CN206734623U - Bionical wing drive mechanism and bionical wing and bionic Aircraft - Google Patents
Bionical wing drive mechanism and bionical wing and bionic Aircraft Download PDFInfo
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- CN206734623U CN206734623U CN201720315359.7U CN201720315359U CN206734623U CN 206734623 U CN206734623 U CN 206734623U CN 201720315359 U CN201720315359 U CN 201720315359U CN 206734623 U CN206734623 U CN 206734623U
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Abstract
It the utility model is related to and bionical wing drive mechanism and bionical wing and bionic Aircraft are provided,Bionical wing drive mechanism includes four-bar mechanism first,Four-bar mechanism first includes bar first~fourth,The tail end of bar first is pivotally connected with the head end of bar second,The tail end of bar second is pivotally connected with the head end of bar third,The tail end of bar third is pivotally connected with the head end of bar fourth,The tail end of bar fourth is pivotally connected with the head end of bar first,Bar first~bar fourth forms the quadrangle of a closing,Bar third is fixedly connected with bar penta,Bar penta is located at the outside of bionical wing drive mechanism,Oneself first end of the head end of bar first and bar is fixedly connected,Bar oneself be articulated in component first,One end of bar nonyl is also articulated with component first,The other end of bar nonyl is articulated in the middle part of bar fourth,One section certainly with the head end of bar nonyl articulated section to bar fourth of bar fourth,Bar oneself,Component first,Bar nonyl forms four-bar mechanism second,Oneself the second end of bar is power intake.The bionical wing drive mechanism can change size and/or the shape of wing to reduce resistance of the wing in backhaul.
Description
Technical field
The utility model belongs to the wing actuation techniques field of flapping-wing aircraft, more particularly to bionical wing drive mechanism and imitates
The life wing and the bionic Aircraft for being provided with the bionical wing.
Background technology
In the prior art, in order to reduce resistance of the flapping wing in uphill process, bionical flapping-wing aircraft is using following mostly
Several method：1st, wing is folded along wing length in uphill process, wing is become a curve to raise up
Or broken line, to reduce the resistance in uphill process；2nd, the part in wing is caused to be in the state of downward opening that can be unidirectionally,
When wing rises, this part piece or plate are opened downwards, air-flow from wing during ducting fanned air downward by, wing, these plates or
Piece is bonded with framework automatically, can downward ducting fanned air；3rd, wing is rotated using its length direction as axle in uphill process,
Residing angle is different when wing angle residing when rising is declined from wing, and angle during rising more tilts, and it is produced
Active force it is smaller.But in above several method, method 2 can produce substantial amounts of pin joint, the weight of wing is added, and then
Increase the weight of aircraft, meanwhile, supply flows through out-of-date hole, and many resistances can be also produced when aircraft forward flight
Power., it is necessary to have larger turning moment to control the rotation of wing in method 3, particularly during the decline of wing, in order to
The posture of wing is maintained, it is necessary to increase the moment of torsion of steering wheel, and then increases the weight of aircraft.The wing of these three methods becomes above
Change all be solved in the dimension agitated above and below wing agitate front face area problem, so can waste in the vertical direction certain
Stroke range, reduce the efficiency during flapping wing.
The content of the invention
The utility model is overcomes technical problem present in prior art to provide bionical wing drive mechanism and bionical
Wing and bionic Aircraft, the bionical wing drive mechanism can change size and/or the shape of wing to reduce wing
Resistance in backhaul.
A kind of bionical wing drive mechanism, including four-bar mechanism first, four-bar mechanism first include bar first, bar second, bar third and bar
Fourth, the tail end of bar first are pivotally connected with the head end of bar second, and the tail end of bar second is pivotally connected with the head end of bar third, the tail end of bar third and the head of bar fourth
End pivot joint, the tail end of bar fourth are pivotally connected with the head end of bar first, and bar first, bar second, bar third, bar fourth form the quadrangle of a closing, bar third
It is fixedly connected with bar penta, bar penta is located at the outside of bionical wing drive mechanism,
Oneself first end of the head end of bar first and bar is fixedly connected, and oneself is articulated in component first bar, is also articulated with component first
One end of bar nonyl, the other end of bar nonyl are articulated in the middle part of bar fourth, the head end from the articulated section with bar nonyl to bar fourth of bar fourth
One section, bar oneself, component first, bar nonyl form four-bar mechanism second, oneself the second end of bar is power intake.
By setting four-bar mechanism first, and a bar in four-bar mechanism first is driven by four-bar mechanism second, can be with
By the own input power of bar in four-bar mechanism second, four-bar mechanism first is driven to complete flexible, can be so that freeing wing
Switched between more elongated or short and thick, wing has larger area when being agitated downwards, reduces it when agitating upwards
Area, it is possible to reduce resistance of the wing when backhaul is agitated, so as to improve the utilization rate of the energy.
Preferable technical scheme, its supplementary features are：Also include four-bar mechanism third, four-bar mechanism third includes the bar last of the ten Heavenly stems, bar
Ugly, the bar third of the twelve Earthly Branches, the bar last of the ten Heavenly stems or the bar third of the twelve Earthly Branches are connected with the first power source, and the ugly one end of bar is pivotally connected with the bar third of the twelve Earthly Branches, the bar ugly other end and bar
The last of the ten Heavenly stems is pivotally connected, and oneself the second end of bar is hinged with the ugly sphere of bar, in the motion process of four-bar mechanism third, the pivoting point of bar oneself and component first
It can be changed with the distance between plane where the motion of four-bar mechanism third.
By setting four-bar mechanism third, the power output with rotation formula of power source can be converted into the ugly fortune of bar
Dynamic, so as to driven rod, oneself the second end is swung, and circular motion is converted to the song at oneself the second end of suitable control-rod
Line.
Further preferred technical scheme, its supplementary features are：Plane where the motion of four-bar mechanism third and bionical machine
The spanwise of wing drive mechanism is vertical.
, not only can be by the defeated of four-bar mechanism third by the way that four-bar mechanism third is placed perpendicular in the plane of spanwise
The circular motion entered is converted into the motion of bar oneself input in wingpiston, it can also enough by the defeated of four-bar mechanism third
The circular motion entered is converted into swinging up and down for wingpiston, so as to complete also complete machine while wing is swung up and down
The change of wing area, so as to reduce resistance during wing backhaul, improve energy utilization efficiency during flight.
Further preferred technical scheme, its supplementary features are：Plane where the motion of four-bar mechanism third and bionical machine
The spanwise of wing drive mechanism is parallel.
It is parallel with spanwise by the way that the plane of movement of four-bar mechanism third is arranged to, it can make it that four-bar mechanism third is main
Change the shape of wing for driving, so as to reduce the volume of the first power source, as the action for causing wing to agitate, make
Its action no longer with changing wing profile links, and can individually be driven, can be changed with convenient, flexible by other power source
Become wing and agitate the parameters such as the track of action, speed.
A kind of bionical wing, above-mentioned bionical wing drive mechanism is provided with, component first is articulated on the bar fourth of the twelve Earthly Branches, the bar fourth of the twelve Earthly Branches and structure
Part second is pivotally connected, and component first is parallel with the plane where four-bar mechanism second with the relative rotation axis at the bar fourth of the twelve Earthly Branches or positioned at four-bar mechanism second
In the plane at place, component second and the bar fourth of the twelve Earthly Branches to relatively rotate axis parallel with the plane where four-bar mechanism second, component second also with
Bar occasion and the pivot joint of bar the sixth of the twelve Earthly Branches, bar occasion or bar the sixth of the twelve Earthly Branches are connected with the second power source, and bar the sixth of the twelve Earthly Branches, bar occasion and component second form single-degree-of-freedom
Four-bar mechanism fourth.
By setting four-bar mechanism fourth, bionical wing can be adjusted with the initial position of the motion of control biomimetics wing
Swing up and down the angular distribution section in region and adjust the location of scope of deformation of bionical wing, so as to change unilateral machine
The wing caused lift size in a circulation agitated, and then adjust the roll angle of aircraft.
Preferable technical scheme, its supplementary features are：Component first was also articulated on the bar noon, the bar noon respectively with component first and
Line between the pivoting point of component is the first line, with the bar noon respectively with the line between the pivoting point of component first and component second
For the second line, the first line is parallel and isometric with the second line, and the bar noon is pivotally connected with component second, and component first is relative with the bar noon to be turned
Shaft line is parallel with the plane where four-bar mechanism second or in the plane where four-bar mechanism second, component second and the phase at bar noon
It is parallel with the plane where four-bar mechanism second to pivot center, the bar noon line between component first and the pivoting point of component respectively
Be the second line with the line between the pivoting point of component first and component second respectively with the bar noon for the first line, the first line with
Second line is parallel and isometric.
By the way that component first and bar noon are pivotally connected, and the bar noon is arranged to parallel with the bar fourth of the twelve Earthly Branches isometric, component first can be improved
The stability being connected with component second, component first is avoided to be shaken relative to component second, so as to ensure that the essence of wing position
Really.
A kind of bionic Aircraft, it is provided with above-mentioned bionical wing.
By setting above-mentioned bionical wing, resistance of the wing in backhaul can be reduced, so as to reduce the resistance of flight
Power.
Preferable technical scheme, its supplementary features are：The first power source in the bionical wing of both sides is same power
Source, the second power source in the bionical wing of both sides is respectively independent power source.
When it be independent power source to set two the second power sources, can cause the wing of side in can export compared with
The angle of noticeable effort, and the wing of opposite side is in the less angle of output action power, so as to adjust wing respectively
Output action power, to cause aircraft to produce inclination or change roll angle.
Preferable technical scheme, its supplementary features are：The first power source in the bionical wing of both sides is same power
Source, the second power source in the bionical wing of both sides is the same power source.
When without specially adjusting roll angle, two the second power sources can be arranged to a power source, can adjusted
Lift size caused by wing, so as to control the landing of aircraft.
Preferable technical scheme, its supplementary features are：Also include head and the tail drive mechanism, head and the tail drive mechanism includes bar Shen
With the bar tenth of the twelve Earthly Branches, bar Shen and the bar tenth of the twelve Earthly Branches are connected with head and the tail power source, are hinged respectively with bar the eleventh of the twelve Earthly Branches and bar last of the twelve Earthly Branches sphere on bar Shen, on the bar tenth of the twelve Earthly Branches respectively
Be hinged with the bar universe and bar bank sphere, bar the eleventh of the twelve Earthly Branches and the bar universe are respectively hinged with head component sphere, bar bank and the bar last of the twelve Earthly Branches respectively with tail
Portion's component sphere is hinged；Also with the blunt pivot joint of bar, bar is blunt to be articulated on body head component, and rear member is also shaken with bar to be pivotally connected, bar
Shake is also articulated on body.
Driven rod Shen and the bar tenth of the twelve Earthly Branches are distinguished by head and the tail power source, and bar Shen and the bar tenth of the twelve Earthly Branches continue through bar and head component or
Rear member sphere is hinged, and head component can be driven to be swung and swung up and down, consequently facilitating control pitching etc. flies
Row angle.
Brief description of the drawings
Fig. 1 is the schematic diagram of mechanism of the utility model embodiment 1.
Fig. 2 is the schematic diagram of mechanism of the utility model variants 5..
Fig. 3 is the schematic diagram of mechanism of embodiment 2.
Fig. 4 is the schematic diagram of mechanism of embodiment 3.
Fig. 5 is the schematic diagram of mechanism of embodiment 4.
Fig. 6 is the schematic diagram of mechanism of the head and the tail swing mechanism in embodiment 5.
Fig. 7 is the schematic diagram of mechanism of the head and the tail swing mechanism in embodiment 6.
Embodiment
For invention, features and effects of the present utility model can be further appreciated that, following examples are hereby enumerated, and in detail
It is described as follows：
Embodiment 1：
Fig. 1 is the schematic diagram of mechanism of the utility model embodiment 1.
In figure, the implication that each reference represents is as follows：1st, bar first；2nd, bar second；3rd, bar third；4th, bar fourth；5th, bar penta；6、
Bar oneself；7th, the first power source；8th, component first；9th, bar nonyl；10th, the bar last of the ten Heavenly stems；11st, sliding seat；12nd, bar is ugly；13rd, the bar third of the twelve Earthly Branches；23rd, slide
Bar.
A kind of bionical wing drive mechanism, including four-bar mechanism first, four-bar mechanism first include bar first 1, bar second 2, the and of bar the third 3
Bar fourth 4, the tail end of bar first 1 and the head end of bar second 2 are pivotally connected, and the head end of the tail end of bar second 2 and bar the third 3 is pivotally connected, the tail end of bar the third 3 with
The head end pivot joint of bar fourth 4, the tail end of bar fourth 4 and the head end of bar first 1 are pivotally connected, bar first 1, bar second 2, bar the third 3, bar fourth 4 head and the tail successively
Be connected, form the quadrangle of a closing, bar the third 3 and bar penta 5 is fixedly connected, bar penta 5 positioned at the outside of bionical wing drive mechanism,
Particularly, bar third can be fixedly connected with the wing section of more lateral, so as to change the angle of the wing of more lateral, to change
The total area of wing.
Oneself is fixedly connected 6 first end for the head end of bar first 1 and bar, and oneself 6 is articulated in component first 8 bar, particularly, component
First 8 can be one block of plate, or be fixed with the plate of plurality of rods part, or the common product together of plurality of rods part, component
One end of bar nonyl 9 is also articulated with first 8, the other end of bar nonyl 9 is articulated in the middle part of bar fourth 4, the pivot certainly with bar nonyl 9 of bar fourth 4
Connect place to one section of head end of bar fourth 4, bar oneself 6, component first 8, bar nonyl 9 and form four-bar mechanism second, oneself 6 the second end of bar is power
Input.
By setting four-bar mechanism first, and a bar in four-bar mechanism first is driven by four-bar mechanism second, can be with
By oneself 6 input powers of the bar in four-bar mechanism second, four-bar mechanism first is driven to complete flexible, can be so that freeing wing
Switched between more elongated or short and thick, wing has larger area when being agitated downwards, reduces it when agitating upwards
Area, it is possible to reduce resistance of the wing when backhaul is agitated, so as to improve the utilization rate of the energy.
Preferably, in addition to four-bar mechanism third, four-bar mechanism third includes that the bar last of the ten Heavenly stems 10, bar be ugly 12, the bar third of the twelve Earthly Branches 13, the bar last of the ten Heavenly stems 10 and the
One power source 7 is connected, specifically, the first power source 7 is the first motor, one end and the bar third of the twelve Earthly Branches 13 of bar ugly 12 are pivotally connected, and bar is ugly
12 other end is pivotally connected with the bar last of the ten Heavenly stems 10, and oneself 6 the second end of bar is hinged with ugly 12 sphere of bar, in the motion process of four-bar mechanism third,
Bar oneself 6 can be changed with the distance between plane where the motion of the pivoting point of component first 8 and four-bar mechanism third.For example,
In the present embodiment, the position of four-bar mechanism third in the spanwise direction is fixed, and the position of component first 8 in the spanwise direction
It is movable.Particularly, component first 8 and sliding seat 11 are pivotally connected in the one side of component first 8, sliding seat 11 is in sliding bar 23
On do not slide rotationally.
By setting four-bar mechanism third, the power output with rotation formula of power source can be converted into bar ugly 12
Motion, so as to driven rod, oneself 6 the second end is swung, by circular motion be converted to suitable control-rod oneself 6 the second end
Curve.
It is further preferred that the spanwise of plane and bionical wing drive mechanism is hung down where the motion of four-bar mechanism third
Directly.
, not only can be by the defeated of four-bar mechanism third by the way that four-bar mechanism third is placed perpendicular in the plane of spanwise
The circular motion entered be converted into bar oneself 6 motion of the input in wingpiston, it can also enough by the defeated of four-bar mechanism third
The circular motion entered is converted into swinging up and down for wingpiston, so as to complete also complete machine while wing is swung up and down
The change of wing area, so as to reduce resistance during wing backhaul, improve energy utilization efficiency during flight.
The operating principle of the present embodiment is：
When vertical in-plane moving of the bar last of the ten Heavenly stems 10 in diagram, drive four-bar mechanism third to realize the motion of crank rocker, and make
For a bit on the bar ugly 12 of intermediate bar, it will produce track motion.And this track motion will driven rod oneself 6 second
End motion, oneself 6 will swing bar, so as to drive four-bar mechanism first to swing by four-bar mechanism second, so as to change wing
Size, area distributions and when agitating wing to produce the torque of lift.And because bar ugly 12 can produce in motion
Under swing, so when using sphere it is be hinged with bar oneself 6 be connected when, the distance between component first 8 and four-bar mechanism third can occur
Change, to compensate the change of the height of bar ugly 12.
On the attachment structure for causing the output shaft of bar and motor to rotate jointly, the figure in CN105690365A may refer to
The mounting means of 19 bars shown and motor output shaft, repeat no more in the application.
Embodiment 2：
Fig. 3 is the schematic diagram of mechanism of embodiment 2.In figure, accompanying drawing identical reference is used with above-described embodiment, still
Continue to use definition of the above-described embodiment for the reference.
The present embodiment and the difference of embodiment 1 are：Plane where the motion of four-bar mechanism third and bionical wing driving machine
The spanwise of structure is parallel, and under four-bar mechanism second.
It is parallel with spanwise by the way that the plane of movement of four-bar mechanism third is arranged to, it can make it that four-bar mechanism third is main
Change the shape of wing for driving, so as to reduce the volume of the first power source 7, as the action for causing wing to agitate,
Its action no longer with changing wing profile is linked, individually can be driven by other power source, can be with convenient, flexible
Change wing and agitate the parameters such as the track of action, speed.
Or four-bar mechanism third and wing can be mounted in identical platform, the platform can be agitated so that the camera wing is the same,
The phase difference of the motion of the power source for agitating wing and the first power source 7 can also individually be changed.For example, be during normal flight to
Under agitate that opportunity wing area is big, and lift is big, wing area is small during reverse backhaul, and resistance is small；, can be with when needing to reduce height
Take and agitate that wing area is small, lift is small downwards, the mode that wing area is big, resistance is big during reverse backhaul, to reduce total liter
Power, accelerate to decline.
Embodiment 3：
Fig. 4 is the schematic diagram of mechanism of embodiment 3.In figure, accompanying drawing identical reference is used with above-described embodiment, still
Continue to use definition of the above-described embodiment for the reference.The implication that the emerging reference of the present embodiment represents is as follows：14、
The bar fourth of the twelve Earthly Branches；15th, bar occasion；16th, bar the sixth of the twelve Earthly Branches；17th, the bar noon；18th, component second；19th, the second motor.
A kind of bionical wing, above-mentioned bionical wing drive mechanism is provided with, component first 8 is articulated on the bar fourth of the twelve Earthly Branches 14, the bar fourth of the twelve Earthly Branches
14 are pivotally connected with component second 18, component first 8 and the relative rotation axis at the bar the fourth of the twelve Earthly Branches 14 parallel or position with the plane where four-bar mechanism second
In the plane where four-bar mechanism second, component second 18 relatively rotates axis and the plane where four-bar mechanism second with the bar fourth of the twelve Earthly Branches 14
Parallel, component second 18 is also pivotally connected with bar occasion 15 and bar the sixth of the twelve Earthly Branches 16, the drive connection of the power source of bar occasion 15 and second, specifically, second is dynamic
Power source is the second motor 19, and bar the sixth of the twelve Earthly Branches 16, bar occasion 15 and component second 18 form the four-bar mechanism fourth of single-degree-of-freedom.
By setting four-bar mechanism fourth, bionical wing can be adjusted with the initial position of the motion of control biomimetics wing
Swing up and down the angular distribution section in region and adjust the location of scope of deformation of bionical wing, so as to change unilateral machine
The wing caused lift size in a circulation agitated, and then adjust the roll angle of aircraft.
Preferably, component first 8 was also articulated on the bar noon, the bar fourth of the twelve Earthly Branches respectively between the pivoting point of component first 8 and component second 18
Line be the first line, the bar noon 17 is respectively the second line with the line between the pivoting point of component first 8 and component second 18,
One line is parallel and isometric with the second line, and the bar noon 17 is pivotally connected with component second 18, component first 8 and the relative rotation axis at bar noon 17
Parallel with the plane where four-bar mechanism second or in the plane where four-bar mechanism second, component second 18 is relative with the bar noon to be turned
Shaft line is parallel with the plane where four-bar mechanism second.
By the way that component first 8 and bar noon are pivotally connected, and the bar noon is arranged to parallel with the bar fourth of the twelve Earthly Branches 14 isometric, component can be improved
The stability that first 8 is connected with component second 18, component first 8 is avoided to be shaken relative to component second 18, so as to ensure that wing
Position it is accurate.
Embodiment 4：
Fig. 5 is the schematic diagram of mechanism of embodiment 4.In figure, accompanying drawing identical reference is used with above-described embodiment, still
Continue to use definition of the above-described embodiment for the reference.
A kind of bionic Aircraft, it is provided with above-mentioned bionical wing.
By setting above-mentioned bionical wing, resistance of the wing in backhaul can be reduced, so as to reduce the resistance of flight
Power.
Preferably, the first power source 7 in the bionical wing of both sides is the same power source, in the bionical wing of both sides
Two power sources are respectively independent power source.
When it be independent power source to set two the second power sources, can cause the wing of side in can export compared with
The angle of noticeable effort, and the wing of opposite side is in the less angle of output action power, so as to adjust wing respectively
Output action power, to cause aircraft to produce inclination or change roll angle.
Embodiment 5：
Fig. 6 is the schematic diagram of mechanism of the head and the tail swing mechanism in embodiment 5.The emerging reference of the present embodiment represents
Implication is as follows：20th, the bar tenth of the twelve Earthly Branches；21st, bar the eleventh of the twelve Earthly Branches；22nd, the bar last of the twelve Earthly Branches；23rd, the bar universe；24th, bar bank；25th, bar is blunt；26th, bar shakes；27th, bar Shen；28、
3rd motor；29th, the 4th motor；30th, head component；31st, rear member.
The present embodiment and the difference of embodiment 4 are, in addition to head and the tail drive mechanism, and head and the tail drive mechanism includes bar Shen 27
With the bar tenth of the twelve Earthly Branches 20, bar Shen 27 is connected with the 3rd motor 28, and the bar tenth of the twelve Earthly Branches 20 is connected with the 4th motor 29, one end point of bar Shen 27
It is not hinged with bar the eleventh of the twelve Earthly Branches 21 and the sphere of the bar last of the twelve Earthly Branches 22, the one end at the bar tenth of the twelve Earthly Branches 20 is hinged with the bar universe 23 and the sphere of bar bank 24 respectively, the He of bar the eleventh of the twelve Earthly Branches 21
The bar universe 23 is respectively hinged with the left end and right-hand member of the sphere of head component 30, the bar last of the twelve Earthly Branches 22 and bar bank 24 respectively with rear member 31
Left end and right-hand member sphere be hinged；25 pivot joint also blunt with bar of head component 30, the axis of pivot joint is perpendicular to head component 30 and bar
Penta and the bar universe 23 tie point line, bar blunt 25 is articulated on body, rear member 31 also with the pivot joint of bar shake 26, the axle of pivot joint
Line is also articulated on body perpendicular to rear member 31 and the bar last of the twelve Earthly Branches 22 and the line of the tie point of bar bank 24, bar shake 26.Head structure
On part 30 and rear member 31, can also install has the part similar with the head image or afterbody of birds image, herein not
Repeat again.The line of head component 30 and bar penta and the tie point of the bar universe 23 is located at the lower section of bar blunt 25, rear member 31 and bar
The line of the tie point of the last of the twelve Earthly Branches 22 and bar bank 24 is located at the top of bar shake 26.
Driven rod Shen 27 and the bar tenth of the twelve Earthly Branches 20 are distinguished by head and the tail power source, and bar Shen 27 and the bar tenth of the twelve Earthly Branches 20 continue through bar and head
Portion's component 30 or the sphere of rear member 31 are hinged, and can drive head component 30 and rear member 31 swing and up and down
Swing, consequently facilitating the flight angle such as control pitching.Using the mechanism of the form, head and afterbody can be up and down or left simultaneously
It is right.
Embodiment 6：
Fig. 7 is the schematic diagram of mechanism of the head and the tail swing mechanism in embodiment 6.In figure, accompanying drawing phase is used with above-described embodiment
Same reference, still continues to use definition of the above-described embodiment for the reference.
The present embodiment and the difference of embodiment 5 be, in the present embodiment the both ends of bar Shen 27 respectively with bar the eleventh of the twelve Earthly Branches 21 and the bar last of the twelve Earthly Branches
22 spheres are hinged；The both ends at the bar tenth of the twelve Earthly Branches 20 are hinged with the bar universe 23 and the sphere of bar bank 24 respectively.Head component 30 and bar penta and the bar universe 23
The line of tie point be located at the lower section of bar blunt 25, rear member 31 and the line of the bar last of the twelve Earthly Branches 22 and the tie point of bar bank 24 are located at bar
The lower section of shake 26.
By taking the 3rd motor 28 in left side as an example, so the pin joint of bar the eleventh of the twelve Earthly Branches 21 and the bar last of the twelve Earthly Branches 22 when bar Shen 27 is swung, respectively
In state one in front and one in back, so head component 30 and rear member 31 are in stretching out or being in retracted state.
Although preferred embodiment of the present utility model is described above in conjunction with accompanying drawing.But the utility model is not
Above-mentioned embodiment is confined to, above-mentioned embodiment is only schematical, is not restricted, ability
The those of ordinary skill in domain is not departing from the utility model aims and claimed under enlightenment of the present utility model
Under ambit, many forms can also be made, such as：1. it is with the difference of embodiment 4, what embodiment 4 was shown
It is that the second power source of every side is respectively independent, and the second power source in the bionical wing of both sides is the same power source.When
During without specially adjusting roll angle, two the second power sources can be arranged to a power source, wing production can be adjusted jointly
Raw lift size, so as to control the landing of aircraft；2. it is to be connected with the first power source in the bar last of the ten Heavenly stems in embodiment 1, actually also
The bar last of the ten Heavenly stems can be connected with the first power source and be substituted for the bar third of the twelve Earthly Branches and be connected with the first power source；3. in embodiment 1, bar is ugly to be provided with one
Perpendicular to the bar of four-bar mechanism third, one end that the remote bar of this root bar is ugly is hinged, can also actually changed root with the own sphere of bar
The position of sphere pin joint, by sphere pin joint be arranged on bar it is ugly on, or by bar oneself be arranged to an in perpendicular shape bar with
Bar of this root vertically with four-bar mechanism third is hinged, and this is all those skilled in the art according to being actually needed and can draw；It is 4. real
Apply in example 1, component first is slided along spanwise, can also actually be allowed four-bar mechanism third to slide and be set；5. embodiment 1
In, it is to be pivotally connected component first and sliding seat in the one side of component first, sliding seat slides on sliding bar, actually can also picture
Shown in Fig. 2, sliding seat is respectively provided with the both sides of component first, to improve the installation rigidity of component first, so as to ensure component first
Movement position it is accurate；6. the four-bar mechanism in embodiment 2 third can be changed on span plane；7. actually can be with
Cancel the bar noon, spacing and support is only carried out to component first by the bar fourth of the twelve Earthly Branches；8. on the basis of embodiment 5, bar afterbody structure can be allowed
Part and the line of the bar last of the twelve Earthly Branches and the tie point of bar bank are located at the lower section of bar shake, then can obtain and be on head and afterbody one on the other
State；Similarly, can also be similarly modified for embodiment 6, by head and afterbody in state one on the other；⑨
Or it is also possible that bar Shen and the bar tenth of the twelve Earthly Branches are connected with a gear respectively, the two gears etc. are big, and are intermeshed, the two teeth
Wheel can so make it that the motion of the left and right of head and the tail swing mechanism is symmetrical, so that head again with a motor connection
Component and rear member are only swung up and down in perpendicular and nothing swings.These belong to protection model of the present utility model
Within enclosing.
Claims (10)
- A kind of 1. bionical wing drive mechanism, it is characterised in that：Including four-bar mechanism first, the four-bar mechanism first include bar first, Bar second, bar third and bar fourth, the tail end of the bar first and the head end of the bar second are pivotally connected, the tail end of the bar second and the bar third Head end is pivotally connected, and the tail end of the bar third and the head end of the bar fourth are pivotally connected, the tail end of the bar fourth and the head end pivot of the bar first Connect, the bar first, the bar second, the bar third, the bar fourth form the quadrangle of a closing, and the bar third is fixed with bar penta to be connected Connecing, the bar penta is located at the outside of the bionical wing drive mechanism,Oneself first end of the head end and bar of the bar first is fixedly connected, and oneself is articulated in component first the bar, in the component first One end of bar nonyl is also articulated with, the other end of the bar nonyl is articulated in the middle part of the bar fourth, oneself and the bar of the bar fourth The articulated section of nonyl to one section of head end of the bar fourth, the bar oneself, the component first, the bar nonyl forms four-bar mechanism second, Oneself the second end of the bar is power intake.
- 2. bionical wing drive mechanism according to claim 1, it is characterised in that：Also include four-bar mechanism third, four bar machines Structure third includes that the bar last of the ten Heavenly stems, bar be ugly, the bar third of the twelve Earthly Branches, the bar last of the ten Heavenly stems or the bar third of the twelve Earthly Branches are connected with the first power source, the ugly one end of the bar It is pivotally connected with the bar third of the twelve Earthly Branches, the ugly other end of the bar is pivotally connected with the bar last of the ten Heavenly stems, oneself the second end of the bar and the ugly sphere of the bar It is be hinged, in the motion process of the four-bar mechanism third, oneself pivoting point with the component first of the bar and the four-bar mechanism The distance between plane can change where third motion.
- 3. bionical wing drive mechanism according to claim 2, it is characterised in that：Where the motion of the four-bar mechanism third Plane is vertical with the spanwise of the bionical wing drive mechanism.
- 4. bionical wing drive mechanism according to claim 2, it is characterised in that：Where the motion of the four-bar mechanism third Plane is parallel with the spanwise of the bionical wing drive mechanism.
- A kind of 5. bionical wing, it is characterised in that：It is provided with the bionical wing driving according to any one of claim 2-4 Mechanism, the component first are articulated on the bar fourth of the twelve Earthly Branches, and the bar fourth of the twelve Earthly Branches is pivotally connected with component second, and the component first is relative with the bar fourth of the twelve Earthly Branches to be turned Shaft line is parallel with the plane where the four-bar mechanism second or in the plane where the four-bar mechanism second, the component Second and the bar fourth of the twelve Earthly Branches to relatively rotate axis parallel with the plane where the four-bar mechanism second, the component second also with bar occasion and Bar the sixth of the twelve Earthly Branches is pivotally connected, and the bar occasion or described bar the sixth of the twelve Earthly Branches are connected with the second power source, described bar the sixth of the twelve Earthly Branches, the bar occasion and the component second Form the four-bar mechanism fourth of single-degree-of-freedom.
- 6. bionical wing according to claim 5, it is characterised in that：The component first was also articulated on the bar noon, the bar Noon and the component second are pivotally connected, and the component first relatively rotates axis and putting down where the four-bar mechanism second with the bar noon Face is parallel or in the plane where the four-bar mechanism second, described in the component second with the relative rotation axis at the bar noon It is parallel with the plane where the four-bar mechanism second, the bar noon respectively with the pivoting point of the component first and the component second it Between line be the first line, the bar noon is respectively the with the line between the pivoting point of the component first and the component second Two lines, first line and second line are parallel and isometric.
- A kind of 7. bionic Aircraft, it is characterised in that：It is provided with the bionical wing described in claim 5 or 6.
- 8. bionic Aircraft according to claim 7, it is characterised in that：Described first in the bionical wing of both sides Power source is the same power source, and second power source in the bionical wing of both sides is respectively independent power source.
- 9. bionic Aircraft according to claim 7, it is characterised in that：Described first in the bionical wing of both sides Power source is the same power source, and second power source in the bionical wing of both sides is the same power source.
- 10. according to the bionic Aircraft described in claim 7 or 8 or 9, it is characterised in that：Also include head and the tail drive mechanism, it is described Head and the tail drive mechanism includes bar Shen and the bar tenth of the twelve Earthly Branches, and the bar Shen and the bar tenth of the twelve Earthly Branches are connected with head and the tail power source, on the bar Shen respectively with Bar the eleventh of the twelve Earthly Branches and bar last of the twelve Earthly Branches sphere are hinged, and are hinged respectively with the bar universe and bar bank sphere on the bar tenth of the twelve Earthly Branches, and described bar the eleventh of the twelve Earthly Branches and the bar universe are divided equally It is not hinged with head component sphere, the bar bank and the bar last of the twelve Earthly Branches are respectively hinged with rear member sphere；The head component Also with the blunt pivot joint of bar, the bar is blunt to be articulated on body, and the rear member is also shaken with bar to be pivotally connected, and the bar shake is also articulated in machine On body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720315359.7U CN206734623U (en) | 2017-03-28 | 2017-03-28 | Bionical wing drive mechanism and bionical wing and bionic Aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720315359.7U CN206734623U (en) | 2017-03-28 | 2017-03-28 | Bionical wing drive mechanism and bionical wing and bionic Aircraft |
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| CN206734623U true CN206734623U (en) | 2017-12-12 |
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| CN201720315359.7U Active CN206734623U (en) | 2017-03-28 | 2017-03-28 | Bionical wing drive mechanism and bionical wing and bionic Aircraft |
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| CN (1) | CN206734623U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108945431A (en) * | 2018-07-23 | 2018-12-07 | 西北工业大学 | The imitative birds of flapping-wing aircraft and the folding wing of bat |
| CN112278271A (en) * | 2020-11-24 | 2021-01-29 | 北京航空航天大学 | Vector control mechanism of micro hovering flapping-wing aircraft and aircraft |
| CN115675832A (en) * | 2022-12-27 | 2023-02-03 | 成都航空职业技术学院 | Multi-section type space quadrilateral wing framework and bionic aircraft |
-
2017
- 2017-03-28 CN CN201720315359.7U patent/CN206734623U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108945431A (en) * | 2018-07-23 | 2018-12-07 | 西北工业大学 | The imitative birds of flapping-wing aircraft and the folding wing of bat |
| CN108945431B (en) * | 2018-07-23 | 2020-05-08 | 西北工业大学 | Bird and bat imitating foldable wing of ornithopter |
| CN112278271A (en) * | 2020-11-24 | 2021-01-29 | 北京航空航天大学 | Vector control mechanism of micro hovering flapping-wing aircraft and aircraft |
| CN115675832A (en) * | 2022-12-27 | 2023-02-03 | 成都航空职业技术学院 | Multi-section type space quadrilateral wing framework and bionic aircraft |
| CN115675832B (en) * | 2022-12-27 | 2023-03-17 | 成都航空职业技术学院 | Multi-section type space quadrilateral wing framework and bionic aircraft |
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