CN202481312U - Unidirectional flapping mechanism capable of realizing two-dimensional motion - Google Patents
Unidirectional flapping mechanism capable of realizing two-dimensional motion Download PDFInfo
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- CN202481312U CN202481312U CN2012201135816U CN201220113581U CN202481312U CN 202481312 U CN202481312 U CN 202481312U CN 2012201135816 U CN2012201135816 U CN 2012201135816U CN 201220113581 U CN201220113581 U CN 201220113581U CN 202481312 U CN202481312 U CN 202481312U
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- hinged
- flapping wing
- crank
- dimensional motion
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Abstract
The utility model relates to a unidirectional flapping mechanism capable of realizing two-dimensional motion. The utility model provides the unidirectional flapping mechanism capable of realizing two-dimensional motion, comprising a rack, a drive motor, a reducing mechanism, two crank connecting rod mechanisms which are symmetrically arranged, a turning connecting block and a flapping rocker, wherein the drive motor is respectively connected with the two crank connecting rod mechanisms through the reducing mechanism; each crank connecting rod mechanism comprises a crank, a combined hinge and a connecting rod; the reducing mechanism is connected with one ends of the cranks, the other ends of the cranks are hinged with the combined hinges, the combined hinges are hinged with one ends of the connecting rods, the other ends of the connecting rods are hinged with the turning connecting block, the turning connecting block is hinged with the flapping rocker, and the flapping rocker is hinged with the rack. The unidirectional flapping mechanism has the beneficial effects of having one degree of freedom, being capable of realizing smooth transmission, and being capable of realizing two motions, namely, fluttering and turning wings.
Description
Technical field
The utility model relates to the flapping wing mechanism of flapping wing aircraft, relates in particular to the flapping wing mechanism that a kind of single degree of freedom can realize two dimensional motion.
Background technology
1992; U.S. national defense advanced research projects agency (DAPRA) holds once the notion that has proposed minute vehicle (MAV) on the following council of war in Rand Corporation of think tank of U.S. army (RAND): all directions size of aircraft is no more than 15 centimetres; Weight is less than 100 grams, and capacity weight 1-18 restrains, cruising speed 30-60 kilometer/hour; In 20-60 minute cruise duration, maximum range is the 1-10 kilometer.Through a series of seminars, the consistent MAV of thinking of brainstrust should have characteristics: (1) should be to be fit to the army-accepted system; (2) can carry closely imaging system of weather-proof, resolution should be enough to make operating personal to tell the material particular in the sending area; (3) should have the ability of accurately confirming the geographic position; (4) in light weight, sturdy and durable, carry so that can be placed in soldier's the knapsack; (5) cheap, even can disposablely use; (6) good concealment is difficult for being found by the enemy, should not expose user of service's position.Notion is once proposing just to obtain extensive concern: the various countries expert successively develops " iBird-bot "; " Microrobotic Fly "; " hummingbird NAV " " Delfly Micro " a series of bionic flapping-wing flying vehicles such as " SmartBird "; Before bionical, fly, retreat, there has been technical breakthrough exceedingly difficult movements aspect such as hover.
Minute vehicle is divided into by the kinematic mechanism difference: fixed-wing aircraft, rotor craft and bionic flapping-wing flying vehicle.Say from the bionics angle: under microsize, flapping wing aircraft has better airworthiness with respect to fixed-wing aircraft and rotor craft.
Mini-sized flap wings Flight Vehicle Structure size and small-sized birds or insect are more approaching.Say from the bionics angle: the wing motion of small-sized birds and insect has three kinds: fluttering up and down, seesaw along heading, (resultant motion of moving is " O " type with fluttering up and down; " 8 " font; Two " 8 " font), move or the like along the twisting motion and the flap of wing root direction.Existing minute vehicle is mainly used the single crank double rocker mechanism; Can only realize fluttering simply up and down; And the wing side-to-side movement has asymmetry; Increase the flight fugitiveness of aircraft, as birds, do not had complicacy wing motion flexibly, be difficult to realize complicated aerial mission.
Summary of the invention
In order to solve the problems of the prior art, the utility model provides a kind of single degree of freedom can realize the flapping wing mechanism of two dimensional motion.
The utility model provides a kind of single degree of freedom can realize the flapping wing mechanism of two dimensional motion; Comprise frame, drive motor, speed reduction gearing, two symmetrically arranged piston crank mechanisms, the company's of reversing piece and flapping wing rocking bars; Wherein, said drive motor is connected with two said piston crank mechanisms respectively through said speed reduction gearing, and said piston crank mechanism comprises crank, combined hinge and connecting rod; One end of said speed reduction gearing and said crank is hinged; The other end of said crank and said combined hinge are hinged, and an end of said combined hinge and said connecting rod is hinged, and the other end of said connecting rod and the said company of reversing piece are hinged; The said company of reversing piece and said flapping wing rocking bar are hinged, and said flapping wing rocking bar and said frame are hinged.
Further improvement as the utility model; Said combined hinge comprises first contiguous block and second contiguous block; The other end of said crank and said first contiguous block are hinged, and said second contiguous block and said first contiguous block are hinged, and said connecting rod is captiveed joint with said second contiguous block.
Further improvement as the utility model; The other end of said crank and the said first contiguous block pivotally attached S. A. are first S. A.; Said second contiguous block and the said first contiguous block pivotally attached S. A. are second S. A., and said first S. A. and said second S. A. are perpendicular.
As the further improvement of the utility model, the said company of reversing piece is connected with flapping wing.
As the further improvement of the utility model, said drive motor and speed reduction gearing are fixed on the said frame.
As the further improvement of the utility model, said drive motor is a brushless motor.
As the further improvement of the utility model, said drive motor is connected with generator shaft gear, and said generator shaft gear is connected with said speed reduction gearing.
As the further improvement of the utility model, said speed reduction gearing comprises one-level gear and the secondary gear that is meshed, and said one-level gear is meshed with said generator shaft gear, and said secondary gear and said crank are hinged.
As the further improvement of the utility model, said secondary gear and said crank pivotally attached S. A. are the 3rd S. A., and said the 3rd S. A. and said first S. A. parallel.
As the further improvement of the utility model, said frame is provided with the hinge recess seat, and said flapping wing rocking bar and said hinge recess seat are hinged.
The beneficial effect of the utility model is: through such scheme, have one degree of freedom, ensuring smooth transmission; Can realize fluttering and reversing two motions of wing simultaneously; Symmetry that tool is good and flight stability can be carried out wing motion flexibly, help realizing complicated aerial mission.
Description of drawings
Fig. 1 is the structural representation that a kind of single degree of freedom of the utility model can realize the flapping wing mechanism of two dimensional motion;
Fig. 2 is the front view that the said single degree of freedom of the utility model can realize the flapping wing mechanism of two dimensional motion;
Fig. 3 is the birds-eye view that the said single degree of freedom of the utility model can realize the flapping wing mechanism of two dimensional motion.
The specific embodiment
Below in conjunction with the description of drawings and the specific embodiment the utility model is further specified.
Drawing reference numeral among Fig. 1 to Fig. 3 is: the company's of reversing piece 1; Connecting rod 2; Flapping wing rocking bar 3; Hinge recess seat 4; Frame 5; Secondary gear 6; Crank 7; The 3rd S. A. 8; First contiguous block 9; Combined hinge 10; Second contiguous block 11; Interlinking lever end 12; One-level gear 13; Generator shaft gear 14; Drive motor 15.
To shown in Figure 3, a kind of single degree of freedom can realize the flapping wing mechanism of two dimensional motion, comprises frame 5, drive motor 15, speed reduction gearing, two symmetrically arranged piston crank mechanisms, the company's of reversing piece 1 and flapping wing rocking bars 3 like Fig. 1; Wherein, frame 5 is fuselage, and said drive motor 15 is connected with two said piston crank mechanisms respectively through said speed reduction gearing; Said piston crank mechanism comprises crank 7, combined hinge 10 and connecting rod 2, and an end of said speed reduction gearing and said crank 7 is hinged, and the other end of said crank 7 and said combined hinge 10 are hinged; Said combined hinge 10 is hinged with an end of said connecting rod 2; The other end of said connecting rod 2 and the said company of reversing piece 1 are hinged, and the said company of reversing piece 1 and said flapping wing rocking bar 3 are hinged, and said flapping wing rocking bar 3 and said frame 5 are hinged; Said crank 7 rotations; Relative frame 5 (being fuselage), the angle of fluttering of Stroke Control flapping wing rocking bar 3 up and down, about the windup-degree of Stroke Control aerofoil.
Extremely shown in Figure 3 like Fig. 1; Said combined hinge 10 comprises first contiguous block 9 and second contiguous block 11; The other end of said crank 7 and said first contiguous block 9 are hinged; Said second contiguous block 11 is hinged with said first contiguous block 9, and the interlinking lever end 12 of said connecting rod 2 is captiveed joint with said second contiguous block 11.
Extremely shown in Figure 3 like Fig. 1; The other end of said crank 7 and said first contiguous block, 9 pivotally attached S. A.s are first S. A.; Said second contiguous block 11 is second S. A. with the S. A. of said first contiguous block hinged 9; Said first S. A. and said second S. A. are perpendicular, promptly said combined hinge 10 be two mutual vertical cartels of revolute pair together, can realize the rotation of both direction.
To shown in Figure 3, said companys of reversing piece 1 is connected with flapping wing like Fig. 1, i.e. wing, and companys of reversing piece 1 has two mutual vertical cylinder pairs, and is hinged with connecting rod 2 and flapping wing rocking bar 3 respectively; The connecting rod 2 swing drive company of reversing piece 1 relative flapping wing rocking bars 3 are made certain angle and are periodically reversed; Wing then is fixed on the company's of reversing piece 1.
To shown in Figure 3, said drive motor 15 is fixed on the said frame 5 with speed reduction gearing like Fig. 1.
To shown in Figure 3, said drive motor 15 is preferably brushless motor like Fig. 1.
To shown in Figure 3, said drive motor 15 is connected with generator shaft gear 14 like Fig. 1, and said generator shaft gear 14 is connected with said speed reduction gearing.
To shown in Figure 3, said speed reduction gearing comprises the one-level gear 13 and secondary gear 6 that is meshed like Fig. 1, and said one-level gear 13 is meshed with said generator shaft gear 14, and said secondary gear 6 is hinged with said crank 7.
To shown in Figure 3, said secondary gear 6 is the 3rd S. A. 8 with said crank 7 pivotally attached S. A.s like Fig. 1, and said the 3rd S. A. 8 parallels with said first S. A..
To shown in Figure 3, said frame 5 is provided with hinge recess seat 4 like Fig. 1, and said flapping wing rocking bar 3 and said hinge recess seat 4 are hinged.
A kind of single degree of freedom that the utility model provides can realize the flapping wing mechanism of two dimensional motion; The characteristics of motion of the flapping wing rocking bar 3 roughly characteristics of motion with four-bar mechanism is consistent; And the synergy of combined hinge 10 and the company's of reversing piece 1; Make flapping wing well realize twisting motion, the basic, normal, high frequency that the is applicable to bionic flapping-wing flying vehicle flight of fluttering can realize that similar flying bird is the same with insect to flutter up and down and along the twisting motion of wing root direction.
Above content is the further explain that combines concrete preferred implementation that the utility model is done, and can not assert that the practical implementation of the utility model is confined to these explanations.For the those of ordinary skill of technical field under the utility model, under the prerequisite that does not break away from the utility model design, can also make some simple deduction or replace, all should be regarded as belonging to the protection domain of the utility model.
Claims (10)
1. a single degree of freedom can realize the flapping wing mechanism of two dimensional motion; It is characterized in that: comprise frame, drive motor, speed reduction gearing, two symmetrically arranged piston crank mechanisms, the company's of reversing piece and flapping wing rocking bars; Wherein, said drive motor is connected with two said piston crank mechanisms respectively through said speed reduction gearing, and said piston crank mechanism comprises crank, combined hinge and connecting rod; One end of said speed reduction gearing and said crank is hinged; The other end of said crank and said combined hinge are hinged, and an end of said combined hinge and said connecting rod is hinged, and the other end of said connecting rod and the said company of reversing piece are hinged; The said company of reversing piece and said flapping wing rocking bar are hinged, and said flapping wing rocking bar and said frame are hinged.
2. can realize the flapping wing mechanism of two dimensional motion according to the said single degree of freedom of claim 1; It is characterized in that: said combined hinge comprises first contiguous block and second contiguous block; The other end of said crank and said first contiguous block are hinged; Said second contiguous block and said first contiguous block are hinged, and said connecting rod is captiveed joint with said second contiguous block.
3. can realize the flapping wing mechanism of two dimensional motion according to the said single degree of freedom of claim 2; It is characterized in that: the other end of said crank and the said first contiguous block pivotally attached S. A. are first S. A.; Said second contiguous block and the said first contiguous block pivotally attached S. A. are second S. A., and said first S. A. and said second S. A. are perpendicular.
4. can realize the flapping wing mechanism of two dimensional motion according to the said single degree of freedom of claim 1, it is characterized in that: the said company of reversing piece is connected with flapping wing.
5. can realize the flapping wing mechanism of two dimensional motion according to the said single degree of freedom of claim 1, it is characterized in that: said drive motor and speed reduction gearing are fixed on the said frame.
6. can realize the flapping wing mechanism of two dimensional motion according to the said single degree of freedom of claim 1, it is characterized in that: said drive motor is a brushless motor.
7. can realize the flapping wing mechanism of two dimensional motion according to the said single degree of freedom of claim 1, it is characterized in that: said drive motor is connected with generator shaft gear, and said generator shaft gear is connected with said speed reduction gearing.
8. can realize the flapping wing mechanism of two dimensional motion according to the said single degree of freedom of claim 7; It is characterized in that: said speed reduction gearing comprises one-level gear and the secondary gear that is meshed; Said one-level gear is meshed with said generator shaft gear, and said secondary gear and said crank are hinged.
9. said according to Claim 8 single degree of freedom can realize the flapping wing mechanism of two dimensional motion, it is characterized in that: said secondary gear and said crank pivotally attached S. A. are the 3rd S. A., and said the 3rd S. A. and said first S. A. parallel.
10. can realize the flapping wing mechanism of two dimensional motion according to the said single degree of freedom of claim 1, it is characterized in that: said frame is provided with the hinge recess seat, and said flapping wing rocking bar and said hinge recess seat are hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201135816U CN202481312U (en) | 2012-03-23 | 2012-03-23 | Unidirectional flapping mechanism capable of realizing two-dimensional motion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201135816U CN202481312U (en) | 2012-03-23 | 2012-03-23 | Unidirectional flapping mechanism capable of realizing two-dimensional motion |
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| CN202481312U true CN202481312U (en) | 2012-10-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012201135816U Expired - Fee Related CN202481312U (en) | 2012-03-23 | 2012-03-23 | Unidirectional flapping mechanism capable of realizing two-dimensional motion |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103241379A (en) * | 2013-05-16 | 2013-08-14 | 中国科学院长春光学精密机械与物理研究所 | Flapping wing device for achieving active torsion for flapping wings and wing planes of aerofoil |
| CN107444634A (en) * | 2017-06-13 | 2017-12-08 | 大连理工大学 | Double freedom flapping wing mechanism |
| CN111619802A (en) * | 2020-05-15 | 2020-09-04 | 浙江大学 | Fastening type flapping wing mechanism capable of being quickly disassembled and assembled |
| CN112078790A (en) * | 2020-09-03 | 2020-12-15 | 哈尔滨工业大学（深圳） | Flapping wing driving device and aircraft |
| CN113086187A (en) * | 2021-04-30 | 2021-07-09 | 武汉科技大学 | Two-degree-of-freedom flapping wing aircraft capable of realizing flapping torsion |
| CN114291259A (en) * | 2021-12-23 | 2022-04-08 | 北京理工大学 | Bionic flapping wing robot based on spatial four-bar mechanism |
-
2012
- 2012-03-23 CN CN2012201135816U patent/CN202481312U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103241379A (en) * | 2013-05-16 | 2013-08-14 | 中国科学院长春光学精密机械与物理研究所 | Flapping wing device for achieving active torsion for flapping wings and wing planes of aerofoil |
| CN103241379B (en) * | 2013-05-16 | 2015-09-09 | 中国科学院长春光学精密机械与物理研究所 | A kind of flapping wing device realizing wing flapping wing and aerofoil active twist |
| CN107444634A (en) * | 2017-06-13 | 2017-12-08 | 大连理工大学 | Double freedom flapping wing mechanism |
| CN107444634B (en) * | 2017-06-13 | 2019-11-26 | 大连理工大学 | Double freedom flapping wing mechanism |
| CN111619802A (en) * | 2020-05-15 | 2020-09-04 | 浙江大学 | Fastening type flapping wing mechanism capable of being quickly disassembled and assembled |
| CN111619802B (en) * | 2020-05-15 | 2021-08-03 | 浙江大学 | Fastening type flapping wing mechanism capable of being quickly disassembled and assembled |
| CN112078790A (en) * | 2020-09-03 | 2020-12-15 | 哈尔滨工业大学（深圳） | Flapping wing driving device and aircraft |
| CN113086187A (en) * | 2021-04-30 | 2021-07-09 | 武汉科技大学 | Two-degree-of-freedom flapping wing aircraft capable of realizing flapping torsion |
| CN113086187B (en) * | 2021-04-30 | 2023-07-28 | 武汉科技大学 | Two-degree-of-freedom flapping-wing aircraft capable of realizing flapping torsion |
| CN114291259A (en) * | 2021-12-23 | 2022-04-08 | 北京理工大学 | Bionic flapping wing robot based on spatial four-bar mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121010 Termination date: 20130323 |