The wing flapping mechanism (100) includes a main frame (110), a pair of opposite wings (120) laterally projecting from the main frame (110), and a linkage arrangement to convert rotation of a motor (150) into a three-dimensional cyclic wing motion of each of the wings (120). The linkage arrangement
The wing flapping mechanism (100) includes a main frame (110), a pair of opposite wings (120) laterally projecting from the main frame (110), and a linkage arrangement to convert rotation of a motor (150) into a three-dimensional cyclic wing motion of each of the wings (120). The linkage arrangement includes torque-transmitting couplings extending from inside the main frame (110) into the wing structures (122) to transmit an alternating pivoting motion, created as a result of the rotation of the motor (150), to the distal end of a corresponding third torsion-responsive tube (140, 144′″). Each torque-transmitting coupling extends inside a shoulder joint (130), a first torsion-responsive tube (132, 144′), an elbow joint (134), a second torsion-responsive tube (136, 144″), a wrist joint (138) and the third torsion-responsive tube (140, 144′″) of the corresponding wing structure (122).
대표청구항▼
1. A wing flapping mechanism (100) including: a main frame (110) extending along a longitudinal axis (112);a pair of opposite wing structures (122) laterally projecting from the main frame (110), each wing structure (122) including: a triaxial shoulder joint (130) having a proximal end and a distal
1. A wing flapping mechanism (100) including: a main frame (110) extending along a longitudinal axis (112);a pair of opposite wing structures (122) laterally projecting from the main frame (110), each wing structure (122) including: a triaxial shoulder joint (130) having a proximal end and a distal end, the proximal end of the shoulder joint (130) being pivotally connected to a respective side of the main frame (110);a first torsion-responsive tube (132, 144′) having a proximal end and a distal end, the proximal end of the first torsion-responsive tube (132, 144′) being rigidly connected to the distal end of the shoulder joint (130);an uniaxial elbow joint (134) having a proximal end and a distal end, the proximal end of the elbow joint (134) being rigidly connected to the distal end of the first torsion-responsive tube (132, 144′);a second torsion-responsive tube (136, 144″) having a proximal end and a distal end, the proximal end of the second torsion-responsive tube (136, 144″) being rigidly connected to the distal end of the elbow joint (134);a biaxial wrist joint (138) having a proximal end and a distal end, the proximal end of the wrist joint (138) being rigidly connected to the distal end of the second torsion-responsive tube (136, 144″); anda third torsion-responsive tube (140, 144′″) having a proximal end and a distal end, the proximal end of the third torsion-responsive tube (140, 144′″) being rigidly connected to the distal end of the wrist joint (138); anda linkage arrangement to convert rotation of a motor (150) into a three-dimensional cyclic wing motion of each of the wings (120), the linkage arrangement including torque-transmitting couplings extending from inside the main frame (110) into the wing structures (122) to transmit an alternating pivoting motion, created as a result of the rotation of the motor (150), to the distal end of a corresponding one of the third torsion-responsive tubes (140, 144′″), each torque-transmitting coupling extending inside the shoulder joint (130), the first torsion-responsive tube (132, 144′), the elbow joint (134), the second torsion-responsive tube (136, 144″), the wrist joint (138) and the third torsion-responsive tube (140, 144′″) of the corresponding wing structure (122). 2. The wing flapping mechanism (100) as defined in claim 1, wherein each of the torque-transmitting couplings includes: three juxtaposed torsion-inducing tubes (252, 254, 256), a first (252) of the torsion-inducing tubes being disposed inside the corresponding first torsion-responsive tube (132, 144′), a second (254) of the torsion-inducing tubes being disposed inside the corresponding second torsion-responsive tube (134, 144″) and a third (256) of the torsion-inducing tubes being disposed inside the third torsion-responsive tube (140, 144′″); andthree flexible torque-transmitting members (260, 262, 264), a first (260) of the flexible torque-transmitting members being coaxially disposed inside the corresponding shoulder joint (130) and coupling a reciprocately-movable axle (266) located inside the main frame (110) to the corresponding first torsion-inducing tube (252), a second (262) of the flexible torque-transmitting members being coaxially disposed inside the corresponding elbow joint (134) and coupling the corresponding first and second torsion-inducing tubes (252, 254), and a third (264) of the flexible torque-transmitting members being coaxially disposed inside the corresponding wrist joint (138) and coupling the corresponding second and third torsion-inducing tubes (254, 256). 3. The wing flapping mechanism (100) as defined in claim 2, wherein each flexible torque-transmitting member (260, 262, 264) is a coiled spring and/or an elastomeric part. 4. The wing flapping mechanism (100) as defined in claim 1, wherein the first torsion-responsive tube (132, 144′), the second torsion-responsive tube (134, 144″) and the third torsion-responsive tube (140, 144′″) are flexible in torsion, the alternating pivoting motion at the distal end of the third torsion-responsive tubes (140, 144′″) transmitting a torsion bias in the corresponding wing (120) towards the proximal end of the corresponding first torsion-responsive tube (132, 144′). 5. The wing flapping mechanism (100) as defined in claim 1, wherein each shoulder joint (130) includes three juxtaposed shoulder joint subsections (130a, 130b, 130c) pivotally connected to one another, a first (130a) of the shoulder joint subsections defining the proximal end of the shoulder joint (130) and being pivotally connected to the corresponding side of the main frame (110) around a first pivot axis (130d) extending substantially parallel to the lateral axis (114), a second one (130b) of the shoulder joint subsections being pivotally connected to the corresponding first shoulder joint subsection (130a) around a second pivot axis (130e) extending substantially parallel to the longitudinal axis (112), a third (130c) of the shoulder joint defining the distal end of the shoulder joint (130) and being pivotally connected to the corresponding second shoulder joint subsection (130b) around a third pivot axis (130f) extending substantially orthogonal with reference to both the first pivot axis (130d) and the second pivot axis (130e). 6. The wing flapping mechanism (100) as defined in claim 5, wherein the first, second and third pivot axes (130d, 130e, 130f) of each shoulder joint subsection (130a, 130b, 130c) are substantially intersecting one another inside the corresponding shoulder joint (130). 7. The wing flapping mechanism (100) as defined in claim 5, wherein at least one among the first, second and third torsion-responsive tubes (132, 136, 140) has a hollow cylindrical body with an inner circular cross section in which a corresponding one among the torsion-inducing tubes (252, 254, 256) is coaxially disposed. 8. The wing flapping mechanism (100) as defined in claim 5, wherein at least one among the first, second and third torsion-responsive tubes is formed at least partially by a corresponding structural extrados airfoil section and/or all of the torsion-responsive tubes are formed by corresponding first, second and third structural extrados airfoil sections (144′, 144″, 144′″), respectively. 9. The wing flapping mechanism (100) as defined in claim 1, wherein the motor (150) is located inside the main frame (110) and/or the motor (150) is an electric motor. 10. The wing flapping mechanism (100) as defined in claim 9, wherein the motor (150) is a single motor (150) driving the linkage arrangement of both wing structures (122). 11. A wing flapping mechanism (100) including: a motor (150), for instance an electric motor, having a unidirectional rotatable output shaft;three spaced-apart rotatable axles (200, 210, 220) that are mechanically connected to the unidirectional rotatable output shaft, the rotatable axles (200, 210, 220) having a same rotation speed and direction during operation of the motor (150), each full rotation of the rotatable axles (200, 210, 220) corresponding to a wing flapping cycle; anda reciprocately-movable axle (266) that is mechanically connected to the unidirectional rotatable output shaft, the reciprocately-movable axle (266) having an alternating pivoting motion synchronized with the rotation of the rotatable axles (200, 210, 220) and being repeated at each wing flapping cycle. 12. The wing flapping mechanism (100) as defined in claim 11, wherein the reciprocately-movable axle (266) is mechanically connected to the unidirectional rotatable output shaft through an arrangement including a fourth rotatable axle (272) and a push-pull rod (284) extending between the fourth rotatable axle (272) and the reciprocately-movable axle (266), the fourth rotatable axle (272) having the same rotation speed and direction during operation of the motor (150) than that of the other rotatable axles (200, 210, 220). 13. A method of transmitting an alternating pivoting motion to a tip of a wing (120) of a wing flapping flying machine (102) using a set of juxtaposed and interconnected torsion-inducing tubes (252, 254, 256) coaxially disposed inside a corresponding set of juxtaposed and interconnected torsion-responsive tubes (132, 136, 140, 144′, 144″, 144′″), the alternating pivoting motion being transmitted between the torsion-inducing tubes (252, 254, 256) regardless of spatial orientation of the torsion-inducing tubes (252, 254, 256) and of the torsion-responsive tubes (132, 136, 140, 144′, 144″, 144′″). 14. A method of generating a wing flapping motion using a wing flapping mechanism (100) provided on a flying machine (102) having two opposite wings (120), the wing flapping mechanism (100) being capable of creating a sustained flight of the flying machine (102) using mechanical motor power, the wing flapping mechanism (100) driving each wing (120) into a 3D cyclic motion that is a combination of five sub-motions imposed to three juxtaposed and non-collinearly disposed wing segments. 15. The method as defined in claim 14, wherein at least a portion of the wing flapping mechanism (100) is provided between the wings (120) of the flying machine (102). 16. The method as defined in claim 15, wherein the mechanical motor power is provided by at least one on-board motor (150) and/or the mechanical motor power is provided by a single on-board motor (150) driving both wings (120). 17. The method as defined in claim 14, wherein one of the sub-motions includes an alternating pivoting motion of a tip of each wing (120), the alternating pivoting motion being applied at the tip of each wing (120) for twisting each wing (120) towards the center of the flying machine (102). 18. The method as defined in claim 14, wherein the method includes varying at least some of the sub-motions in amplitude to modify flight parameters of the flying machine (102). 19. The method as defined in claim 14, wherein the five sub-motions include a flapping sub-motion, a forward-rearward sub-motion, a folding-deployment sub-motion, a pitch sub-motion and a progressive wing twisting sub-motion, whereby: the flapping sub-motion is created when a second shoulder joint subsection (130b) pivots around a longitudinal axis (112) (X-axis);the forward-rearward sub-motion is created when a third shoulder joint subsection (130c) pivots around a vertical axis (116) (Z-axis);the folding-deployment sub-motion is created when the wing segments fold or deploy on themselves along the lateral axis (114) (Y-axis), within a horizontal X-Y plane (117);the pitch sub-motion is created when a first shoulder joint subsection (130a) pivots around the lateral axis (114) (Y-axis); andthe progressive wing twisting sub-motion is created when the wing tip is pivoted around the lateral axis (114) (Y-axis), thereby transmitting an alternating pivoting motion through the wing structure (122). 20. A method of propelling a flying machine (102) using flapping wings (120) extending from a main frame (110), each wing (120) including three juxtaposed and non-collinearly disposed wing structure segments, the method including: generating a cyclic three-dimensional flapping motion of each wing (120); andsimultaneously generating a cyclic alternating pivoting sub-motion at a tip of each wing (120) regardless of a relative position of the corresponding wing structure segment. 21. The method as defined in claim 20, wherein generating the cyclic alternating pivoting motion includes transmitting a driving torque inside the corresponding wing structure segments and across joints (130, 134, 138) of each wing (120). 22. The method as defined in claim 20, wherein the cyclic alternating pivoting motion is transmitted from the tip of each wing (120) towards the main frame (110).
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