CN106043692B - A kind of multiple degrees of freedom imitates bird flapping wing aircraft - Google Patents
A kind of multiple degrees of freedom imitates bird flapping wing aircraft Download PDFInfo
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- CN106043692B CN106043692B CN201610408704.1A CN201610408704A CN106043692B CN 106043692 B CN106043692 B CN 106043692B CN 201610408704 A CN201610408704 A CN 201610408704A CN 106043692 B CN106043692 B CN 106043692B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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Abstract
A kind of multiple degrees of freedom imitates bird flapping wing aircraft.It includes drive mechanism, two twist mechanisms, empennage mechanism, two flexible joint structures, frames；The present invention is simple and compact for structure, it may be achieved full symmetric flapping motion.Using rubber flexible grooving mechanism flapping wing aircraft can be made equally to be flown more like bird, it is smaller to reduce resistance for lifting surface area when flapping wing bending fold makes to flutter on flapping wing, under when flutterring span area it is maximum, simultaneously, outer wing enough may also passively be bent in heading by air drag, so as to produce bigger lift and thrust.The elevation angle of flapping wing is changed using flapping wing bar in servos control, on aerodynamics, meets the effect flutterred under resistance is less than and flutter lift, improves pneumatic efficiency.Using the deflection of two servos control empennages, flapping wing aircraft flight attitude is set to be more conducive to operate and control.The multiple degrees of freedom is imitated bird flapping wings type minitype bionic ornithopter flight device and can used in fields such as model, monitoring of taking photo by plane, information gathering, disaster search and rescue, airport bird scarings.
Description
Technical field
The present invention relates to a kind of flapping wing aircraft technical field, and bird flapping flight is imitated more particularly to a kind of multiple degrees of freedom
Device.
Background technology
Imitative bird flapping wing aircraft is a kind of course of new aircraft for imitating birds flapping flight, is flown with traditional fixed-wing, rotor
Machine aircraft is compared, it is possible to achieve and quickly take off, accelerate and hover, mobility, disguise and the flexibility with height, in state
Anti- field and civilian aspect suffer from being widely applied prospect.
The flapping flight of bird is mainly made up of three kinds of basic motions in nature：Up and down swing the bat motion, twist motion and
Bending fold moves.With reference to Bird Flight feature, the motion that will swing the bat up and down is organically combined with twist motion, bending fold motion
Together, flapping wing is produced compared with lift and thrust, can improve pneumatic force efficiency, and single swing the bat motion and twist motion all
The pneumatic force efficiency of flapping wing can not be caused to reach maximum.
The flight attitude for examining birds can obtain, and birds can mainly divide in flat journey (do not include taking off, glide) of flying over
For two stages：
(1) stage is flutterred under：Pinion since peak under flutter, wing keeps deployed condition substantially, and outer wing has by a small margin
Bending fold, thereafter the folding amplitude of outer wing continue to increase.During being flutterred under whole flapping wing, the angle of attack of flapping wing is gradual from negative sense
Reduce after increase, finally to positive angle.
(2) the lifting stage：After the completion of bending fold, wing keeps original arch, since minimum point on flutter, in highest
There is folding by a small margin at point, the angle of attack of flapping wing reduces after positive gradually increase, finally to negative sense angle, then repeatedly first
Stage.
The micro flapping wing air vehicle being molded both at home and abroad at present, mostly bionical object is based on insect, and the appearance flown
State can only realize the motion of swinging the bat of the simple free degree.Chinese patent CN 103482064A are using imitative bird two-period form flapping wing, inside and outside
Wing junction is hinged using joint, basic to realize the bending fold fluttered up and down with outer wing, can imitate birds to a certain extent
In flight course, but the joint articulated structure control of this interior outer wing has certain difficulty.Chinese patent CN 101417708A
Flapping wing aerofoil is divided into interior outer panel, front and rear wing panel doubling is controlled by setting angle limiter on front and rear two sections of ribs
Angle, the torsion phenomenon during being fluttered with this realizing flapping wing, its weak point be, by setting angle limiter can only will
The angle of attack of flapping wing is set in a certain fixed value, and can not be adjusted flexibly according to incoming flow velocity.And it is used as large-scale imitative bird flapping flight
Device, it is very important that bending fold and flapping wing between the inner wing and outer wing of flapping wing, which are reversed to improving airplane ascensional force,.
The content of the invention
In order to solve the above problems, it is an object of the invention to provide it is a kind of gather flapping wing swing the bat, reverse, bending fold
Multiple degrees of freedom imitates bird flapping wing aircraft.
In order to achieve the above object, multiple degrees of freedom provided by the invention imitate bird flapping wing aircraft include drive mechanism, two
Twist mechanism, empennage mechanism, two flexible joint structures, frames；Wherein frame include fuselage bar, semicircle forebay, mainframe,
Motor fixed frame, apical pore fix bar, left and right hole fix bar, two rooted tooth wheel fix bars, lower opening fix bar；Fuselage bar is along front and back
To setting；Formed with apical pore, left hole and right hole in semicircle frame；Mainframe has been respectively formed on apical pore, a left side with motor fixed frame
Hole, right hole, mesopore, two bottom holes and lower opening；Sequentially passed through in the middle part of fuselage bar and be arranged on semicircle forebay, mainframe and electricity
In the mesopore of machine fixed frame, and semicircle forebay, mainframe and motor fixed frame be arranged in parallel；Apical pore fix bar, a left side
Right hole fix bar, which extends through, to be arranged in semicircle forebay, the apical pore of mainframe and motor fixed frame and left and right hole；Two
Gear fix bar, which runs through, to be arranged in two bottom holes of mainframe and motor fixed frame；Lower opening fix bar, which runs through, is arranged on master
In frame and the lower opening of motor fixed frame；
Described drive mechanism includes brushless electric machine, gear reduction, two cranks, two connecting rods；Wherein brushless electricity
The rear end of machine is fixed on motor fixed frame, and output shaft advances through mainframe upper left-hand position；Gear reduction by
Motor gear, first order duplicate gear, second level duplicate gear, right side gear, left side gear composition；Motor gear is sleeved on nothing
On the output shaft of brush motor；First order duplicate gear is made up of two gear wheels being coaxially disposed and little gear, gear wheel preceding,
Rear, motor gear is meshed little gear with the gear wheel in first order duplicate gear；Second level duplicate gear is arranged on first
The right side of level duplicate gear, is made up of two gear wheels being coaxially disposed and little gear, and gear wheel is rear, and little gear is preceding；The
Little gear in one-level duplicate gear is meshed with the gear wheel in the duplicate gear of the second level, the small tooth in the duplicate gear of the second level
Wheel is meshed with right side gear, and right side gear is meshed with left side gear, and the centre bore of left side gear and right side gear point
The front end of two rooted tooth wheel fix bars is not fixed on；One end of each crank is fixed on the front end center of left side gear and right side gear
Place, one end of the other end and a connecting rod are hinged, and two cranks carry out circular motion with left side gear and right side gear together；
Left side gear and crank, connecting rod and right side gear thereon and crank thereon, connecting rod are symmetrical relative to fuselage bar；
Two twist mechanisms are symmetricly set on the left and right sides of fuselage bar, for changing the angle of attack of flapping wing, each twist machine
Structure connects including bar of fluttering, two torsion bearings, steering wheel fixed frame, steering wheel, steering wheel arm, interior flapping wing bar, interior flapping wing plate, torsion
Head, twisted connecting rod, middle flapping wing plate；Bar of fluttering is set in left-right direction, is cuboid hollow-core construction, inner opposite end and connecting rod
The other end is hinged；Two torsion bearings are separately mounted to flutter the end positions of bar；Interior flapping wing bar includes straight-bar and brace, its
One end of middle straight-bar and the outer end for bar of fluttering are coordinated by torsion bearing installs, and one end of brace is fixed on the middle part of straight-bar, after
Portion extends to rear ramp, and interior flapping wing bar is conversion range of angle of attack around the anglec of rotation of torsion bearing；Interior flapping wing plate is along front and back
To being vertically arranged, straight-bar and brace are run through in middle part simultaneously；Middle flapping wing plate is arranged on interior flapping wing in a manner of parallel with interior flapping wing plate
Straight-bar is run through at the outside of plate, middle part, and brace is run through at rear portion；The front end of steering wheel fixed frame is welded on the outer end edges edge for bar of fluttering
Position；Steering wheel is utilized and is bolted on the left surface of steering wheel fixed frame；One end of steering wheel arm is sleeved on the output shaft of steering wheel,
One end of the other end and twisted connecting rod is hinged, and the other end of twisted connecting rod is mutually fixed with twisting joint, and twisting joint is fixed on
Interior flapping wing bar left-hand portion；
Described empennage mechanism includes steering wheel, empennage before steering wheel plate, empennage before plate, empennage in tail plate, tail plate, fuselage
Steering wheel after steering wheel plate, empennage after bearing, empennage after fore bearing, empennage connecting rod, empennage；Wherein tail plate in fuselage on plate with forming
There is centre bore, plate in the centre bore of tail plate with passing through from fuselage successively at the rear portion of fuselage bar, thus by plate, tail in fuselage
Plate is fixed on fuselage bar, and tail plate be arranged in parallel with plate in fuselage；Steering wheel plate is fixed in fuselage before plate before empennage
On end face；Steering wheel plate is fixed on the rear end face of tail plate after empennage；Steering wheel is connected to before empennage on steering wheel plate before empennage；Empennage
Steering wheel is connected to after empennage on steering wheel plate afterwards；The steering wheel arm phase that one end of empennage connecting rod passes through empennage fore bearing and steering wheel before empennage
Even, the other end is connected by bearing after empennage with steering wheel plate after empennage；The front end of tail plate and the steering wheel arm phase of steering wheel after empennage
Connect；
Two flexible joint symmetrical configurations are set, and each flexible joint structure includes flexible rubber bar, outer flapping wing bar and outer
Flapping wing plate；The both ends of wherein flexible rubber bar are connected to the outer end of interior flapping wing bar upper straight rod and one end of outer flapping wing bar；Outside
Flapping wing plate is vertically arranged along the longitudinal direction, and outer flapping wing bar is run through at middle part.
Described left side gear and right side gear has the identical number of teeth, therefore is synchromesh gear.
Described tail plate is fanning strip.
Described flexible rubber bar is cuboid structure, front end and upper end face formed with a plurality of vertical groove.
Multiple degrees of freedom provided by the invention imitates bird flapping wing aircraft advantage and beneficial effect：It is simple and compact for structure, Ke Yishi
Existing full symmetric flapping motion.Using rubber flexible grooving mechanism flapping wing aircraft can be made to be flutterred more like the same flight of bird
It is smaller to reduce resistance for lifting surface area when wing bending fold makes to flutter on flapping wing, under when flutterring span area it is maximum, meanwhile, outer wing is flying
Direction enough may also passively be bent by air drag, so as to produce bigger lift and thrust.Using in servos control
Flapping wing bar changes the elevation angle of flapping wing, on aerodynamics, meets the effect flutterring under resistance is less than and flutter lift, improves pneumatic
Efficiency.In addition, using the deflection of two servos control empennages, flapping wing aircraft flight attitude is set to be more conducive to operate and control.Should
Multiple degrees of freedom is imitated bird flapping wing aircraft and can used in fields such as model, monitoring of taking photo by plane, information gathering, disaster search and rescue, airport bird scarings.
Brief description of the drawings
Fig. 1 is that multiple degrees of freedom provided by the invention imitates bird flapping wing aircraft general structure stereogram；
Fig. 2 is that the multiple degrees of freedom shown in Fig. 1 imitates bird flapping wing aircraft upper drive mechanism structural representation；
Fig. 3 is that the multiple degrees of freedom shown in Fig. 1 imitates twist mechanism structural representation on bird flapping wing aircraft；
Fig. 4 is that the multiple degrees of freedom shown in Fig. 1 imitates empennage mechanism structural representation on bird flapping wing aircraft；
Fig. 5 is that the multiple degrees of freedom shown in Fig. 1 imitates flexible rubber joint design schematic diagram on bird flapping wing aircraft；
Fig. 6 is that the multiple degrees of freedom shown in Fig. 1 imitates bird flapping wing aircraft upper spider structural representation.
Embodiment
Bird flapping wing aircraft is imitated to multiple degrees of freedom provided by the invention with specific embodiment below in conjunction with the accompanying drawings to carry out in detail
Explanation.
As shown in Fig. 1-Fig. 6, multiple degrees of freedom provided by the invention, which imitates bird flapping wing aircraft, includes 1, two torsion of drive mechanism
Rotation mechanism 2, empennage mechanism 3, two flexible joint structures 4, frames 5；Wherein frame 5 includes fuselage bar 501, semicircle forebay
502nd, mainframe 503, motor fixed frame 504, apical pore fix bar 505, left and right hole fix bar 506, two rooted tooth wheel fix bars
507th, lower opening fix bar 508；Fuselage bar 501 is set along the longitudinal direction；Formed with apical pore, left hole and right hole in semicircle frame 502；
Mainframe 503 has been respectively formed on apical pore, left hole, right hole, mesopore, two bottom holes and lower opening with motor fixed frame 504；Fuselage
The middle part of bar 501, which sequentially passes through, to be arranged in the mesopore of semicircle forebay 502, mainframe 503 and motor fixed frame 504, and
And semicircle forebay 502, mainframe 503 and motor fixed frame 504 be arranged in parallel；Apical pore fix bar 505, left and right hole fix bar
506 extend through and are arranged in semicircle forebay 502, the apical pore of mainframe 503 and motor fixed frame 504 and left and right hole；Two
Rooted tooth wheel fix bar 507, which runs through, to be arranged in two bottom holes of mainframe 503 and motor fixed frame 504；Lower opening fix bar
508 through being arranged in the lower opening of mainframe 503 and motor fixed frame 504；
Described drive mechanism 1 includes brushless electric machine 102, gear reduction, two cranks, 106, two connecting rods 107；
The rear end of wherein brushless electric machine 102 is fixed on motor fixed frame 504, and output shaft advances through the upper left-hand of mainframe 503
Position；Gear reduction is by motor gear 101, first order duplicate gear 103, second level duplicate gear 104, right side gear
105th, left side gear 108 forms；Motor gear 101 is sleeved on the output shaft of brushless electric machine 102；First order duplicate gear 103
It is made up of two gear wheels being coaxially disposed and little gear, gear wheel is preceding, and little gear is in rear, motor gear 101 and the first order
Gear wheel in duplicate gear 103 is meshed；Second level duplicate gear 104 is arranged on the right side of first order duplicate gear 103, by
Two gear wheels being coaxially disposed and little gear composition, gear wheel is rear, and little gear is preceding；In first order duplicate gear 103
Little gear is meshed with the gear wheel in second level duplicate gear 104, the little gear in second level duplicate gear 104 and right side tooth
Wheel 105 is meshed, and right side gear 105 is meshed with left side gear 108, and the center of left side gear 108 and right side gear 105
Hole is separately fixed at the front end of two rooted tooth wheel fix bars 507；One end of each crank 106 is fixed on left side gear 108 and right side
At the front end center of gear 105, one end of the other end and a connecting rod 107 is hinged, and two cranks 106 are together with left side gear
108 carry out circular motion with right side gear 105；Left side gear 108 and crank 106 thereon, connecting rod 107 and right side gear 105
And crank 106, connecting rod 107 thereon is symmetrical relative to fuselage bar 501；
Two twist mechanisms 2 are symmetricly set on the left and right sides of fuselage bar 501, each to turn round for changing the angle of attack of flapping wing
Rotation mechanism 2 includes flutter bar 201, two torsion bearings 202, steering wheel fixed frame 203, steering wheel 204, steering wheel arm 205, interior flapping wings
Bar 206, interior flapping wing plate 207, twisting joint 208, twisted connecting rod 209, middle flapping wing plate 210；Bar 201 of fluttering is set in left-right direction
Put, be cuboid hollow-core construction, the other end of inner opposite end and connecting rod 107 is hinged；Two torsion bearings 202 are installed respectively
In the end positions of bar 201 of fluttering；Interior flapping wing bar 206 includes straight-bar 206a and brace 206b, wherein straight-bar 206a one end with
The flutter outer end of bar 201 is coordinated by torsion bearing 202 and installed, and brace 206b one end is fixed on straight-bar 206a middle part, after
Portion extends to rear ramp, and interior flapping wing bar 206 is conversion range of angle of attack around the anglec of rotation of torsion bearing 202；Interior flapping wing plate 207
It is vertically arranged along the longitudinal direction, straight-bar 206a and brace 206b is run through in middle part simultaneously；Middle flapping wing plate 210 with interior flapping wing plate 207
Parallel mode is arranged on the outside of interior flapping wing plate 207, and straight-bar 206a is run through at middle part, and brace 206b is run through at rear portion；Steering wheel is fixed
The front end of frame 203 is welded on the outer end edges position for bar 201 of fluttering；Steering wheel 204 utilizes and is bolted to steering wheel fixed frame
On 203 left surface；One end of steering wheel arm 205 is sleeved on the output shaft of steering wheel 204, the other end and the one of twisted connecting rod 209
End is hinged, and the other end and the phase of twisting joint 208 of twisted connecting rod 209 are fixed, and twisting joint is fixed on the interior left side of flapping wing bar 206
Position；
Described empennage mechanism 3 includes steering wheel plate 304, tail before plate 303, empennage in tail plate 301, tail plate 302, fuselage
Rudder after steering wheel plate 309, empennage after bearing 308, empennage after steering wheel 305, empennage fore bearing 306, empennage connecting rod 307, empennage before the wing
Machine 310；Formed with centre bore on plate 303 wherein in tail plate 302 and fuselage, the rear portion of fuselage bar 501 plate from fuselage successively
303 with passed through in the centre bore of tail plate 302, thus plate in fuselage 303, tail plate 302 are fixed on fuselage bar 501, and
And tail plate 302 be arranged in parallel with plate in fuselage 303；Steering wheel plate 304 is fixed in fuselage on the front end face of plate 303 before empennage；
Steering wheel plate 309 is fixed on the rear end face of tail plate 302 after empennage；Steering wheel 305 is connected to steering wheel plate 304 before empennage before empennage
On；Steering wheel 310 is connected to after empennage on steering wheel plate 309 after empennage；One end of empennage connecting rod 307 by empennage fore bearing 306 with
The steering wheel arm of steering wheel 305 is connected before empennage, and the other end is connected by bearing after empennage 308 with steering wheel plate 309 after empennage；Tail plate
301 front end connects with the steering wheel arm of steering wheel after empennage 310；
Two flexible joint structures 4 are symmetrical arranged, and each flexible joint structure 4 includes flexible rubber bar 401, outer flapping wing bar
402 and outer flapping wing plate 403；The both ends of wherein flexible rubber bar 401 are connected to the interior upper straight rod 206a of flapping wing bar 206 outer end
With one end of outer flapping wing bar 402；Outer flapping wing plate 403 is vertically arranged along the longitudinal direction, and outer flapping wing bar 402 is run through at middle part.
Described left side gear 108 and right side gear 105 have the identical number of teeth, therefore are synchromesh gears.
Described tail plate 301 is fanning strip.
Described flexible rubber bar 401 is cuboid structure, front end and upper end face formed with a plurality of vertical groove.
Multiple degrees of freedom provided by the invention now is imitated into bird flapping wing aircraft operation principle to be described below：
Start brushless electric machine 102 first, the canine tooth in first order duplicate gear 103 is driven from there through motor gear 101
Wheel rotates；Because the gear wheel in first order duplicate gear 103 and little gear are coaxial, therefore gear wheel will drive little gear synchronous
Rotate.Because the little gear in first order duplicate gear 103 is meshed with the gear wheel in second level duplicate gear 104, second
Gear wheel and little gear in level duplicate gear 104 is coaxial, little gear and right side gear 105 in second level duplicate gear 104
It is meshed, right side gear 105 is meshed with left side gear 108, and at this moment two cranks 106 will be with left side gear 108 and right side
Gear 105 carries out circular motion together, and the inner for driving two bars 201 of fluttering by two connecting rods 107 respectively is fluttered up and down.
In flight course, steering wheel 204 works, and thus drives steering wheel arm 205 and twisted connecting rod 209 to rotate, twisted connecting rod 209 drives again
Twisting joint 208 rotates, and interior flapping wing bar 206 is turned over certain angle around torsion bearing 202, to change the flapping wing angle of attack.
In empennage mechanism 3, when steering wheel 305 works before empennage, it is driven, is driven on tail plate 301 through empennage connecting rod 307
Lower swing, to adjust aircraft flight pitch attitude；When steering wheel 310 works after empennage, drive coupled tail plate 301 left
Right avertence turns, and realizes the pitching and deflection of bionic flapping-wing flying vehicle.
In flexible joint structure 4, formed with groove on flexible rubber bar 401, flapping wing aircraft in flight course, to
On when fluttering, outer flapping wing bar 402 has by a small margin downward in the presence of downdraught and the upper end groove of flexible rubber bar 401
Bending fold, so as to reduce the area of flapping wing, the purpose for reducing negative lift and resistance is reached；When flapping wing is fluttered downwards, outside
Flapping wing bar 402 has the purpose for being bent upwards folding, reaching increase lift by a small margin in the presence of ascending air.When parallel
When the speed of incoming flow on flapping wing aircraft heading becomes big, in the presence of the front end groove of flexible rubber bar 401, outer flapping wing
Bar 402 further increases the thrust of flapping wing aircraft passively to post deflection certain angle.
Claims (4)
1. a kind of multiple degrees of freedom imitates bird flapping wing aircraft, it is characterised in that：Described multiple degrees of freedom, which imitates bird flapping wing aircraft, to be included
Drive mechanism (1), two twist mechanisms (2), empennage mechanism (3), two flexible joint structures (4), frame (5)；Wherein frame
(5) fuselage bar (501), semicircle forebay (502), mainframe (503), motor fixed frame (504), apical pore fix bar are included
(505), left and right hole fix bar (506), two rooted tooth wheel fix bars (507), lower opening fix bar (508)；Fuselage bar (501) is along front and rear
Direction is set；Formed with apical pore, left hole and right hole in semicircle frame (502)；Mainframe (503) and motor fixed frame (504)
It has been respectively formed on apical pore, left hole, right hole, mesopore, two bottom holes and lower opening；Fuselage bar sequentially passes through setting in the middle part of (501)
In the mesopore of semicircle forebay (502), mainframe (503) and motor fixed frame (504), and semicircle forebay (502),
Mainframe (503) and motor fixed frame (504) be arranged in parallel；Apical pore fix bar (505), left and right hole fix bar (506) are respectively
Through being arranged in semicircle forebay (502), the apical pore of mainframe (503) and motor fixed frame (504) and left and right hole；Two
Gear fix bar (507), which runs through, to be arranged in two bottom holes of mainframe (503) and motor fixed frame (504)；Lower opening is consolidated
Fixed pole (508), which runs through, to be arranged in the lower opening of mainframe (503) and motor fixed frame (504)；
Described drive mechanism (1) includes brushless electric machine (102), gear reduction, two cranks (106), two connecting rods
(107)；The rear end of wherein brushless electric machine (102) is fixed on motor fixed frame (504), and output shaft advances through mainframe
(503) upper left-hand position；Gear reduction is by motor gear (101), first order duplicate gear (103), second level duplex
Gear (104), right side gear (105), left side gear (108) composition；Motor gear (101) is sleeved on brushless electric machine (102)
On output shaft；First order duplicate gear (103) is made up of two gear wheels being coaxially disposed and little gear, and gear wheel is small preceding
Rear, motor gear (101) is meshed gear with the gear wheel in first order duplicate gear (103)；Second level duplicate gear
(104) right side of first order duplicate gear (103) is arranged on, is made up of two gear wheels being coaxially disposed and little gear, canine tooth
Wheel is rear, and little gear is preceding；Little gear in first order duplicate gear (103) and the canine tooth in second level duplicate gear (104)
Wheel is meshed, and the little gear in second level duplicate gear (104) is meshed with right side gear (105), right side gear (105) and a left side
Side gear (108) is meshed, and the centre bore of left side gear (108) and right side gear (105) is separately fixed at two rooted tooth wheels
The front end of fix bar (507)；One end of each crank (106) is fixed on the front end of left side gear (108) and right side gear (105)
At center, the other end and one end of a connecting rod (107) are hinged, and two cranks (106) are together with left side gear (108) and the right side
Side gear (105) carries out circular motion；Left side gear (108) and crank (106), connecting rod (107) and right side gear thereon
(105) crank (106), connecting rod (107) and thereon is symmetrical relative to fuselage bar (501)；
Two twist mechanisms (2) are symmetricly set on the left and right sides of fuselage bar (501), each to turn round for changing the angle of attack of flapping wing
Rotation mechanism (2) includes flutter bar (201), two torsion bearings (202), steering wheel fixed frame (203), steering wheel (204), steering wheel arm
(205), interior flapping wing bar (206), interior flapping wing plate (207), twisting joint (208), twisted connecting rod (209), middle flapping wing plate (210)；
Bar (201) of fluttering is set in left-right direction, is cuboid hollow-core construction, and the other end of inner opposite end and connecting rod (107) is mutually cut with scissors
Connect；Two torsion bearings (202) are separately mounted to flutter the end positions of bar (201)；Interior flapping wing bar (206) includes straight-bar
Matched somebody with somebody by torsion bearing (202) outer end of (206a) and brace (206b), wherein one end of straight-bar (206a) and bar of fluttering (201)
Installation is closed, one end of brace (206b) is fixed on straight-bar (206a) middle part, and rear portion extends to rear ramp, interior flapping wing bar (206)
The anglec of rotation around torsion bearing (202) is conversion range of angle of attack；Interior flapping wing plate (207) is vertically arranged along the longitudinal direction, in
Straight-bar (206a) and brace (206b) are run through simultaneously in portion；Middle flapping wing plate (210) is set in a manner of parallel with interior flapping wing plate (207)
In the outside of interior flapping wing plate (207), straight-bar (206a) is run through at middle part, and brace (206b) is run through at rear portion；Steering wheel fixed frame (203)
Front end be welded on the outer end edges position of bar of fluttering (201)；Steering wheel (204) utilizes and is bolted to steering wheel fixed frame
(203) on left surface；One end of steering wheel arm (205) is sleeved on the output shaft of steering wheel (204), the other end and twisted connecting rod
(209) one end is hinged, and the other end and the twisting joint (208) of twisted connecting rod (209) are mutually fixed, and twisting joint is fixed on interior
Flapping wing bar (206) left-hand portion；
Described empennage mechanism (3) includes steering wheel plate before plate (303), empennage in tail plate (301), tail plate (302), fuselage
(304), rudder after bearing (308), empennage after steering wheel (305), empennage fore bearing (306), empennage connecting rod (307), empennage before empennage
Steering wheel (310) after machine plate (309), empennage；Formed with centre bore, fuselage bar on plate (303) wherein in tail plate (302) and fuselage
(501) plate (303) in the centre bore of tail plate (302) with passing through from fuselage successively at rear portion, thus by plate in fuselage
(303), tail plate (302) is fixed on fuselage bar (501), and tail plate (302) be arranged in parallel with plate in fuselage (303)；
Steering wheel plate (304) is fixed on the front end face of plate in fuselage (303) before empennage；Steering wheel plate (309) is fixed on tail plate after empennage
(302) on rear end face；Steering wheel (305) is connected to before empennage on steering wheel plate (304) before empennage；Steering wheel (310) connects after empennage
After empennage on steering wheel plate (309)；One end of empennage connecting rod (307) passes through steering wheel (305) before empennage fore bearing (306) and empennage
Steering wheel arm be connected, the other end is connected by bearing after empennage (308) with steering wheel plate (309) after empennage；Before tail plate (301)
End connects with the steering wheel arm of steering wheel after empennage (310)；
Two flexible joint structures (4) are symmetrical arranged, and each flexible joint structure (4) includes flexible rubber bar (401), outer flapping wing
Bar (402) and outer flapping wing plate (403)；The both ends of wherein flexible rubber bar (401) are connected to interior flapping wing bar (206) upper straight rod
The outer end of (206a) and one end of outer flapping wing bar (402)；Outer flapping wing plate (403) is vertically arranged along the longitudinal direction, and middle part is through outer
Flapping wing bar (402).
2. multiple degrees of freedom according to claim 1 imitates bird flapping wing aircraft, it is characterised in that：Described left side gear
(108) and right side gear (105) has the identical number of teeth, therefore is synchromesh gear.
3. multiple degrees of freedom according to claim 1 imitates bird flapping wing aircraft, it is characterised in that：Described tail plate (301)
For fanning strip.
4. multiple degrees of freedom according to claim 1 imitates bird flapping wing aircraft, it is characterised in that：Described flexible rubber bar
(401) for cuboid structure, front end and upper end face formed with a plurality of vertical groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610408704.1A CN106043692B (en) | 2016-06-08 | 2016-06-08 | A kind of multiple degrees of freedom imitates bird flapping wing aircraft |
Applications Claiming Priority (1)
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