving the motor is arranged in the middle of the motor output shaft gear 1; the output shaft 16 is fixed in the middle of the fourth gear 4. Specifically, the motor is subjected to three-stage deceleration, namely, the power conveyed by the motor is transmitted through the motor output shaft gear 1, the second gear 2, the third gear 3 and the fourth gear 4 in a meshed mode, the transmission ratio is 31.25, the power is transmitted to the output shaft 16, the flapping assembly is driven to flap, and the fourth gear 4 is fixed with the output shaft 16 in an adhesive mode.
The flapping components are symmetrically distributed on two sides of the frame 15; the flapping component consists of a crank 5, a crank connecting rod 6, a wing shoulder 8 and a rod sleeve 7 for connecting the flapping wings; one end of the crank 5 is fixed with the output shaft 16; the other end is in spherical hinge connection with the crank connecting rod 6; one end of the crank connecting rod 6 far away from the crank 5 is hinged with the wing shoulder 8; one end of the wing shoulder 8 far away from the crank connecting rod 6 is provided with a through hole for placing the rod sleeve 7; the rod sleeve 7 passes through the through hole on the wing shoulder 8, one end is hinged with the crank connecting rod 6, and the other end is connected with the flapping wing. Specifically, the two ends of the output shaft 16 are symmetrically glued with the crank 5, one end of the crank 5 far away from the output shaft 16 is a spherical part of the spherical hinge of the crank connecting rod 6, one end of the crank connecting rod 6 is a spherical sleeve part of the spherical hinge, the other end of the crank connecting rod is hinged with the rod sleeve 7, the rod sleeve 7 penetrates through the through hole of the wing shoulder 8 to form a hinged relationship with a limiting part, and therefore the rod sleeve 7 can be independently twisted with the wing shoulder 8.
The bottom of the wing shoulder 8 is provided with a supporting component for supporting the flapping wing mechanism. The support assembly consists of a Y-shaped seat 9 hinged with the wing shoulder 8 and a seat rod 12 for supporting the Y-shaped seat 9. The seat bar 12 is provided with a J-shaped blade 11 inserted in the seat bar 12. A wing shoulder connecting rod 10 is arranged between the J-shaped blade 11 and the wing shoulder 8; one end of the wing shoulder connecting rod 10 is hinged with the J-shaped blade 11; the other end is hinged with the wing shoulder 8. T-shaped sliding blocks 14 are arranged between the seat rods 12 which are symmetrically distributed; the two ends of the T-shaped sliding block 14 are inserted on seat rods 12 which are symmetrically distributed and are abutted against the J-shaped blade 11. The middle part of the T-shaped slide block 14 is provided with a guide rod 13 and a positioning spring. Specifically, the wing shoulder 8 is hinged with the wing shoulder connecting rod 10 through a rear hinge point, and is hinged with the Y-shaped seat 9 through a hole at the bottom of the wing shoulder 8, and the seat rod 12 is glued at the through hole at the bottom of the Y-shaped seat 9, and at the moment, the Y-shaped seat 9 and the seat rod 12 are respectively fixed relatively; the seat rod 12 passes through corresponding through holes on the frame 15, J-shaped blades 11 positioned on the through holes, through holes and positioning springs on two sides of the T-shaped sliding block 14, and a bottom limiting block; the metal sleeve is glued in the J-shaped blade 11, and the J-shaped blade 11 is fixed with the T-shaped sliding block 14 or the selected control end; the hinge point of the overhanging end of the J-shaped blade 11 is hinged with the corresponding wing shoulder connecting rod 10;
the ornithopter, see figure 4, figure 5, is made up of imitative insect multi freedom flapping wing organization and flapping wing 17; the flapping wings 17 are inserted on the sleeve 7. The flapping angle range of the flapping wings 17 in the ornithopter is 0-100 degrees, the torsion range is 0-45 degrees, and the swing range is 1-18 degrees. Specifically, the flapping wings 17 are inserted into the symmetrical two rod sleeves 7, and the flapping wing mechanism enables the flapping wings 17 to have a flapping range of 0 to 100 degrees, a torsion range of 0 to 45 degrees and a swinging range of 0 to 18 degrees after the assembly of the ornithopter is measured; a guide rod 13 and a positioning spring are transmitted to the corresponding position in the middle of the T-shaped sliding block 14; the motor output shaft gear 1, the second gear 2, the third gear 3 and the fourth gear 4 are installed at corresponding positions and the corresponding shafts are penetrated, two corresponding bearings are arranged at the fourth gear 4, and as the degree of freedom of control is not exerted, positioning springs are added at proper positions, wherein the positioning springs are used for keeping the wing in a flying state under the natural state of the mechanism which is not operated, so that the observation and the research are convenient.
Fig. 10 is a diagram of swing angle objects of the wing of the ornithopter in different swing positions in the embodiment, and the swing amplitude is 18 degrees.
Example 2
Referring to fig. 5, the present embodiment is basically identical to embodiment 1, except that in this embodiment, the control unit is a linear steering engine control unit, which is composed of a control end connector 18 and a first linear steering engine 19, the J-shaped blade is provided with the control end connector, and the first linear steering engine 19 is fixed on the seat rod in a penetrating manner. The first linear steering engine 19 is used as a motion steering engine, more high-frequency reciprocating motions are required to be executed, and the reciprocating motions output by the first linear steering engine 19 are transmitted to the flapping wings 17 through various components, so that the wing tips can be controlled to execute the same or different motion tracks by controlling the reciprocating motions output by the linear steering engines, and the motions of the two side wings can be regulated relatively independently. The control mode of the embodiment has the characteristics that the ornithopter has excellent aerodynamic performance, and can be classified into a non-tail ornithopter, namely, the control of all degrees of freedom required by executing space motion on the ornithopter can be satisfied only by controlling the movement of the ornithopter 17.
Examples
Referring to fig. 6, the present embodiment is basically identical to embodiment 1, except that a control unit comprising a second spring 20, a positioning slider 21 and a second linear steering engine 22 is provided in this embodiment, and the upper end of the second spring 20 is connected to the J-blade 11, and the lower end is connected to the positioning slider 21. In this embodiment, only the positioning function of the second linear steering engine 22 is used, and the second linear steering engine 22 is used as the positioning steering engine without executing the reciprocating motion with higher frequency. The position of the second spring 20 (or the precompression amount of the second spring 20 when the wings are at the same position relative to the frame) is adjusted by adjusting the advance and retreat of the second linear steering engine 22, so that the feedback behaviors of the two side wings on the longitudinal resistance in the motion process are different, and different motion tracks (mainly the longitudinal swing amplitudes of the 8-shaped tracks are different, note that the 8-shaped track is horizontal, namely the 'infinity' shape, and the longitudinal swing amplitude refers to the longitudinal length of the 'infinity' shape) are generated, thereby achieving the purpose of controlling the motion tracks of the two side wings.
Example 4
Referring to fig. 7, the present embodiment is basically identical to embodiment 1, except that the control unit in this embodiment is a third linear steering engine 23, the linear steering engine is mounted at a reserved position at the bottom of the T-shaped slider 14, and the motion of the T-shaped slider 14 is synchronously transferred to two shoulder parts and other parts, so that the longitudinal swing amplitude of the 8-shaped track formed by the wing tips at two sides is the same, and the T-shaped slider 14 is controlled by the third linear steering engine 23, so as to achieve the purpose of simultaneously controlling the flapping wings at two sides to execute the same adjustable motion track.
Example 5
Referring to fig. 8, the present embodiment is basically identical to embodiment 1, except that the control unit in this embodiment is a fifth gear 24 connected to the T-shaped slider 14 through a gear link 25, and the motion of the T-shaped slider 14 is also synchronously transmitted to the wing shoulders and other parts on both sides, so that the longitudinal swing amplitude of the 8-shaped tracks on both sides of the wing is the same, and the purpose that both sides of the wing simultaneously execute the same fixed motion track is achieved. The motion trail can be determined by the gear number of the fifth gear 24 and the position of the hinging point, the length of the gear connecting rod 25 and other factors, and once the above dimensions are determined, the motion trail is completely determined. The number of teeth of the fifth gear 24 in this embodiment is half that of the fourth gear.
Example 6
Referring to fig. 9, this embodiment is basically identical to embodiment 1, except that the control unit in this embodiment is a third spring 26 installed at the bottom end of the J-blade and a fourth spring 27 installed at the bottom end of the T-shaped slider 14, where stiffness coefficients of the third spring 26 and the fourth spring 27 may be different, and by combining springs with different stiffness coefficients, feedback behaviors of the two wings on longitudinal resistance during movement may be different, so that the wingtip executes different movement tracks.
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 (7)
1. The insect-imitating multi-degree-of-freedom flapping wing mechanism is characterized by comprising a frame (15), a power assembly and a flapping assembly;
the power assembly consists of a motor and a reduction gear set which are meshed with each other; the reduction gear set is positioned in the frame (15); the motor is positioned at the bottom of the frame (15); an output shaft (16) for driving the flapping component is arranged on the frame (15); the reduction gear set is meshed with the output shaft (16) for transmission;
the flapping components are symmetrically distributed on two sides of the frame (15); the flapping assembly consists of a crank (5), a crank connecting rod (6), a wing shoulder (8) and a rod sleeve (7) for connecting the flapping wings; one end of the crank (5) is fixed with the output shaft (16), and the other end is connected with the spherical hinge of the crank connecting rod (6); one end of the crank connecting rod (6) far away from the crank (5) is hinged with the wing shoulder (8); one end of the wing shoulder (8) far away from the crank connecting rod (6) is provided with a through hole for placing the rod sleeve (7); the rod sleeve (7) passes through the through hole on the wing shoulder (8), one end of the rod sleeve is hinged with the crank connecting rod (6), and the other end of the rod sleeve is used for connecting the flapping wing;
the bottom of the wing shoulder (8) is provided with a supporting component for supporting the flapping wing mechanism; the support component consists of a Y-shaped seat (9) hinged with the wing shoulder (8) and a seat rod (12) for supporting the Y-shaped seat (9); the seat rod (12) is provided with a J-shaped blade (11) which is inserted into the seat rod (12); a wing shoulder connecting rod (10) is arranged between the J-shaped blade (11) and the wing shoulder (8); one end of the wing shoulder connecting rod (10) is hinged with the J-shaped blade (11); the other end is hinged with the wing shoulder (8).
2. The insect-imitating multi-degree-of-freedom flapping wing mechanism according to claim 1, wherein the reduction gear set consists of a motor output shaft gear (1), a second gear (2), a third gear (3) and a fourth gear (4) which are sequentially meshed;
a motor output shaft for motor transmission is arranged in the middle of the motor output shaft gear (1);
the output shaft (16) is fixed in the middle of the fourth gear (4).
3. An insect-imitating multiple degree of freedom flapping wing mechanism according to claim 1, wherein,
t-shaped sliding blocks (14) are arranged between the seat rods (12) which are symmetrically distributed; two ends of the T-shaped sliding block (14) are inserted into seat rods (12) which are symmetrically distributed and are abutted against the J-shaped blade (11).
4. An insect-imitating multi-degree-of-freedom flapping wing mechanism according to claim 3, wherein the middle part of the T-shaped sliding block (14) is provided with a guide rod (13) and a positioning spring.
5. An insect-imitating multi-degree-of-freedom flapping wing mechanism according to claim 3, wherein,
the flapping wing mechanism is provided with control units for symmetrically distributing the flapping wings to complete different flapping tracks.
6. An ornithopter, characterized in that the ornithopter consists of an insect-imitating multi-degree-of-freedom ornithopter mechanism and an ornithopter (17) according to any one of claims 1 to 5; the flapping wings (17) are inserted on the rod sleeve.
7. An ornithopter according to claim 6, wherein the flapping angle of the flapping wings (17) ranges from 0 to 100 °, the twist ranges from 0 to 45 ° and the swing ranges from 1 to 18 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311107444.0A CN116853497B (en) | 2023-08-31 | 2023-08-31 | Insect-imitating multi-degree-of-freedom flapping-wing mechanism and flapping-wing machine |
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