阅读说明：本技术 一种可实现空间八字形扑翼运动的全转动副单自由度机构 (Full-revolute pair single-degree-of-freedom mechanism capable of realizing space splayed flapping wing motion ) 是由 刘海涛 许可 黄田 肖聚亮 梅江平 于 2021-09-26 设计创作，主要内容包括：本发明公开了一种可实现空间八字形扑翼运动的全转动副单自由度机构,包括六个连杆,第一连杆的第一端通过转动副与驱动机构的输出轴连接、第二端通过转动副与第二连杆的第一端连接,第二连杆的第二端通过转动副与第三连杆的第一端连接,第三连杆的第二端通过转动副与第四连杆的第一端连接,第四连杆的第二端通过转动副与第六连杆的第一端连接,第六连杆的第二端通过转动副与机架连接；第五连杆的第一端与第四连杆的第一端连接、第二端为自由端,在第一连杆的驱动下,使得第五连杆的自由端产生空间八字形扑翼轨迹。本发明机构中运动副类型均为转动副,有利于机构的运动学分析,且在实现空间八字形扑翼轨迹的同时,还能减轻机构重量、降低装配难度。(The invention discloses a full-revolute pair single-degree-of-freedom mechanism capable of realizing space splayed flapping-wing motion, which comprises six connecting rods, wherein the first end of a first connecting rod is connected with an output shaft of a driving mechanism through a revolute pair, the second end of the first connecting rod is connected with the first end of a second connecting rod through a revolute pair, the second end of the second connecting rod is connected with the first end of a third connecting rod through a revolute pair, the second end of the third connecting rod is connected with the first end of a fourth connecting rod through a revolute pair, the second end of the fourth connecting rod is connected with the first end of a sixth connecting rod through a revolute pair, and the second end of the sixth connecting rod is connected with a rack through a revolute pair; the first end of the fifth connecting rod is connected with the first end of the fourth connecting rod, the second end of the fifth connecting rod is a free end, and the free end of the fifth connecting rod generates a space splayed flapping wing track under the driving of the first connecting rod. The kinematic pairs in the mechanism are all revolute pairs, so that the kinematic analysis of the mechanism is facilitated, the space splayed flapping wing track is realized, and meanwhile, the weight of the mechanism can be reduced, and the assembly difficulty is reduced.)

1. A full-revolute pair single-degree-of-freedom mechanism capable of realizing space splayed flapping-wing motion is characterized by comprising a first connecting rod (1), a second connecting rod (2), a third connecting rod (3), a fourth connecting rod (4), a fifth connecting rod (5) and a sixth connecting rod (6), wherein each connecting rod comprises a first end and a second end which are opposite;

the first connecting rod (1) is a crank, and the first end of the first connecting rod (1) passes through a first revolute pair (R)_O) Is connected with an output shaft of a driving mechanism arranged on the frame (M), and the second end of the first connecting rod (1) passes through a second revolute pair (R)_A) Is connected with the first end of the second connecting rod (2), and the second end of the second connecting rod (2) passes through a third revolute pair (R)_B) Is connected with the first end of the third connecting rod (3)(3) The second end of the second rotating shaft passes through a fourth rotating pair (R)_C) Is connected with the first end of the fourth connecting rod (4), and the second end of the fourth connecting rod (4) passes through a fifth revolute pair (R)_D) Is connected with the first end of the sixth connecting rod (6), and the second end of the sixth connecting rod (6) passes through a sixth revolute pair (R)_E) Is connected with the frame (M); the fifth connecting rod (5) is an output component, the first end of the fifth connecting rod (5) is connected with the first end of the fourth connecting rod (4), and the second end of the fifth connecting rod (5) is a free end;

wherein the first revolute pair (R)_O) The second revolute pair (R)_A) And the sixth revolute pair (R)_E) Are arranged in parallel, said third revolute pair (R)_B) A fourth revolute pair (R)_C) And the fifth revolute pair (R)_D) Are arranged in parallel, and the second revolute pair (R)_A) And the third revolute pair (R)_B) Is vertically arranged, and the free end of the fifth connecting rod (5) generates a space splayed flapping wing track under the driving of the first connecting rod (1).

2. The mechanism of claim 1, wherein the first revolute pair (R) is a single degree of freedom mechanism capable of realizing a spatial splayed flapping wing motion_O) A central point (O) of the first and second revolute pairs (R)_A) Central point (A) and fifth revolute pair (R)_D) Are coplanar, and said second revolute pair (R)_A) A central point (A) of the third revolute pair_B) Central point (B) of, fourth revolute pair (R)_C) Central point (C) and fifth revolute pair (R)_D) Are coplanar.

3. The mechanism with full revolute pair and single degree of freedom for realizing space figure eight flapping wing motion according to claim 1, wherein the fifth link (5) is arranged along the extending direction of the first end of the fourth link (4).

Technical Field

The invention relates to a bionic flapping wing device, in particular to a full-revolute pair single-degree-of-freedom mechanism capable of realizing space splayed flapping wing motion, and provides a novel flapping wing motion executing mechanism for the bionic flapping wing device.

Background

Bionic ornithopter design is another hot topic in bionic design. The flapping wing mechanism is a key driving component of the flapping wing aircraft, and is often designed by simulating the flapping process of birds and insect wings. The flapping motion in the shape of the space of the Chinese character '8' has a better lifting effect, so that the flying agility of bees or hummingbirds is unparalleled in nature. However, the flapping wing mechanism for realizing the spatial 8-shaped flapping track often has more moving joints, and has high processing cost and large assembly workload. The chinese patent application publication No. CN108639337A discloses a single-degree-of-freedom flapping wing mechanism capable of realizing a spatial motion trajectory, but the mechanism includes a ball joint requiring large rotation, and the processing and assembly are complicated. In addition, the ball joint also adds to the overall weight of the mechanism.

There are not many mechanisms for outputting the motion of the space splayed flapping wing, and particularly, the types of the kinematic pairs are revolute pairs, so that a novel mechanism with single degree of freedom of a full revolute pair capable of realizing the track of the space splayed flapping wing needs to be provided.

Disclosure of Invention

The invention aims to provide a novel actuating mechanism which is simple in structure and can realize the motion trail of a space splayed flapping wing for a bionic flapping wing device.

The technical scheme adopted by the invention is as follows: a full-revolute pair single-degree-of-freedom mechanism capable of realizing space splayed flapping-wing motion comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod, wherein each connecting rod comprises a first end and a second end which are opposite;

the first connecting rod is a crank, a first end of the first connecting rod is connected with an output shaft of a driving mechanism arranged on the rack through a first revolute pair, a second end of the first connecting rod is connected with a first end of the second connecting rod through a second revolute pair, a second end of the second connecting rod is connected with a first end of a third connecting rod through a third revolute pair, a second end of the third connecting rod is connected with a first end of a fourth connecting rod through a fourth revolute pair, a second end of the fourth connecting rod is connected with a first end of a sixth connecting rod through a fifth revolute pair, and a second end of the sixth connecting rod is connected with the rack through a sixth revolute pair; the fifth connecting rod is an output component, the first end of the fifth connecting rod is connected with the first end of the fourth connecting rod, and the second end of the fifth connecting rod is a free end;

the swing axis of the first rotating pair, the swing axis of the second rotating pair and the swing axis of the sixth rotating pair are arranged in parallel, the swing axis of the third rotating pair and the swing axis of the fourth rotating pair are arranged in parallel, the swing axis of the second rotating pair and the swing axis of the fifth rotating pair are arranged perpendicularly, and the free end of the fifth connecting rod generates a space splayed flapping wing track under the driving of the first connecting rod.

Further, the center point of the first rotating pair, the center point of the second rotating pair and the center point of the fifth rotating pair are coplanar, and the center point of the second rotating pair, the center point of the third rotating pair, the center point of the fourth rotating pair and the center point of the fifth rotating pair are coplanar.

Further, the fifth link is arranged along an extending direction of the first end of the fourth link.

The invention has the beneficial effects that: compared with the similar mechanism capable of realizing the space splayed motion trail, the mechanism has the advantages that the types of the motion pairs are revolute pairs, the kinematic analysis of the mechanism is facilitated, the space splayed flapping wing trail is realized, meanwhile, the weight of the mechanism can be reduced, and the assembly difficulty can be reduced.

Drawings

FIG. 1: the whole structure of the mechanism is schematic;

FIG. 2: schematic diagram of kinematic pair arrangement on plane OAD;

FIG. 3: a schematic diagram of kinematic pair arrangement on the plane ABCD;

FIG. 4: the motion process of the mechanism is schematic;

FIG. 5: the output trajectory of the mechanism of the invention under a set of structural parameters;

the attached drawings are marked as follows:

1-a first link; 2-a second link;

3-third connecting rod; 4-fourth link;

5-fifth connecting rod; 6-sixth connecting rod;

R_O-a first revolute pair; r_A-a second revolute pair;

R_B-a third revolute pair; r_C-a fourth revolute pair;

R_D-a fifth revolute pair; r_E-a sixth revolute pair;

o-first revolute pair R_OA center point of (a); a-second revolute pair R_AA center point of (a);

b-third revolute pair R_BA center point of (a); c-fourth revolute pair R_CA center point of (a);

d-fifth revolute pair R_DA center point of (a); e-sixth revolute pair R_EA center point of (a);

f is the output point of the mechanism; w is flapping wing;

m is a frame.

Detailed Description

In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings:

as shown in fig. 1 to 4, a full-revolute pair single-degree-of-freedom mechanism capable of realizing space splayed flapping-wing motion comprises a first connecting rod 1, a second connecting rod 2, a third connecting rod 3, a fourth connecting rod 4, a fifth connecting rod 5 and a sixth connecting rod 6, wherein each connecting rod comprises a first end and a second end which are opposite.

The first connecting rod 1 is a crank, and the first end of the first connecting rod 1 passes through a first revolute pair R_OConnected with an output shaft of a driving mechanism arranged on the frame M, the driving mechanism provides power for the mechanism of the invention, and the second end of the first connecting rod 1 passes through a second revolute pair R_AIs connected with the first end of a second connecting rod 2, and the second end of the second connecting rod 2 passes through a third revolute pair R_BIs connected with the first end of a third connecting rod 3, and the second end of the third connecting rod 3 passes through a fourth revolute pair R_CIs connected with the first end of a fourth connecting rod 4, and the second end of the fourth connecting rod 4 passes through a fifth revolute pair R_DIs connected with the first end of a sixth connecting rod 6, and the second end of the sixth connecting rod 6 passes through a sixth revolute pair R_EIs connected with the frame M. The fifth connecting rod 5 is an output component, the first end of the fifth connecting rod 5 is connected with the first end of the fourth connecting rod 4, the fifth connecting rod is arranged along the extending direction of the first end of the fourth connecting rod 4, the second end of the fifth connecting rod 5 is a free end and is used as an output point F of the bionic flapping wing device, and the flapping wing W of the bionic flapping wing device is installed on the fifth connecting rod 5. The length of the sixth connecting rod 6 does not influence the motion trail of the output point F of the mechanism. The first rotating pair R_OCentral point O and fifth revolute pair R_DThe distance between the centre points D of (a) and (b) remains constant during the movement of the mechanism of the invention.

The first rotating pair R_OThe second revolute pair R_AAnd the sixth revolute pair R_EThe third revolute pair R_BThe revolution axis and the fourth revolute pair R_CAnd the fifth revolute pair R_DAre arranged in parallel, and the second revolute pair R_AAnd the third revolute pair R_BIs arranged vertically. Wherein, the first revolute pair R_OCenter point O, second revolute pair R_ACentral point a and fifth revolute pair R_DAre coplanar as shown in fig. 2; the second revolute pair R_ACenter point A and third revolute pair R_BCenter point B and fourth revolute pair R_CC and a fifth revolute pair R_DAre coplanar as shown in fig. 3.

Under the drive of the first connecting rod 1, the free end of the fifth connecting rod 5 generates a space splayed flapping wing track, and the motion process of the mechanism is shown in fig. 4.

When the length of the first connecting rod 1 is 18mm, the length of the second connecting rod 2 is 6mm, the length of the third connecting rod 3 is 42mm, the length of the fourth connecting rod 4 is 20mm, the length of the fifth connecting rod 5 is 50mm, and the first revolute pair R_OCentral point O and fifth revolute pair R_DThe movement locus of the output point F of the mechanism of the present invention is shown by a gray figure-eight solid line in fig. 5 when the distance between the center points D is 42mm, and the movement locus is located on a spherical surface with a radius R of 70 mm. The structural parameters of the mechanism of the invention can be optimized according to specific requirements.

Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and those skilled in the art can make many modifications without departing from the spirit and scope of the present invention as defined in the appended claims.