Flapping wing mechanism capable of realizing infinite-shaped track and flapping wing aircraft
阅读说明：本技术 一种能够实现“∞”形轨迹的扑翼机构及扑翼飞行器 (Flapping wing mechanism capable of realizing infinite-shaped track and flapping wing aircraft ) 是由 刘继凯 张雪峰 于 2019-09-05 设计创作，主要内容包括：本发明公开了一种能够实现“∞”形轨迹的扑翼机构及扑翼飞行器,它解决了现有技术中输出件摆角受到了限制、难以完成大幅度摆动的问题,通过齿轮连杆机构能够实现输出件的空间“∞”形摆动；其技术方案为：包括机架,所述机架两侧对称安装齿轮连杆机构,所述齿轮连杆机构连接动力机构；其中,齿轮连杆机构包括曲柄连杆机构,所述曲柄连杆机构与齿形连杆转动连接,且齿形连杆与用于安装扑翼的输出齿轮啮合；所述输出齿轮安装于与机架转动连接的摇杆上方,在动力机构的作用下安装有扑翼的输出齿轮能够沿“∞”形轨迹摆动。(The invention discloses an ornithopter mechanism capable of realizing an infinity-shaped track and an ornithopter, which solve the problems that the swing angle of an output piece is limited and large-amplitude swing is difficult to complete in the prior art, and can realize space infinity-shaped swing of the output piece through a gear link mechanism; the technical scheme is as follows: the device comprises a rack, wherein gear connecting rod mechanisms are symmetrically arranged on two sides of the rack and are connected with a power mechanism; the flapping wing mounting mechanism comprises a gear connecting rod mechanism, a gear connecting rod mechanism and a transmission mechanism, wherein the gear connecting rod mechanism comprises a crank connecting rod mechanism, the crank connecting rod mechanism is rotationally connected with a tooth-shaped connecting rod, and the tooth-shaped connecting rod is meshed with an output gear for mounting a flapping wing; the output gear is arranged above a rocker which is rotationally connected with the frame, and the output gear provided with the flapping wings can swing along an '∞' shaped track under the action of the power mechanism.)
1. The flapping wing mechanism capable of realizing the infinity-shaped track is characterized by comprising a rack, wherein gear link mechanisms are symmetrically arranged on two sides of the rack and are connected with a power mechanism;
the flapping wing mounting mechanism comprises a gear connecting rod mechanism, a gear connecting rod mechanism and a transmission mechanism, wherein the gear connecting rod mechanism comprises a crank connecting rod mechanism, the crank connecting rod mechanism is rotationally connected with a tooth-shaped connecting rod, and the tooth-shaped connecting rod is meshed with an output gear for mounting a flapping wing; the output gear is arranged above a rocker which is rotationally connected with the frame, and the output gear provided with the flapping wings can swing along an '∞' shaped track under the action of the power mechanism.
2. The flapping wing mechanism of claim 1, wherein the tooth profile of the toothed link meshing with the output gear is in the range of 50 ° to 60 °.
3. The flapping wing mechanism of claim 1, wherein the frame is rotatably connected to a prime shaft, the crank-link mechanism comprises a crank rotatably connected to the prime shaft, and a link rotatably connected to the crank, the link being rotatably connected to a toothed link.
4. The flapping wing mechanism of claim 3, wherein the crank is perpendicular to the connecting rod and perpendicular to the motive shaft, and the connecting rod is parallel to the horizontal plane of the toothed connecting rod.
5. The flapping wing mechanism of claim 1 wherein said output gear has an angle of reciprocation greater than 120 °.
6. The flapping wing mechanism of claim 1, wherein the rocker is pivotally connected to the toothed link.
7. The flapping wing mechanism of claim 3 wherein said power mechanism comprises an electric motor and a drive train, said electric motor engaging a gear mounted on said drive shaft through said drive train.
8. The flapping wing mechanism of claim 7 wherein said drive train provides a three stage reduction configuration.
9. The flapping wing mechanism of claim 7, wherein the gear ratio of the gear on the prime shaft to the output gear can be changed to change the swing angle of the output gear to any angle.
10. A flapping wing aircraft comprising a flapping wing mechanism according to any one of claims 1 to 9, wherein the output gear is connected to the flapping wing by a fastening member.
Technical Field
The invention relates to the field of aircrafts, in particular to a flapping wing mechanism capable of realizing an infinity-shaped track and a flapping wing aircraft.
Background
The flapping wing aircraft is different from a fixed wing aircraft, the fixed wing aircraft generates lift force by means of wings, generates advancing force by means of thrust or traction of an engine, and the lift force and the thrust of the flapping wing aircraft are both generated by a flapping wing system.
The flapping wing flight has special aerodynamic characteristics and is easier to develop towards miniaturization. Bionic studies have shown that flapping flight has irreplaceable properties when the size is small to some extent. In addition, the flapping wing aircraft has the characteristics of small size, light weight and good concealment, is widely valued in the military field based on the important strategic significance, and is rapidly developed in recent decades.
The inventor finds that the prior flapping wing mechanism has the following defects: (1) the flapping wing mechanism which only adopts the crank rocker mechanism is limited to the characteristics of a plane crank rocker mechanism, the swing angle of an output part is limited, the transmission angle of a high-speed mechanism is limited to be more than 50 degrees, the swing angle of the output rod can only reach about 90 degrees at most, and the amplitude of the flapping wings of birds and insects is more than 120 degrees generally. (2) The typical flapping wing flight mechanism realizes in-plane flapping, which is difficult to achieve low-speed flight like insects and hovering in the air, and the plane link mechanism also is difficult to enable the output rod to swing in a large amplitude. Therefore, the flapping wing aircraft equipped with the conventional flapping wing mechanism cannot realize the space-infinity-shaped swing of the wings. (3) The plane flapping wing mechanism inevitably generates negative lift force in the upward swing process of the wing, and causes adverse effect on the flight.
Disclosure of Invention
In order to overcome the drawbacks of the prior art, a first object of the present invention is to provide an flapping wing mechanism capable of realizing a "∞" shaped trajectory, which is capable of realizing a spatial "∞" shaped oscillation of the output member by means of a gear linkage mechanism.
The invention adopts the following technical scheme:
a flapping wing mechanism capable of realizing an infinity-shaped track comprises a rack, wherein gear link mechanisms are symmetrically arranged on two sides of the rack and are connected with a power mechanism;
the flapping wing mounting mechanism comprises a gear connecting rod mechanism, a gear connecting rod mechanism and a transmission mechanism, wherein the gear connecting rod mechanism comprises a crank connecting rod mechanism, the crank connecting rod mechanism is rotationally connected with a tooth-shaped connecting rod, and the tooth-shaped connecting rod is meshed with an output gear for mounting a flapping wing; the output gear is arranged above a rocker which is rotationally connected with the frame, and the output gear provided with the flapping wings can swing along an '∞' shaped track under the action of the power mechanism.
Further, the tooth form range of the tooth form connecting rod and the output gear is 50-60 degrees.
Furthermore, the frame is connected with the driving shaft in a rotating manner, the crank-link mechanism comprises a crank and a connecting rod, the crank is connected with the driving shaft in a rotating manner, the connecting rod is connected with the crank in a rotating manner, and the connecting rod is connected with the tooth-shaped connecting rod in a rotating manner.
Furthermore, the crank is perpendicular to the connecting rod and perpendicular to the driving shaft, and the connecting rod is parallel to the horizontal plane where the toothed connecting rod is located.
Further, the reciprocating swing angle of the output gear is larger than 120 degrees.
Furthermore, the rocker is in rotating connection with the tooth-shaped connecting rod.
Furthermore, the power mechanism comprises a motor and a transmission gear train, and the motor is meshed with a gear arranged on the driving shaft through the transmission gear train.
Further, the transmission gear train forms a three-level speed reduction structure.
Furthermore, the swing angle of the output gear can be changed to form any angle by changing the transmission ratio of the gear on the driving shaft and the output gear.
The invention also provides a flapping wing aircraft, which comprises the flapping wing mechanism, wherein the output gear is connected with the flapping wing through a fixing piece.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention adopts a gear link mechanism, and can realize the swing of any angle by adjusting the gear transmission ratio without being limited by the transmission angle of the lever group;
(2) the tooth-shaped connecting rod has a sector area of 50-60 degrees, and can realize the infinity-shaped swing of an output gear, namely realize the infinity-shaped swing of a flapping wing;
(3) according to the invention, through the spatial infinity-shaped swing, the acting force beneficial to flight can be generated in the whole period of the flapping wing vibration, the downward flapping process mainly generates the force for advancing the mechanism, and the upward swinging process mainly generates the force for ascending the mechanism.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic structural diagram according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a power removal mechanism according to an embodiment of the invention;
FIG. 3 is a schematic structural diagram of a gear linkage mechanism according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a power mechanism according to an embodiment of the invention;
FIG. 5 is an isometric view of a second embodiment of the invention;
FIG. 6 is a front view of a second embodiment of the present invention;
FIG. 7 is a side view of a second embodiment of the present invention;
FIG. 8 is a top view of a second embodiment of the present invention;
FIG. 9 is an flapping wing trajectory according to a second embodiment of the present invention;
the flapping wing driving mechanism comprises a
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "up", "down", "left" and "right" in this application, if any, merely indicate correspondence with the directions of up, down, left and right of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application.
The terms "mounted", "connected", "fixed", and the like in the present application should be understood broadly, and for example, the terms "mounted", "connected", and "fixed" may be fixedly connected, detachably connected, or integrated; the two components can be connected mechanically or electrically, directly or indirectly through an intermediate medium, or connected internally or in an interaction relationship, and the terms used in the present invention should be understood as having specific meanings to those skilled in the art.
The infinity-shaped track is similar to the motion track of the wing tip of most insects and birds during flapping, and can be decomposed into the up-and-down flapping motion of the wing and the reciprocating twisting motion of the wing along the axis of the wing.
The driving shaft is a common transmission shaft.
The tooth-shaped connecting rod is a connecting rod with tooth shape.
As introduced in the background art, the defects that the swing angle of an output part is limited and large-amplitude swing is difficult to complete exist in the prior art, and in order to solve the technical problems, the invention provides an ornithopter mechanism and an ornithopter capable of realizing an infinite-shaped track.
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