阅读说明：本技术 一种微小型扑翼飞行器及其飞行方法 (Microminiature flapping-wing aircraft and flight method thereof ) 是由 胡建新 苏文峰 徐小雨 于 2021-03-08 设计创作，主要内容包括：本发明公开了一种微小型扑翼飞行器及其飞行方法。现有扑翼机器人结构复杂,部件暴露太多,不利于应对坠落、撞击污损情况。本发明中空心杯电机驱动行星架；行星齿轮铰接在行星架上,并与固定在机身内的内齿圈啮合；行星齿轮的分度圆直径为内齿圈分度圆直径的一半；行星齿轮的分度圆上固定有一根销轴一；内齿圈上固定有两根销轴二,且固定在行星齿轮分度圆上的销轴一与两根销轴二的中心距相等；两个机翼骨架中部与两根销轴二分别构成转动副；两个机翼骨架一端的滑槽均与销轴一构成滑动副；两个机翼骨架的另一端与两个机翼分别固定；空心杯电机由控制模块控制。本发明具有两翼扑动对称、结构简单、传动稳定和传动效率高的优势。(The invention discloses a micro flapping-wing aircraft and a flying method thereof. The existing flapping wing robot has a complex structure, too many exposed parts and is not beneficial to dealing with the conditions of falling, impact and fouling. The hollow cup motor drives the planet carrier; the planet gear is hinged on the planet carrier and is meshed with an inner gear ring fixed in the machine body; the reference circle diameter of the planet gear is half of that of the inner gear ring; a first pin shaft is fixed on the reference circle of the planetary gear; two pin shafts II are fixed on the inner gear ring, and the center distance between the pin shaft I fixed on the reference circle of the planetary gear and the two pin shafts II is equal; the middle parts of the two wing frameworks and the two pin shafts II respectively form revolute pairs; the sliding chutes at one ends of the two wing frameworks and the first pin shaft form sliding pairs; the other ends of the two wing skeletons are respectively fixed with the two wings; the hollow cup motor is controlled by the control module. The invention has the advantages of symmetrical flapping of the two wings, simple structure, stable transmission and high transmission efficiency.)

1. A microminiature ornithopter comprises a body, a driving mechanism, wings and a control module, and is characterized in that: the driving mechanism comprises a hollow cup motor, a speed reducer and a flapping mechanism; the flapping mechanism consists of a planet carrier, a planetary gear, an inner gear ring, a first pin shaft, a second pin shaft and a wing framework; an output shaft of the coreless motor is connected with one end of the planet carrier through a speed reducer; the planet gear is hinged at the other end of the planet carrier and is meshed with an inner gear ring fixed in the machine body; the reference circle diameter D of the planet gear and the reference circle diameter D of the inner gear ring meet the condition that: d is 0.5D; a first pin shaft is fixed on the reference circle of the planetary gear; two pin shafts II are fixed on the inner gear ring; the center distance between the first pin shaft and the two second pin shafts is equal; the middle parts of the two wing frameworks and the two pin shafts II respectively form revolute pairs; one end of the wing framework is provided with a sliding chute; the sliding chutes of the two wing frameworks and the first pin shaft form a sliding pair; the other ends of the two wing skeletons are respectively fixed with the two wings; the hollow cup motor is controlled by the control module.

2. The micro-miniature ornithopter of claim 1, wherein: the gyroscope is fixed on the control module, and the signal output end of the gyroscope is connected with the control module.

3. The micro-miniature ornithopter of claim 2, wherein: the electromagnetic brake is fixed on the control module and controls the brake of the hollow cup motor; the electromagnetic brake is controlled by the control module.

4. The micro-miniature ornithopter of claim 3, wherein: the control module is powered by a battery fixed in the machine body, and the electromagnetic brake, the gyroscope and the coreless motor are all powered by the control module.

5. The micro-miniature ornithopter of claim 4, wherein: and a radiator is arranged between the hollow cup motor and the speed reducer.

6. The micro-miniature ornithopter of claim 5, wherein: a micro motor is placed at the gravity center position of a component consisting of a machine body, a driving mechanism, wings, a control module, a gyroscope, an electromagnetic brake and a radiator, and an output shaft of the micro motor is fixed with one end of a swing rod.

7. The micro-miniature ornithopter of any one of claims 1 to 6, wherein: the remote control module consists of a transmitting module and a receiving module; the control module is communicated with the transmitting module and the receiving module; the model of the remote control module is FUTABA4 VF.

8. The micro-miniature ornithopter of any one of claims 1 to 6, wherein: the fuselage and the wing framework are made of carbon fibers.

9. The micro-miniature ornithopter of any one of claims 1 to 6, wherein: the material of the wing adopts polyester film.

10. The method of claim 7, wherein the method comprises: the method comprises the following specific steps:

the remote control module sends an instruction to the control module, the control module controls the coreless motor to rotate, the coreless motor drives the planetary gear through the planet carrier, and the planetary gear is meshed with the inner gear ring to rotate; the reference circle diameter D of the planet gear and the reference circle diameter D of the inner gear ring meet the condition that: d is 0.5D, the center distance between a first pin shaft fixed on the planet gear reference circle and two second pin shafts is equal, and the motion track of the first pin shaft is a vertical line, so that the rotary motion of the planet carrier is converted into the vertical reciprocating linear motion of the first pin shaft, and the two wing frameworks are driven to swing, so that the two wings flap synchronously; when the machine body needs to deflect, the control module controls the micro motor to drive the swing rod to swing, so that the gravity center of the machine body deviates and deflects; when the machine body needs to swing, the control module controls the micro motor according to a signal input by the gyroscope so as to drive the swing rod to reset, and the machine body is reset to a state that the two wings are symmetrical about a vertical plane; in addition, the control module controls the electromagnetic brake to brake the coreless motor, so that wing braking is realized.

Technical Field

The invention belongs to the technical field of miniature aircrafts, and particularly relates to a miniature flapping-wing aircraft and a flying method thereof.

Background

The micro aircraft has great advantages in the practical application of modern military, civil and the like, and becomes the scientific and technological leading-edge subject of competitive research in advanced countries at present. The miniature flapping wing air vehicle is a novel small-scale bionic robot and has the advantages of high efficiency, light weight, strong maneuverability, good concealment and the like. The flapping wing air vehicle can complete the functions of plane flight, side flight, turning, hovering and the like of the flapping wing air vehicle through one set of flapping wing mechanism, and has great advantages compared with a flight mode adopting fixed wings and rotary wings. However, due to the complexity of the flapping-wing flying motion mechanism and the limitation of the micro-processing technology, the flapping-wing flying motion mechanism still has limitation in the practical aspect. The core component of the flapping wing aircraft is a flapping mechanism, the flapping mechanism aims to convert the motion of a driver into flapping of flapping wings, and for a small flapping wing aircraft, the flapping mechanism is designed according to the principle of reducing the structural weight, improving the structural strength, the mechanism reliability and the energy efficiency under the limitation of size and weight. The flapping mechanism commonly used on the flapping-wing robot comprises a single-planet-carrier double-rocker mechanism, a single-rocker mechanism and a double-planet-carrier double-rocker mechanism, the mechanisms are complex in structure, and parts such as rockers and gears are exposed too much, so that the flying vehicle is not favorable for being damaged when falling or being impacted. And the capacity of the battery carried by the flapping wing aircraft is limited by the size, the power supply is very limited, and therefore, the efficiency of the flapping mechanism needs to be further improved.

Disclosure of Invention

The invention provides a microminiature ornithopter and a flying method thereof, aiming at the problems in the prior art.

The invention relates to a micro flapping wing air vehicle, which comprises a vehicle body, a driving mechanism, wings and a control module; the driving mechanism comprises a hollow cup motor, a speed reducer and a flapping mechanism; the flapping mechanism consists of a planet carrier, a planetary gear, an inner gear ring, a first pin shaft, a second pin shaft and a wing framework; an output shaft of the coreless motor is connected with one end of the planet carrier through a speed reducer; the planet gear is hinged at the other end of the planet carrier and is meshed with an inner gear ring fixed in the machine body; the reference circle diameter D of the planet gear and the reference circle diameter D of the inner gear ring meet the condition that: d is 0.5D; a first pin shaft is fixed on the reference circle of the planetary gear; two pin shafts II are fixed on the inner gear ring; the center distance between the first pin shaft and the two second pin shafts is equal; the middle parts of the two wing frameworks and the two pin shafts II respectively form revolute pairs; one end of the wing framework is provided with a sliding chute; the sliding chutes of the two wing frameworks and the first pin shaft form a sliding pair; the other ends of the two wing skeletons are respectively fixed with the two wings; the hollow cup motor is controlled by the control module.

Preferably, the gyroscope is fixed on the control module, and a signal output end of the gyroscope is connected with the control module.

More preferably, the electromagnetic brake is fixed on the control module and controls the brake of the coreless motor; the electromagnetic brake is controlled by the control module.

More preferably, the control module is powered by a battery fixed in the machine body, and the electromagnetic brake, the gyroscope and the hollow cup motor are all powered by the control module.

More preferably, a radiator is arranged between the hollow cup motor and the speed reducer.

More preferably, a micro motor is placed at the gravity center position of an assembly consisting of the fuselage, the driving mechanism, the wings, the control module, the gyroscope, the electromagnetic brake and the radiator, and an output shaft of the micro motor is fixed with one end of the swing rod.

More preferably, the remote control module consists of a transmitting module and a receiving module; the control module is communicated with the transmitting module and the receiving module; the model of the remote control module is FUTABA4 VF.

More preferably, the material of the fuselage and the wing framework both adopt carbon fiber.

More preferably, the material of the wing is mylar.

The flying method of the micro flapping-wing aircraft comprises the following steps:

the remote control module sends an instruction to the control module, the control module controls the coreless motor to rotate, the coreless motor drives the planetary gear through the planet carrier, and the planetary gear is meshed with the inner gear ring to rotate; the reference circle diameter D of the planet gear and the reference circle diameter D of the inner gear ring meet the condition that: d is 0.5D, the center distance between the first pin shaft and the second pin shaft is equal to that between the first pin shaft and the second pin shaft, and the motion track of the first pin shaft is a vertical line, so that the rotary motion of the planet carrier is converted into the vertical reciprocating linear motion of the first pin shaft, and the two wing frameworks are driven to swing, and the two wings flap synchronously. When the machine body needs to deflect, the control module controls the micro motor to drive the swing rod to swing, so that the gravity center of the machine body deviates and deflects; when the machine body needs to swing, the control module controls the micro motor according to signals input by the gyroscope, so that the swing rod is driven to reset, and the machine body is reset to be in a state that the two wings are symmetrical about a vertical plane. In addition, the control module controls the electromagnetic brake to brake the coreless motor, so that wing braking is realized.

The invention has the following beneficial effects:

1. the flapping mechanism adopts a planet wheel train consisting of a planet carrier, a planet gear and an inner gear ring as a driving mode, and the reference circle diameter D of the planet gear and the reference circle diameter D of the inner gear ring meet the condition that: d is 0.5D, the center distance between a first pin shaft and two second pin shafts fixed on the planet gear reference circle is equal, and the motion track of the first pin shaft is a vertical line, so that the rotary motion of the planet carrier is converted into the vertical reciprocating linear motion of the first pin shaft, and two wing frameworks are driven to swing; the wing is made of polyester film, has the characteristics of high elasticity, puncture resistance, friction resistance, high temperature resistance, oil stain resistance and the like, avoids collision damage in flight, and can adapt to the complex flight working condition of an aircraft.

2. The control module provided by the invention can detect the flight parameters such as a pitch angle, a course angle, a roll angle and the like in the flying process of the micro flapping-wing aircraft in real time by combining with the gyroscope, and the accurate attitude and position of the micro flapping-wing aircraft are determined by flight control and attitude measurement, so that the flight control and cruise functions are realized.

3. The invention can change the position of the mass center, the phase difference of the wings and the area of the relative wing surfaces in the flying process, can realize the periodic change of the upper flapping speed and the lower flapping speed through the swinging speed of the wings, realizes the high upper flapping speed and the low lower flapping speed, and ensures that the aircraft can obtain larger total lift force in the upper flying and the lower flying.

4. The planet gear train consisting of the planet carrier, the planet gear and the inner gear ring does not generate lateral force and runs stably, so that the flapping wing speed is allowed to be higher, and the abrasion is small and the vibration is small.

Drawings

FIG. 1 is a perspective view of a micro-miniature ornithopter of the present invention.

Fig. 2 is a perspective view showing a structure of a flapping mechanism according to the present invention.

Fig. 3 is a perspective view showing another structure of the flapping mechanism of the present invention.

Fig. 4 is an assembled perspective view of the coreless motor, the reducer, the control module, the gyroscope, the heat sink, and the electromagnetic brake of the present invention.

FIG. 5 is a signal transmission diagram of the control module, the remote control module, the coreless motor, the micro-motor, the electromagnetic brake and the gyroscope according to the present invention.

Detailed Description

The invention will be further explained with reference to the drawings.

As shown in fig. 1, 2, 3 and 4, a micro-miniature ornithopter comprises a fuselage 1, a driving mechanism, wings 2 and a control module 14; the driving mechanism comprises a hollow cup motor 3, a speed reducer 4 and a flapping mechanism; the flapping mechanism consists of a planet carrier 5, a planet gear 6, an inner gear ring 7, a first pin shaft 8, a second pin shaft 9 and a wing framework 10; an output shaft of the coreless motor 3 is connected with one end of the planet carrier 5 through a speed reducer 4; the planet gear 6 is hinged at the other end of the planet carrier and is meshed with an inner gear ring 7 fixed in the machine body 1; the reference circle diameter D of the planet gear and the reference circle diameter D of the inner gear ring meet the condition that: d is 0.5D; a first pin shaft 8 is fixed on the reference circle of the planetary gear 6; two pin shafts II 9 are fixed on the inner gear ring 7, and the center distance between a pin shaft I fixed on the reference circle of the planetary gear and the two pin shafts II is equal; the middle parts of the two wing frameworks 10 and the two pin shafts II 9 respectively form revolute pairs; one end of the wing framework 10 is provided with a sliding chute 11; the sliding chutes 11 of the two wing frameworks 10 and the first pin shaft 8 form sliding pairs; the other ends of the two wing skeletons 10 are respectively fixed with the two wings 2; the coreless motor 3 is controlled by a control module 14.

In a preferred embodiment, the gyroscope 15 is fixed on the control module 14, and a signal output end of the gyroscope 15 is connected with the control module 14. The control module 14 determines the rotation angle and the inclination degree of the body 1 from the signal input from the gyroscope.

As a more preferred embodiment, the electromagnetic brake 13 is fixed on the control module 14, and controls the braking of the coreless motor 3; the electromagnetic brake 13 is controlled by a control module 14.

As a more preferred embodiment, the control module 14 is powered by a battery 16 fixed within the body 1, and the electromagnetic brake 13, the gyroscope 15 and the coreless motor 3 are all powered by the control module 14.

As a more preferred embodiment, a radiator 12 is arranged between the coreless motor 3 and the speed reducer 4, so that the service life of the coreless motor is prolonged.

As a more preferable embodiment, a micro motor 17 is placed at the gravity center position of the assembly consisting of the fuselage 1, the driving mechanism, the wings 2, the control module 14, the gyroscope 15, the electromagnetic brake 13 and the heat sink 12, and the output shaft of the micro motor is fixed with one end of a swing rod with the weight of 1 g; the control module 14 controls the micro motor according to the signal input by the gyroscope 15, so as to drive the swing rod to deflect and complete the angle adjustment of the aircraft.

As a more preferred embodiment, the remote control module 18 is composed of a transmitting module and a receiving module; the control module 14 is in communication with the transmitting module and the receiving module; the model of the remote control module is FUTABA4VF, and the frequency of the transmitted signal is 30 Hz.

As a more preferable embodiment, the materials of the fuselage and the wing framework are both made of carbon fibers, so that the overall quality is low (the minimum can be lower than 20g) and the bending deformation is small on the premise of ensuring the strength.

In a more preferred embodiment, the material of the wing is mylar, which has high elasticity and avoids collision damage in flight.

As a more preferred embodiment, the control module 14 uses a chip with model number PIC16F616, and sets a register to change the duty ratio of the input signal, and adjust the rotation speed of the coreless motor 3, thereby adjusting the flapping frequency of the wing 2.

As a more preferred embodiment, the maximum speed of the coreless motor is 5500 rpm.

As a more preferred embodiment, the speed reducer is a two-stage cylindrical gear speed reducer, and the transmission ratio is 1/36.

As a more preferred embodiment, the gyroscope is a three-axis micromechanical gyroscope.

As a more preferred embodiment, the battery is a 3.7V rechargeable lithium battery with a capacity of 180mA and a weight of 2.5 g.

As shown in fig. 1, 2, 3, 4 and 5, the flying method of the micro-miniature ornithopter comprises the following steps:

the remote control module 18 sends an instruction to the control module 14, the control module 14 controls the coreless motor 3 to rotate, the coreless motor 3 drives the planetary gear 6 through the planet carrier 5, and the planetary gear 6 is meshed with the inner gear ring 7 to rotate; the reference circle diameter D of the planet gear and the reference circle diameter D of the inner gear ring meet the condition that: d is 0.5D, the center distance between the first pin shaft and the second pin shaft is equal to that between the first pin shaft and the second pin shaft, and the motion track of the first pin shaft is a vertical line, so that the rotary motion of the planet carrier is converted into the vertical reciprocating linear motion of the first pin shaft, the two wing frameworks 10 are driven to swing, and the two wings 2 are synchronously flapping. When the body 1 needs to deflect (such as lateral flying and turning), the control module 14 controls the micro motor to drive the swing rod to swing, so that the center of gravity of the body 1 deviates and deflects; when the fuselage 1 needs to be straightened (such as level flight and spiral), the control module 14 controls the micro motor according to the signal input by the gyroscope 15, so as to drive the swing rod to reset, and reset the fuselage 1 to the state that the two wings 2 are symmetrical about the vertical plane. In addition, the electromagnetic brake 13 is controlled by the control module 14 to realize the braking of the coreless motor 3, so that the wing 2 is braked.