CN108082473B - Flapping wing structure capable of realizing cooperative movement and aircraft - Google Patents
Flapping wing structure capable of realizing cooperative movement and aircraft Download PDFInfo
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- CN108082473B CN108082473B CN201711342050.8A CN201711342050A CN108082473B CN 108082473 B CN108082473 B CN 108082473B CN 201711342050 A CN201711342050 A CN 201711342050A CN 108082473 B CN108082473 B CN 108082473B
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
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Abstract
The invention discloses a flapping wing structure capable of realizing cooperative movement and an aircraft, which aim at the problems of complex flapping wing structure, unstable transmission and the like of the flapping wing aircraft in the prior art, and adopt an evolutionary form of a hinge four-bar mechanism as a design scheme of a single-crank three-rocker mechanism, so that the flapping-swing-torsion cooperative movement of the wing is realized simultaneously by a simpler flapping wing structure, and the flapping wing structure has the beneficial effects of simple and efficient flapping wing structure and stable transmission, and has the following scheme: the structure comprises a driving wheel; one end of the first transmission rocker is arranged in a V shape, the other end of the first transmission rocker is connected with the driving wheel, two sides of the V-shaped end of the first transmission rocker are connected with first sliding bearings, and the first sliding bearings are sleeved on the wing main wing spar; the wing ribs are rotationally engaged with the wing main wing beams; and one end of the second transmission rocker is in a V-shaped structure, the other end of the second transmission rocker is connected with the driving wheel through a crank, two sides of the V-shaped end of the second transmission rocker are connected with second sliding bearings, and the second sliding bearings are sleeved on the wing ribs.
Description
Technical Field
The invention relates to the field of mechanical structures of bird-imitating ornithopters, in particular to a ornithopter structure capable of realizing cooperative movement and an aircraft.
Background
Liu Lan of the northwest university of industry in 2007, in the doctor's thesis, "bionic wing design technical study of miniature ornithopter", indicates that: when flying in normal plane, the wings of the bird have four basic movement modes, namely flapping, torsion, swing and folding. Wherein flapping is an angular movement about a flapping axis that is the same as the direction of flight; twisting is an angular movement about the wing midline that may tilt the wing to change its angle of attack; the swing is an angular movement about a vertical axis with the fuselage, at which time the wings swing back and forth parallel to the fuselage; folding is the stretching and bending of wings in the spanwise direction. For small-sized flying birds, the torsion and swing angles of the wings are relatively large, and at the moment, the lifting force generated by the torsion of the wings has a large contribution to the total lifting force, and the folding process is not obvious.
The bird-imitating flapping wing aircraft is one with flexible flapping wing mechanism to produce lift and thrust simultaneously. The flapping wing structure of the bird-imitating flapping wing aircraft can be divided into a single-section type flapping wing structure and a multi-section type flapping wing structure according to the wing structure, most of the flapping wing aircraft developed at home and abroad currently are single-section type flapping wing aircraft, the flapping wing aircraft mainly depends on the rigid main wing spar of the wing to drive the wing to swing up and down and chord direction torsion, but the front-back swing action cannot be realized, and the chord direction torsion mainly controls the wing rib torsion through a steering engine, so that the limitations of complex structure, poor stability and anti-interference capability of the flapping wing system, additional increase of wing weight due to installation of the steering engine and incapability of cooperative movement of the wing chord direction torsion action and the wing up and down swing action exist.
In addition, in the transmission structure of the existing bird-like ornithopter, a linear transmission part is generally adopted, the linear transmission part is usually arranged on one side of the wing main wing spar, the number of joint action points of the linear transmission part and the wing main wing spar is single, the joint points can be regarded as moment action points of the linear transmission part applied to the wing main wing spar, and further deformation and damage of different properties such as bending, stretching, extrusion and torsion are easily caused on one side of the wing main wing spar. As shown in fig. 14, the in-line transmission rocker has an upward shear force V on the left side of the wing main beam, and the shear force at the position is positive, and at the same time, has a clockwise bending moment M on the left side of the wing main beam, and the bending moment M at the position is positive, which is easy to cause the shear deformation and bending deformation shown in fig. 15. Secondly, as the connection between the linear transmission part and the crank and wing main spar is a spherical pair, the linear transmission part is easy to generate redundant rotation freedom degree problem under the spherical combination of the spherical pair, and further, as shown in figure 13, the non-directional rotational freedom parallel to the upper surface of the main frame of the fuselage (see elliptical circle in fig. 13, in which three small arrows represent the rotational direction as non-directional) can cause rotational uncertainty in the transmission of the transmission rocker of the ornithopter due to redundant rotational freedom.
Therefore, in order to solve the above problems, new research designs for single-stage ornithopter structures of bird-imitating ornithopters are needed.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a flapping wing structure capable of realizing cooperative movement and an aircraft, wherein the flapping wing structure takes a small-sized flying bird as a bionic object, and adopts an evolutionary form of a hinge four-bar mechanism as a design scheme of a single-crank three-rocker mechanism, so that the bird-imitating flapping wing aircraft realizes the cooperative movement of flapping-swing-torsion of the flapping wing structure by a more efficient and simple mechanical structure. As described in the background section, the folding process of the small bird is not obvious, so the flapping wing structure proposed by the present invention does not consider the folding process of the wing.
The flapping wing structure capable of realizing cooperative movement has the following specific scheme:
a flapping wing structure capable of realizing cooperative movement comprises
A driving wheel;
one end of the first transmission rocker is arranged in a V shape, the other end of the first transmission rocker is connected with the driving wheel, two sides of the V-shaped end of the first transmission rocker are connected with first sliding bearings, and the first sliding bearings are sleeved on the wing main wing spar;
the wing ribs are rotationally engaged with the wing main wing beams;
one end of the second transmission rocker is in a V shape, the other end of the second transmission rocker is connected with the driving wheel through a crank, two sides of the V-shaped end part of the second transmission rocker are connected with second sliding bearings, and the second sliding bearings are sleeved on the wing ribs;
the driving wheel drives the first transmission rocker to swing, the first transmission rocker drives the wing main wing beam to flap up and down, the driving wheel drives the crank to do full-circle rotation movement, and then the second transmission rocker is driven to swing, and the wing rib rotates around the wing main wing beam under the driving of the wing main wing beam and the second transmission rocker.
According to the flapping wing structure, one ends of the two transmission rockers are arranged to be of a V-shaped structure, so that the whole transmission rockers are approximately of a Y-shaped structure, acting forces are applied to the wing main wing beams by the transmission rockers from two sides of the V-shaped ends of the transmission rockers respectively, and thus the stress on two sides of the wing main wing beams is stable and uniform, the damage to the wing main wing beams is reduced, and the service life of the wing main wing beams is prolonged; in addition, the first transmission rocker is used as a main transmission part to mainly realize an up-and-down flapping movement mode of the flying bird wings, and the second transmission rocker and the wing rib are used as main transmission parts to mainly realize a torsion movement mode of the flying bird wings.
Further, the first transmission rocker is connected with the driving wheel through a spherical pair, the spherical pair is connected with one end of a crank, and the other end of the crank is connected with the second transmission rocker through another spherical pair.
Further, a first spherical bearing is arranged at the end part of the first transmission rocker, which is connected with the driving wheel; two sides of the V-shaped end part of the first transmission rocker are respectively provided with a second spherical bearing;
or a third spherical bearing is arranged at the end part of the second transmission rocker connected with the crank; and the two sides of the V-shaped end part of the second transmission rocker are respectively provided with a fourth spherical bearing.
Further, rolling balls are arranged in the first spherical bearing, the second spherical bearing, the third spherical bearing and the fourth spherical bearing to respectively form a first spherical pair, a second spherical pair, a third spherical pair and a fourth spherical pair structure, and the rolling balls are connected with a driving wheel or a first sliding bearing or a second sliding bearing through a fixed shaft; the thickness of the inner ring to the outer ring of the sliding bearing is 1/3-2/3 of the diameter of the inner ring of the sliding bearing, so that the rigidity of the bearing can be enhanced, and an assembly allowance is reserved for the fixed connection of the sliding bearing and the transmission rocker;
or the diameter of the fixed shaft is 1/5-2/5 of the diameter of the rolling ball, so that the fixed shaft and the rolling ball are fixedly connected and remain assembly allowance, the spherical bearing is prevented from being influenced by the radial diameter of the fixed shaft when rotating around the rolling ball, and the large-range rotating surface of the spherical bearing rotating around the rolling ball is increased;
or the distance between the centers of the two rolling balls at the two sides of the V-shaped end part of the first transmission rocker and the second transmission rocker is the same as the length of each tip at the two sides of the V-shaped end part of the second transmission rocker.
Further, in order to ensure the control of the second transmission rocker, the crank is a Z-shaped crank, and rolling balls are respectively arranged on two sides of the crank so as to realize the connection with the first spherical bearing or the third spherical bearing.
Further, the surface of the first spherical bearing arranged at one end of the first transmission rocker is arranged on the same plane as the plane formed by the two peripheral axes of the V-shaped end part of the first transmission rocker;
or the surface of the third spherical bearing arranged at one end of the second transmission rocker is arranged in a different plane from the plane formed by the axes of the two tips of the V-shaped end part of the second transmission rocker;
or, the included angle of the V-shaped end part is determined according to the radial thickness of the wing main wing beam and the sliding bearing, the included angles of the two sides of the V-shaped end parts of the first transmission rocker and the second transmission rocker are 45-80 degrees, preferably 60 degrees, at the moment, the wing main wing Liang Liangce is stressed uniformly, and the tension applied to the joint of the V-shaped end part and the transmission rocker is moderate.
Further, in order to ensure the strength of the fixed assembly of the transmission rocker and the spherical bearing, the diameters of the two pins at the two sides of the V-shaped end part of the first transmission rocker are 2/3-1 of the thickness of the outer spherical surface profile of the second spherical bearing, and the diameter of the first transmission rocker is 2/3-1 of the thickness of the outer spherical surface profile of the first spherical bearing.
The diameters of the two pins at two sides of the V-shaped end part of the second transmission rocker are 2/3-1 of the thickness of the outer spherical surface profile of the fourth spherical bearing, and the diameter of the second transmission rocker is 2/3-1 of the thickness of the outer spherical surface profile of the third spherical bearing.
In order to overcome the defects in the prior art, the invention also provides a bird-imitating single-section type ornithopter, which comprises: a main frame of the machine body;
the flapping wing structure capable of realizing cooperative movement is symmetrically arranged on two sides of the main frame of the machine body;
the driving shafts are respectively provided with a driving wheel at two ends;
the end part of the wing main wing beam is connected with the main frame of the machine body through the rotating base, and the wing main wing beam is rotatably arranged relative to the rotating base;
the wing main wing spar is rotatably connected with the rotating base through a hinge piece, so that the hinge piece can move in a plane perpendicular to the axis of the main body frame, and the wing main wing spar can rotate and swing in the plane of the hinge piece;
alternatively, the rotating base is in a door frame type structure.
The back and forth swing motion mode of the bird wing is realized through the arrangement of the rotary joint of the hinge piece and the wing main wing beam.
Furthermore, the bird-imitating single-section flapping wing aircraft realizes the cooperative motion of flapping, swinging and torsion, and meanwhile, the steering engine is not required to be used for controlling the torsion of the wing ribs, so that the problems of complex structure, poor stability and anti-interference capability of a flapping wing system, additional increase of wing weight due to installation of the steering engine and the like in the prior art are solved.
Further, one end of the hinge piece is a circular arc end, and the end part of the wing main spar is provided with a groove for accommodating circular arc end circular turnover movement of the hinge piece.
Wherein, the crank is Z structure, and two edges and corners of crank are 90. The projections of two edge points of the crank on the surface of the driving wheel form two corresponding points, the two corresponding points are respectively connected with the circle center of the driving wheel surface to form two straight lines with equal length, and the included angle of the two straight lines is preferably 60 degrees. The distance between the two ends of the crank fixedly connected with the rolling ball (the distance can be visually understood as the width of Z), and the distance between the joint point of the wing rib and the wing main wing beam and the first sliding bearing are equal. Under the above conditions, the phenomenon of mutual touch collision in the transmission process of the first transmission rocker and the second transmission rocker can be avoided, and the stable and smooth transmission of the first transmission rocker and the second transmission rocker is realized.
Compared with the prior art, the invention has the beneficial effects that:
1) In the whole design of the bird-imitating flapping-wing aircraft, the design scheme of a single-crank three-rocker mechanism is adopted, so that the flapping-wing aircraft realizes the cooperative motion of flapping-swing-torsion of the flapping-wing structure by a more efficient and simple mechanical structure, and the flapping-wing structure is simple and efficient, has strong stability and anti-interference capability, and effectively reduces the weight of wings without using steering engines to realize the torsion of wing ribs.
2) The transmission rocking bar replaces a straight transmission rocking bar, so that the stress condition of the main wing beam of the bird-imitating ornithopter is improved, the service life of the main wing beam is prolonged, and the rigidity and strength of a transmission part are increased; the problem of redundant rotational freedom degree of the transmission rocker in the transmission process is solved, and the movement direction of the transmission rocker in the transmission process is determined.
3) Through slide bearing's setting, with two transmission rockers cooperation, effectively improve bearing capacity, rotation accuracy, and shock-resistant ability, reduce frictional wear, guarantee to drive flapping aircraft wing upper and lower in-process transmission more steadily reliably.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application.
FIG. 1 is an isometric view of a bird-like single-stage ornithopter of the present invention (initial state, wing flat state).
Fig. 2 is an isometric view of a bird-like single-stage flapping wing aircraft structure (with wings flapping to the lowest point) according to the invention.
Fig. 3 is an isometric view of a bird-like single-stage ornithopter structure (wing flapping to flat) according to the present invention.
Fig. 4 is an isometric view of a bird-like single-stage flapping wing aircraft structure (with the wing flapping up to the highest point) according to the invention.
Fig. 5 (a) is an isometric view of the first transmission rocker of the present invention attached to a spherical bearing.
Fig. 5 (b) is an isometric view and an elevation view of the first transmission rocker of the present invention attached to a spherical bearing.
Fig. 6 (a) is an isometric view of a second transmission rocker secured to a spherical bearing in accordance with the present invention.
Fig. 6 (b) is a front view of the second transmission rocker of the present invention attached to a spherical bearing.
Fig. 7 is an isometric view of a Z-crank attached to a rolling ball in accordance with the present invention.
Fig. 8 is an isometric view of a hinge in the present invention.
Fig. 9 is an isometric view of a slide bearing of the present invention secured to rolling balls.
Fig. 10 is an isometric view of a rib in the present invention.
Fig. 11 is an isometric view of a rotating base in the present invention.
Fig. 12 is a schematic view showing the positional relationship between the rotating base and the central axis of the driving wheel in the present invention.
Fig. 13 is a schematic diagram of a prior art in-line transmission rocker arrangement.
FIG. 14 is a force analysis diagram of a prior art in-line transmission rocker.
FIG. 15 is a schematic diagram of the force deformation of the transmission rocker in a straight shape.
FIG. 16 is a force-bearing schematic diagram of a transmission rocker according to the present invention.
In the figure: 1-a main frame of the machine body; 2-rotating shaft;
3-driving wheels; a 4-Z-shaped crank;
5-a first transmission rocker; 6-a second transmission rocker;
7A-a first slide bearing; 7B-a second slide bearing;
8-ribs; 9-wing main spar;
10-hinges; 11-rotating the base;
12-a first spherical pair; 13-a third spherical pair;
14-a second spherical pair; 15-fourth spherical pairs;
16-a fixed shaft; 17-tip head;
18-a first spherical bearing; 19-a second spherical bearing;
20-a third spherical bearing; 21-fourth spherical bearing.
Detailed Description
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
As described in the background art, the present application provides a flapping wing structure capable of achieving cooperative movement in order to solve the above technical problems.
Example 1
In a typical embodiment of the present application, a flapping wing structure and an aircraft for coordinated movement comprises a drive wheel 3; one end of the first transmission rocker 5 is in a V-shaped arrangement, the other end of the first transmission rocker is connected with the driving wheel 3, two sides of the V-shaped end part of the first transmission rocker 5 are connected with a first sliding bearing 7A, and the first sliding bearing is sleeved on the wing main spar 9; rib 8, rib 8 being in rotational engagement with wing main spar 9; one end of the second transmission rocker 6 is in a V shape, the other end of the second transmission rocker is connected with the driving wheel 3 through a crank, two sides of the V-shaped end part of the second transmission rocker 6 are connected with a second sliding bearing 7B, and the second sliding bearing 7B is sleeved on the wing rib 8; the driving wheel 3 drives the first transmission rocking bar 5 to swing, the first transmission rocking bar 5 drives the wing main wing beam 9 to move, and the wing rib 8 rotates around the wing main wing beam 9 under the driving of the wing main wing beam 9 and the second transmission rocking bar 6.
The flapping wing structure has the advantages that one ends of the two transmission rockers are arranged in a V shape, so that the whole transmission rockers are approximately of a Y-shaped structure, the transmission rockers respectively apply acting forces to the wing main wing spar 9 and the wing rib 8 from the two sides of the V-shaped end part of the transmission rockers, so that the stress on the two sides of the wing main wing spar is stable and uniform, the damage to the wing main wing spar is reduced, and the service life of the wing main wing spar is prolonged; in addition, the first transmission rocker 5 is used as a main transmission part to mainly realize an up-and-down flapping movement mode of the flying bird wings, and the second transmission rocker 6 and the wing ribs 8 are used as main transmission parts to mainly realize a torsion movement mode of the flying bird wings.
The first transmission rocker 5 is connected with the driving wheel 3 through a first spherical pair 12, the crank is a Z-shaped crank 4, and rolling balls are respectively arranged on two sides of the crank, so that the Z-shaped crank 4 and the first spherical bearing or the third spherical bearing are respectively matched to form a first spherical pair 12 and a third spherical pair 13, as shown in fig. 7.
The end part of the first transmission rocker 5 connected with the driving wheel 3 is provided with a first spherical bearing 18; two sides of the V-shaped end part of the first transmission rocker 5 are respectively provided with a second spherical bearing 19, and the second spherical bearings 19 are matched with rolling balls to form a second spherical pair 14; the end part of the second transmission rocker 6 connected with the crank is provided with a third spherical bearing 20; the two sides of the V-shaped end part of the second transmission rocker 6 are respectively provided with a fourth spherical bearing 21, and the fourth spherical bearing 21 is matched with the rolling ball to form a fourth spherical pair 15.
The rolling balls are connected with the driving wheel 3 or the first sliding bearing 7A or the second sliding bearing 7B through a fixed shaft 16; the thickness of the inner ring and the outer ring of the two sliding bearings is 1/3-2/3 of the diameter of the inner ring of the corresponding sliding bearing, so that the rigidity of the bearing can be enhanced, and an assembly allowance is reserved for the fixed connection of the sliding bearings and the transmission rocking bars. As shown in fig. 9, two rolling balls are respectively provided on both sides of the two sliding bearings.
The diameter of the fixed shaft is 1/5-2/5 of the diameter of the rolling ball, so that the fixed shaft 16 and the rolling ball are fixedly connected, and the assembly allowance is reserved, so that the spherical bearing is prevented from being influenced by the radial diameter of the fixed shaft when rotating around the rolling ball, and the large-range rotating surface of the spherical bearing rotating around the rolling ball is increased; the distance between the centers of the two rolling balls at the two sides of the V-shaped end part of the second transmission rocker 6 is the same as the length of each tip at the two sides of the V-shaped end part of the second transmission rocker 6, and likewise, the distance between the centers of the two rolling balls at the two sides of the V-shaped end part of the first transmission rocker 5 is the same as the length of each tip at the two sides of the V-shaped end part of the first transmission rocker 5, so that the radial width of the first sliding bearing 7A and the second sliding bearing 7B and the length of the fixed shaft can be restrained.
The surface of the first spherical bearing arranged at one end of the first transmission rocker 5 is arranged on the same surface as the surface formed by two sides of the V-shaped end part of the first transmission rocker 5, as shown in fig. 5 (a) and 5 (b); the surface of the third spherical bearing arranged at one end of the second transmission rocker 6 is arranged in different planes from the plane formed by the two sides of the V-shaped end part of the second transmission rocker 6, and the angle is 90 degrees, as shown in fig. 6 (a) and 6 (b);
the included angle of the V-shaped end is determined according to the radial thickness of the wing main wing beam 9 and the sliding bearing, the included angles of the two sides of the V-shaped end of the first transmission rocker 5 and the V-shaped end of the second transmission rocker 6 are 45-80 degrees, preferably 60 degrees, at the moment, the wing main wing Liang Liangce is stressed uniformly, and the tension applied to the joint of the V-shaped end and the transmission rocker is moderate.
In order to ensure the strength of the fixed assembly of the transmission rocker and the spherical bearing, the diameter of the two pins 17 at the two sides of the V-shaped end part of the first transmission rocker is 2/3 of the thickness of the outer spherical surface profile of the second spherical bearing, and the diameter of the first transmission rocker 5 is 2/3 of the thickness of the outer spherical surface profile of the first spherical bearing; the diameter of two pins at two sides of the V-shaped end part of the second transmission rocker is 2/3 of the thickness of the outer spherical surface outline of the fourth spherical bearing, and the diameter of the second transmission rocker is 2/3 of the thickness of the outer spherical surface outline of the third spherical bearing.
In addition, the center line (shown by a broken line in fig. 12) of the rotating base (door frame) is in an out-of-plane linear relationship with the center axis of the driving wheel, and the center axis of the driving wheel 3 is lagged relative to the center line of the rotating base 11 along the flying direction of the ornithopter, and the projection distance of the lagging distance on the driving wheel surface is basically equal to the distance from the center of the driving wheel surface to the rolling ball.
As shown in FIG. 16, one end of the V-shaped end of the transmission rocker is provided with an upward positive shearing force V1 on the left side of the main wing beam, the other end of the V-shaped end is provided with a downward negative shearing force V2 on the right side of the main wing beam, the two shearing forces are the same in size, the uniform loading effect on the wing main wing beam is obvious, and the transmission rocker has no redundant rotation freedom degree under the triangular structure of the end part.
Example 2
In order to overcome the defects in the prior art, the invention also provides a bird-like single-section type ornithopter, as shown in figures 1-4, which comprises: a main frame 1 of the main body; the embodiment 1 of the flapping wing structure capable of realizing cooperative movement is characterized in that two flapping wing structures are symmetrically arranged on two sides of a main frame 1 of the machine body; the two ends of the rotating shaft 2 are respectively provided with a driving wheel 3, and the driving wheels 3 can be driving wheels or driven driving wheels; the end of the wing main spar 9 is connected with the main frame 1 through the rotating base 11, and the wing main spar 8 is rotatably arranged relative to the rotating base 11.
Wherein, a rotating base 11 is arranged at both sides of the main frame 1, the wing main spar 9 is rotatably jointed with the rotating base 11 through a hinge element, and a hinge element 10 is rotatably jointed with the rotating base 11, so as to realize the up-and-down rotation flapping of the hinge element 10 around the main frame 1, and the wing main spar 9 can rotate and swing around the hinge element 10 back and forth;
as shown in fig. 11, the rotating bases 11 are in a door frame structure, two rotating bases 11 are symmetrically arranged on two sides of the main frame 1 of the machine body, and the upper surface and the lower surface of each rotating base 11 are hollow.
The front-back swing motion of the wing main wing beam relative to the rotating base is indirectly realized through the front-back rotation swing process of the wing main wing beam around the hinge piece 10, so that the whole bird-imitating flapping wing aircraft realizes the 'flapping-swing-torsion' cooperative motion, and the problems of complex structure, instability, poor anti-interference capability, additional increase of wing weight and the like of the flapping wing system are avoided.
As shown in fig. 8, the hinge is elongated, one end is a circular arc end, the end of the wing main spar is provided with a groove to accommodate the circular arc end of the hinge for circumferential turnover movement, and in order to limit the rotation of the hinge, the circular arc end of the hinge 10 is larger in size than the hinge itself.
In the initial state of the wing of the bird-like single-section flapping wing aircraft, the flapping angle (positive upper flapping and negative lower flapping) of the wing main wing spar 9 is 0 degrees, the swinging angle (the forward swinging is positive and the backward swinging is negative around the angle motion with the vertical axis of the wing main wing spar 9) of the wing main wing spar 9 is approximately 15 degrees, the straight line angle (relative to the main wing frame) between the joint point of the first transmission rocker 5 and the driving wheel 3 and the circle center of the driving wheel 3 where the first transmission rocker is positioned is approximately 0 degrees (namely, the driving wheel driving angle is 0 degrees), and the torsion angle (the angle around the wing main wing spar 9, the downward torsion is positive and the upward torsion is negative) of the wing rib 8 is approximately 0 degrees.
In the down-flapping process of the bird-like single-section type ornithopter, the driving wheel 3 rotates around the rotating shaft 2, the driving wheel 3 drives the first transmission rocker 5 to move downwards through the first spherical pair, the first transmission rocker 5 drives the wing main spar 9 to flap downwards around the rotating base 11 through the second spherical pair and the first sliding bearing, the wing main spar 9 also realizes the forward swinging motion around the hinge 10 by means of the hinge 10, meanwhile, the driving wheel 3 drives the second transmission rocker 6 to move downwards through the Z-shaped crank 4 and the third spherical pair, and the second transmission rocker 6 drives the wing rib to twist upwards around the wing main spar 9 through the fourth spherical pair and the second sliding bearing. When the driving wheel 3 rotates to 90 degrees towards the lowest point of the driving wheel surface, the flapping wing aircraft wing is flapped downwards to the lowest point, the flapping angle of the wing main wing beam is-31.68 degrees, the flapping angle of the wing main wing beam is-3.75 degrees, and the torsion angle of the wing rib is-16.64 degrees.
In the process of flapping of the bird-like single-section flapping wing aircraft, the driving wheel 3 rotates around the rotating shaft 2 along the previous rotating direction from the lowest point of the driving wheel surface, the driving wheel 3 drives the first transmission rocker 5 to move upwards through the first spherical pair, the first transmission rocker 5 drives the wing main spar 9 to flap upwards around the rotating base 11 by means of the hinge 10 through the second spherical pair and the first sliding bearing, the wing main spar 9 also realizes the action of swinging backwards around the hinge 10, and meanwhile, the driving wheel 3 drives the second transmission rocker 6 to move upwards through the Z-shaped crank 4 and the third spherical pair, and the second transmission rocker 6 drives the wing rib to twist downwards around the wing main spar 9 through the fourth spherical pair and the second sliding bearing. When the driving wheel 3 rotates to 90 degrees, the flapping wing aircraft wing is one of the processes from the lowest point to the highest point, the flapping angle of the wing main wing beam is-12 degrees, the flapping angle of the wing main wing beam is approximately-8 degrees, and the torsion angle of the wing rib is 33.82 degrees. The driving wheel continues to rotate by 90 degrees, the flapping wing aircraft has flapped up to the highest point, the flapping angle of the wing main wing beam is 18.10 degrees, the swinging angle of the wing main wing beam is 0.65 degrees, and the torsion angle of the wing rib is 42.15 degrees.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (7)
1. A flapping wing structure for achieving cooperative movement, comprising:
a driving wheel;
one end of the first transmission rocker is arranged in a V shape, the other end of the first transmission rocker is connected with the driving wheel, two sides of the V-shaped end of the first transmission rocker are connected with first sliding bearings, and the first sliding bearings are sleeved on the wing main wing spar;
the wing ribs are rotationally engaged with the wing main wing beams;
one end of the second transmission rocker is in a V shape, the other end of the second transmission rocker is connected with the driving wheel through a crank, two sides of the V-shaped end part of the second transmission rocker are connected with second sliding bearings, and the second sliding bearings are sleeved on the wing ribs;
the driving wheel drives the first transmission rocker to swing, the first transmission rocker drives the wing main wing beam to flap up and down, the driving wheel drives the crank to move so as to drive the second transmission rocker to swing, and the wing rib rotates around the wing main wing beam under the driving of the wing main wing beam and the second transmission rocker;
the end part of the first transmission rocker, which is connected with the driving wheel, is provided with a first spherical bearing; two sides of the V-shaped end part of the first transmission rocker are respectively provided with a second spherical bearing; the end part of the second transmission rocker, which is connected with the crank, is provided with a third spherical bearing; the two sides of the V-shaped end part of the second transmission rocker are respectively provided with a fourth spherical bearing;
rolling balls are arranged in the first spherical bearing, the second spherical bearing, the third spherical bearing and the fourth spherical bearing to respectively form a first spherical pair, a second spherical pair, a third spherical pair and a fourth spherical pair structure, and the rolling balls are connected with a driving wheel or a first sliding bearing or a second sliding bearing through a fixed shaft; the diameter of the fixed shaft is 1/5-2/5 of the diameter of the rolling ball; the distance between the centers of the two rolling balls at the two sides of the V-shaped end part of the first transmission rocker and the second transmission rocker is the same as the length of each tip at the two sides of the V-shaped end part of the second transmission rocker;
the crank is a Z-shaped crank, and rolling balls are respectively arranged on two sides of the crank so as to realize connection with the first spherical bearing or the third spherical bearing; the two edges and angles of the crank are 90 degrees; the projections of the two edge points of the crank on the surface of the driving wheel form two corresponding points, and the two corresponding points are respectively connected with the circle center of the driving wheel surface to form two straight lines with equal length; the distance between the two ends of the crank fixedly connected with the rolling ball is equal to the distance between the joint of the wing rib and the wing main wing beam and the first sliding bearing.
2. A synergistic movement of a flapping wing structure as claimed in claim 1, wherein the first transmission rocker is connected to the drive wheel by a spherical pair, and the spherical pair is connected to one end of a crank, and the other end of the crank is connected to the second transmission rocker.
3. The flapping wing structure capable of realizing cooperative movement according to claim 1, wherein the surface of the first spherical bearing arranged at one end of the first transmission rocker is arranged on the same plane as the plane formed by the two peripheral axes of the V-shaped end part of the first transmission rocker;
or the surface of the third spherical bearing arranged at one end of the second transmission rocker is arranged in a different plane from the plane formed by the axes of the two tips of the V-shaped end part of the second transmission rocker;
or the included angles between the two sides of the V-shaped end parts of the first transmission rocker and the second transmission rocker are 45-80 degrees.
4. The flapping wing structure capable of realizing cooperative movement according to claim 1, wherein the diameters of two pins on two sides of the V-shaped end part of the first transmission rocker are 2/3-1 of the thickness of the outer spherical surface profile of the second spherical bearing, and the diameter of the first transmission rocker is 2/3-1 of the thickness of the outer spherical surface profile of the first spherical bearing.
5. A bird-like single-segment ornithopter comprising:
a main frame of the machine body;
a flapping wing structure capable of realizing cooperative movement according to any one of claims 1 to 4, wherein two flapping wing structures are symmetrically arranged on two sides of a main frame of the main body;
the driving shafts are respectively provided with a driving wheel at two ends;
the end part of the wing main wing beam is connected with the main frame of the aircraft body through the rotating base, and the wing main wing beam can swing back and forth relative to the rotating base so as to realize the up-and-down rotation and flapping of the hinge piece in a plane vertical to the axis of the main frame of the aircraft body, so that the wing main wing beam can swing in the plane of the hinge piece.
6. The bird-like single-section ornithopter of claim 5, wherein a rotating base is provided on both sides of the main frame of the fuselage, the wing main spar is rotatably engaged with the rotating base by a hinge, and the hinge is rotatably engaged with the rotating base;
alternatively, the rotating base is in a door frame type structure.
7. A bird-like single-stage ornithopter as claimed in claim 6, wherein one end of the hinge member is a circular arc end and the wing main spar end is provided with a recess to accommodate the circular arc end of the hinge member for circumferential epicyclic movement.
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| CN108750105B (en) * | 2018-06-29 | 2023-07-18 | 山东大学 | System and method for realizing multi-angle accurate conversion of flapping-fixed wing structure |
| CN108945431B (en) * | 2018-07-23 | 2020-05-08 | 西北工业大学 | Bird and bat imitating foldable wing of ornithopter |
| CN109782798B (en) * | 2019-01-22 | 2020-03-27 | 北京航空航天大学 | Boid model-based unmanned aerial vehicle cluster formation method |
| CN110937109A (en) * | 2019-11-18 | 2020-03-31 | 贺大红 | Flapping wing control device and aircraft |
| CN111976978B (en) * | 2020-09-02 | 2022-05-10 | 北京理工大学 | Transmission device for flapping and twisting combined motion of bionic flapping wings for micro-aircraft |
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| JP2008254714A (en) * | 2007-03-30 | 2008-10-23 | Bunri Gakuen | Ornithopter |
| CN106005405A (en) * | 2016-07-18 | 2016-10-12 | 上海交通大学 | High-frequency flapping-wing bionic insect aircraft with controllable passive torsion |
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| CN101966870B (en) * | 2010-10-18 | 2013-01-09 | 南京航空航天大学 | Steel wire hinged-type flapping-wing micro air vehicle (FMAV) driving mechanism |
| CN201941975U (en) * | 2010-12-29 | 2011-08-24 | 上海工程技术大学 | Ornithopter simulating folding wing flapping of birds |
| CN203819493U (en) * | 2014-05-23 | 2014-09-10 | 哈尔滨工业大学深圳研究生院 | Three-dimensional flapping-wing mechanism of flapping-wing aircraft as well as mini-type flapping-wing aircraft |
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| JP2008254714A (en) * | 2007-03-30 | 2008-10-23 | Bunri Gakuen | Ornithopter |
| CN106005405A (en) * | 2016-07-18 | 2016-10-12 | 上海交通大学 | High-frequency flapping-wing bionic insect aircraft with controllable passive torsion |
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