CN109927898A - A kind of bionic flapping-wing flying vehicle based on difference frequency mistake width - Google Patents
A kind of bionic flapping-wing flying vehicle based on difference frequency mistake width Download PDFInfo
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 24
- 210000001015 abdomen Anatomy 0.000 claims abstract description 29
- 244000309464 bull Species 0.000 claims abstract description 7
- 238000009434 installation Methods 0.000 claims abstract description 7
- 238000004804 winding Methods 0.000 claims description 82
- 230000002146 bilateral effect Effects 0.000 claims description 9
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- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000036544 posture Effects 0.000 description 14
- 241000238633 Odonata Species 0.000 description 9
- 230000009467 reduction Effects 0.000 description 8
- 238000000576 coating method Methods 0.000 description 7
- 230000000386 athletic effect Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000010485 coping Effects 0.000 description 2
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- 238000011160 research Methods 0.000 description 2
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000001934 delay Effects 0.000 description 1
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- 231100001261 hazardous Toxicity 0.000 description 1
- 210000000653 nervous system Anatomy 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
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- 230000001141 propulsive effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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Abstract
The invention belongs to bionic flapping-wing equipment manufacturing technology fields, and in particular to a kind of bionic flapping-wing flying vehicle based on difference frequency mistake width.Its main structure includes wing group frame, abdomen tail mould group, fore wing group, hind wing group, the big component of head head mould group five；Its midfield tail mould group, fore wing group, hind wing group, head head mould group are integrally formed with the installation engagement of wing group frame；Wing group frame is connect by outer oblique angle bar, inner bevel bar, with fore wing group；Fore wing group realizes that fore wing group is connect with abdomen tail mould group with the interior front support rod pin connection of abdomen tail mould group by the first outer bull stick；Fore wing group is connect by lower shadoof with hind wing group；For the multi-stage serial connection connecting rod of abdomen tail mould group, it can be achieved that seat in the plane buckling is motor-driven, the performance of changeable air stream loading is coped in promotion；And bending process is smooth, and flexible adjustment is good；Evolution bar group joint fitness is more more efficient than gear and friction limit swing mechanism, reduces component physical loss；Its main structure is simple, and design concept is ingenious, and application environment is friendly, wide market.
Description
Technical field:
The invention belongs to bionic flapping-wing equipment manufacturing technology fields, and in particular to a kind of bionic flapping-wing based on difference frequency mistake width
Aircraft.
Background technique:
Dragonfly is superior one of the biology of nature flying quality, can be realized inverted flight, and side flies, and gliding even hovers over
It is aerial to wait offline mode.The unique flight ability of dragonfly can quickly instigate wing from its flourishing wing flesh and air bag, wing flesh
With adjustment flight angle, air bag stores air, adjustable temperature and increase buoyancy.Dragonfly paddles one's own canoe unique nervous system
It realizes the adjusting of flight angle and pats the control of frequency, not only can produce upward lift, but also can have forward or backward
Thrust, realize free flight.
Since ancient times, nature is exactly the various technical ideas of human society, the source of engineering philosophy and the invention of great significance.Now
Society, with bionic development, modern science and technology is carrying out bionical dragonfly after furtheing investigate its flight mechanism for a long time
Research and development, as a kind of high performance aircraft, can helicopter simulating, the state of flight of lifting vehicle and aerodone flies
It is able to achieve the fixation of main body posture in row, may be implemented to glide, spiral, hovering, the movement such as horizontally advancing and retreat.It is bionical
Dragonfly has excellent flying quality and flexible flight form, and excellent with light-weight, small in size, flight good concealment etc.
Point.The disaster relief of the future in narrow space and hazardous area, which is taken precautions against natural calamities, has good prospect of the application with safe scouting field.It is imitative
Raw dragonfly is a seed type of bionic flapping-wing flying vehicle, and bionic flapping-wing flying vehicle is a multidisciplinary, multi-field research, is related to
And the analysis and research in aerodynamics, bionics, mechanics and structure and the fields such as control principle and sensor, it is flutterred in design
In rotor aircraft, aircraft frequency state stent propulsion member is the key that cruise quality, in the prior art, Chinese patent
201710200396.8 and 201710200390.0 propositions add the mode of gear set with single motor to control four wings of dragonfly
Flap and rotate, Chinese patent 201710580936.X proposes a kind of bionical dragonfly structure of variable amplitude, the invention
Control the amplitude of flapping of two wings in left and right simultaneously using single steering engine, the diversity of flight is difficult to realize, Chinese patent
201810193389.4 proposing a kind of multifreedom controlling method, this method is detailed to describe multiple degrees of freedom concept and whole
The appearance of a dragonfly, but since structure is complicated, the multi-gear driving structure cooperation of processing and manufacturing inconvenience and inner cavity is difficult to realize,
Therefore the present embodiment design prepares a kind of bionic flapping-wing flying vehicle based on difference frequency mistake width, can be realized the propulsion of difference frequency mistake width, and
And rich in quasi- frequency conjunction property, itself empty appearance frequency state performance can be increased, by parallel multistage when being promoted and cruising operation more
Winding mechanism, two-way difference frequency position design reduce the used dynamic property of operation, efficiently use the Linear transmission of evolution core bar group, improve row
Into speed, be completed at the same time behavior plasm reproduction.
Summary of the invention:
It is an object of the invention to overcome existing mechanism to mostly use the modes such as primary connecting rod greatly, exists and wave a single, traveling
It is used to move the disadvantages such as property is big and frequency state degree of fitting is low, seek to design a kind of novel bionic flapping-wing flying vehicle based on difference frequency mistake width,
For the aviation mechanism by multistage winding mechanism in parallel, two-way difference frequency position design reduces the used dynamic property of operation, efficiently uses evolution core
The Linear transmission of core bar group, the plasm reproduction for improving travel speed, being completed at the same time behavior.
To achieve the above object, the bionic flapping-wing flying vehicle of the present invention based on difference frequency mistake width passes through following technical side
Case is realized:
Its main structure includes wing group frame, abdomen tail mould group, fore wing group, hind wing group, the big component of head head mould group five；Its midfield tail
Mould group, fore wing group, hind wing group, head head mould group are integrally formed with the installation engagement of wing group frame；
The main structure of the first mould group of head include head end cross bar, neck connecting rod, connecting rod, back link, oblique upper boom, oblique rod,
Lower vertical bar, vertical connecting rod, upper vertical bar, first vertical connecting rod；It is installed between linked member by pin joint, the two ends of head end cross bar are separately connected
It is connect with the right part of neck connecting rod and first vertical connecting rod, one end that the other end of neck connecting rod is top with connecting rod is connect, and connecting rod is leaned on
Under one end and the lower end of back link connect, the end of the upper end of back link, the upper end of oblique upper boom and upper vertical bar passes through same pin
Pivot pin connection；The left part of the lower end of oblique upper boom, the upper end of oblique rod and first vertical connecting rod passes through same pin shaft pin connection；Oblique rod
Lower end and the right end of lower vertical bar connect, the left-hand end of upper vertical bar is connected with vertical connecting rod；Dynamic loose joint between the first mould group bar group of head is
The curvature posture movement of abdomen tail mould group provides the compensation of redundancy stroke, increases flight stable state, keeps body coordination, pass through abdomen
Tail mould group limit develops, and effectively reduces head head appurtenances complexity；
Wing group frame is overall to be distributed along upper vertical bar bilateral symmetry, and wherein the main structure of side includes cross bar, outer oblique angle
Bar, inner bevel bar, lower spreader bar, interior horizontal spreader bar, interior front support rod, lower shadoof, outer horizontal spreader bar, outer front support rod, middle front support rod, between rod piece
It is installed by pin joint, another side structure is identical；Cross bar is arranged perpendicular to upper vertical bar, and inner bevel bar one end is welded on cross bar
On, the other end tilts extension upwards, is connected separately with outer oblique angle bar at the both ends of cross bar；The also same pin shaft connection of vertical connecting rod
Have a lower spreader bar, lower spreader bar pin connection has interior horizontal spreader bar, interior horizontal spreader bar and an interior front support rod pin connection, and the upper end of lower shadoof with it is interior
Horizontal spreader bar, the same pin shaft connection of interior front support rod, lower end and outer front support rod, middle front support rod, the outer horizontal spreader bar of lower shadoof pass through same
Pin shaft connection；Wing group frame winding point frame and four groups of corresponding, multistage connecting rod dresses everywhere, realize bionic coatings, the postures such as keep out of the way, together
When evolution bar group joint fitness than gear and friction limit swing mechanism it is more efficient, reduce component physical loss；
The main structure of abdomen tail mould group include pull after the first side grafting bar, lower plummet bar, the first oblique lifting rod, first bar,
Pulled after second oblique lifting rod, second pull after bar, lower-left swing rod, bottom right swing rod, the second side grafting bar, the oblique lifting rod of third, third bar,
4th oblique lifting rod, connecting rod, third side grafting bar, tail end tiltedly mention, and are installed between rod piece by pin joint；Vertical connecting rod, upper vertical bar, lower expansion
Bar, the first side grafting bar are connected by same pin shaft, and one end on the first side grafting bar close to head head mould group is connected with lower plummet bar, under
Plummet bar tilts down setting, and its end is connect with the lower end of the first oblique lifting rod, and the upper end of the first oblique lifting rod is oblique
On extend to the upside of the first side grafting bar and connect with the one end for pulling bar after first, the other end that bar is pulled after first, which is tilted to the right, to be cut
It is connected on the body of rod of the first side grafting bar with the lower end of the second oblique lifting rod with pin shaft, behind the upper end and second of the second oblique lifting rod
The upper end connection of bar is pulled, pulls the lower section that bar extends downward into the first side grafting bar after second, and connect with the lower end of lower-left swing rod,
The upper end of lower-left swing rod, the upper end of bottom right swing rod are connect with the right end of the second side grafting bar with pin shaft, the lower end of bottom right swing rod and the
The lower end pin axis connection of three oblique lifting rods, the upper end of the oblique lifting rod of third extend upwardly to the top of the second side grafting bar and and third
After pull bar connection, pull the lower end of bar after third, the lower end of the 4th oblique lifting rod is connect with the same pin shaft in left end of third side grafting bar,
The upper end of 4th oblique lifting rod and connecting rod, tail end tiltedly mention, third side grafting bar head and the tail connect and compose quadrilateral structure, and tail end tiltedly mentions
Lower end, third side grafting bar right end connect with the upper end of tail end bar with pin shaft, above structure constitute abdomen tail mould group；Abdomen tail mould group
Multi-stage serial connection connecting rod, it can be achieved that seat in the plane buckling is motor-driven, improve whole center of gravity, promote the property for coping with changeable air stream loading
Can, change body aerial statue；Wherein the structure of entire abdomen tail mould group can be realized outside 150 °, and inside 180 ° of bendings are motor-driven,
And bending process is smooth, and flexible adjustment is good；
The overall bilateral symmetry of fore wing group is distributed, wherein side include swing rod in first, in first on pull bar, pendulum in second
Bar, pull on second bar, interior structure connecting rod, pull in third bar, ternary winding component, wing bar, binary winding component, the first outer bull stick,
Outer even component bar, first it is outside upper pull bar, second it is outside upper pull that bar, connecting rod, third are outside upper to pull bar, winding bottom bar, pass through between rod piece
Pin joint installation, another side structure are identical；In first the lower end of swing rod in first on pull the lower end of bar and connect, swing rod in first
The upper end same pin shaft connection of upper end, the first outside upper lower end for pulling bar, outer even component bar, in first on pull the upper end and second of bar
The lower end of interior swing rod connects, the upper end of swing rod in second, the lower end that bar is pulled on second, the first outside upper upper end for pulling bar, outside second
On pull the lower end of bar and connected by same pin shaft, pulled on second the upper end of bar, the lower end of interior structure connecting rod, winding bottom bar lower end,
The outside upper upper end for pulling bar of third is connected by same pin shaft, and the second outside upper upper end for pulling bar has been sequentially connected end to end connecting rod,
Three it is outside upper pull bar, winding bottom bar, the lower end connection of bar is pulled on the upper end of interior structure connecting rod and third, the upper end and three of bar is pulled in third
The upper end pin connection of first winding component, the upper end of winding bottom bar and the lower end pin connection of ternary winding component, ternary winding component
It is connect by wing bar with binary winding component, wing bar passes through ternary winding component and binary winding component middle and prolongs outward
It stretches, using as wing support construction；Fore wing group multistage bar group concatenates in the present invention, realizes single wing doublejointed fitting, optimization it is flat
Horizontal 8 width tracks, delaying joint performance curve suddenly, property is uniform, and stress intensity significantly reduces, before and after the realization of fore wing group and hind wing group
Combine and the postures such as realize bionic coatings, keep out of the way, evolution bar group joint fitness is more more efficient than gear and friction limit swing mechanism
Accurately, component physical loss is reduced, while being misplaced effectively limitation space vector component to movement appearance with amplitude by the way that front and back is differential
The disturbance of state increases passing through property of reduction system and promotes steady, the Impulsive reduction of bout；
Wing group frame is connect by outer oblique angle bar, inner bevel bar, with fore wing group in the present invention；Fore wing group passes through the first outer bull stick
Realize that fore wing group is connect with abdomen tail mould group with the interior front support rod pin connection of abdomen tail mould group；Fore wing group is connected by lower shadoof and hind wing group
It connects；Fore wing group is not connected directly with head head mould group；
The overall bilateral symmetry of hind wing group is distributed in the present invention, is multistage bar group series connection structure, wherein the main structure of side
Including exogenesis lever, upper connecting rod, one bar of cascade, grade union II bar, three bars of cascade, cascade four bars, ternary winding part bottom bar, ternary
Winding part, binary winding part, hind wing bar, it is interior wave swing rod, one bar of frame linking, two bar of frame linking, even frame three-lever, four bar of frame linking, frame linking five
It is installed between bar, horizontal knot bar, winding part bar, rod piece by pin joint, another side structure is identical；Realize that doublejointed is quasi- in the degree of single wing domain
It closes, the flat horizontal 8 width track advanced optimized, delaying joint performance curve suddenly, property is uniform, and stress intensity significantly reduces, hind wing group
The postures such as bionic coatings are realized, keep out of the way with the front and rear combined movement of fore wing group, and evolution bar group joint fitness is than gear and friction limit
More efficient accurate, the reduction component physical loss of position swing mechanism, while effectively limitation counteracting is misplaced with amplitude by the way that front and back is differential
Disturbance of the space vector component to athletic posture, greatly reduces passing through property of system, so that the dynamics of propulsion is more steady, bout impulsion
Property reduce.
In the present invention, ternary winding part is three-level annulus nested structure, and adjacent rings pass through a pair of pin shaft for being spaced 180 °
Connection enables interior side ring around the pin shaft rotation being attached thereto；Binary winding part three-level annulus nested structure, interior outer annular
By a pair of pin shaft connection for being spaced 180 °, enable interior side ring around the pin shaft rotation being attached thereto；The end of hind wing bar is passed through
Inner ring and pin connection across binary winding part is in the inner ring of ternary winding part, and wherein connecting pin is set to inner ring middle,
Be rotatablely connected with two inner ring, be provided through the circular hole of hind wing bar among connecting pin, hind wing bar pass through the circular hole and with even
Outbound is fixedly connected, and hind wing bar can be rotated with connecting pin；
Ternary winding component and ternary winding part use identical structure, binary winding component and binary winding in the present invention
Part uses identical structure, and the end of wing bar penetrates through the inner ring of binary winding component and pin connection is in ternary winding component
Inner ring, wherein connecting pin is set to inner ring middle, is rotatablely connected with two inner ring, is provided through wing bar among connecting pin
Circular hole wing bar pass through and the circular hole and be fixedly connected with connecting pin, wing bar can be rotated with connecting pin.
What the present invention obtained compared with prior art has the beneficial effect that: hind wing group and the front and rear combined movement of fore wing group are realized
Bionic coatings such as keep out of the way at the postures, evolution bar group joint fitness it is more more efficient than gear and friction limit swing mechanism it is accurate, reduce
Component physical loss, while effectively limiting counteracting space vector component by differential be misplaced with amplitude in front and back athletic posture is disturbed
It is dynamic, greatly reduce passing through property of system, so that the dynamics of propulsion is more steady, the Impulsive reduction of bout.The multi-stage serial connection of abdomen tail mould group
, it can be achieved that seat in the plane buckling is motor-driven, the whole center of gravity of improvement promotes the performance for coping with changeable air stream loading, changes machine connecting rod
Body aerial statue；The structure of entire abdomen tail mould group can be realized outside 150 ° in the present embodiment, and inside 180 ° of bendings are motor-driven, and
Bending process is smooth, and flexible adjustment is good；Winding point frame fills wing group frame with four groups corresponding, multistage connecting rod everywhere, realizes bionical pushes away
Forward and back such as keeps away at the postures, while the bar group joint fitness that develops is more more efficient than gear and friction limit swing mechanism, reduces component object
Reason loss；Its main structure is simple, and design concept is ingenious, and manufacturing cost is low, and application environment is friendly, wide market.
Detailed description of the invention:
Fig. 1 is main structure schematic illustration of the invention.
Fig. 2 is the main structure schematic illustration of head head mould group of the present invention.
Fig. 3 is the main structure schematic illustration of wing group frame of the present invention.
Fig. 4 is the main structure schematic illustration of abdomen tail mould group of the present invention.
Fig. 5 is the main structure schematic illustration of fore wing group of the present invention.
Fig. 6 is the main structure schematic illustration of hind wing group of the present invention.
Specific embodiment:
This patent is described further by way of example and in conjunction with the accompanying drawings.
Embodiment 1:
A kind of bionic flapping-wing flying vehicle based on difference frequency mistake width that the present embodiment is related to is achieved through the following technical solutions,
A kind of difference frequency mistake width propulsive mechanism, its technical solution is as follows: its main structure includes wing group frame (1), abdomen tail mould group
(2), fore wing group (3), hind wing group (4), the big component of head head mould group (5) five；Its midfield tail mould group (2), fore wing group (3), hind wing group
(4), head head mould group (5) is integrally formed with wing group frame (1) installation engagement；
The main structure of the first mould group (5) of head include head end cross bar (6), neck connecting rod (7), connecting rod (8), back link (9),
Oblique upper boom (10), oblique rod (11), lower vertical bar (12), vertical connecting rod (13), upper vertical bar (14), first vertical connecting rod (15)；Linked member
Between installed by pin joint, the two ends of head end cross bar (6) are separately connected and the right part company of neck connecting rod (7) and first vertical connecting rod (15)
It connects, one end that the other end of neck connecting rod (7) is top with connecting rod (8) is connect, the one end of connecting rod (8) on the lower and back link (9)
Lower end connection, the end of the upper end of back link (9), the upper end of oblique upper boom (10) and upper vertical bar (14) passes through same pin shaft pin company
It connects；The left part of the lower end of oblique upper boom (10), the upper end of oblique rod (11) and first vertical connecting rod (15) passes through same pin shaft pin connection；
The lower end of oblique rod (11) is connect with the right end of lower vertical bar (12), and the left-hand end of upper vertical bar (14) is connected with vertical connecting rod (13)；Head
Dynamic loose joint between first mould group (5) bar group provides the compensation of redundancy stroke for the curvature posture movement of abdomen tail mould group (2), increases flight
Stable state keeps body coordination, is developed by abdomen tail mould group (2) limit, effectively reduces head head appurtenances complexity；
Wing group frame (1) is overall to be distributed along upper vertical bar (14) bilateral symmetry, and wherein the main structure of side includes cross bar
(16), outer oblique angle bar (17), inner bevel bar (18), lower spreader bar (25), interior horizontal spreader bar (19), interior front support rod (20), lower shadoof
(21), outer horizontal spreader bar (22), outer front support rod (23), middle front support rod (24) pass through pin joint between rod piece and install, another side structure phase
Together；Cross bar (16) is arranged perpendicular to upper vertical bar (14), and inner bevel bar (18) one end is welded on cross bar (16), the other end to
Upper inclination extends, and is connected separately with outer oblique angle bar (17) at the both ends of cross bar (16)；The also same pin shaft of vertical connecting rod (13) connects
It is connected to lower spreader bar (25), lower spreader bar (25) pin connection has interior horizontal spreader bar (19), and interior horizontal spreader bar (19) and interior front support rod (20) pin connect
It connects, and the upper end of lower shadoof (21) is connect with interior horizontal spreader bar (19), interior front support rod (20) same pin shaft, under lower shadoof (21)
End is connect with outer front support rod (23), middle front support rod (24), outer horizontal spreader bar (22) by same pin shaft；Wing group frame (1) winding everywhere
Point frame is filled with four groups corresponding, multistage connecting rod, and realization bionic coatings such as keep out of the way at the postures, while the bar group joint fitness that develops compares tooth
Wheel and friction limit swing mechanism are more efficient, reduce component physical loss；
The main structure of abdomen tail mould group (2) includes the first side grafting bar (26), lower plummet bar (27), the first oblique lifting rod
(28), bar (31), lower-left swing rod (32), bottom right swing rod are pulled after pulling bar (29), the second oblique lifting rod (30), second after first
(33), bar (36), the 4th oblique lifting rod (38), connecting rod are pulled after the second side grafting bar (34), the oblique lifting rod of third (35), third
(37), third side grafting bar (39), tail end tiltedly mention (40), are installed between rod piece by pin joint；Vertical connecting rod (13), upper vertical bar (14), under
Spreader bar (25), the first side grafting bar (26) are connected by same pin shaft, close to one end of head head mould group (5) on the first side grafting bar (26)
It is connected with lower plummet bar (27), lower plummet bar (27) tilts down setting, and under its end and the first oblique lifting rod (28)
End connection, the upper end of the first oblique lifting rod (28) extend obliquely upward to the upside of the first side grafting bar (26) and with first after pull bar
(29) one end connection, the other end that bar (29) is pulled after first are tilted to the right the same pin shaft in lower end cut with the second oblique lifting rod (30)
It is connected on the body of rod of the first side grafting bar (26), the upper end that bar (31) is pulled behind the upper end and second of the second oblique lifting rod (30) connects
It connects, the lower section that bar (31) extends downward into the first side grafting bar (26) is pulled after second, and connect with the lower end of lower-left swing rod (32),
The upper end of lower-left swing rod (32), the upper end of bottom right swing rod (33) are connect with the right end of the second side grafting bar (34) with pin shaft, bottom right pendulum
The lower end of bar (33) and the lower end pin axis connection of the oblique lifting rod of third (35), the upper end of the oblique lifting rod of third (35) extends upwardly to
The top of second side grafting bar (34) is simultaneously connect with bar (36) is pulled after third, and lower end, the 4th oblique lifting rod of bar (36) are pulled after third
(38) lower end is connect with the same pin shaft in left end of third side grafting bar (39), the upper end of the 4th oblique lifting rod (38) and connecting rod
(37), tail end tiltedly mentions (40), third side grafting bar (39) connects and composes quadrilateral structure from beginning to end, and tail end tiltedly mentions the lower end of (40),
The right end of three side grafting bars (39) is connect with the upper end of tail end bar (41) with pin shaft, and above structure constitutes abdomen tail mould group (2)；Abdomen tail mould
, it can be achieved that seat in the plane buckling is motor-driven, the whole center of gravity of improvement is promoted and copes with changeable air stream load the multi-stage serial connection connecting rod of group (2)
The performance of lotus changes body aerial statue；Wherein the structure of entire abdomen tail mould group (2) can be realized outside 150 °, inside 180 °
It is bent motor-driven, and bending process is smooth, and flexible adjustment is good；
The overall bilateral symmetry of fore wing group (3) is distributed, wherein side include swing rod (42) in first, in first on pull bar
(43), swing rod (44) in second, pull bar (45), interior structure connecting rod (46) on second, pull bar (47), ternary winding component in third
(48), wing bar (49), binary winding component (50), the first outer bull stick (51), outer even component bar (52), first outside upper pull bar
(53), second it is outside upper pull that bar (54), connecting rod (55), third are outside upper to pull bar (56), winding bottom bar (57), pass through pin joint between rod piece
Installation, another side structure are identical；In first the lower end of swing rod (42) in first on pull the lower end of bar (43) and connect, put in first
The upper end same pin shaft connection of the upper end of bar (42), the first outside upper lower end for pulling bar (53), outer even component bar (52), in first on
The upper end for pulling bar (43) is connect with the lower end of swing rod in second (44), and bar (45) are pulled on second in the upper end of swing rod (44) in second
Lower end, the first outside upper upper end for pulling bar (53), the second outside upper lower end for pulling bar (54) connected by same pin shaft, pulled on second
The upper end of bar (45), the lower end of interior structure connecting rod (46), the lower end of winding bottom bar (57), the outside upper upper end for pulling bar (56) of third pass through
The connection of same pin shaft, the second outside upper upper end for pulling bar (54) be sequentially connected end to end connecting rod (55), third it is outside upper pull bar (56),
Winding bottom bar (57) pulls the lower end connection of bar (47) on the upper end of interior structure connecting rod (46) and third, pulls the upper of bar (47) in third
The upper end pin connection at end and ternary winding component (48), the upper end of winding bottom bar (57) and the lower end pin of ternary winding component (48)
Connection, ternary winding component (48) are connect by wing bar (49) with binary winding component (50), and wing bar (49) passes through ternary winding
Component (48) and binary winding component (50) middle simultaneously extend outward, using as wing support construction；Before in the present embodiment
Wing group (3) multistage bar group concatenation, realizes single wing doublejointed fitting, the flat 8 banner track of optimization delays joint performance curve suddenly
Property it is uniform, stress intensity significantly reduces, fore wing group (3) realize with hind wing group (4) front and rear combined realization bionic coatings, the appearances such as keep out of the way
State, evolution bar group joint fitness accurate, reduction component physical more more efficient than gear and friction limit swing mechanism are lost, simultaneously
It is misplaced effectively disturbance of the limitation space vector component to athletic posture with amplitude by the way that front and back is differential, increases passing through property of reduction system
Promote steady, the Impulsive reduction of bout；
Wing group frame (1) is connect by outer oblique angle bar (17), inner bevel bar (18), with fore wing group (3) in the present embodiment；Fore wing
Group (3) realizes fore wing group (3) and abdomen tail mould by interior front support rod (20) pin connection of the first outer bull stick (51) and abdomen tail mould group (2)
Group (2) connection；Fore wing group (3) is connect by lower shadoof (21) with hind wing group (4)；Fore wing group (3) and head head mould group (5) be not direct
It is connected；
The overall bilateral symmetry of hind wing group (4) is distributed, and for multistage bar group series connection structure, wherein the main structure of side includes outer
Former lever (58), upper connecting rod (59), cascade one bar (60), grade union II bar (61), cascade three bars (62), cascade four bars (63),
Ternary winding part bottom bar (64), binary winding part (66), hind wing bar (67), interior waves swing rod (68), frame linking at ternary winding part (65)
One bar (69), two bar of frame linking (70), even frame three-lever (71), four bar of frame linking (72), five bar of frame linking (73), horizontal knot bar (74), winding
It is installed between part bar (75), rod piece by pin joint, another side structure is identical；Realize doublejointed fitting in the degree of single wing domain, it is further excellent
The flat 8 banner track changed, delaying joint performance curve suddenly, property is uniform, and stress intensity significantly reduces, hind wing group (4) and fore wing group
(3) front and rear combined movement such as realizes bionic coatings, keeps out of the way at the postures, and evolution bar group joint fitness is than gear and the friction limit amplitude of oscillation
More efficient accurate, the reduction component physical loss of mechanism, while effectively limitation counteracting space arrow is misplaced with amplitude by the way that front and back is differential
Disturbance of the component to athletic posture is measured, passing through property of system is greatly reduced, so that the dynamics of propulsion is more steady, bout is Impulsive to be subtracted
It is few.
In the present embodiment, ternary winding part (65) is three-level annulus nested structure, and adjacent rings pass through a pair of of 180 ° of interval
Pin shaft connection, enable interior side ring around be attached thereto pin shaft rotation；Binary winding part (66) three-level annulus nested structure,
Interior outer annular enables interior side ring around the pin shaft rotation being attached thereto by a pair of pin shaft connection for being spaced 180 °；Hind wing
The end of bar (67) penetrate through the inner ring of binary winding part (66) and pin connection ternary winding part (65) inner ring, wherein connecting
Outbound is set to inner ring middle, is rotatablely connected with two inner ring, and the circle of hind wing bar (67) is provided through among connecting pin
Hole, hind wing bar (67) pass through the circular hole and are fixedly connected with connecting pin, and hind wing bar (67) can be rotated with connecting pin；
Ternary winding component (48) and ternary winding part (65) use identical structure, binary winding component in the present embodiment
(50) identical structure is used with binary winding part (66), the end of wing bar (49) penetrates through the inner ring of binary winding component (50)
And pin connection is in the inner ring of ternary winding component (48), and wherein connecting pin is set to inner ring middle, turns with two inner ring
Dynamic to connect, the circular hole wing bar (49) that wing bar (49) is provided through among connecting pin, which passes through the circular hole and fixes with connecting pin, to be connected
It connects, wing bar (49) can be rotated with connecting pin.
Claims (4)
1. a kind of bionic flapping-wing flying vehicle based on difference frequency mistake width, it is characterised in that its main structure includes wing group frame, abdomen tail mould
Group, fore wing group, hind wing group, the big component of head head mould group five；Its midfield tail mould group, fore wing group, hind wing group, head head mould group and wing group frame
Installation engagement is integrally formed；
The main structure of the first mould group of head includes head end cross bar, neck connecting rod, connecting rod, back link, oblique upper boom, oblique rod, lower vertical
Bar, vertical connecting rod, upper vertical bar, first vertical connecting rod；It is installed between linked member by pin joint, the two ends of head end cross bar are separately connected and neck
Connecting rod is connected with the right part of first vertical connecting rod, one end that the other end of neck connecting rod is top with connecting rod is connect, and connecting rod is on the lower
One end and the lower end of back link connect, and the end of the upper end of back link, the upper end of oblique upper boom and upper vertical bar passes through same pin shaft pin
Connection；The left part of the lower end of oblique upper boom, the upper end of oblique rod and first vertical connecting rod passes through same pin shaft pin connection；Under oblique rod
End is connect with the right end of lower vertical bar, and the left-hand end of upper vertical bar is connected with vertical connecting rod；
Wing group frame is overall to be distributed along upper vertical bar bilateral symmetry, wherein the main structure of side include cross bar, it is outer oblique angle bar, interior
Oblique angle bar, lower spreader bar, interior horizontal spreader bar, interior front support rod, lower shadoof, outer horizontal spreader bar, outer front support rod, middle front support rod pass through between rod piece
Pin joint installation, another side structure are identical；Cross bar is arranged perpendicular to upper vertical bar, and inner bevel bar one end is welded on cross bar, separately
One end tilts extension upwards, is connected separately with outer oblique angle bar at the both ends of cross bar；The also same pin shaft of vertical connecting rod is connected with down
Spreader bar, lower spreader bar pin connection have interior horizontal spreader bar, interior horizontal spreader bar and interior front support rod pin connection, and the upper end of lower shadoof and interior horizontal expansion
Bar, the same pin shaft connection of interior front support rod, the lower end of lower shadoof and outer front support rod, middle front support rod, outer horizontal spreader bar pass through same pin shaft
Connection；
The main structure of abdomen tail mould group includes to pull bar, second after the first side grafting bar, lower plummet bar, the first oblique lifting rod, first
Bar, the 4th are pulled after pulling bar, lower-left swing rod, bottom right swing rod, the second side grafting bar, the oblique lifting rod of third, third after oblique lifting rod, second
Oblique lifting rod, connecting rod, third side grafting bar, tail end tiltedly mention, and are installed between rod piece by pin joint；Vertical connecting rod, upper vertical bar, lower spreader bar,
First side grafting bar is connected by same pin shaft, and one end on the first side grafting bar close to head head mould group is connected with lower plummet bar, lower lead
Hammer stem tilts down setting, and its end is connect with the lower end of the first oblique lifting rod, and the upper end of the first oblique lifting rod is obliquely
Extend to the upside of the first side grafting bar and connect with the one end for pulling bar after first, the other end that bar is pulled after first be tilted to the right cut with
The lower end of second oblique lifting rod is connected on the body of rod of the first side grafting bar with pin shaft, is pulled behind the upper end and second of the second oblique lifting rod
The upper end of bar connects, and pulls the lower section that bar extends downward into the first side grafting bar after second, and connect with the lower end of lower-left swing rod, left
The upper end of draft link, the upper end of bottom right swing rod are connect with the right end of the second side grafting bar with pin shaft, the lower end of bottom right swing rod and third
The lower end pin axis connection of oblique lifting rod, the upper end of the oblique lifting rod of third extend upwardly to the top of the second side grafting bar and with after third
Bar connection is pulled, pulls the lower end of bar after third, the lower end of the 4th oblique lifting rod is connect with the same pin shaft in left end of third side grafting bar, the
The upper end of four oblique lifting rods and connecting rod, tail end tiltedly mention, third side grafting bar head and the tail connect and compose quadrilateral structure, what tail end tiltedly mentioned
Lower end, third side grafting bar right end connect with the upper end of tail end bar with pin shaft, above structure constitute abdomen tail mould group；
The overall bilateral symmetry of fore wing group is distributed, wherein side include swing rod in first, in first on pull bar, swing rod in second, the
Bar, interior structure connecting rod are pulled on two, bar, ternary winding component, wing bar, binary winding component, the first outer bull stick, outer even structure are pulled in third
Part bar, first it is outside upper pull bar, second it is outside upper pull that bar, connecting rod, third are outside upper to pull bar, winding bottom bar, pass through pin joint between rod piece and pacify
Dress, another side structure are identical；In first the lower end of swing rod in first on pull the lower end of bar and connect, the upper end of swing rod in first,
The upper end same pin shaft connection of the first outside upper lower end for pulling bar, outer even component bar, in first on pull pendulum in the upper end and second of bar
The lower end of bar connects, and the upper end of swing rod in second, the lower end that bar is pulled on second, the first outside upper upper end for pulling bar, second outside upper are pulled
The lower end of bar is connected by same pin shaft, and the upper end of bar, the lower end of interior structure connecting rod, the lower end of winding bottom bar, third are pulled on second
The outside upper upper end for pulling bar is connected by same pin shaft, and the second outside upper upper end for pulling bar has been sequentially connected end to end connecting rod, outside third
On pull bar, winding bottom bar, the lower end connection of bar is pulled on the upper end of interior structure connecting rod and third, the upper end and ternary that bar is pulled in third are returned
The upper end pin connection of ring element, the upper end of winding bottom bar and the lower end pin connection of ternary winding component, ternary winding component pass through
Wing bar is connect with binary winding component, and wing bar passes through ternary winding component and binary winding component middle and extends outward,
Using as wing support construction；
Wherein the overall bilateral symmetry of middle hind wing group is distributed, and for multistage bar group series connection structure, wherein the main structure of side includes outer
Former lever, upper connecting rod, one bar of cascade, grade union II bar, three bars of cascade, cascade four bars, ternary winding part bottom bar, ternary winding
Part, binary winding part, hind wing bar, it is interior wave swing rod, one bar of frame linking, two bar of frame linking, even frame three-lever, four bar of frame linking, five bar of frame linking, cross
It ties and is installed between bar, winding part bar, rod piece by pin joint, another side structure is identical.
2. a kind of bionic flapping-wing flying vehicle based on difference frequency mistake width according to claim 1, it is characterised in that wing group frame is logical
It crosses outer oblique angle bar, inner bevel bar, connect with fore wing group；Fore wing group is sold by the interior front support rod of the first outer bull stick and abdomen tail mould group to be connected
It connects and realizes that fore wing group is connect with abdomen tail mould group；Fore wing group is connect by lower shadoof with hind wing group；Fore wing group and head head mould group be not straight
It connects connected.
3. a kind of bionic flapping-wing flying vehicle based on difference frequency mistake width according to claim 1, it is characterised in that ternary winding
Part is three-level annulus nested structure, and adjacent rings enable interior side ring around therewith by a pair of pin shaft connection for being spaced 180 °
The pin shaft of connection rotates；Binary winding part three-level annulus nested structure, interior outer annular are connected by a pair of pin shaft for being spaced 180 °
It connects, enables interior side ring around the pin shaft rotation being attached thereto；The end of hind wing bar penetrate through the inner ring of binary winding part and
Pin connection is in the inner ring of ternary winding part, and wherein connecting pin is set to inner ring middle, is rotatablely connected with two inner ring, connection
The intermediate circular hole for being provided through hind wing bar of pin, hind wing bar pass through the circular hole and are fixedly connected with connecting pin, and hind wing bar can be with
Connecting pin rotation.
4. a kind of bionic flapping-wing flying vehicle based on difference frequency mistake width according to claim 1, it is characterised in that ternary winding
Component and ternary winding part use identical structure, and binary winding component and binary winding part use identical structure, wing bar
End penetrates through the inner ring of binary winding component and pin connection is in the inner ring of ternary winding component, and wherein connecting pin is set to interior
Ring middle is rotatablely connected with two inner ring, and the circular hole wing bar that wing bar is provided through among connecting pin passes through the circular hole simultaneously
It is fixedly connected with connecting pin, wing bar can be rotated with connecting pin.
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| CN109927898B (en) | 2024-04-02 |
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