CN105314109B - A kind of wing drive mechanism of flapping wing aircraft - Google Patents
A kind of wing drive mechanism of flapping wing aircraft Download PDFInfo
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- CN105314109B CN105314109B CN201510569994.3A CN201510569994A CN105314109B CN 105314109 B CN105314109 B CN 105314109B CN 201510569994 A CN201510569994 A CN 201510569994A CN 105314109 B CN105314109 B CN 105314109B
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Abstract
The invention discloses a kind of wing drive mechanism of flapping wing aircraft, including：The drive device being sequentially connected, universal joint and position control, wherein, the universal joint has a drive shaft and a driven shaft, wing is connected with the driven shaft, described drive shaft one end connects the drive device and rotated in the presence of the drive device, described driven shaft one end connects the position control and moved in the presence of the position control, the first position sensor of real-time perception drive shaft movement position is installed in the drive device, the second place sensor of driven shaft movement position described in real-time perception is installed on the position control, the movement position of the driven shaft is also adjusted in real time according to the change of the movement position of the drive shaft.The present invention solves the problem of original flapping wing aircraft can not realize the flight of " 8 " word, can not flexibly change angle of attack size.
Description
Technical Field
The invention relates to an ornithopter, in particular to a wing driving mechanism of the ornithopter.
Background
The flapping wing aircraft is an aircraft which generates lift force and forward force through active movement of wings like a bird, and flies by means of flapping of double wings in the flying process. Compared with fixed wing flight and rotor wing flight, flapping wing flight has the characteristics of taking off in situ or in a small field, good flight maneuverability, certain hovering performance, less energy consumption in long-distance flight and the like. The system can be used for enemy reconnaissance, target tracking, electronic interference, relay communication, active attack and defense and the like in military affairs; the method can be used for environment and disaster monitoring, traffic road monitoring, agricultural survey, aerial photography and the like in civil use.
The wings of the flapping wing aircraft in the natural world mostly adopt an 8-shaped flapping mode, but the flapping wing aircraft manufactured at present cannot realize the 8-shaped flight in the true sense due to the limitation of various factors. In addition, when the flapping wing in the nature flies, the wing can change the attack angle at any time, so that the flight is more stable, the wing efficiency is higher, and the maneuverability is stronger.
Therefore, how to design an ornithopter which can realize 8-shaped flight and flexibly change the attack angle during flight becomes a technical problem to be solved urgently at present.
Disclosure of Invention
Based on the defects in the prior art, the invention provides a wing driving mechanism of an ornithopter, which aims to solve the problems that the original ornithopter cannot realize 8-shaped flight and cannot flexibly change the attack angle.
The invention discloses a wing driving mechanism of a flapping wing aircraft, which comprises: drive arrangement, universal joint and the position control device who connects gradually, wherein, the universal joint has a drive shaft and a driven shaft, be connected with the wing on the driven shaft, the drive shaft is connected drive arrangement rotates under drive arrangement's the effect, the driven shaft is connected position control device moves under position control device's the effect, the last first position sensor who installs the kinematic position of real-time perception drive shaft of drive arrangement, install real-time perception on the position control device the second position sensor of driven shaft kinematic position, the kinematic position basis of driven shaft the kinematic position's of drive shaft change also real-time adjustment.
Further, the driving device is indirectly connected to the driving shaft of the universal joint through a synchronous belt, a crank rocker, a gear or a gear rack.
Furthermore, the position control device comprises a first limiting groove and a second limiting groove which are arranged in a cross mode, the first limiting groove and the second limiting groove are crossed in space to form a specific position, and the driven shaft of the universal joint is restrained at the specific position. Preferably, the first limiting groove and the second limiting groove move independently, so that the specific position formed by the intersection of the two limiting grooves changes.
Preferably, the second limiting groove moves along with the first limiting groove, so that the specific position formed by the intersection of the two limiting grooves is changed.
Preferably, the second limiting groove is a fixed limiting groove, and the specific position formed by the intersection of the two limiting grooves is changed by adjusting the movement of the first limiting groove.
Preferably, the second limiting groove is a limiting groove formed by an elastic body and a rigid body, and the specific position formed by the intersection of the two limiting grooves is changed by adjusting the movement of the first limiting groove.
Preferably, the second position sensor obtains the position information of the specific position by means of direct measurement or indirect calculation.
Based on another concept of the invention, the invention also provides an ornithopter, which comprises the wing driving mechanism disclosed by any technical scheme.
Compared with the prior art, the wing driving mechanism of the flapping wing aircraft solves the problem that the wing of the existing flapping wing aircraft can not realize the 8-shaped flight track in the real sense when swinging in a reciprocating manner, and can realize scram, sharp turn, hovering state maintenance and the like; the size of the attack angle of the wing can be flexibly changed at any position, so that the flight can be more effectively controlled, the flight is more stable, the wing driving efficiency is higher, and the maneuverability is stronger.
Drawings
FIG. 1 is a schematic structural diagram of a wing driving mechanism of an ornithopter according to an embodiment of the present invention
Fig. 2 is a schematic structural diagram of a wing driving mechanism of an ornithopter according to an embodiment of the present invention.
FIG. 3(a) is a schematic diagram of an embodiment of the present invention showing the flapping wing aircraft with the wing at a certain angle of attack by adjusting the driven end while the driven end is in the same position;
FIG. 3(b) is a schematic diagram of an embodiment of the present invention showing the flapping wing aircraft with the wing at another angle of attack by adjusting the driven end while the driven end is in the same position;
FIG. 4(a) is a schematic view of an embodiment of the flapping wing aircraft with the wing aircraft at a height with the wing aircraft at the driven end adjusted to the same position;
FIG. 4(b) is a schematic view of an embodiment of the invention showing the flapping wing aircraft with the wing aircraft at an alternative height position by adjusting the driven end while the driven end is in the same position;
FIG. 5(a) is a schematic diagram showing the flapping wings of an embodiment of the present invention with the driven end adjusted to assume different positions with the driven end in the same position;
FIG. 5(b) is a schematic illustration of the flapping tracks of the wings of the ornithopter of the present invention;
fig. 6 is a schematic structural diagram of a wing driving mechanism of an ornithopter according to another embodiment of the present invention.
In the figures, the reference numerals are as follows: 1-a drive device; 2-a universal joint; 21-a drive shaft; 22-a driven shaft; 3-a position control device; 31-a first limit groove; 32-a second limit groove; 4-wings.
Detailed Description
The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby. As certain terms are used throughout the description and claims to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. The present specification and claims do not intend to distinguish between components that differ in name but not function. The description which follows is a preferred embodiment of the present invention, but is made for the purpose of illustrating the general principles of the invention and not for the purpose of limiting the scope of the invention. The scope of the present invention is defined by the appended claims.
The invention is described in further detail below with reference to the figures and specific embodiments.
Fig. 1 is a schematic structural diagram of a wing driving mechanism of an ornithopter according to an embodiment of the present invention.
As shown in fig. 1, the wing driving mechanism includes: the flapping wing aircraft comprises a driving device 1, a universal joint 2 and a position control device 3 which are sequentially connected from top to bottom, wherein the driving device 1 can be in a gear or other driving modes, the universal joint 2 is a machine part for realizing variable-angle power transmission and is used for changing the position of a transmission axis direction. The universal joint 2 has a driving shaft 21 and a driven shaft 22, the driven shaft 22 is connected with a wing 4, one end of the driving shaft 21 is connected with the driving device 1 and rotates along the horizontal direction under the action of the driving device 1, the driven shaft 22 is connected with the position control device 3 and moves under the action of the position control device 3, the movement process includes upward, downward, forward, backward or changes the attack angle size of the wing 4, etc., the driving device 1 is provided with a first position sensor (not shown) for sensing the movement position of the driving shaft 21 in real time, the position control device 3 is provided with a second position sensor (not shown) for sensing the movement position of the driven shaft 22 in real time, the second position sensor can be positioned at the inner end or the bottom of the position control device 3, the movement position of the driven shaft 22 is adjusted in real time according to the change of the movement position of the driving shaft 21, the wings 4 can realize different flight postures, that is, on one hand, the driving device 1 drives the driving shaft 21 of the universal joint 2 to do reciprocating circular motion, the wings 4 are driven to move through the special structure of the universal joint 2, and simultaneously, the position control device 3 also drives the driven end of the universal joint 2 to move, and the comprehensive effects of the driving device 1 and the position control device 3 can realize the adjustment of different windward angles at any position while the wings 4 realize the 8-shaped motion in the motion. In order to realize the coordination of the positions of the driving shaft 21 and the driven shaft 22, the invention is provided with position sensors on the driving shaft 21 and the driven shaft 22 so as to sense the movement positions of the driving shaft and the driven shaft in real time, and realizes various actions of the flapping wing aircraft in the flight process by coordinating the positions of the driving shaft and the driven shaft, wherein the actions comprise changing the flapping direction, the flapping height and the attack angle of the wings 4. Wherein, the wing 4 can be directly or indirectly connected to the universal joint 2, in the embodiment of the invention, in order to better control the wing 4, the wing 4 is connected to the universal joint 2 and the driven shaft 22 at the same time. The position control device may receive and process information from other sensors or controllers, such as inertial sensors or a remote control.
Of course, the universal joint 2 of the present invention can be replaced by other flexible connectors, such as rubber rods or other elastic materials, which can be flexible while also transmitting torque.
Wherein, the driving device 1 can be indirectly connected to the driving shaft of the universal joint through a synchronous belt, a crank rocker, a gear or a gear rack.
Specifically, the position control device comprises a first limiting groove and a second limiting groove which are arranged in a mutually crossed mode, the two limiting grooves are crossed in space to form a specific position, and a driven shaft of the universal joint is restrained at the specific position. Because each limiting groove has a certain space, the first limiting groove and the second limiting groove can be close to each other or not. .
In the above-mentioned device, there are various ways in which the position limitation can be achieved, and two methods will be described below
The first method is as follows: the first limiting groove and the second limiting groove move independently, so that the specific position formed by the intersection of the two limiting grooves changes.
In a second mode, the second limiting groove moves along with the movement of the first limiting groove, so that the specific position formed by the intersection of the two limiting grooves is changed.
Further, in the second aspect, the mode of changing the specific position is controlled by two control modes:
in the first mode, the second limiting groove is a fixed limiting groove, and the specific position formed by the intersection of the two limiting grooves is changed by adjusting the movement of the first limiting groove.
In the second mode, the second limiting groove is a limiting groove formed by combining an elastic body and a rigid body, and the specific position formed by intersecting the two limiting grooves is changed by adjusting the movement of the first limiting groove. Regarding the comprehensive limit, the driven shaft can be pushed to one end of the limit groove by a spring, when the limit groove moves to a certain specific position, the rigid limit forces the spring to compress, and the factors are combined together to form a new limit groove (track), so that the structure is simpler.
Of course, it should be understood by those skilled in the art that the manner of achieving the limit and the particular positional change is not limited to those enumerated above.
Preferably, in the position control device, the second position sensor obtains the position information of the specific position by direct measurement or indirect calculation, and the number and the type of the sensors are determined according to the structure of the limit groove.
As a preferred embodiment of the present invention, referring to fig. 2, specifically, the position control device 3 has a first limit groove 31 and a second limit groove 32 which are intersected with each other and vertically disposed, the limit grooves are hollow, the two limit grooves are intersected to form a hollow joint portion, one end of the driven shaft 22 of the universal joint 2 is located in the joint portion, and the first limit groove 31 and the second limit groove 32 are controlled by the position control device 3 to perform different movements.
The first limiting groove 31 is controlled by the position control device 3 to reciprocate along the horizontal direction, such as along the X-axis direction in the arrow, and the second limiting groove 32 is controlled by the position control device 3 to reciprocate along the vertical direction, such as along the Y-axis direction in the arrow. Correspondingly, the number of the second position sensors is two, the two second position sensors are used for respectively collecting the motion position coordinates of the driven shaft 22 in the two limiting grooves, the second position sensors sense the motion position of the driven shaft 22 in real time, and the second position sensors coordinate the position of the driving shaft 21 sensed by the first position sensors and are linked to enable the wings 4 to realize different flight actions at any position.
As another alternative embodiment of the present invention, referring to fig. 6, the first limiting groove 31 is controlled by the position control device 3 to swing back and forth along the driving shaft 21, and the second limiting groove 32 is controlled by the position control device 3 to swing back and forth along the radial direction in which the first limiting groove 31 swings, as indicated by the arrow in the figure.
Of course, it will be understood by those skilled in the art that the manner of implementing the slave end position control is not limited to the two mentioned in the present embodiment.
The shape of the limiting groove can be various, for example, one end of the limiting groove is an open U-shaped groove, but it is ensured that the driven shaft 22 cannot slide out of the intersecting U-shaped groove, or both ends of the limiting groove are closed arc-shaped grooves, which are similar to an ellipse, and the track of the inner sliding groove of the limiting groove can be a linear type or a curved type, or other suitable sliding groove tracks are adopted, and no limitation is made here.
As another alternative embodiment of the present invention, the first position-limiting groove 31 is controlled by the position control device to swing back and forth along the driving shaft, and the second position-limiting groove 32 adopts a fixed motion track, such as a linear or curved motion, and changes with the motion of the first position-limiting groove 31. At this moment, the second position sensor is only provided with one, and the motion position coordinates of the first limiting groove can be acquired in real time. Specifically, the second limiting groove 32 may be controlled by some elastic device (such as a spring, etc.) to always point to a linear or curved motion of a certain direction reciprocating.
Referring to fig. 3(a) and 3(b), when the driving shaft 21 is at the same position, the wing is at a certain angle of attack by adjusting the driven end, according to the disclosed driving mechanism of the present invention, the angle of attack of the wing can be arbitrarily adjusted by the action of the universal joint 2 and the position control device 3, fig. 3(a) and 3(b) show the state diagram of the change of the angle of attack of the wing, respectively, and it is apparent from comparison that fig. 3(b) is smaller than that of fig. 3 (a).
Referring to fig. 4(a) and 4(b), when the driving shaft 21 is at the same position, the wing is at a certain height by adjusting the driven end, the height of the wing can be adjusted freely by the action of the universal joint 2 and the position control device 3, and fig. 4(a) and 4(b) respectively show the height change state diagram of the wing, and it is obvious from comparison that fig. 4(b) is higher than the wing in fig. 4 (a).
Referring to fig. 5(a), fig. 5(a) shows that the wings assume different states by adjusting the adjustment device when the driving end of the driving device 1 is in a certain same position: wherein,
state R1 has changed wing angle of attack magnitude relative to state RO;
state R2 changes wing height and thus force direction relative to state RO;
state R3 changes wing angle of attack size and changes wing height relative to state RO.
Through the adjustment of the angle of attack of the wings and the height of the wings, the two can be combined together to realize a plurality of flapping effects, wherein the typical 8-shaped flapping mode shown in fig. 5(b) is included, and as shown in fig. 5(b), in the track shown by the 8-shaped flapping mode, the motion direction and the motion height of the wings can be changed, and the angle of attack of the wings can also be changed. Of course, those skilled in the art will appreciate that the "8" fan motion is only a typical example of the present invention, and there are many other ways such as a pure horizontal fan motion, a "0" fan motion, etc.
Compared with the prior art, the wing driving mechanism of the flapping wing aircraft disclosed by the embodiment of the invention has the advantages of simple structure and low cost, and really realizes the 8-shaped flapping track of the flapping wing aircraft, and the attack angle of any position of the wing is variable. In each flapping process of the wings, the amount of the flapping power and the force applying angle at any position can be different, so that infinite possible maneuvering effects are brought, or the existing posture is maintained, the flight is more stable, or the flight route is rapidly changed. The structure also ensures that the flapping wing air vehicle has more stable flapping, higher flapping efficiency and stronger maneuverability in the flying process.
It should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereby, and the present invention may be modified in materials and structures, or replaced with technical equivalents, in the constructions of the above-mentioned various components. Therefore, structural equivalents made by using the description and drawings of the present invention or by directly or indirectly applying to other related arts are also encompassed within the scope of the present invention.
Claims (8)
1. A wing actuation mechanism for an ornithopter, comprising: drive arrangement, universal joint and the position control device who connects gradually, wherein, the universal joint has a drive shaft and a driven shaft, be connected with the wing on the driven shaft, drive shaft one end is connected drive arrangement rotates under drive arrangement's the effect, driven shaft one end is connected position control device moves under position control device's the effect, the last first position sensor who installs the kinematic position of real-time perception drive shaft of drive arrangement, the last real-time perception of installing of position control device the second position sensor of driven shaft kinematic position, the kinematic position basis of driven shaft the kinematic position's of drive shaft change also real-time adjustment.
2. Wing drive mechanism as claimed in claim 1, characterized in that the drive means are indirectly connected to the drive shaft of the universal joint via a timing belt, or a crank rocker, or a gear wheel, or a rack and pinion.
3. A wing driving mechanism as claimed in claim 1, wherein the position control means comprises first and second limiting grooves disposed to intersect with each other, the first and second limiting grooves intersecting in space to form a specific position at which the driven shaft of the universal joint is constrained.
4. The wing actuation mechanism of claim 3, wherein the first and second restraint slots each move independently to change the particular position at which the two restraint slots intersect.
5. The wing actuation mechanism of claim 3, wherein the second detent moves with the first detent to change the position of the first detent relative to the second detent.
6. The wing actuating mechanism of claim 5, wherein the second retaining groove is a fixed retaining groove, and the specific position formed by the intersection of the two retaining grooves is changed by adjusting the movement of the first retaining groove.
7. The wing actuating mechanism as claimed in claim 5, wherein the second engaging groove is a engaging groove formed by an elastic body and a rigid body, and a specific position formed by the engagement of the engaging grooves is changed by adjusting the movement of the first engaging groove.
8. Wing actuating mechanism according to claim 4 or 5, characterized in that the second position sensor obtains position information of the specific position by means of direct measurement or indirect calculation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510569994.3A CN105314109B (en) | 2015-09-09 | 2015-09-09 | A kind of wing drive mechanism of flapping wing aircraft |
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| CN201510569994.3A CN105314109B (en) | 2015-09-09 | 2015-09-09 | A kind of wing drive mechanism of flapping wing aircraft |
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| CN105314109B true CN105314109B (en) | 2017-10-10 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN205738091U (en) * | 2016-06-29 | 2016-11-30 | 北京进化者机器人科技有限公司 | A kind of robot wing component devices |
| CN106394898B (en) * | 2016-11-11 | 2018-07-10 | 吉林大学 | A kind of auto lock unlocking mechanism for foldable flapping-wing MAV |
| CN106741854B (en) * | 2017-02-24 | 2019-03-05 | 哈尔滨工业大学深圳研究生院 | A kind of rigidity decoupling empennage regulating mechanism |
| CN108275270B (en) * | 2018-02-09 | 2021-05-07 | 西北工业大学 | Scull type flapping wing control mechanism |
| CN112141331B (en) * | 2020-08-06 | 2021-12-10 | 北京航空航天大学 | Miniature flapping wing capable of realizing large deformation and high control moment generation |
| CN112124581B (en) * | 2020-09-03 | 2022-05-13 | 哈尔滨工业大学（深圳） | Flight control device and aircraft |
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| WO2003004122A1 (en) * | 2001-06-30 | 2003-01-16 | Sinclair Peter | Motion assisting apparatus |
| CN2889901Y (en) * | 2006-04-30 | 2007-04-18 | 左再新 | Wing-like aircraft |
| CN104443380A (en) * | 2014-12-11 | 2015-03-25 | 香港理工大学 | Splay-track flapping wing mechanism and miniature flapping wing air vehicle |
| CN204916183U (en) * | 2015-09-09 | 2015-12-30 | 吴立群 | Wing actuating mechanism of flapping wing aircraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4142034B2 (en) * | 2004-06-24 | 2008-08-27 | シャープ株式会社 | Mobile device |
| JP4467442B2 (en) * | 2005-01-19 | 2010-05-26 | シャープ株式会社 | Mobile device |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003004122A1 (en) * | 2001-06-30 | 2003-01-16 | Sinclair Peter | Motion assisting apparatus |
| CN2889901Y (en) * | 2006-04-30 | 2007-04-18 | 左再新 | Wing-like aircraft |
| CN104443380A (en) * | 2014-12-11 | 2015-03-25 | 香港理工大学 | Splay-track flapping wing mechanism and miniature flapping wing air vehicle |
| CN204916183U (en) * | 2015-09-09 | 2015-12-30 | 吴立群 | Wing actuating mechanism of flapping wing aircraft |
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