TWI740463B - Bionic flapping wing transmission device - Google Patents
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- TWI740463B TWI740463B TW109113215A TW109113215A TWI740463B TW I740463 B TWI740463 B TW I740463B TW 109113215 A TW109113215 A TW 109113215A TW 109113215 A TW109113215 A TW 109113215A TW I740463 B TWI740463 B TW I740463B
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Abstract
一種仿生拍撲翼傳動裝置，其主要係於裝置本體中設置動力源，並於裝置本體兩側分別設置傳動組件，所述傳動組件包括有滑件曲柄機構、撲動機構以及翼部運動機構，滑件曲柄機構連接動力源以及位於裝置本體中能前後滑移的滑桿，撲動機構為空間RSSR四連桿機構連接滑件曲柄機構，翼部收合運動機構為空間瓦特二型六連桿機構且連接撲動機構與滑桿，且機構間共用曲柄且配合特定接頭共軸連接整合，使該仿生拍撲翼傳動裝置能利用單一動力源驅動及控制兩側的傳動組件，以產生仿如鳥類振翅飛行時之雙翼運動狀態。A bionic flapping wing transmission device is mainly connected with a power source provided in the device body, and transmission components are respectively arranged on both sides of the device body. The transmission components include a slider crank mechanism, a flapping mechanism and a wing movement mechanism, The slider-crank mechanism is connected to the power source and the sliding rod that can slide forward and backward in the body of the device. The flapping mechanism is the spatial RSSR four-bar linkage mechanism connected to the slider-crank mechanism, and the wing folding movement mechanism is the spatial watt type 2 six-bar linkage The mechanism also connects the flapping mechanism and the slide bar, and the mechanisms share a crank and are coaxially connected and integrated with a specific joint, so that the bionic flapping wing transmission device can use a single power source to drive and control the transmission components on both sides to produce a simulation The movement of the wings when a bird flaps its wings.
Description
本發明係關於一種仿生飛行器，尤指一種能模仿鳥類飛行時撲動雙翼及雙翼伸展與收合動作之仿生拍撲翼傳動裝置。 The invention relates to a bionic aircraft, in particular to a bionic flapping wing transmission device which can imitate the flapping wings and the stretching and closing movements of the wings when a bird is flying.
仿生飛行器能廣泛地應用於軍事方面的情報蒐集或偵查任務，也能應用於民生救災方面協助救難隊進入災區進行環境探勘任務，也能應用於娛樂之遙控仿生飛行器等用途。 Bionic aircraft can be widely used in military intelligence collection or reconnaissance missions, and can also be used in civil disaster relief to assist rescue teams to enter disaster areas for environmental exploration missions, and can also be used in entertainment remote-controlled bionic aircraft and other purposes.
現有仿生拍撲翼飛行器主要係於其飛行器本體中裝設一動力源，並於飛行器本體兩側各裝設一翼形機構，該動力源連接該二翼形機構，藉以驅動該二翼形機構產生高速的上下拍撲運動，使其具備模仿鳥類飛行時振翅動作。 The existing bionic flapping-wing aircraft is mainly equipped with a power source in the aircraft body, and a wing-shaped mechanism is installed on both sides of the aircraft body. The power source is connected to the two wing-shaped mechanisms to drive the two wing-shaped mechanisms to produce The high-speed flapping movement up and down makes it possible to imitate the flapping action of birds when flying.
惟前述現有仿生拍撲翼飛行器之機構僅具有驅動其二翼形機構產生高速的上下拍撲運動，但並不具備模仿鳥類振翅飛行時之雙翼伸展及收合動作之功能，使得現有仿生飛行器之動作尚難達到較佳的仿生效果。 However, the mechanism of the aforementioned existing bionic flapping-wing aircraft only has the ability to drive its two wing-shaped mechanisms to produce high-speed up and down flapping movements, but it does not have the function of imitating the extension and folding movements of the wings when birds flap their wings. The movement of the aircraft is still difficult to achieve a better bionic effect.
本發明之目的在於提供一仿生拍撲翼傳動裝置，解決現有拍撲翼飛行器之傳動裝置尚難模仿鳥類飛行時撲動雙翼及雙翼伸展與收合動作之問題。 The purpose of the present invention is to provide a bionic flapping wing transmission device, which solves the problem that the transmission device of the existing flapping wing aircraft is difficult to imitate the flapping wings and the stretching and closing movements of the wings when flying by birds.
為了達成前述發明目的，本發明所提出之仿生拍撲翼傳動裝置，其定義有位於一三維空間中相互垂直之一X軸向、一Y軸向以及一Z軸向，且包括： 一裝置本體，其包括一本體基部，以及能於該本體基部中沿著該X軸向往復移動之一滑桿；一動力源，其裝設於該裝置本體之本體基部中；以及二傳動連桿組，係對稱設置於該本體基部之Y軸向相對兩側且分別連接該滑桿的兩端，並連接所述動力源，每一所述傳動連桿組各包括：一滑件曲柄機構，其設置於該本體基部的外側，且該滑件曲柄機構包括一曲柄及一連接桿，該曲柄之一端連接所述動力源，該連接桿的一端係能接合一第一旋轉接頭連接該曲柄之另一端，該連接桿的另一端接合一第二旋轉接頭連接位置對應的該滑桿的一端；一撲動機構，其設置於該本體基部的外側且以共用曲柄連接該滑件曲柄機構，且該撲動機構包括一撲動桿件及一撲動連桿，該撲動桿件具有一桿件基部以及一從動支桿，該桿件基部係平行於該X軸向且樞設於該裝置本體之側板外側，該桿件基部相對的兩端分別為一基部第一端與一基部第二端，該從動支桿的一端固接於桿件基部之基部第一端，該撲動連桿的一端接合一第一球面接頭共軸連接該曲柄之另一端之第一旋轉接頭，該撲動連桿的另一端接合一第二球面接頭連接該撲動桿件之從動支桿遠離桿件基部之一端；以及一翼部運動機構，其設置於該本體基部的外側且連接該滑件曲柄機構與該撲動機構，該翼部運動機構包括一第一翼桿、一第二翼桿、一第三翼桿以及一第四翼桿，第一翼桿與第二翼桿平行設置，第三翼桿與第四翼桿平行設置，該第一翼桿的一端接合一第三旋轉接頭連接該撲動桿件之桿件基部的基部第二端，該第一翼桿的另一端接合一第四旋轉接頭連接該第四翼桿的中間區段，該第三翼桿的兩端分別接合一第五旋轉接頭與一第六旋轉接頭樞接該第一翼桿的中間區段與該第二翼桿的一端，該第四翼桿的一端接合一第三球面接頭 共軸連接該第二旋轉接頭，該第四翼桿的另一端接合一第七旋轉接頭樞接該第二翼桿的中間區段。 In order to achieve the aforementioned object of the invention, the bionic flapping wing transmission device proposed by the present invention is defined as an X-axis, a Y-axis and a Z-axis that are perpendicular to each other in a three-dimensional space, and includes: A device body, which includes a body base, and a sliding rod that can reciprocate along the X-axis in the body base; a power source installed in the body base of the device body; and two transmission connections The rod groups are symmetrically arranged on opposite sides of the Y-axis of the base of the body and are respectively connected to the two ends of the sliding rod and connected to the power source. Each of the transmission connecting rod groups includes: a slider crank mechanism , Which is arranged on the outside of the base of the body, and the slider-crank mechanism includes a crank and a connecting rod, one end of the crank is connected to the power source, and one end of the connecting rod can be connected to a first rotary joint to connect to the crank At the other end, the other end of the connecting rod is engaged with one end of the sliding rod corresponding to the connecting position of the second rotary joint; a flapping mechanism is arranged on the outer side of the base of the body and is connected to the slider-crank mechanism by a common crank, And the flapping mechanism includes a flapping rod and a flapping connecting rod. The flapping rod has a rod base and a driven support rod. The rod base is parallel to the X-axis and is pivoted at Outside the side plate of the device body, the opposite ends of the rod base are a first end of the base and a second end of the base respectively. One end of the driven support rod is fixed to the first end of the base of the rod base. One end of the moving link is connected to a first spherical joint coaxially connected to the first rotary joint of the other end of the crank, and the other end of the flapping link is connected to a second spherical joint to connect the driven strut of the flapping rod One end away from the base of the rod; and a wing movement mechanism, which is arranged on the outer side of the body base and connects the slider crank mechanism and the flapping mechanism. The wing movement mechanism includes a first wing rod and a second wing Rod, a third wing rod and a fourth wing rod, the first wing rod and the second wing rod are arranged in parallel, the third wing rod is arranged in parallel with the fourth wing rod, and one end of the first wing rod is engaged with a third rotation The joint is connected to the second end of the base of the rod base of the flapping rod, the other end of the first wing rod is connected to a fourth rotary joint to connect the middle section of the fourth wing rod, and both ends of the third wing rod Connect a fifth rotary joint and a sixth rotary joint respectively to pivotally connect the middle section of the first wing rod and one end of the second wing rod, and one end of the fourth wing rod is connected to a third spherical joint The second rotary joint is coaxially connected, and the other end of the fourth wing rod is connected to a seventh rotary joint pivotally connected to the middle section of the second wing rod.
藉由前述仿生拍撲翼傳動裝置之整體組合機構之發明，其主要係利用兩側傳動組件中之翼部運動機構結合能於裝置本體中前後滑移的滑桿，此滑桿由滑件曲柄機構中連接曲柄的連接桿帶動，及一具有對邊互相平行的翼形連桿組構成一空間瓦特二型六連桿機構型態之翼部運動機構，以滑件曲柄機構中連接動力源之曲柄共軸接合撲動連桿與樞設於裝置本體中之撲動桿件構成空間RSSR(旋轉對-球面對-球面對-旋轉對)四連桿機構型態之一撲動機構，另以滑件曲柄機構中連接動力源之曲柄接合連接桿與能於裝置本體中前後滑移之滑桿構成滑件曲柄機構，使裝置本體中之單一動力源輸出旋轉動力時，能通過裝置本體兩側傳動組件中之滑件曲柄機構同時帶動撲動機構與翼部運動機構，而產生模仿鳥類飛行時撲動雙翼及雙翼伸展與收合之動作。亦即本發明仿生拍撲翼傳動裝置位於裝置本體兩側之傳動組件整合滑件曲柄機構、空間RSSR四連桿機構及空間瓦特二型六連桿機構，並透過共用特定曲柄與特定共軸接頭構成其獨特的運動機構，使該仿生拍撲翼傳動裝置能利用單一動力源驅動兩側的傳動組件產生仿如鳥類振翅飛行時之雙翼拍翅與伸展收合的運動狀態，具備較佳仿生性能。
The invention of the integral combination mechanism of the aforementioned bionic flapping wing transmission device mainly utilizes the wing movement mechanisms in the transmission components on both sides combined with a sliding rod that can slide back and forth in the main body of the device. The connecting rod connected to the crank in the mechanism drives, and a wing-shaped connecting rod group with opposite sides parallel to each other constitutes a wing movement mechanism in the form of a space watt type two six-bar linkage mechanism, and the slider-crank mechanism is connected to one of the power sources The crank coaxially joins the flapping link and the flapping rod pivoted in the device body to form a space RSSR (rotating pair-ball face-ball face-rotating pair) four-bar linkage type flapping mechanism, In addition, the crank connecting rod connecting the power source in the slider-crank mechanism and the sliding rod that can slide back and forth in the device body constitute the slider-crank mechanism, so that when a single power source in the device body outputs rotational power, it can pass through the device body The slider-crank mechanism in the transmission components on both sides simultaneously drives the flapping mechanism and the wing movement mechanism to produce movements that mimic the flapping wings and the expansion and folding of the wings when a bird is flying. That is, the transmission components of the bionic flapping wing transmission device of the present invention are located on both sides of the device body. The transmission components integrate the slider crank mechanism, the spatial RSSR four-bar linkage mechanism and the
1:裝置本體 1: Device body
10:本體基部 10: The base of the body
11:滑桿 11: Slider
12:側板 12: side panel
120:容置空間 120: accommodating space
121:第一區段 121: First section
122:第二區段 122: second section
123:滑槽 123: Chute
13:固定柱 13: fixed column
14:尾桿 14: Tail rod
15:尾翼 15: Tail
2:動力源 2: power source
20:馬達 20: Motor
21:輪系傳動組 21: Gear train
211:輸出軸 211: output shaft
3:傳動組件 3: Transmission components
3A:滑件曲柄機構 3A: Slide crank mechanism
30:曲柄 30: crank
31:連接桿 31: connecting rod
32:第一旋轉接頭 32: The first rotary joint
33:第二旋轉接頭 33: The second rotary joint
3B:撲動機構 3B: flapping mechanism
40:撲動桿件 40: flapping rod
401:桿件基部 401: bar base
402:基部第一端 402: The first end of the base
403:基部第二端 403: The second end of the base
404:從動支桿 404: driven strut
41:撲動連桿 41: Flutter Link
42:第一球面接頭 42: The first spherical joint
43:第二球面接頭 43: second spherical joint
3C:翼部運動機構 3C: Wing movement mechanism
50:第一翼桿 50: The first wing bar
51:第二翼桿 51: Second Wing Rod
52:第三翼桿 52: Third Wingstick
53:第四翼桿 53: Fourth Wingstick
54:第三旋轉接頭 54: The third rotary joint
55:第四旋轉接頭 55: The fourth rotary joint
56:第五旋轉接頭 56: Fifth rotary joint
57:第六旋轉接頭 57: Sixth rotary joint
58:第七旋轉接頭 58: Seventh rotary joint
59:第三球面接頭 59: Third spherical joint
60:翼部 60: Wing
圖1係本發明仿生拍撲翼傳動裝置之一較佳實施例之立體示意圖。 Figure 1 is a three-dimensional schematic diagram of a preferred embodiment of the bionic flapping wing transmission device of the present invention.
圖2係圖1所示仿生拍撲翼傳動裝置較佳實施例另一觀視角度之立體示意圖。 FIG. 2 is a three-dimensional schematic diagram of another viewing angle of the preferred embodiment of the bionic flapping wing transmission device shown in FIG. 1.
圖3係圖1及圖2所示仿生拍撲翼傳動裝置較佳實施例之俯視平面示意圖。 3 is a schematic top plan view of a preferred embodiment of the bionic flapping wing transmission device shown in FIGS. 1 and 2.
圖4係圖1及圖2所示仿生拍撲翼傳動裝置較佳實施例之前視平面示意圖。 4 is a schematic front view of the preferred embodiment of the bionic flapping wing transmission device shown in FIGS. 1 and 2.
圖5係圖1所示仿生拍撲翼傳動裝置較佳實施例之動作示意圖(一)。 Fig. 5 is a schematic diagram (1) of the action of the preferred embodiment of the bionic flapping wing transmission device shown in Fig. 1.
圖6係圖1所示仿生拍撲翼傳動裝置較佳實施例之動作示意圖(二)。 Fig. 6 is a schematic diagram (2) of the action of the preferred embodiment of the bionic flapping wing transmission device shown in Fig. 1.
圖7係圖1所示仿生拍撲翼傳動裝置較佳實施例之動作示意圖(三)。 Fig. 7 is a schematic diagram (3) of the action of the preferred embodiment of the bionic flapping wing transmission device shown in Fig. 1.
如圖1及圖2所示，其揭示本發明仿生拍撲翼傳動裝置之一較佳實施例，由圖式中可以見及，該仿生拍撲翼傳動裝置係包括一裝置本體1、一動力源2以及二傳動組件3。
As shown in Figures 1 and 2, which disclose a preferred embodiment of the bionic flapping wing transmission device of the present invention, as can be seen from the drawings, the bionic flapping wing transmission device includes a
如圖1至圖4所示，該裝置本體1定義有位於三維空間中相互垂直之X軸向(即圖式之前後方向)、Y軸向(即圖式之左右方向)及Z軸向(即圖式之上下方向)，且該裝置本體1包括一本體基部10以及位於該本體基部10中能沿著該X軸向方向往復運動之一滑桿11。
As shown in Figures 1 to 4, the
如圖1至圖4所示，於本較佳實施例中，該本體基部10包括沿著Y軸向間隔排列之二側板12以及位於該二側板12之間的一容置空間120，該二側板12各設有沿著X軸向延伸之一滑槽123，該二側板12之滑槽123位置相互對應，該滑桿11係平行於該Y軸向設置且能沿著該二側板12之滑槽123滑移。該本體基部10沿著X軸向的相對兩端為一第一區段121與一第二區段122，所述滑槽123位於本體基部10的第二區段122。於本較佳實施例中，該二側板12之間固接有複數固定柱13，並於本體基部10之第二區段122之X軸向末端具有一尾桿14，於該尾桿14上固設一尾翼15，提供飛行時平衡性能。
As shown in Figures 1 to 4, in the present preferred embodiment, the
如圖1至圖4所示，所述動力源2裝設於該裝置本體1的本體基部10內，於本較佳實施例中，所述動力源2設置於該本體基部10之第一區段121位置的容置空間120內。所述動力源2包括一馬達20以及一輪系傳動組21，該馬達20具有一心軸，所述輪系傳動組21連接該馬達20之心軸，使馬達能經由輪系傳
動組21輸出旋轉動力，所述輪系傳動組21可為齒輪組或皮帶輪組等。於本較佳實施例中，所述輪系傳動組21係選用齒輪組，並具有一輸出軸211。
As shown in Figures 1 to 4, the
如圖1至圖4所示，該二傳動組件3係對稱設置於該裝置本體1之Y軸向相對兩側且連接所述動力源2，且該二傳動組件3分別連接該裝置本體1之滑桿11兩端，其中該二傳動組件3為同一組動力源2直接或間接驅動。每一所述傳動組件3各包括一滑件曲柄機構3A、一撲動機構3B以及一翼部運動機構3C。
As shown in Figures 1 to 4, the two
如圖1至圖4所示，所述滑件曲柄機構3A設置於該裝置本體1的本體基部10外側且連接該滑桿11，並能為所述動力源2所驅動。於本較佳實施例中，所述滑件曲柄機構3A係設置於本體基部10的第一區段121外側。該滑件曲柄機構3A包括一曲柄30及一連接桿31，該曲柄30之一端連接所述動力源2，於本較佳實施例中，該滑件曲柄機構3A係連接所述動力源2之輪系傳動組21。該連接桿31的一端接合一第一旋轉接頭32連接該曲柄30之另一端，該連接桿31的另一端接合一第二旋轉接頭33連接該滑桿11位置對應的一端。
As shown in FIGS. 1 to 4, the slider crank
如圖1至圖4所示，所述撲動機構3B係一空間RSSR四連桿機構，所述撲動機構3B設置於該裝置本體1的本體基部10外側且連接該滑件曲柄機構3A，於本較佳實施例中，所述撲動機構3B係設置於本體基部10的第一區段121外側。該撲動機構3B包括一撲動桿件40與一撲動連桿41，該撲動桿件40具有一桿件基部401以及一從動支桿404，該桿件基部401係平行於該X軸向地樞設於該裝置本體1的本體基部10上，該桿件基部401相對的兩端分別為一基部第一端402與一基部第二端403，該從動支桿404的一端固接於桿件基部401之基部第一端402，該撲動連桿41的一端接合一第一球面接頭42共軸連接該曲柄30之另一端之第一旋轉接頭32，該撲動連桿41的另一端接合一第二球面接頭43連接該撲動桿件40之從動支桿404遠離桿件基部401之一端。
As shown in Figures 1 to 4, the
如圖1至圖4所示，所述翼部運動機構3C係一空間瓦特二型六連桿機構，所述翼部運動機構3C設置於該裝置本體1的本體基部10外側且連接該滑件曲柄機構3A與該撲動機構3B，該翼部運動機構3C包括一第一翼桿50、一第二翼桿51、一第三翼桿52以及一第四翼桿53，該第一翼桿50與該第二翼桿51平行間隔設置，該第三翼桿52與該第四翼桿53平行間隔設置，該第一翼桿50的一端接合一第三旋轉接頭54連接該撲動桿件40之桿件基部401的基部第二端403，該第一翼桿50的另一端接合一第四旋轉接頭55連接該第四翼桿53的中間區段，該第三翼桿52的兩端分別接合一第五旋轉接頭56與一第六旋轉接頭57樞接該第一翼桿50的中間區段與該第二翼桿51的一端，該第四翼桿53的一端接合一第三球面接頭59共軸連接該第二旋轉接頭33，該第四翼桿53的另一端接合一第七旋轉接頭58樞接該第二翼桿51的中間區段。
As shown in Figures 1 to 4, the
關於本發明仿生拍撲翼傳動裝置之動作，如圖5至圖7所示，及配合參看圖1及圖2，該仿生拍撲翼傳動裝置於其兩傳動組件3的翼部運動機構3C上設置翼部60，並利用裝設在裝置本體1中之單一組動力源2驅動裝置本體1兩側之傳動組件3，其中經由被動力源2驅動旋轉的曲柄30同時帶動撲動機構3B與翼部運動機構3C運動，其中，由動力源2驅動旋轉的曲柄30經由連接桿31驅動位於裝置本體1中之滑桿11沿著X軸向(前後方向)往復移動，進而帶動該翼部運動機構3C產生X軸向之收合與伸展動作；另一方面，被驅動旋轉的曲柄30經由撲動機構3B之撲動連桿41與樞設於裝置本體1中之撲動桿件40轉動翼部運動機構3C產生Z軸向(上下方向)反復拍撲之動作，藉由前述撲動動作與翼部伸展收合動作之整合，使仿生拍撲翼傳動裝置能產生模仿鳥類飛行時撲動雙翼及雙翼伸展與收合之動作。因此，當本發明仿生拍撲翼傳動裝置於其兩傳動組件3的翼部運動機構3C上設置翼部60後，並搭配設置於裝置本體1之本體基部10尾
端的尾翼15，受到動力源2驅動後即能使該仿生拍撲翼傳動裝置在空中呈現仿生鳥類飛行之動作。
Regarding the action of the bionic flapping wing transmission device of the present invention, as shown in Figures 5 to 7, and in conjunction with Figures 1 and 2, the bionic flapping wing transmission device is on the
1:裝置本體 1: Device body
10:本體基部 10: The base of the body
11:滑桿 11: Slider
123:滑槽 123: Chute
15:尾翼 15: Tail
2:動力源 2: power source
3:傳動組件 3: Transmission components
3A:滑件曲柄機構 3A: Slide crank mechanism
30:曲柄 30: crank
31:連接桿 31: connecting rod
3B:撲動機構 3B: flapping mechanism
40:撲動桿件 40: flapping rod
403:基部第二端 403: The second end of the base
404:從動支桿 404: driven strut
41:撲動連桿 41: Flutter Link
3C:翼部運動機構 3C: Wing movement mechanism
50:第一翼桿 50: The first wing bar
51:第二翼桿 51: Second Wing Rod
52:第三翼桿 52: Third Wingstick
53:第四翼桿 53: Fourth Wingstick
60:翼部 60: Wing
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| TW109113215A TWI740463B (en) | 2020-04-20 | 2020-04-20 | Bionic flapping wing transmission device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW109113215A TWI740463B (en) | 2020-04-20 | 2020-04-20 | Bionic flapping wing transmission device |
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| Publication Number | Publication Date |
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| TWI740463B true TWI740463B (en) | 2021-09-21 |
| TW202140330A TW202140330A (en) | 2021-11-01 |
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| CN103552689A (en) * | 2013-11-11 | 2014-02-05 | 北京航空航天大学 | Minitype ornithopter wing driving mechanism with changeable wing area |
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| CN103552689A (en) * | 2013-11-11 | 2014-02-05 | 北京航空航天大学 | Minitype ornithopter wing driving mechanism with changeable wing area |
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