CN105620745B - A kind of symmetrical primary and secondary bilayer flapping wing mechanism - Google Patents
A kind of symmetrical primary and secondary bilayer flapping wing mechanism Download PDFInfo
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- CN105620745B CN105620745B CN201410607882.8A CN201410607882A CN105620745B CN 105620745 B CN105620745 B CN 105620745B CN 201410607882 A CN201410607882 A CN 201410607882A CN 105620745 B CN105620745 B CN 105620745B
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Abstract
本发明公开了一种对称子母双层扑翼机构，两侧结构完全对称，单侧机构包括曲柄(1)、分叉连杆(2)、普通连杆(3)、母翼摇杆(4)、子翼摇杆(5)。通过结合使用分叉连杆与普通连杆实现子母双翼的联动，通过双曲柄驱动实现两侧子母翼的对称运动。该发明可以在母翼抬起过程中通过子翼来产生升力，由于子翼位于母翼根部的低升力区，子翼的扑动可有效提高母翼根部的升力产生效率。本发明机构简单，重量轻。
The invention discloses a symmetrical mother-child double-layer flapping wing mechanism, the structures on both sides are completely symmetrical, and the single-side mechanism includes a crank (1), a bifurcated connecting rod (2), a common connecting rod (3), and a female wing rocker ( 4), wing rocker (5). By combining the bifurcated connecting rod and the ordinary connecting rod, the linkage between the mother and child wings is realized, and the symmetrical movement of the mother and child wings on both sides is realized through the double crank drive. The invention can generate lift through the sub-wing during the lifting process of the mother wing. Since the sub-wing is located in the low-lift area of the root of the mother wing, the flapping of the sub-wing can effectively improve the lift generation efficiency of the root of the mother wing. The invention has simple mechanism and light weight.
Description
技术领域technical field
本发明属于飞机结构设计，具体涉及一种对称子母双层扑翼飞机机构。The invention belongs to aircraft structure design, and in particular relates to a symmetrical dual-layer flapping-wing aircraft mechanism.
背景技术Background technique
扑翼飞行器中常见得多是单扑翼飞行器，其结构简单，质量轻，但是当扑翼向上抬起时无法提供升力且扑翼根部摆动幅值小，升力产生效率很低。Single flapping-wing aircraft is more common in flapping-wing aircraft, which has a simple structure and light weight, but when the flapping wing is lifted upwards, it cannot provide lift and the root swing amplitude of the flapping wing is small, so the lift generation efficiency is very low.
现有的双扑翼飞行器均为非对称双扑翼，两侧提供的升力不对称，且扑翼扑动过程中，相互干扰严重，扑翼根部摆动幅值小，升力产生效率较低。Existing double flapping wing aircraft are all asymmetrical double flapping wings, the lift provided by both sides is asymmetrical, and in the flapping process of the flapping wings, mutual interference is serious, the swing amplitude of the root of the flapping wings is small, and the lift generation efficiency is low.
发明内容Contents of the invention
本发明要解决的技术问题在于，解决普通单层扑翼以及非对称双翼升力效率低的问题，提高扑翼升力效率。The technical problem to be solved by the present invention is to solve the problem of low lift efficiency of ordinary single-layer flapping wings and asymmetric double wings, and improve the lift efficiency of flapping wings.
为解决上述问题本发明技术方案提供一种对称子母双层扑翼机构，两侧结构完全对称，单侧机构包括曲柄、分叉连杆、普通连杆、母翼摇杆、子翼摇杆，所述曲柄连接所述分叉连杆的主节点，所述分叉连杆的主分支端连接所述母翼摇杆的根部，所述母翼摇杆的根部与梢部之间的一点为固定点D，所述固定点D定轴连接在支架上，当所述曲柄驱动所述分叉连杆运动时，所述分叉连杆带动所述母翼摇杆绕所述固定点D运动，所述分叉连杆的次分支端连接普通连杆的一端，所述普通连杆的另一端连接所述子翼摇杆，所述子翼摇杆的根部F定轴连接在支架上，当所述曲柄驱动所述分叉连杆运动时，所述分叉连杆带动所述子翼摇杆绕所述根部F运动。In order to solve the above problems, the technical solution of the present invention provides a symmetrical mother-child double-layer flapping wing mechanism. The structures on both sides are completely symmetrical. , the crank is connected to the main node of the bifurcated connecting rod, the main branch end of the bifurcated connecting rod is connected to the root of the mother wing rocker, and a point between the root and the tip of the mother wing rocker is a fixed point D, and the fixed point D is fixedly connected to the bracket. When the crank drives the bifurcated connecting rod to move, the bifurcated connecting rod drives the mother wing rocker around the fixed point D movement, the secondary branch end of the bifurcated connecting rod is connected to one end of the common connecting rod, the other end of the common connecting rod is connected to the sub-wing rocker, and the root F of the sub-wing rocking rod is fixedly connected to the bracket , when the crank drives the bifurcated connecting rod to move, the bifurcated connecting rod drives the wing rocker to move around the root F.
本发明提供的一种对称子母双层扑翼机构，通过结合使用分叉连杆与普通连杆实现子母双翼的联动，通过双曲柄驱动实现两侧子母翼的对称运动。该发明可以在母翼抬起过程中通过子翼来产生升力，由于子翼位于母翼根部的低升力区，子翼的扑动可有效提高母翼根部的升力产生效率。本发明机构简单，重量轻。The present invention provides a symmetrical mother-child double-layer flapping wing mechanism, which realizes the linkage of the mother-child wings by using a bifurcated connecting rod and an ordinary connecting rod, and realizes the symmetrical movement of the mother-child wings on both sides through double crank drive. The invention can generate lift through the sub-wing during the lifting process of the mother wing. Since the sub-wing is located in the low-lift area of the root of the mother wing, the flapping of the sub-wing can effectively improve the lift generation efficiency of the root of the mother wing. The invention has simple mechanism and light weight.
附图说明Description of drawings
下面结合附图对本发明的具体实施方式做进一步详细的说明，其中：Below in conjunction with accompanying drawing, specific embodiment of the present invention is described in further detail, wherein:
图1是对称子母双翼扑翼机构原理图；Fig. 1 is a schematic diagram of the flapping wing mechanism of the symmetrical mother and child double wings;
图2是对称子母双翼扑翼机构组成示意图。Fig. 2 is a schematic diagram of the composition of the symmetrical mother-child two-wing flapping wing mechanism.
具体实施方式detailed description
下面对本发明作进一步详细说明。参见图2，一种对称子母双层扑翼机构，单侧机构包括曲柄1、分叉连杆2、普通连杆3、母翼摇杆4、子翼摇杆5，所述曲柄1连接所述分叉连杆2的主节点，所述分叉连杆2的主分支端连接所述母翼摇杆4的根部，所述母翼摇杆4的根部与梢部之间的一点为固定点D，所述固定点D定轴连接在固定支架7上，当所述曲柄1驱动所述分叉连杆2运动时，所述分叉连杆2带动所述母翼摇杆4绕所述固定点D运动，所述分叉连杆2的次分支端连接普通连杆3的一端，所述普通连杆3的另一端连接所述子翼摇杆5，所述子翼摇杆5的根部F定轴连接在固定支架7上，当所述曲柄1驱动所述分叉连杆2运动时，所述分叉连杆2带动所述子翼摇杆5绕所述根部F运动。左右两侧机构完全对称。整个扑翼机构的动力来源是通过齿轮减速器将直流微型电机的转动传递到从动轮6上，从动轮6带动曲柄1绕中心点O做定轴转动。The present invention will be described in further detail below. Referring to Fig. 2, a symmetrical two-layer flapping wing mechanism, the unilateral mechanism includes a crank 1, a bifurcated connecting rod 2, a common connecting rod 3, a mother wing rocker 4, and a child wing rocker 5, and the crank 1 is connected to The main node of the bifurcated connecting rod 2, the main branch end of the bifurcated connecting rod 2 is connected to the root of the mother wing rocker 4, and a point between the root and the tip of the mother wing rocker 4 is fixed point D, the fixed point D is fixedly connected to the fixed bracket 7, when the crank 1 drives the bifurcated connecting rod 2 to move, the bifurcated connecting rod 2 drives the mother wing rocker 4 to rotate The fixed point D moves, the secondary branch end of the bifurcated link 2 is connected to one end of the ordinary link 3, and the other end of the ordinary link 3 is connected to the wing rocker 5, and the wing rocker The root F of 5 is fixedly connected to the fixed bracket 7. When the crank 1 drives the bifurcated connecting rod 2 to move, the bifurcated connecting rod 2 drives the wing rocker 5 to move around the root F . The mechanisms on the left and right sides are completely symmetrical. The power source of the entire flapping wing mechanism is to transmit the rotation of the DC micro-motor to the driven wheel 6 through the gear reducer, and the driven wheel 6 drives the crank 1 to rotate around the center point O on a fixed axis.
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| CN201410607882.8A CN105620745B (en) | 2014-10-31 | 2014-10-31 | A kind of symmetrical primary and secondary bilayer flapping wing mechanism |
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| CN201410607882.8A CN105620745B (en) | 2014-10-31 | 2014-10-31 | A kind of symmetrical primary and secondary bilayer flapping wing mechanism |
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| CN105620745B true CN105620745B (en) | 2017-12-19 |
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| CN106394898B (en) * | 2016-11-11 | 2018-07-10 | 吉林大学 | A kind of auto lock unlocking mechanism for foldable flapping-wing MAV |
| CN107867397B (en) * | 2017-12-15 | 2023-07-25 | 南京航空航天大学 | A miniature flapping-wing aircraft driven by a linear ultrasonic motor |
| CN112078791B (en) * | 2020-09-10 | 2022-07-05 | 哈尔滨工业大学（深圳） | Flapping wing aircraft |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101665155A (en) * | 2008-09-01 | 2010-03-10 | 顾惠群 | Ornithopter with combined flapping wings for performing flight control |
| CN202289471U (en) * | 2011-09-28 | 2012-07-04 | 中山市泰宝电子科技有限公司 | Flapping wing aircraft |
| CN102862677A (en) * | 2012-09-18 | 2013-01-09 | 东南大学 | Double-wing type miniature bionic ornithopter |
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| US6824094B2 (en) * | 2002-06-06 | 2004-11-30 | Charron Richard | Power assembly for ornicopter |
| US8366506B2 (en) * | 2008-01-11 | 2013-02-05 | Hanwha Corporation | Remote-controlled fluttering object capable of flying forward in upright position |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101665155A (en) * | 2008-09-01 | 2010-03-10 | 顾惠群 | Ornithopter with combined flapping wings for performing flight control |
| CN202289471U (en) * | 2011-09-28 | 2012-07-04 | 中山市泰宝电子科技有限公司 | Flapping wing aircraft |
| CN102862677A (en) * | 2012-09-18 | 2013-01-09 | 东南大学 | Double-wing type miniature bionic ornithopter |
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