CN106394898A - Automatic locking and unlocking mechanism used for foldable flapping wing micro air vehicle - Google Patents
Automatic locking and unlocking mechanism used for foldable flapping wing micro air vehicle Download PDFInfo
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- CN106394898A CN106394898A CN201611039689.4A CN201611039689A CN106394898A CN 106394898 A CN106394898 A CN 106394898A CN 201611039689 A CN201611039689 A CN 201611039689A CN 106394898 A CN106394898 A CN 106394898A
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- China
- Prior art keywords
- steering wheel
- unlocking mechanism
- rocking arm
- hook
- automatic locking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
- Lock And Its Accessories (AREA)
Abstract
The invention discloses an automatic locking and unlocking mechanism used for a foldable flapping wing micro air vehicle. The automatic locking and unlocking mechanism is mounted in a vehicle body. A first steering engine of the automatic locking and unlocking mechanism is fixed to one end of a first rocker arm through a bolt, a second steering engine is fixed to one end of a second rocker arm through a bolt, and the other end of the first rocker arm is hinged to the left end of an adjustable connecting rod; the right end of the adjustable connecting rod is hinged to a left positioning hole of the second steering engine, and the other end of the second rocker arm is fixedly connected with a hook; the bottom of the second steering engine is fixedly connected with a linear slide block, and a linear cylindrical slide rail and the linear slide block are assembled to form a kinematic pair capable of making reciprocal rectilinear motion; and locking rings are mounted on folded wings and can be hooked by the hook. According to the automatic locking and unlocking mechanism, actions of automatic locking and automatic unlocking can be completed; and the folded wings can be attached to the vehicle body tightly, and therefore the storage and transport safety of the folded wings is improved, the probability of abrasion and even damage is lowered, the service life of the folded wings is prolonged.
Description
Technical field
The present invention refers to a kind of auto lock unlocking mechanism, specifically devises one kind and is used for foldable flapping-wing MAV
Auto lock unlocking mechanism.
Background technology
In the research of Flapping-wing MAV, foldable Flapping-wing MAV has a good application prospect：Its body
Amass little, light weight, easy to carry, good concealment, during task under executing small space or MODEL OVER COMPLEX TOPOGRAPHY, there is other
The incomparable advantage of aircraft；On the other hand, foldable flapping-wing MAV is in accumulating, because its volume after folding is less,
It is more easily carried, and its wing probability of damage can be reduced.
But in foldable Flapping-wing MAV research and development at present, still there are some problems, such as due to foldable flapping wing
The presence of fold mechanism, after aircraft flight finishes landing, wing often can not be adjacent to fuselage after folding, leads to aircraft
In transport storage, there is friction or scratch in meeting and other objects, causes wing to damage in some instances it may even be possible to affect during flight again
Flight attitude.If therefore after wing-folding can automatically with fuselage lock, will flight when again can automatic unlocking, this general
Storing and transporting security and the service life of foldable Flapping-wing MAV can be greatly improved.
Content of the invention
The present invention provides a kind of auto lock unlocking mechanism for foldable flapping-wing MAV.Its objective is to make to roll over
After landing, the wing after folding can be adjacent to fuselage (with fuselage locking) to folded Flapping-wing MAV, improves its storing and transporting security,
Ensure that foldable Flapping-wing MAV after folding, body is compacter, reduce scratch, the probability of even damage, extend
Its service life；Its flexible wing automatic unlocking in flight, expansion wing takes off.
The foldable flapping-wing MAV of the present invention includes wing base, parachute, vein and fuselage, wing base, parachute and multiple wing
Arteries and veins structure folding wings, folding wings are arranged on fuselage；
The auto lock unlocking mechanism of the present invention includes retaining ring, the first steering wheel, the first rocking arm, linear cylindrical slide rail, straight
Line slide block, the second steering wheel, the second rocking arm, adjustable link, hook, auto lock unlocking mechanism is installed in fuselage；First rudder
Machine is bolted with one end of the first rocking arm, and one end of the second steering wheel and the second rocking arm is fixed also by bolt, and first shakes
The other end of arm is hinged with the left end of adjustable link, and the right-hand member of adjustable link is hinged with the left location hole of the second steering wheel, the
The other end of two rocking arms and hook are fixed together.The bottom of the second steering wheel and linear slider are fixed together, and linear cylindrical
Slide rail is installed with linear slider and is combined into a kinematic pair that can do linear reciprocating motion；Retaining ring is arranged in folding wings, lock
Tight ring can be hooked by hook.
The first described steering wheel and the second steering wheel are P0090 steering wheel.
The first described rocking arm and the second rocking arm are monolateral metal aluminum alloy steering arm.
Auto lock of the present invention and automatic unlocking process：
The original state of wing of the present invention is completely folded state.
When folding wings complete to fly, the signal of folding is now controlled to begin to send out in single-chip microcomputer, aircraft starts execution machine
Wingfold action, simultaneously, this signal is also detected by the first steering wheel in fuselage and the second steering wheel, then just permissible
The controller of the first steering wheel and the second steering wheel adds suitable time delay, starts again to drive certainly after the completion of making jackknife action
Dynamic locking unlocking mechanism.
Locking principle：
When auto lock unlocking mechanism is in A condition, the first second steering wheel after signal is detected, drive the second rocking arm with
And the hook rotate counterclockwise being located on the second rocking arm, after rotating suitable angle, hook hooks the locking in folding wings just
Ring, after the completion of this action, signal is detected by the first steering wheel, and then the first steering wheel drives the first rocking arm to start to turn clockwise,
Auto lock unlocking mechanism 15 is in B state, now the first rocking arm adjustable link hinged therewith, the second steering wheel, straight line circle
Post slide rail forms slider-crank mechanism, and linear slider gradually to after left movement suitable distance, (roll over by the retaining ring hooked by hook
The folded wing) it has been adjacent to fuselage, complete auto lock action.
Unblock principle：Auto lock unlocking mechanism original state is C-state, when aircraft prepares flight again, first
Steering wheel first it is detected that signal, drives the first rocking arm rotate counterclockwise, now the first rocking arm adjustable link hinged therewith, the
Two steering wheels, the slider-crank mechanism of linear cylindrical slide rail composition make the second steering wheel in linear slider slide to the right, slide
After appropriately distance, the second servo driving the second rocking arm thereon turns clockwise, now, hook on the second rocking arm
Start to turn clockwise, separate with retaining ring (i.e. folding wings), complete automatic unlocking action, now, auto lock solution lock machine
Structure state is A condition.
Beneficial effects of the present invention：
Under the driving of two steering wheels, each interconnective part can accurately and rapidly be made a response, and completes automatically
Locking and automatic unlocking action；Wing after folding can be adjacent to fuselage, thus improving its storing and transporting security it is ensured that foldable flutter
The wing declines aircraft after folding, and body is compacter, reduces scratch, the probability of even damage, extends its service life；With
When, in flight again its flapping wing and fuselage can automatic unlocking, rapid deployment wing takes off.
Brief description
Fig. 1 is the folding wings its fully unfolded position schematic diagram of the present invention.
Fig. 2 is the folding wings completely folded state schematic diagram of the present invention.
Fig. 3, Fig. 4, Fig. 5 and Fig. 6 are folding wings folding process schematic diagram of the present invention.
Fig. 7 is that the auto lock unlocking mechanism of the present invention is arranged on the schematic diagram on fuselage.
Fig. 8 is the auto lock unlocking mechanism structural representation of the present invention.
Fig. 9 is that in fuselage, auto lock unlocking mechanism is in schematic diagram during A condition, that is, the state before starting to lock is illustrated
Figure.
Figure 10 is in schematic diagram during A condition for auto lock unlocking mechanism, that is, start the view before locking.
Figure 11 is that in fuselage, auto lock unlocking mechanism is in schematic diagram during B state, and that is, the second steering wheel starts, and completes hook
Hook the view after retaining ring.
Figure 12 is in schematic diagram during B state for auto lock unlocking mechanism, and that is, the second steering wheel starts, and completes hook and hooks lock
View after tight ring.
Figure 13 is that in fuselage, auto lock unlocking mechanism is in schematic diagram during C-state, and state when locking completely is illustrated
Figure.
Figure 14 is in schematic diagram during C-state for auto lock unlocking mechanism, view when locking completely.
Wherein：1- wing base；2- parachute；Many kinds of veins of 3-；4- retaining ring；5- first steering wheel；6- first rocking arm；7- fuselage；
8- folding wings；9- linear slider；10- linear cylindrical slide rail；11- adjustable link；12- hook；13- second rocking arm；14- second
Steering wheel.
Specific embodiment
Refer to shown in Fig. 1 to Fig. 6, foldable flapping-wing MAV includes wing base 1, parachute 2, vein 3 and fuselage 7, wing
Base 1, parachute 2 and multiple vein 3 structure folding wings 8, folding wings 8 are arranged on fuselage 7；The folding process of folding wings 8 such as Fig. 1 and Tu
Shown in 2, folding wings 8 folding process of itself and the process being folded on fuselage 7 are as shown in Fig. 3, Fig. 4, Fig. 5 and Tu.
As shown in Figure 7 and Figure 8, the auto lock unlocking mechanism 15 of the present invention includes retaining ring 4, the first steering wheel 5, first shakes
Arm 6, linear cylindrical slide rail 10, linear slider 9, the second steering wheel 14, the second rocking arm 13, adjustable link 11, hook 12, lock automatically
Tight unlocking mechanism is installed in fuselage 7；First steering wheel 5 is bolted with one end of the first rocking arm 6, the second steering wheel 14 and
One end of two rocking arms 13 is fixed also by bolt, and the other end of the first rocking arm 6 is hinged with the left end of adjustable link 11, can adjust
The right-hand member of connecting rod 11 is hinged with the left location hole of the second steering wheel 14, and the other end of the second rocking arm 13 is fixed together with hook 12.
The bottom of the second steering wheel 14 and linear slider 9 are fixed together, and linear cylindrical slide rail 10 is installed with linear slider 9 and is combined into one
The individual kinematic pair that can do linear reciprocating motion；Retaining ring 4 is arranged in folding wings 8, and retaining ring 4 can be hooked by hook 12.
The first described steering wheel 5 and the second steering wheel 14 are P0090 steering wheel.
The first described rocking arm 6 and the second rocking arm 13 are monolateral metal aluminum alloy steering arm.
Auto lock of the present invention and automatic unlocking process：
The original state of wing of the present invention is completely folded state, as shown in Figure 2.
When folding wings complete to fly, the signal of folding is now controlled to begin to send out in single-chip microcomputer, aircraft starts execution machine
Wingfold action, simultaneously, this signal is also detected by the first steering wheel 5 in fuselage 7 and the second steering wheel 14, then just
Suitable time delay can be added in the controller of the first steering wheel 5 and the second steering wheel 14, open again after the completion of making jackknife action
Begin to drive auto lock unlocking mechanism 15.
Locking principle：
As shown in Figure 9 and Figure 10, when auto lock unlocking mechanism 15 is in A condition, the first second steering wheel 14 is detecting
After signal, drive the second rocking arm 13 and hook 12 rotate counterclockwise being located on the second rocking arm 13, after rotating suitable angle,
Hook 12 hooks the retaining ring 4 in folding wings 8 just, and after the completion of this action, signal is detected by the first steering wheel 5, and then first
Steering wheel 5 drives the first rocking arm 6 to start to turn clockwise, and as is illustrated by figs. 11 and 12, auto lock unlocking mechanism 15 is in B shape
State, now the first rocking arm 6 adjustable link 11 hinged therewith, the second steering wheel 14, linear cylindrical slide rail 10 composition crank block
Mechanism, gradually to after left movement suitable distance, the retaining ring 4 (i.e. folding wings 8) hooked by hook 12 has been adjacent to linear slider 9
Fuselage 7, completes auto lock action, and as shown in Figure 13 and Figure 14, auto lock unlocking mechanism 15 is in C-state.
Unblock principle：Auto lock unlocking mechanism 15 original state is C-state as shown in Figure 13 and Figure 14, works as aircraft
When preparing flight again, the first steering wheel 5, first it is detected that signal, drives the first rocking arm 6 rotate counterclockwise, now the first rocking arm 6
Hinged therewith adjustable link 11, the second steering wheel 14, the slider-crank mechanism of linear cylindrical slide rail 10 composition make positioned at straight line
The second steering wheel 14 on slide block 9 slides to the right, and after slip appropriately distance, the second steering wheel 14 drives the second rocking arm 13 thereon suitable
Hour hands rotate, and now, the hook 12 on the second rocking arm 13 also begins to turn clockwise, with retaining ring 4 (i.e. folding wings 8) point
From completing automatic unlocking action, now, auto lock unlocking mechanism 15 state is A condition as shown in Figure 9 and Figure 10.
Claims (3)
1. a kind of auto lock unlocking mechanism for foldable flapping-wing MAV it is characterised in that：Auto lock solution lock machine
Structure (15) include retaining ring (4), the first steering wheel (5), the first rocking arm (6), linear cylindrical slide rail (10), linear slider (9), second
Steering wheel (14), the second rocking arm (13), adjustable link (11), hook (12), auto lock unlocking mechanism is installed on fuselage (7)
In；First steering wheel (5) is bolted with one end of the first rocking arm (6), the second steering wheel (14) and the one of the second rocking arm (13)
End is fixed also by bolt, and the other end of the first rocking arm (6) is hinged with the left end of adjustable link (11), adjustable link (11)
Right-hand member hinged with the left location hole of the second steering wheel (14), the other end of the second rocking arm (13) is fixed together with hook (12)；
The bottom of the second steering wheel (14) is fixed together with linear slider (9), and linear cylindrical slide rail (10) is installed with linear slider (9)
It is combined into a kinematic pair that can do linear reciprocating motion；Retaining ring (4) is arranged in folding wings (8), and retaining ring (4) can be by
Hook (12) hooks.
2. a kind of foldable flapping-wing MAV according to claim 1 auto lock unlocking mechanism it is characterised in that：
Described the first steering wheel (5) and the second steering wheel (14) are P0090 steering wheel.
3. a kind of foldable flapping-wing MAV according to claim 1 auto lock unlocking mechanism it is characterised in that：
Described the first rocking arm (6) and the second rocking arm (13) are monolateral metal aluminum alloy steering arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611039689.4A CN106394898B (en) | 2016-11-11 | 2016-11-11 | A kind of auto lock unlocking mechanism for foldable flapping-wing MAV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611039689.4A CN106394898B (en) | 2016-11-11 | 2016-11-11 | A kind of auto lock unlocking mechanism for foldable flapping-wing MAV |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106394898A true CN106394898A (en) | 2017-02-15 |
| CN106394898B CN106394898B (en) | 2018-07-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611039689.4A Expired - Fee Related CN106394898B (en) | 2016-11-11 | 2016-11-11 | A kind of auto lock unlocking mechanism for foldable flapping-wing MAV |
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| Country | Link |
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| CN (1) | CN106394898B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107089329A (en) * | 2017-06-20 | 2017-08-25 | 吉林大学 | A kind of self-locking for foldable flapping-wing MAV receives wing expanse wing mechanism |
| CN107697285A (en) * | 2017-09-21 | 2018-02-16 | 吉林大学 | A kind of air pressure integral folding wing mechanism for foldable flapping-wing MAV |
| CN108454852A (en) * | 2018-04-04 | 2018-08-28 | 吉林大学 | A kind of self-regulation deformation flexible wing mechanism for foldable flapping-wing MAV |
| CN108945429A (en) * | 2018-07-02 | 2018-12-07 | 北京航空航天大学 | A kind of micro flapping wing air vehicle wing, which is fluttered and opened up, receives multi-mode drive unit |
| CN110844069A (en) * | 2019-11-20 | 2020-02-28 | 北京特种机械研究所 | Miniature foldable wheel-shaped aircraft |
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Patent Citations (10)
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| US6082671A (en) * | 1998-04-17 | 2000-07-04 | Georgia Tech Research Corporation | Entomopter and method for using same |
| US20090179108A1 (en) * | 2008-01-15 | 2009-07-16 | Lung-Jieh Yang | Biomimetic micro-aerial-vehicle with figure-eight flapping trajectory |
| US20160185455A1 (en) * | 2013-03-08 | 2016-06-30 | Purdue Research Foundation | Electromagnetic Actuator System |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107089329A (en) * | 2017-06-20 | 2017-08-25 | 吉林大学 | A kind of self-locking for foldable flapping-wing MAV receives wing expanse wing mechanism |
| CN107089329B (en) * | 2017-06-20 | 2023-04-14 | 吉林大学 | Self-locking wing-retracting and wing-spreading mechanism for foldable flapping wing micro-aircraft |
| CN107697285A (en) * | 2017-09-21 | 2018-02-16 | 吉林大学 | A kind of air pressure integral folding wing mechanism for foldable flapping-wing MAV |
| CN107697285B (en) * | 2017-09-21 | 2023-11-17 | 吉林大学 | Air pressure integrated foldable wing mechanism for foldable flapping-wing micro air vehicle |
| CN108454852A (en) * | 2018-04-04 | 2018-08-28 | 吉林大学 | A kind of self-regulation deformation flexible wing mechanism for foldable flapping-wing MAV |
| CN108454852B (en) * | 2018-04-04 | 2023-11-10 | 吉林大学 | Self-adjusting deformation foldable wing mechanism for foldable flapping-wing micro air vehicle |
| CN108945429A (en) * | 2018-07-02 | 2018-12-07 | 北京航空航天大学 | A kind of micro flapping wing air vehicle wing, which is fluttered and opened up, receives multi-mode drive unit |
| CN108945429B (en) * | 2018-07-02 | 2020-10-30 | 北京航空航天大学 | Wing flapping and unfolding and folding multi-mode driving device of miniature flapping wing aircraft |
| CN110844069A (en) * | 2019-11-20 | 2020-02-28 | 北京特种机械研究所 | Miniature foldable wheel-shaped aircraft |
| CN110844069B (en) * | 2019-11-20 | 2022-01-14 | 北京特种机械研究所 | Miniature foldable wheel-shaped aircraft |
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| Publication number | Publication date |
|---|---|
| CN106394898B (en) | 2018-07-10 |
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