Parallel differential type two-degree-of-freedom flapping wing mechanism
阅读说明:本技术 一种并联差动式二自由度扑翼机构 (Parallel differential type two-degree-of-freedom flapping wing mechanism ) 是由 潘天宇 郑孟宗 彭连松 李秋实 于 2020-08-04 设计创作,主要内容包括:本公开提供了一种并联差动式二自由度扑翼机构,包括:翼板、连接杆、驱动组件和主体组件,所述驱动组件固定设置在所述主体组件内,所述翼板通过所述连接杆与所述驱动组件固定连接;本公开的有益效果为采用差动轮系结构,增加运动的精确性和运动范围,采用并联驱动方式,以两个锥齿轮为主动轮,共同驱动从动轮进行运动,使得扑动和转动双自由度运动中每个自由度均由两个主动轮承担,降低电机的负担,使结构更紧凑。(The present disclosure provides a parallel differential two-degree-of-freedom flapping-wing mechanism, comprising: the wing plate is fixedly connected with the driving assembly through the connecting rod; the parallel-connection driving mechanism has the beneficial effects that the differential gear train structure is adopted, the movement accuracy and the movement range are increased, the parallel-connection driving mode is adopted, the two bevel gears are used as driving wheels, and the driven wheels are driven to move together, so that each degree of freedom in the flapping and rotation two-degree-of-freedom movement is borne by the two driving wheels, the burden of the motor is reduced, and the structure is more compact.)
1. A parallel differential type two-degree-of-freedom flapping wing mechanism is characterized by comprising: the wing plate is fixedly connected with the driving assembly through the connecting rod;
the driving assembly comprises a first driving wheel, a second driving wheel, a driven wheel and a connecting assembly, the first driving wheel, the second driving wheel and the driven wheel are connected with the main body assembly through the connecting assembly, the first driving wheel, the second driving wheel and the driven wheel are right-angle bevel gears with the same modulus, the first driving wheel and the second driving wheel are arranged in a coaxial mirror image mode, the driven wheel is arranged between the first driving wheel and the second driving wheel, the driven wheel is simultaneously meshed with the first driving wheel and the second driving wheel in a tooth pattern mode, and the wing plates are fixedly connected with the driven wheel through the connecting rod.
2. The parallel differential two-degree-of-freedom flapping wing mechanism of claim 1, wherein the main body assembly comprises a first main body frame and a second main body frame, the first main body frame and the second main body frame are arranged in a mirror image manner, the first driving wheel is rotatably connected with the first main body frame through the connecting assembly, the second driving wheel is rotatably connected with the second main body frame through the connecting assembly, and the driven wheel is slidably connected with the first main body frame and the second main body frame through the connecting assembly.
3. The parallel differential two-degree-of-freedom flapping wing mechanism of claim 2, wherein the first main frame/the second main frame comprises a base, a bearing mounting ring and an arc-shaped limiting plate, the base comprises a transverse plate and a vertical plate, a driving hole is formed in the vertical plate, the bearing mounting ring is fixedly arranged on the inner side face of the vertical plate, and the first side edge of the arc-shaped limiting plate is fixedly connected with the inner side face of the vertical plate.
4. The parallel differential two-degree-of-freedom flapping wing mechanism of claim 3, wherein the bearing mounting ring and the drive aperture are coaxially disposed.
5. The parallel differential two-degree-of-freedom flapping wing mechanism of claim 3, wherein the connecting assembly comprises a first bearing, a second bearing, a third bearing and a slider, the first driving wheel is rotatably connected with the bearing mounting ring of the first main body frame through the first bearing, and the second driving wheel is rotatably connected with the bearing mounting ring of the second main body frame through the second bearing;
the rear side face of the sliding block is attached to the front side face of the arc limiting plate, a mounting hole is formed in the middle of the sliding block, and the driven wheel is connected with the mounting hole of the sliding block in a rotatable mode through the third bearing.
6. The parallel differential two-degree-of-freedom flapping wing mechanism of claim 5, wherein the back side of the sliding block is a curved surface structure, the curved surface diameter of the back side of the sliding block is equal to the curved surface diameter of the inner side surface of the arc limiting plate, and the width of the sliding block is equal to the sum of the width of the arc limiting plate of the first main frame and the width of the arc limiting plate of the second main frame.
7. The parallel differential two-degree-of-freedom flapping wing mechanism of claim 1, wherein the connecting rod is coaxially arranged with the driven wheel, the central axis of the connecting rod is perpendicular to the central axis of the first driving wheel, the first end of the connecting rod is fixedly connected with the top surface of the driven wheel, the second end of the connecting rod is fixedly connected with the middle point of the short side of the wing plate, and the connecting rod is perpendicular to the short side of the wing plate.
8. The parallel differential two-degree-of-freedom flapping wing mechanism of claim 5, wherein the outer diameter of the first bearing/the second bearing is equal to the inner diameter of the bearing mounting ring, the inner diameter of the third bearing is equal to the inner diameter of the mounting hole, the inner diameter of the first bearing is equal to the major diameter of the first driving wheel, the inner diameter of the second bearing is equal to the major diameter of the second driving wheel, and the major diameter of the third bearing is equal to the major diameter of the driven wheel.
9. The parallel differential two-degree-of-freedom flapping wing mechanism of claim 5, wherein torque output shafts of the two motors are fixedly connected with a gear shaft of the first driving wheel and a gear shaft of the second driving wheel respectively.
10. The parallel differential two-degree-of-freedom flapping wing mechanism of claim 9, wherein the rotational speed and the rotational phase difference of the two motors are independent of each other.
Technical Field
The present disclosure relates to an aircraft, and more particularly to a parallel differential two-degree-of-freedom flapping-wing mechanism.
Background
Flapping motion is widely found in natural insects (e.g., dragonfly), birds (e.g., hummingbird) and aquatic organisms (e.g., turtle). The flapping wing aircraft has higher aerodynamic efficiency and stability than fixed wing aircraft and rotary wing aircraft due to the more prominent viscous action of the fluid under the low reynolds number. Therefore, the flapping wing is widely applied to low Reynolds number motions of a micro aircraft, an underwater vehicle and the like.
For a micro aircraft, the design of the flapping wing mechanism is crucial. The flapping-wing movement is composed of flapping and rotating of wings. Most of the existing miniature flapping wing aircrafts only adjust the flapping motion with single degree of freedom by adjusting the rotating speed of a single motor, the rotating motion can only act on the flexible wing through aerodynamic force to enable the flexible wing to deform for passive adjustment, and the flexible wing cannot be actively controlled, so that the motion law of flapping wing organisms in the nature cannot be completely simulated, and the motion force and the control force of the aircrafts are insufficient. Flapping wing mechanisms capable of achieving flapping and rotation two-degree-of-freedom adjustment are mostly designed in a series structure, namely flapping and rotation are respectively driven by separate motors and are not matched with each other. The motion precision of the series structure is poor, the motor is heavy in burden, and the motor which is responsible for the rotation motion needs to be fixed on the wing and flap along with the wing, so that the efficiency of the mechanism is reduced, and the motion range is limited.
Disclosure of Invention
To solve at least one of the above technical problems, the present disclosure provides a parallel differential two-degree-of-freedom flapping wing mechanism.
According to one aspect of the present disclosure, a parallel differential two-degree-of-freedom flapping wing mechanism comprises: the wing plate is fixedly connected with the driving assembly through the connecting rod;
the driving assembly comprises a first driving wheel, a second driving wheel, a driven wheel and a connecting assembly, the first driving wheel, the second driving wheel and the driven wheel are connected with the main body assembly through the connecting assembly, the first driving wheel, the second driving wheel and the driven wheel are right-angle bevel gears with the same modulus, the first driving wheel and the second driving wheel are arranged in a coaxial mirror image mode, the driven wheel is arranged between the first driving wheel and the second driving wheel, the driven wheel is simultaneously meshed with the first driving wheel and the second driving wheel in a tooth pattern mode, and the wing plates are fixedly connected with the driven wheel through the connecting rod.
Specifically, the main part subassembly includes a main body frame and No. two main body frames, a main body frame with No. two main body frame mirror images set up, a action wheel passes through coupling assembling with a main body frame rotatable coupling, No. two action wheels pass through coupling assembling with No. two main body frame rotatable coupling, pass through from the driving wheel coupling assembling with a main body frame with No. two main body frame slidable coupling.
Specifically, a main body frame the main body frame of No. two includes base, bearing mount ring and arc limiting plate, the base includes diaphragm and riser, be provided with the drive hole on the riser, the bearing mount ring is fixed to be set up the medial surface of riser, the first side of arc limiting plate with the medial surface fixed connection of riser.
Preferably, the bearing mounting ring and the drive bore are coaxially disposed.
The connecting assembly comprises a first bearing, a second bearing, a third bearing and a sliding block, the first driving wheel is rotatably connected with the bearing mounting ring of the first main body frame through the first bearing, and the second driving wheel is rotatably connected with the bearing mounting ring of the second main body frame through the second bearing;
the rear side face of the sliding block is attached to the front side face of the arc limiting plate, a mounting hole is formed in the middle of the sliding block, and the driven wheel is connected with the mounting hole of the sliding block in a rotatable mode through the third bearing.
Preferably, the rear side face of the slider is of a curved surface structure, the curved surface diameter of the rear side face of the slider is equal to the curved surface diameter of the inner side face of the arc limiting plate, and the width of the slider is equal to the sum of the width of the arc limiting plate of the first main body frame and the width of the arc limiting plate of the second main body frame.
Specifically, the connecting rod with from the coaxial setting of driving wheel, the axis of connecting rod with the axis of action wheel sets up perpendicularly, the first end of connecting rod with from the top surface fixed connection of driving wheel, the second end of connecting rod with the minor face midpoint fixed connection of pterygoid lamina, just the connecting rod with the minor face of pterygoid lamina sets up perpendicularly.
Preferably, the outer diameter of the first bearing/the second bearing is equal to the inner diameter of the bearing mounting ring, the inner diameter of the third bearing is equal to the inner diameter of the mounting hole, the inner diameter of the first bearing is equal to the major diameter of the first driving wheel, the inner diameter of the second bearing is equal to the major diameter of the second driving wheel, and the major diameter of the third bearing is equal to the major diameter of the driven wheel.
Specifically, torque output shafts of the two motors are fixedly connected with a gear shaft of the first driving wheel and a gear shaft of the second driving wheel respectively.
Preferably, the rotational speeds and rotational phase differences of the two motors are independent of each other.
According to at least one embodiment of the present disclosure, the beneficial effects of the present disclosure are:
the differential gear train structure is adopted, the movement accuracy and the movement range are increased, the parallel driving mode is adopted, the two bevel gears are used as driving wheels, and the driven wheels are driven to move together, so that each degree of freedom in the flapping and rotation two-degree-of-freedom movement is borne by the two driving wheels, the burden of the motor is reduced, and the structure is more compact.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
FIG. 1 is an exploded view of a parallel differential two degree-of-freedom flapping wing mechanism according to the present disclosure.
Fig. 2 is a schematic structural diagram of the body frame No. one/body frame No. two according to the present disclosure.
FIG. 3 is a schematic structural view of the slider according to the present disclosure.
Reference numerals:
the device comprises a 1-first main body frame, a 2-second main body frame, a 3-first driving wheel, a 4-second driving wheel, a 5-driven wheel, a 6-first bearing, a 7-second bearing, a 8-third bearing, a 9-sliding block, a 10-wing plate, an 11-connecting rod, a 21-vertical plate, a 22-bearing mounting ring, a 23-arc limiting plate, a 91-mounting hole and a 92-curved surface structure.
Detailed Description
The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
The motion structure realizes two-degree-of-freedom motion consisting of flapping and rotation in flapping wing motion by simultaneously adjusting the rotation speed and the rotation phase difference of the two driving wheels and matching in parallel. The structure is simple and reliable, the miniaturization is easy, and the device can be applied to the fields of miniature flapping wing aircrafts, laboratory flapping wing flight research, underwater flapping wing aircrafts and the like.
A parallel differential two-degree-of-freedom flapping wing mechanism, comprising: the wing plate driving device comprises a
drive assembly includes
The driving component consists of two driving wheels, a driven
The main part subassembly includes main body frame 1 and No. two main body frame 2, and a main body frame 1 and No. two main body frame 2 mirror image set up, and
No. 1/2 main body frame of main body frame includes base, bearing
The
The connecting assembly comprises a first bearing 6, a second bearing 7, a third bearing 8 and a
the rear side face of the
The outer diameter of the first bearing 6 is the same as the diameter of the
No. two bearing 7 external diameters are the same with No. two main body frame 2's bearing
The outer diameter of the third bearing 8 is the same as the diameter of the
The diameter of the curved surface of the sliding
Connecting
The
The torque output shafts of the two motors are respectively and fixedly connected with the gear shaft of the first driving
When the mechanism moves, the two motors input power through the gear shaft of the first driving
The specific motion control is as follows: (the bevel gear rotates in the positive direction, clockwise when looking at the bevel gear face for sight)
1. Realization of flapping law of wing plate 10: when the
2. The rotation rule of the
3. The realization of the flapping wing motion with two degrees of freedom of the wing plate 10: when the
In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.
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