CN210503181U - 8-shaped wing tip track micro bionic ornithopter - Google Patents
8-shaped wing tip track micro bionic ornithopter Download PDFInfo
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- CN210503181U CN210503181U CN201920703908.7U CN201920703908U CN210503181U CN 210503181 U CN210503181 U CN 210503181U CN 201920703908 U CN201920703908 U CN 201920703908U CN 210503181 U CN210503181 U CN 210503181U
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Abstract
The utility model discloses a miniature bionic flapping-wing machine with 8-shaped wing tip track, which comprises a frame, a power mechanism, a double-crank rocker mechanism, a space mechanism based on a spherical hinge and a tail wing mechanism, wherein the power mechanism, the double-crank rocker mechanism, the space mechanism and the tail wing mechanism are arranged on the frame, the double-crank rocker mechanism comprises two crank bevel gears, the two crank bevel gears are meshed with each other, the power mechanism is in transmission connection with one of the crank bevel gears, the space mechanism based on the spherical hinge comprises two space multi-connecting rod assemblies which are arranged symmetrically left and right, the two space multi-connecting rod assemblies are in one-to-one correspondence connection with the two crank bevel gears, the crank bevel gears drive the rocker to rock through the transmission connecting rod, the rocker drives a power input rod to swing around a third revolute pair, a wing root control rod moves under the driving of the power input rod and the constraint, the flapping-wing motion mode of the minitype bionic flapping-wing aircraft is closer to flying organisms by swinging and turning actions. The utility model is used for among the miniature flapping wing aircraft.
Description
Technical Field
The utility model relates to a miniature flapping wing aircraft's technical field, in particular to miniature bionical flapping wing machine of "8" font wingtip orbit.
Background
The miniature flapping wing aircraft is a novel aircraft which is developed by imitating a biological flight mode, has high propulsion efficiency, and has the characteristics of high concealment and low noise. Experimental studies relating to aerodynamics have shown that micro-ornithopters with dimensions below 15cm possess superior aerodynamic performance to fixed and rotary wings. As a miniature flapping wing aircraft with the flying posture similar to that of birds, the flapping wing aircraft can be used for special purposes of observation and research of animal behaviors, military reconnaissance and eavesdropping, bird repelling in airports and the like.
At present, dozens of types of micro bionic flapping wing aircrafts are in existence at home and abroad. However, the micro bionic flapping wing air vehicles adopt special driving modes such as piezoelectric ceramics and artificial muscles, so that the flight time of the air vehicle is short or a battery and a control module cannot be loaded; or the difference between the flapping wing motion mode and the actual biological flapping wing motion mode is larger, the combination of flapping wing flapping and active twisting of the flapping wing cannot be realized simultaneously, or the twisting amplitude is very small, so that the aircrafts cannot effectively utilize the high lift mechanism of biological flight and are at a lower bionic level.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is: the 8-shaped wing tip track micro bionic ornithopter is provided, the ornithopter motion mode is closer to flying organisms, and a high lift mechanism of the biological flying is effectively utilized to provide a larger lift force.
The utility model provides a solution of its technical problem is:
a miniature bionic ornithopter with an 8-shaped wing tip track comprises a rack, a power mechanism, a double-crank rocker mechanism and a space mechanism based on a spherical hinge, wherein the rack extends forwards and backwards, the power mechanism, the double-crank rocker mechanism and the space mechanism based on the spherical hinge are arranged at the front part of the rack, and a tail wing mechanism is arranged at the rear end of the rack;
the double-crank rocker mechanism comprises two crank bevel gears which are arranged in bilateral symmetry, the two crank bevel gears are meshed and connected with each other, a first rotating pair which is eccentrically arranged with the crank bevel gears is arranged on the crank bevel gears, the crank bevel gears are connected with a transmission connecting rod, the crank bevel gears are connected with one end of the transmission connecting rod through the first rotating pair, the other end of the transmission connecting rod is connected with a rocker, a second rotating pair is arranged between one end of the rocker and the transmission connecting rod, and one end of the rocker is connected with the transmission connecting rod through the second rotating pair;
the power mechanism is in transmission connection with one of the crank bevel gears;
the space mechanism based on the spherical hinge comprises two space multi-link assemblies which are arranged in bilateral symmetry, the two space multi-link assemblies are connected with two crank bevel teeth in a one-to-one correspondence manner, each space multi-link assembly comprises a power input rod, an inertia restraint rod and a wing root control rod, the power input rods and the inertia restraint rods are symmetrically arranged from front to back, the power input rods and the inertia restraint rods extend towards the outer side of the rack respectively, the inner ends of the power input rods and the inner ends of the inertia restraint rods are far away from each other, the outer ends of the power input rods and the outer ends of the inertia restraint rods are close to each other, a third revolute pair is arranged at the inner ends of the power input rods, the inner ends of the power input rods are connected with the rack through the third revolute pair, the inner ends of the power input rods and one ends of the rockers, far away from the second revolute, the inner end of the inertia restraint rod is provided with a fourth revolute pair, the inner end of the inertia restraint rod is connected with the rack through the fourth revolute pair, the wing root control rod is arranged on a symmetrical surface between the power input rod and the inertia restraint rod and extends towards the outer side of the rack, the wing root control rod is in an isosceles triangle shape, a first ball pair is arranged at the vertex angle of the wing root control rod, the wing root control rod is connected with the rack through the first ball pair, a second ball pair is arranged at the outer end of the power input rod, a third ball pair is arranged at the outer end of the inertia restraint rod, the outer end of the power input rod is connected with the bottom angle of the front side of the wing root control rod through the second ball pair, and the outer end of the inertia restraint rod is connected with the bottom angle of the rear side of the wing root control rod through the third ball pair;
the wing root control rod is connected with a bionic flapping wing.
As a further improvement of the scheme, the power mechanism and the double-crank rocker mechanism are arranged on the lower side of the rack, and the space mechanism based on the spherical hinge is arranged on the upper side of the rack.
As a further improvement of the above scheme, the power mechanism comprises a driving part and a gear reduction assembly in transmission connection with the driving part, and the driving part is in transmission connection with one of the crank bevel gears through the gear reduction assembly.
As a further improvement of the above scheme, the driving part includes a rotating electrical machine mounted on the frame, an output shaft of the rotating electrical machine is connected with a driving gear, the gear reduction assembly includes a plurality of reduction gears meshed and connected in sequence, the rotating electrical machine is meshed and connected with the reduction gear at the starting end through the driving gear, and a rotating shaft of one of the crank bevel gears is connected with the reduction gear at the terminal end.
As a further improvement of the scheme, the tail wing mechanism comprises a horizontal wing and a vertical wing which are vertically arranged, the front end of the horizontal wing is connected with the rear end of the rack, the lower edge of the vertical wing is connected with the center line of the horizontal wing, the rear edge of the vertical wing is connected with a swing wing, a swing driver is arranged between the swing wing and the vertical wing, and the swing driver can drive the swing wing to swing left and right.
As a further improvement of the scheme, a lithium battery is mounted in the middle of the rack and is electrically connected with the rotating motor and the swing driver respectively.
As a further improvement of the scheme, a streamline shell is sleeved outside the frame.
The utility model has the advantages that: under the drive of a power mechanism, two crank bevel gears are driven to rotate, the crank bevel gears drive a rocker to swing through a transmission connecting rod, the rocker drives a power input rod to swing around a third revolute pair, a wing root control rod is driven by the power input rod to move under the constraint of an inertia constraint rod, the rotating amplitude of the power input rod is equal to the swinging amplitude of the rocker in the double-crank rocker mechanism, the peak value and the valley value of the wing root control rod are overlapped at the moment when the wing root control rod and the rocker in the movement process acquire the peak value and the valley value, the wing root control rod can realize flapping, swinging and overturning actions under the drive of the power input rod and the constraint of a first ball pair, a second ball pair and a third ball pair, and the third ball pair connected with the wing root control rod and the inertia constraint rod moves by means of inertia when the upper stroke and the lower stroke of flapping are changed, so that the bionic flapping wing has different flapping forms and periodic changes in the upper stroke and the lower stroke, the bionic flapping wing can move closer to flying organisms, and a high lift mechanism of the biological flying is effectively utilized to provide larger lift.
The utility model is used for among the miniature flapping wing aircraft.
Drawings
In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is clear that the described figures represent only some embodiments of the invention, not all embodiments, and that a person skilled in the art can also derive other designs and figures from these figures without inventive effort.
Fig. 1 is a schematic diagram of the internal structure of an embodiment of the present invention;
fig. 2 is a schematic view of the front of the frame of an embodiment of the invention;
fig. 3 is a schematic diagram of an embodiment of the invention;
fig. 4 shows the attitude change and the tip trajectory of the flapping wing according to the embodiment of the present invention during one cycle.
Detailed Description
The conception, the specific structure, and the technical effects produced by the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the features, and the effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and other embodiments obtained by those skilled in the art without inventive labor based on the embodiments of the present invention all belong to the protection scope of the present invention. In addition, all the coupling/connection relationships mentioned herein do not mean that the components are directly connected, but mean that a better coupling structure can be formed by adding or reducing coupling accessories according to specific implementation conditions. The utility model provides an each technical feature can the interactive combination under the prerequisite of conflict each other.
With reference to fig. 1 to 4, this is an embodiment of the invention, in particular:
a miniature bionic ornithopter with an 8-shaped wing tip track comprises a rack 100, a power mechanism, a double-crank rocker mechanism 200 and a space mechanism based on a spherical hinge, wherein the rack 100 extends forwards and backwards, the power mechanism, the double-crank rocker mechanism 200 and the space mechanism based on the spherical hinge are arranged at the front part of the rack 100, and a tail wing mechanism 600 is arranged at the rear end of the rack 100;
as shown in fig. 2, the double-crank rocker mechanism 200 includes two crank bevel gears 210 symmetrically arranged left and right, the two crank bevel gears 210 are engaged with each other, a first revolute pair 220 eccentrically arranged with the crank bevel gears 210 is arranged on the crank bevel gears 210, the crank bevel gears 210 are connected with a transmission connecting rod 230, the crank bevel gears 210 are connected with one end of the transmission connecting rod 230 through the first revolute pair 220, the other end of the transmission connecting rod 230 is connected with a rocker 240, a second revolute pair 250 is arranged between one end of the rocker 240 and the transmission connecting rod 230, and one end of the rocker 240 is connected with the transmission connecting rod 230 through the second revolute pair 250;
the power mechanism is in transmission connection with one crank bevel gear 210;
as shown in fig. 2, the spatial mechanism based on the spherical hinge comprises two spatial multi-link assemblies 300 symmetrically arranged left and right, the two spatial multi-link assemblies 300 are connected with the two crank bevel teeth 210 in a one-to-one correspondence manner, each spatial multi-link assembly 300 comprises a power input rod 310, an inertia restraint rod 320 and a wing root control rod 330, the power input rods 310 and the inertia restraint rods 320 are symmetrically arranged front and back, the power input rods 310 and the inertia restraint rods 320 extend to the outer side of the rack 100 respectively, the inner ends of the power input rods 310 and the inner ends of the inertia restraint rods 320 are far away from each other, the outer ends of the power input rods 310 and the outer ends of the inertia restraint rods 320 are close to each other, the inner ends of the power input rods 310 are provided with third revolute pairs 340, the inner ends of the power input rods 310 are connected with the rack 100 through the third revolute pairs 340, and the inner ends of the power input rods 310 are fixedly connected with one end of, the power input rod 310 and the rocker 240 are coaxially arranged, the inner end of the inertia restraint rod 320 is provided with a fourth revolute pair 350, the inner end of the inertia restraint lever 320 is connected to the frame 100 through a fourth revolute pair 350, the wing root control lever 330 is disposed on a symmetrical plane between the power input lever 310 and the inertia restraint lever 320, the wing root control lever 330 extends toward the outside of the frame 100, the wing root control lever 330 has an isosceles triangle shape, a first ball pair 331 is arranged at the top corner of the wing root control rod 330, the wing root control rod 330 is connected with the frame 100 through the first ball pair 331, the outer end of the power input rod 310 is provided with a second ball pair 311, the outer end of the inertia restraint rod 320 is provided with a third ball pair 321, the outer end of the power input rod 310 is connected with the bottom corner of the front side of the wing root control rod 330 through a second ball pair 311, the outer end of the inertia restraint rod 320 is connected with the bottom angle of the rear side of the wing root control rod 330 through a third ball pair 321;
as shown in fig. 3, the wing root control rod 330 is connected with a bionic flapping wing 800.
Under the drive of the power mechanism, the two crank bevel gears 210 are driven to rotate, the crank bevel gears 210 drive the rocker 240 to swing through the transmission connecting rod 230, the rocker 240 drives the power input rod 310 to swing around the third rotating pair 340, the wing root control rod 330 is driven by the power input rod 310 to move under the constraint of the inertia constraint rod 320, the amplitude of the rotation of the power input rod 310 is equal to the amplitude of the swing of the rocker 240 in the double-crank rocker mechanism 200, and the time when the power input rod 310 obtains the peak value and the valley value is overlapped in the moving process, the wing root control rod 330 can realize the actions of flapping, swinging and overturning under the constraint of the power input rod 310, the first ball pair 331, the second ball pair 311 and the third ball pair 321, and the third ball pair 321 connected with the wing root control rod 330 and the inertia constraint rod 320 moves by means of inertia when the upper stroke and the lower stroke of the flapping are changed, so that the bionic flapping wing 800 has different flapping forms and periodic changes in the upper stroke and the lower stroke, the wing root control rod 330 can drive the bionic flapping wing 800 to make a motion mode of 8-shaped wing tip track, the bionic flapping wing is drawn by imitating the wing profile of birds, as shown in fig. 4, the posture change and the flapping wing tip track in a period, and then the motion mode of the bionic flapping wing 800 is closer to flying organisms, and a high lift mechanism of biological flying is effectively utilized to provide larger lift force.
Further, in a preferred embodiment, the power mechanism and the double crank rocker mechanism 200 are mounted on the lower side of the frame 100, and the spatial mechanism based on the spherical hinge is mounted on the upper side of the frame 100. The structure of the minitype bionic ornithopter is miniaturized.
Further as a preferred embodiment, the power mechanism includes a driving portion, and a gear reduction assembly 400 in transmission connection with the driving portion, and the driving portion is in transmission connection with one of the crank bevel gears 210 through the gear reduction assembly 400. The gear reduction assembly 400 reduces the speed and increases the torque of the output of the drive section and transmits the output to the double crank-rocker mechanism 200.
In a further preferred embodiment, the driving part includes a rotating electrical machine 500 mounted on the frame 100, the output shaft of the rotating electrical machine 500 is connected with a driving gear, the gear reduction assembly 400 includes a plurality of reduction gears 410 sequentially engaged and connected, the rotating electrical machine 500 is engaged and connected with the reduction gear 410 at the beginning end through the driving gear, and the rotating shaft of one crank bevel gear 210 is connected with the reduction gear 410 at the end. The gear reduction assembly 400 can achieve the effects of reducing speed and increasing torque through a plurality of reduction gears 410.
Further as a preferred embodiment, the tail wing mechanism 600 includes a horizontal wing 610 and a vertical wing 620 vertically disposed, the front end of the horizontal wing 610 is connected with the rear end of the rack 100, the lower edge of the vertical wing 620 is connected with the center line of the horizontal wing 610, the rear edge of the vertical wing 620 is connected with a swing wing 630, a swing driver 640 is disposed between the swing wing 630 and the vertical wing 620, and the swing driver 640 can drive the swing wing 630 to swing left and right. The swinging driver 640 controls the swinging wing 630 to swing left and right to control the flying direction of the micro bionic ornithopter.
Further as a preferred embodiment, a lithium battery 700 is installed in the middle of the frame 100, and the lithium battery 700 is electrically connected to the rotating electrical machine 500 and the swing actuator 640, respectively. The lithium battery 700 provides all power for the micro bionic flapping-wing aircraft, and a control panel is generally arranged for controlling the flapping-wing frequency and the flight direction.
Further as a preferred embodiment, as shown in fig. 3, the aircraft further comprises a shell 900 sleeved outside the airframe 100, the shape of the shell 900 is drawn according to the body shape of a bird, and the shell 900 has a streamlined characteristic, so that the flight resistance is reduced.
While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the foregoing and various other changes, omissions and deviations in the form and detail thereof may be made without departing from the scope of this invention.
Claims (7)
1. The utility model provides a miniature bionical ornithopter of "8" font wingtip orbit which characterized in that: the device comprises a rack, a power mechanism, a double-crank rocker mechanism and a space mechanism based on a spherical hinge, wherein the rack extends forwards and backwards;
the double-crank rocker mechanism comprises two crank bevel gears which are arranged in bilateral symmetry, the two crank bevel gears are meshed and connected with each other, a first rotating pair which is eccentrically arranged with the crank bevel gears is arranged on the crank bevel gears, the crank bevel gears are connected with a transmission connecting rod, the crank bevel gears are connected with one end of the transmission connecting rod through the first rotating pair, the other end of the transmission connecting rod is connected with a rocker, a second rotating pair is arranged between one end of the rocker and the transmission connecting rod, and one end of the rocker is connected with the transmission connecting rod through the second rotating pair;
the power mechanism is in transmission connection with one of the crank bevel gears;
the space mechanism based on the spherical hinge comprises two space multi-link assemblies which are arranged in bilateral symmetry, the two space multi-link assemblies are connected with two crank bevel teeth in a one-to-one correspondence manner, each space multi-link assembly comprises a power input rod, an inertia restraint rod and a wing root control rod, the power input rods and the inertia restraint rods are symmetrically arranged from front to back, the power input rods and the inertia restraint rods extend towards the outer side of the rack respectively, the inner ends of the power input rods and the inner ends of the inertia restraint rods are far away from each other, the outer ends of the power input rods and the outer ends of the inertia restraint rods are close to each other, a third revolute pair is arranged at the inner ends of the power input rods, the inner ends of the power input rods are connected with the rack through the third revolute pair, the inner ends of the power input rods and one ends of the rockers, far away from the second revolute, the inner end of the inertia restraint rod is provided with a fourth revolute pair, the inner end of the inertia restraint rod is connected with the rack through the fourth revolute pair, the wing root control rod is arranged on a symmetrical surface between the power input rod and the inertia restraint rod and extends towards the outer side of the rack, the wing root control rod is in an isosceles triangle shape, a first ball pair is arranged at the vertex angle of the wing root control rod, the wing root control rod is connected with the rack through the first ball pair, a second ball pair is arranged at the outer end of the power input rod, a third ball pair is arranged at the outer end of the inertia restraint rod, the outer end of the power input rod is connected with the bottom angle of the front side of the wing root control rod through the second ball pair, and the outer end of the inertia restraint rod is connected with the bottom angle of the rear side of the wing root control rod through the third ball pair;
the wing root control rod is connected with a bionic flapping wing.
2. The miniature bionic ornithopter with 8-shaped wing tip tracks as claimed in claim 1, wherein: the power mechanism and the double-crank rocker mechanism are arranged on the lower side of the rack, and the space mechanism based on the spherical hinge is arranged on the upper side of the rack.
3. The miniature bionic ornithopter with 8-shaped wing tip tracks as claimed in claim 1, wherein: the power mechanism comprises a driving part and a gear reduction assembly in transmission connection with the driving part, and the driving part is in transmission connection with one crank bevel gear through the gear reduction assembly.
4. The 8-shaped wing tip track micro bionic ornithopter as claimed in claim 3, wherein: the drive division is including installing the rotating electrical machines in the frame, the output shaft of rotating electrical machines has drive gear, gear reduction subassembly is including a plurality of reduction gears that mesh in proper order and connect, the rotating electrical machines passes through drive gear and is connected with the reduction gear meshing at the starting end, the pivot at one of them crank bevel gear is connected with the reduction gear at terminal.
5. The miniature bionic ornithopter with 8-shaped wing tip tracks as claimed in claim 1, wherein: the empennage mechanism comprises a horizontal flat wing and a vertical wing which is vertically arranged, the front end of the flat wing is connected with the rear end of the rack, the lower edge of the vertical wing is connected with the center line of the flat wing, the rear edge of the vertical wing is connected with a swing wing, a swing driver is arranged between the swing wing and the vertical wing, and the swing driver can drive the swing wing to swing left and right.
6. The 8-shaped wing tip track micro bionic ornithopter as claimed in claim 5, wherein: the middle part of frame installs the lithium cell, the lithium cell respectively with rotating electrical machines, swing driver electric connection.
7. The miniature bionic ornithopter with 8-shaped wing tip tracks as claimed in claim 1, wherein: the outer side of the frame is sleeved with a streamline shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920703908.7U CN210503181U (en) | 2019-05-15 | 2019-05-15 | 8-shaped wing tip track micro bionic ornithopter |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920703908.7U CN210503181U (en) | 2019-05-15 | 2019-05-15 | 8-shaped wing tip track micro bionic ornithopter |
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| Publication Number | Publication Date |
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| CN210503181U true CN210503181U (en) | 2020-05-12 |
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| CN201920703908.7U Active CN210503181U (en) | 2019-05-15 | 2019-05-15 | 8-shaped wing tip track micro bionic ornithopter |
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| CN (1) | CN210503181U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115367110A (en) * | 2022-09-14 | 2022-11-22 | 吉林大学 | Flapping wing micro air vehicle with 8-shaped wing tip track |
-
2019
- 2019-05-15 CN CN201920703908.7U patent/CN210503181U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115367110A (en) * | 2022-09-14 | 2022-11-22 | 吉林大学 | Flapping wing micro air vehicle with 8-shaped wing tip track |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Qiu Zhihong Assignor: SHANTOU University Contract record no.: X2023990000132 Denomination of utility model: A miniature bionic flapping-wing aircraft with "8" shape wingtip trajectory Granted publication date: 20200512 License type: Common License Record date: 20230112 |
|
| EE01 | Entry into force of recordation of patent licensing contract |