CN107891980B - Four-degree-of-freedom flapping-wing motion mechanism - Google Patents
Four-degree-of-freedom flapping-wing motion mechanism Download PDFInfo
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- CN107891980B CN107891980B CN201711013554.5A CN201711013554A CN107891980B CN 107891980 B CN107891980 B CN 107891980B CN 201711013554 A CN201711013554 A CN 201711013554A CN 107891980 B CN107891980 B CN 107891980B
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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
The invention discloses a four-degree-of-freedom flapping wing motion mechanism, which relates to the field of mechanical motion and comprises a rack, wings, an up-down flapping mechanism, a front-back swinging mechanism and a wingspan direction twisting mechanism; the mechanism for driving the wings to flap up and down and swing back and forth is a modification of a crank-slider mechanism with symmetrical height, and the left wing and the right wing are respectively driven by the same driving piece; the mechanism for driving the wings to do torsional motion is a modification of a rocker slider, and the left wing and the right wing are driven by different driving pieces. The whole mechanism is a parallel mechanism, the mechanism reduces the motion inertia of a moving part, and the high-speed motion of the wings can be realized; the mechanism can well solve the problem of the flapping synchronism of the left wing and the right wing when the ornithopter flies, simultaneously keeps certain left-right asymmetry, and can test more complex ornithopter modes.
Description
Technical Field
The invention relates to the field of multi-degree-of-freedom mechanism motion, in particular to four-degree-of-freedom flapping wing mechanism motion.
Background
The concept of a miniature aircraft was first proposed in a research report in 1992 by the military intellectual reservoir organization RAND corporation of the united states.
The flapping wing aircraft is different from a conventional aircraft, adopts a flapping wing flight mode widely existing in nature, and has the flight power and the lift force from wings which flap up and down, so the design of a flapping wing mechanism of the flapping wing aircraft is particularly important. At present, most of space flapping wing mechanisms cause the left and right flapping asymmetry of wings due to the reasons of asymmetrical arrangement of driving parts and the like, and further affect the flight stability of the flapping wing machine, and a plurality of reliable flapping wing mechanisms are derived from simple crank rocker mechanisms, although the flight is stable, the maneuverability is poor, and the maneuverability is insufficient.
Disclosure of Invention
In order to overcome the defects of the flapping wing mechanism, the invention provides the flapping wing mechanism with four degrees of freedom.
The invention is realized by the following technical effects:
a four-degree-of-freedom flapping-wing motion mechanism comprises a frame, wings, an up-down flapping mechanism, a front-back swinging mechanism and a wingspan direction twisting mechanism;
the frame comprises a frame main body, a vertical direction limiting groove, a horizontal direction limiting groove and a wing motion ball groove pair; the main body of the frame is of a bilaterally symmetrical vertical structure, the wing sports ball groove pairs are fixedly arranged on the left side and the right side of the main body of the frame, and the horizontal limiting groove is arranged at one end of each wing sports ball groove pair; the vertical direction limiting groove is fixedly arranged on the rack main body and is parallel to the base on the rack main body; the front side and the rear side of the base of the frame main body are both provided with bulges; the bulge is divided into a front bulge and a rear bulge;
the wing is of a rod-shaped structure; one end of the wing is arranged in the wing motion ball groove pair and can move along the wing motion ball groove pair; the other end of the wing is provided with a first ball; and is hinged with one end of the vertical connecting rod through a first ball; a cylindrical cam is arranged on the wing;
the upper and lower flapping mechanisms are eccentric crank rocker mechanisms and comprise a first driving wheel, a first transmission rod, a middle connecting rod and a vertical connecting rod; the first driving wheel is arranged on a front bulge of the frame main body; the first driving wheel is hinged with one end of the first transmission rod through a revolute pair; the other end of the first transmission rod is arranged on the center of the middle connecting rod; two ends of the middle connecting rod are respectively hinged with one end of the vertical connecting rod; the other end of the vertical connecting rod is hinged with a first ball on the wing, and the vertical connecting rod moves in a plane limited by the vertical direction limiting groove;
the front-back swinging mechanism is a centering crank-rocker mechanism and comprises a second driving wheel, a second transmission rod, a horizontal connecting rod and a T-shaped limiting rod; the second driving wheel is arranged on a rear bulge of the rack main body; the second driving wheel is hinged with one end of the second transmission rod through a revolute pair; the other end of the second transmission rod is arranged in the center of the horizontal connecting rod, and two ends of the horizontal connecting rod are respectively hinged with one end of the T-shaped limiting rod; the other end of the T-shaped limiting rod is arranged on the wing, and the T-shaped limiting rod penetrates through the limiting groove in the horizontal direction;
the wingspan direction torsion mechanism is a rocker mechanism and comprises a rocker, a connecting rod and a steering engine mounting seat; the ball pair at one end of the connecting rod is arranged in the curve groove of the cylindrical cam; the other end of the connecting rod is hinged with the rocker; the other end of the rocker is hinged with the steering engine mounting seat; and a steering engine is arranged on the steering engine mounting seat.
Furthermore, the steering engine mounting seat is provided with a limiting plate, and the limiting plate is clamped on the wing.
Further, a second ball is arranged on the wing; the second ball is arranged in the track of the wing motion ball groove pair.
Furthermore, one end of the T-shaped limiting rod is of a rectangular hollow groove structure, and the wing penetrates through the rectangular hollow groove structure.
Furthermore, the horizontal direction limiting groove is of a curved surface structure which is symmetrical up and down, and the T-shaped limiting rod can swing left and right in the horizontal direction limiting groove.
Furthermore, the vertical direction limiting groove is composed of flat plates which are parallel to each other in front and back.
Furthermore, the front protrusion and the rear protrusion are arranged at the center of the base of the machine base main body.
Furthermore, the wing motion ball groove pair is of an arc-shaped structure.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a four-degree-of-freedom flapping-wing motion mechanism according to the present invention;
FIG. 2 is a schematic view of an airfoil according to the present invention;
FIG. 3 is a schematic structural view of a T-shaped limiting rod in the back-and-forth swinging mechanism according to the present invention;
FIG. 4 is a schematic view of a spanwise twist mechanism according to the invention.
The reference numbers are as follows:
1-a first driving wheel; 2-a first transfer lever; 3-middle connecting rod; 4-vertically arranging a connecting rod; 5-vertically arranging a direction limiting groove; 6-wing motion ball groove pair; 7-a rocker; 8-a steering engine mounting seat; 9-a steering engine; 10-a connecting rod; 11-a second driving wheel 12-a second transmission rod; 13-a horizontal connecting rod; 14-horizontal direction limiting groove; 15-T-shaped limiting rods; 16-an airfoil; 17-a first ball; 18-a cylindrical cam; 19-second ball.
Detailed Description
For a further understanding of the present invention, reference is made to the following description taken in conjunction with the accompanying drawings in which:
referring to fig. 1, a four-degree-of-freedom flapping-wing motion mechanism includes a frame, wings 16, an up-down flapping mechanism, a back-and-forth swinging mechanism, and a span-wise twisting mechanism. The motion mechanism composed of the up-down flapping mechanism, the front-back swinging mechanism and the wingspan direction twisting mechanism is a parallel motion mechanism, and all motions are not interfered with each other. The frame comprises a vertical direction limiting groove 5, a horizontal direction limiting groove 14, a wing motion ball groove pair 6 and a frame main body.
Referring to fig. 2, the wing 16 is a long rod, and a first ball 17, a cylindrical cam 18 and a second ball 19 are sequentially distributed on the rod.
The up-down flapping mechanism comprises a first driving wheel 1, a first transmission rod 2, a middle connecting rod 3 and a vertical connecting rod 4; the first driving wheel 1 is driven by a motor to rotate for 360 degrees, the movement of the first driving wheel 1 is transmitted to the first transmission rod 2, two ends of the first transmission rod 2 are connected with two vertical connecting rods 4, the vertical connecting rods 4 are limited by vertical direction limiting grooves 5 and can only move in a plane parallel to a yz plane, and the middle connecting rod 3 can only move in the plane where the vertical direction limiting grooves 5 are located along the z direction. Since the ball pair end of the vertical connecting rod 4 is connected with the wing 16, and the second ball 19 on the wing 16 is limited in the wing motion ball groove pair 6, the up-and-down motion of the middle connecting rod 3 will cause the up-and-down flapping of the wing 16.
The front-back swinging mechanism comprises a driving wheel 11, a second transmission rod 12, a horizontal connecting rod 13 and a T-shaped limiting rod 15. The movement of the T-shaped limiting rod 15 is limited by the horizontal limiting groove 14 and can only move in the plane of the horizontal limiting groove 14. The second driving wheel 11 is driven by the motor to rotate 360 degrees, the rotation of the second driving wheel 11 drives the second transmission rod 12 to move, and further drives the horizontal connecting rod 13 to move horizontally, and the T-shaped limiting rod 14 drives the wing 16 to move back and forth in a swinging manner.
The wingspan direction torsion mechanism comprises a steering engine mounting seat 8, a rocker 7 and a connecting rod 10. The bottom of the steering engine mounting seat 8 is a rotating shaft, and when the wings 16 swing back and forth, the whole span direction torsion mechanism can always swing along the span direction. The rocker 7 is driven by the steering engine 9 to accurately control the angle of the rocker 7, the movement of the rocker 7 drives the ball end of the connecting rod 10 to move along the wingspan direction, and then the cylindrical cam 18 on the wing 16 drives the wing 16 to do twisting motion along the wingspan direction.
Referring to fig. 3, the T-shaped limiting rod 15 in the front-back swing mechanism is structured as a rotating pair at one end, and the T-shaped end is a moving groove perpendicular to the direction of the connecting rod.
Referring to fig. 4, the steering engine mounting seat 8 is provided with a limiting rod, so that the steering engine mounting seat 8 is consistent with the wing span direction of the wing 16.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (8)
1. A four-degree-of-freedom flapping-wing motion mechanism is characterized by comprising a frame, wings (16), an up-down flapping mechanism, a front-back swinging mechanism and a wingspan direction twisting mechanism;
the frame comprises a frame main body, a vertical direction limiting groove (5), a horizontal direction limiting groove (14) and a wing motion ball groove pair (6); the main body of the frame is of a bilaterally symmetrical vertical structure, the wing sports ball groove pairs (6) are fixedly arranged at the left side and the right side of the main body of the frame, and the horizontal limiting groove (14) is arranged at one end of each wing sports ball groove pair (6); the vertical direction limiting groove (5) is fixedly arranged on the rack main body and is parallel to the base on the rack main body; the front side and the rear side of the base of the frame main body are both provided with bulges; the bulge is divided into a front bulge and a rear bulge;
the wing (16) is of a rod-shaped structure; one end of the wing (16) is arranged in the wing motion ball groove pair (6) and can move along the wing motion ball groove pair (6); the other end of the wing (16) is provided with a first ball (17); and is hinged with one end of the vertical connecting rod (4) through a first ball (17); a cylindrical cam (18) is arranged on the wing (16);
the up-down flapping mechanism is an eccentric crank rocker mechanism and comprises a first driving wheel (1), a first transmission rod (2), a middle connecting rod (3) and a vertical connecting rod (4); the first driving wheel (1) is arranged on a front bulge of the frame main body; the first driving wheel (1) is hinged with one end of the first transmission rod (2) through a revolute pair; the other end of the first transmission rod (2) is arranged on the center of the middle connecting rod (3); two ends of the middle connecting rod (3) are respectively hinged with one end of the vertical connecting rod (4); the other end of the vertical connecting rod (4) is hinged with a first ball (17) on the wing (16), and the vertical connecting rod (4) moves in a plane limited by the vertical limiting groove (5);
the front-back swinging mechanism is a centering crank rocker mechanism and comprises a second driving wheel (11), a second transmission rod (12), a horizontal connecting rod (13) and a T-shaped limiting rod (15); the second driving wheel (11) is arranged on a rear bulge of the frame main body; the second driving wheel (11) is hinged with one end of a second transmission rod (12) through a revolute pair; the other end of the second transmission rod (12) is arranged in the center of the horizontal connecting rod (13), and two ends of the horizontal connecting rod (13) are respectively hinged with one end of the T-shaped limiting rod (15); the other end of the T-shaped limiting rod (15) is arranged on the wing (16), and the T-shaped limiting rod (15) penetrates through the limiting groove (14) in the horizontal direction;
the wingspan direction torsion mechanism is a rocker mechanism and comprises a rocker (7), a connecting rod (10) and a steering engine mounting seat (8); a ball pair at one end of the connecting rod (10) is arranged in a curve groove of the cylindrical cam (18); the other end of the connecting rod (10) is hinged with the rocker (7); the other end of the rocker (7) is hinged with a steering engine mounting seat (8); and a steering engine (9) is arranged on the steering engine mounting seat (8).
2. The four-degree-of-freedom flapping wing motion mechanism according to claim 1, wherein the steering engine mounting seat (8) is provided with a limiting plate, and the limiting plate is clamped on the wing (16).
3. The four degree-of-freedom flapping wing motion mechanism of claim 1, wherein said wing (16) has a second ball (19) disposed thereon; the second ball (19) is arranged in the track of the wing motion ball groove pair (6).
4. The four-degree-of-freedom flapping wing motion mechanism of claim 1, wherein one end of the T-shaped limiting rod (15) is a rectangular hollow groove structure, and the wing (16) penetrates through the rectangular hollow groove structure.
5. The four-degree-of-freedom flapping wing motion mechanism according to claim 1, wherein the horizontal direction limiting groove (14) is a curved surface structure which is symmetrical up and down, and the T-shaped limiting rod (15) can swing left and right in the horizontal direction limiting groove (14).
6. The four-degree-of-freedom flapping wing motion mechanism of claim 1, wherein the vertical direction limiting groove (5) is composed of front and back parallel flat plates.
7. The four degree-of-freedom flapping wing motion mechanism of claim 1, wherein the front protrusion and the rear protrusion are disposed at a center position of the base body.
8. The four-degree-of-freedom flapping wing motion mechanism of claim 1, wherein said wing motion ball slot pair (6) is of a circular arc structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711013554.5A CN107891980B (en) | 2017-10-26 | 2017-10-26 | Four-degree-of-freedom flapping-wing motion mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711013554.5A CN107891980B (en) | 2017-10-26 | 2017-10-26 | Four-degree-of-freedom flapping-wing motion mechanism |
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| Publication Number | Publication Date |
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| CN107891980A CN107891980A (en) | 2018-04-10 |
| CN107891980B true CN107891980B (en) | 2020-01-24 |
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| CN201711013554.5A Active CN107891980B (en) | 2017-10-26 | 2017-10-26 | Four-degree-of-freedom flapping-wing motion mechanism |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108674689B (en) * | 2018-05-18 | 2020-09-08 | 北京航空航天大学 | Tandem flapping wing experiment platform |
| CN109383794B (en) * | 2018-09-28 | 2021-09-21 | 合肥联合飞机科技有限公司 | Flying wing power structure |
| CN109484642A (en) * | 2018-11-23 | 2019-03-19 | 西北工业大学太仓长三角研究院 | A kind of driving mechanism for flapping wing for science and education demonstration |
| CN109911197B (en) * | 2019-04-01 | 2024-02-20 | 吉林大学 | Four-degree-of-freedom ornithopter device |
| CN112124581B (en) * | 2020-09-03 | 2022-05-13 | 哈尔滨工业大学（深圳） | Flight control device and aircraft |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100534019B1 (en) * | 2003-07-08 | 2005-12-07 | 한국과학기술연구원 | Wing Actuating Apparatus Using Piezoelectric Actuator |
| CN102874409A (en) * | 2012-10-30 | 2013-01-16 | 东南大学 | Flapping wing and turning device of micro aerial vehicle |
| CN205113712U (en) * | 2015-11-20 | 2016-03-30 | 武汉科技大学 | Two degree of freedom flapping wing aircraft |
| CN106585980B (en) * | 2016-12-07 | 2018-08-24 | 郑州轻工业学院 | A kind of foldable flapping wing micro-robot of imitative beetle of four-degree-of-freedom |
| CN107150804B (en) * | 2017-06-21 | 2023-04-07 | 吉林大学 | Flapping wing aircraft with three-degree-of-freedom wings |
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