CN105416575B - Apply in the bionical Landing Gear System of flapping wing aircraft and rising and dropping control method - Google Patents
Apply in the bionical Landing Gear System of flapping wing aircraft and rising and dropping control method Download PDFInfo
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- CN105416575B CN105416575B CN201510933810.7A CN201510933810A CN105416575B CN 105416575 B CN105416575 B CN 105416575B CN 201510933810 A CN201510933810 A CN 201510933810A CN 105416575 B CN105416575 B CN 105416575B
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- gripper
- tail
- flapping wing
- wing aircraft
- steering wheel
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/24—Operating mechanisms electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/40—Ornithopters
Abstract
The present invention provides a kind of and applies in the bionical Landing Gear System of flapping wing aircraft and rising and dropping control method, and bionical Landing Gear System includes: vision guided navigation unit, motor coordination processor, gripper unit and complete dynamic V tail actuation mechanism；Described vision guided navigation unit includes left photographic head, right photographic head and image processor；Described left photographic head and described right photographic head are symmetrically arranged on the abdominal part front of flapping wing aircraft；Described left photographic head and described right photographic head are all connected to described image processor；Described motor coordination processor is installed on the internal body of flapping wing aircraft, is connected with described image processor, described left gripper steering wheel, described right gripper steering wheel and described actuator mechanism respectively.Advantage is: after installing this bionical Landing Gear System, and flapping wing aircraft can have the landing ability as birds, improves the efficient mobility of flapping wing aircraft, expands its range of application and ability.
Description
Technical field
The invention belongs to flapping wing aircraft design field, be specifically related to a kind of application at flapping wing aircraft
Bionical Landing Gear System and rising and dropping control method.
Background technology
Flapping wing aircraft is a kind of new concept aircraft imitating Bird Flight, have volume little, lightweight,
Using the advantages such as flexible, efficiency is high, transmitting and flight control system with relevant data if carrying sensor,
Form mini-sized flap wings unmanned aerial vehicle platform, will have broad application prospects.
Around this problem, various countries have been developed that the flapping wing aircraft of controllable flight, the most successfully include:
" Microbat ", the Delft university of Holland that Aero Vironment company of the U.S. cooperates with University of California
" Delfly ", and " carrier pigeon " flapping wing aircraft etc. of Northwestern Polytechnical University, but above-mentioned flapping wing aircraft is universal
Hands is used to throw the poor efficiency landing mode flying land hard with body, it is impossible to realize as birds at narrow space
(tree limb or top of building etc.) free fall and taking off.
Existing patent mostly total arrangement and flapping mechanism for flapping wing aircraft is designed, the most relevant
Note problem of landing as birds.
(Authorization Notice No. CN 102249001 A, awards Chinese patent " a kind of compound flapping wing aircraft fluttered "
Power November 23 2011 day for announcing) disclose a kind of compound flapping wing aircraft fluttered, comprise fuselage,
Flapping wing and empennage, the rotation of rotary power unit is converted into up and down reciprocatingly fluttering of rocking arm by driving mechanism for flapping wing；
Flapping wing has the girder being positioned at leading edge and the floor stringer being positioned at girder rear, girder root and driving mechanism for flapping wing
Rocking arm on blind hole grafting, floor stringer root is hinged with the locker on fuselage, is fixed on fuselage
Gag lever post is parallel with fuselage symmetrical plane, through the connecting hole of flapping wing floor stringer root, buckles into and is fixed in fuselage
On snap close.Although this invention provides one for flapping wing aircraft has higher pneumatic efficiency, bigger
The General layout Plan of payload, but still use hands to throw the poor efficiency landing mode flying land hard with body.
Visible, current published all kinds of flapping wing aircrafts, fly land hard with body owing to using hands to throw
Poor efficiency landing mode, fails to give full play of the efficient mobility of flapping wing aircraft, seriously governs and flutter
The application prospect of rotor aircraft.
Summary of the invention
The defect existed for prior art, the present invention provides a kind of application to rise and fall at the bionical of flapping wing aircraft
Frame system and rising and dropping control method, after installing this bionical Landing Gear System, flapping wing aircraft can have picture
The landing ability that birds are the same, improves the efficient mobility of flapping wing aircraft, expands its range of application and ability.
The technical solution used in the present invention is as follows:
The present invention provides a kind of and applies the bionical Landing Gear System at flapping wing aircraft, including: vision guided navigation list
Unit, motor coordination processor, gripper unit and complete dynamic V tail actuation mechanism；
Wherein, described vision guided navigation unit includes left photographic head, right photographic head and image processor；A described left side
Photographic head and described right photographic head are symmetrically arranged on the abdominal part front of flapping wing aircraft；Described left photographic head and institute
State right photographic head and be all connected to described image processor；
Described gripper unit includes: left gripper, right gripper, left gripper steering wheel and right gripper rudder
Machine；Described left gripper and described right gripper is lateral symmetry is installed on flapping wing aircraft position of centre of gravity；Described
Left gripper steering wheel and described right gripper steering wheel are installed on the internal body of flapping wing aircraft；Described left machinery
Pawl steering wheel and the linkage of described left gripper, for controlling the opening and closing movement of described left gripper；Described right machinery
Pawl steering wheel and the linkage of described right gripper, for controlling the opening and closing movement of described right gripper；
Described complete dynamic V tail actuation mechanism includes: complete dynamic V tail and actuator mechanism；Described complete dynamic V tail is installed on
Body afterbody, described actuator mechanism is installed on internal body, described actuator mechanism be used for controlling described entirely
Dynamic V tail carries out horizontal direction rotation or pitch orientation rotates, and then band when balance flapping wing aircraft lands or takes off
The rotating torque come；
Described motor coordination processor is installed on the internal body of flapping wing aircraft, respectively with described image procossing
Device, described left gripper steering wheel, described right gripper steering wheel and described actuator mechanism connect.
Preferably, described left gripper and described right gripper are symmetrical structure；
For described left gripper, for four-bar linkage, including: installation base plate (2A), push rod (2B),
Left rocking bar (2C), right rocking bar (2D), left hook (2E) and right hook (2F)；
Described installation base plate (2A) is vertically arranged, including integrally formed vertical substrate (2A-1), left hanger
(2A-2) with right hanger (2A-3)；The top of described vertical substrate (2A-1) is fixed on organism bottom center of gravity
Position；The bottom symmetrical of described vertical substrate (2A-1) arranges described left hanger (2A-2) and the described right side is hung
Ear (2A-3)；
The middle part of described left hook (2E) and described right hook (2F) is respectively hinged at described left hanger (2A-2)
With on described right hanger (2A-3), the pin joint of left hook (2E) and left hanger (2A-2) is designated as F1,
The pin joint of right hook (2F) and right hanger (2A-3) is designated as F2；Described left hook (2E) and described
The top of right hook (2F) is hinged with the bottom of described left rocking bar (2C) and described right rocking bar (2D) respectively,
The pin joint of left hook (2E) and left rocking bar (2C) is designated as F3, by right hook (2F) and right rocking bar (2D)
Pin joint be designated as F4；The top of described left rocking bar (2C) and described right rocking bar (2D) is all hinged to described
The bottom of push rod (2B), by described left rocking bar (2C), described right rocking bar (2D) and described push rod (2B)
Common pin joint be designated as F5；Link with described left gripper steering wheel in the top of described push rod (2B)；Pass through
Push rod (2B) described in described left gripper servo driving carries out lifting action, and then controls described left hook (2E)
Opening and closing movement is carried out with described right hook (2F).
Preferably, the distance of pin joint F1 to pin joint F2 is 48mm；Pin joint F2 is to right hook (2F) end
The distance of end points is working arm length, is worth for 35mm；The distance of pin joint F3 to pin joint F1 is transmission brachium
Degree, is worth for 17mm；The distance of pin joint F5 to pin joint F4 is 30mm.
Preferably, described actuator mechanism includes the fuselage bulkhead (3A) being fixedly installed on internal body, in institute
State the cavity of fuselage bulkhead (3A) to be provided with and horizontally rotate frame (3D), described in horizontally rotate frame (3D)
It is rotatably connected with described fuselage bulkhead (3A) by horizontally rotating frame rotating shaft (3E)；At described fuselage
The inside cavity of bulkhead (3A) is additionally provided with and horizontally rotates steering wheel (3F), described in horizontally rotate steering wheel (3F)
Rocking arm hinged with one end of waling stripe, the other end of described waling stripe with described horizontally rotate frame (3
D) hinged, described in horizontally rotate steering wheel (3F) and drive described waling stripe action, and then drive described level
Rotate frame (3D) to horizontally rotate frame rotating shaft (3E) carry out horizontal direction rotation around described；
It is internally provided with pitching rotating shaft (3H), described pitching at the described support body horizontally rotating frame (3D)
The two ends of rotating shaft (3H) are hinged with the described left side plate horizontally rotating frame (3D)；Complete dynamic V tail rocking bar
(3G) tail end installs complete dynamic V tail, and the top of described complete dynamic V tail rocking bar (3G) is fixed to described pitching and turns
Axle (3H)；Hang down it addition, described pitching rotating shaft (3H) is also fixedly connected with described pitching rotating shaft (3H)
Straight pitching rotating shaft connecting rod (3C)；---
Described horizontally rotate be installed with pitch rotation steering wheel (3B) in frame (3D), described pitching turns
The rocking arm of dynamic steering wheel (3B) is hinged with one end of pitch link, and the other end of described pitch link is bowed with described
Facing upward rotating shaft connecting rod (3C) hinged, described pitch rotation steering wheel (3B) drives described pitch link to carry out pitching
Action, and then make described pitching rotating shaft (3H) rotate, when described pitching rotating shaft (3H) rotates, drive
Described complete dynamic V tail rocking bar (3G) carries out the motion of pitch orientation.
The present invention provides a kind of rising and dropping control method of flapping wing aircraft, comprises the following steps:
Step 1, when flapping wing aircraft needs landing, left photographic head and the right photographic head of vision guided navigation unit are adopted
Collection ambient image, and the environment map collected is transferred to image processor；
Step 2, image processor carries out three-dimensional reconstruction to environment, determines position and the shape of drop target, and
Position and the shape of the drop target determined are transferred to motor coordination processor；
Step 3, described motor coordination processor carries out integration analysis to position and the shape of drop target, calculates
Obtain the frequency of fluttering of flapping wing, amplitude of fluttering, to the gathering control command of gripper unit and move V tail to complete
Weave control order；
Step 4, by fluttering flapping wing, frequency is controlled with the amplitude of fluttering, it is achieved leaning on to drop target
Closely, and, during drop target, on the one hand, send to complete dynamic V tail actuation mechanism and swing control
System order, it is achieved the horizontal direction of complete dynamic V tail rotates or pitch orientation rotates, and then balance flapping wing aircraft fall
The rotating torque brought when falling；
On the other hand, sending to gripper unit and draw control command in, gripper unit is receiving gathering control
After system order, the left left gripper of gripper servo driving carries out gathering action, and meanwhile, right gripper steering wheel drives
Dynamic right gripper carries out gathering action, finally makes left gripper and right gripper close up and clamp drop target,
Realize stable landing；
Step 5, when flapping wing aircraft needs to take off, on the one hand, motor coordination processor is to gripper unit
Control command is opened in transmission, gripper unit after receiving and opening control command, left gripper servo driving
Left gripper carries out expansion action, and meanwhile, the right right gripper of gripper servo driving carries out expansion action,
Left gripper and right gripper is made to open and discharge drop target eventually；Meanwhile, by frequency that flapping wing is fluttered,
Fluttering amplitude, the swing mode of complete dynamic V tail and then control, final realization is steadily taken off.
Preferably, in step 4, it is achieved the horizontal direction of complete dynamic V tail rotates or pitch orientation rotates, concrete mistake
Cheng Wei:
The horizontal direction controlling complete dynamic V tail in the following manner rotates: owing to complete dynamic V tail is shaken by complete dynamic V tail
Bar (3G) is fixed on pitching rotating shaft (3H), and pitching rotating shaft (3H) is hinged on and horizontally rotates frame (3D)；
Therefore, horizontally rotate steering wheel (3F) and horizontally rotate frame (3D) around horizontally rotating by waling stripe driving
When frame rotating shaft (3E) carries out horizontal direction rotation, complete dynamic V tail rocking bar (3G) can be driven to carry out level side
To rotation, the complete dynamic V tail of final drive carries out horizontal direction rotation；
The pitch orientation controlling complete dynamic V tail in the following manner rotates: pitch rotation steering wheel (3B) drives pitching
Connecting rod carries out pitching motion, and then makes pitching rotating shaft (3H) rotate, when pitching rotating shaft (3H) rotates,
Drive is stated complete dynamic V tail rocking bar (3G) and is carried out the motion of pitch orientation, and the complete dynamic V tail of final drive carries out pitching side
To rotation.
Preferably, in step 4, gripper unit carries out gathering action, and detailed process is:
The left gripper of gripper unit and right gripper synchronize to carry out gathering action, wherein, for left machinery
Pawl, the detailed process carrying out gathering action is:
Left gripper servo driving push rod (2B) upwards action, push rod (2B) pull left rocking bar (2C) and
Right rocking bar (2D) moves upward, and then synchronizes to drive left hook (2E) and right hook (2F) rotating around hinge
Contact F1 and pin joint F2 carries out move toward one another, finally makes left hook (2E) and the tip of right hook (2F)
Contact and clamp drop target.
What the present invention provided apply the bionical Landing Gear System of flapping wing aircraft and rising and dropping control method have with
Lower advantage:
The bionical Landing Gear System that the present invention provides, can make flapping wing aircraft be fully achieved as birds free
Dwell and stop and landing, therefore, during scouting, can dwell be stopped at scouted the building near object or its
In his target, thus the landing methods such as even hovering that replace spiraling in the past, the present invention is substantially reduced flapping flight
Device energy consumption, increases cruising time and cruising range.
Accompanying drawing explanation
The operation principle structure chart of the bionical Landing Gear System that Fig. 1 provides for the present invention；
Fig. 2 is installed to the structural representation after flapping wing aircraft for the bionical Landing Gear System that the present invention provides；
The structural representation of the gripper that Fig. 3 provides for the present invention；
Fig. 4 is the structural representation after Fig. 3 increases significant dimensions；
The structural representation of the complete dynamic V tail actuation mechanism that Fig. 5 provides for the present invention；
Fig. 6 is actuation mechanism structural representation under another visual angle in Fig. 5.
Detailed description of the invention
In order to make technical problem solved by the invention, technical scheme and beneficial effect clearer, with
Lower combination drawings and Examples, are further elaborated to the present invention.Should be appreciated that described herein
Specific embodiment only in order to explain the present invention, be not intended to limit the present invention.
The present invention provides a kind of and applies the bionical Landing Gear System at flapping wing aircraft, can make flapping flight utensil
There is the landing ability as birds, and then be greatly increased its range of application and ability.Such as, detecing
During looking into, stop function owing to flapping wing aircraft has dwelling as birds, then can drop to be investigated
The tree limb of target proximity or top of building, owing to itself having bionical outward appearance, such that it is able to more
Hidden it is efficiently completed task, improves flying power and cruising range further.
In conjunction with Fig. 1, for the operation principle structure chart of bionical Landing Gear System；In conjunction with Fig. 2, for bionical undercarriage
System is installed to the structural representation after flapping wing aircraft；Bionical Landing Gear System, including: vision guided navigation list
Unit, motor coordination processor, gripper unit and complete dynamic V tail actuation mechanism.Wherein, 1 represents vision guided navigation
Unit, 2 represent gripper unit, 3 represent complete dynamic V tail actuation mechanism, 4 represent fuselages, 5 represent flapping wings, 6
Represent flapping mechanism, 7 expression V tail stabilizations, 8 expression V tail vane faces.
Hereinafter all parts is discussed in detail:
(1) vision guided navigation unit
Vision guided navigation unit includes left photographic head, right photographic head and image processor；Left photographic head and right shooting
Head is symmetrically arranged on the abdominal part front of flapping wing aircraft；Left photographic head and right photographic head are all connected to image procossing
Device.
(2) gripper unit
As shown in Figure 3 and Figure 4, gripper unit includes: left gripper, right gripper, left gripper steering wheel
With right gripper steering wheel；Left gripper and right gripper is lateral symmetry is installed on flapping wing aircraft position of centre of gravity；
Left gripper steering wheel and right gripper steering wheel are installed on the internal body of flapping wing aircraft；Left gripper steering wheel and
Left gripper links, for controlling the opening and closing movement of left gripper；Right gripper steering wheel and the linkage of right gripper,
For controlling the opening and closing movement of right gripper.
For left gripper and right gripper, for symmetrical structure；Only as a example by left gripper:
For left gripper, for four-bar linkage, including: installation base plate 2A, push rod 2B, left rocking bar 2C,
Right rocking bar 2D, left hook 2E and right hook 2F；
Installation base plate 2A is vertically arranged, and hangs including integrally formed vertical substrate 2A-1, left hanger 2A-2 and the right side
Ear 2A-3；The top of vertical substrate 2A-1 is fixed on organism bottom position of centre of gravity；The bottom of vertical substrate 2A-1
It is symmetrical arranged left hanger 2A-2 and right hanger 2A-3；
The middle part of left hook 2E and right hook 2F is respectively hinged on left hanger 2A-2 and right hanger 2A-3, by a left side
The pin joint of hook 2E and left hanger 2A-2 is designated as F1, is designated as by the pin joint of right hook 2F and right hanger 2A-3
F2；The top of left hook 2E and right hook 2F is hinged, by a left side with the bottom of left rocking bar 2C and right rocking bar 2D respectively
The pin joint of hook 2E and left rocking bar 2C is designated as F3, and the pin joint of right hook 2F and right rocking bar 2D is designated as F4；
The top of left rocking bar 2C and right rocking bar 2D is all hinged to the bottom of push rod 2B, by left rocking bar 2C, right rocking bar 2D
It is designated as F5 with the common pin joint of push rod 2B；Link with left gripper steering wheel in the top of push rod 2B；By left machine
Tool pawl servo driving push rod 2B carries out lifting action, and then controls left hook 2E and right hook 2F and carry out folding and move
Make.
In actual application, the geometric feature description of gripper is as follows:
The distance of pin joint F1 to pin joint F2 is 48mm；Pin joint F2 to the distance of right hook 2F distal point is
Working arm length, is worth for 35mm；The distance of pin joint F3 to pin joint F1 is transmission arm length, and value is 17
mm；The distance of pin joint F5 to pin joint F4 is 30mm.
(3) complete dynamic V tail actuation mechanism
As shown in Figure 5 and Figure 6, complete dynamic V tail actuation mechanism includes: complete dynamic V tail and actuator mechanism；Complete dynamic V
Tail is installed on body afterbody, and actuator mechanism is installed on internal body, and actuator mechanism is used for controlling entirely to move V tail
Carry out horizontal direction rotation or pitch orientation rotates, and then bring when balance flapping wing aircraft lands or takes off
Rotating torque；
Concrete, actuator mechanism includes the fuselage bulkhead 3A being fixedly installed on internal body, at fuselage bulkhead
The cavity of 3A is provided with and horizontally rotates frame 3D, horizontally rotates frame 3D by horizontally rotating frame rotating shaft 3E
It is rotatably connected with fuselage bulkhead 3A；Inside cavity at fuselage bulkhead 3A is additionally provided with and horizontally rotates steering wheel
3F, the rocking arm horizontally rotating steering wheel 3F is hinged with one end of waling stripe, the other end of waling stripe and level
Rotate frame 3D hinged, horizontally rotate steering wheel 3F and drive waling stripe action, and then driving horizontally rotates frame
3D carries out horizontal direction rotation around horizontally rotating frame rotating shaft 3E；
It is internally provided with pitching rotating shaft 3H, the two ends of pitching rotating shaft 3H and water at the support body horizontally rotating frame 3D
The left side plate of flat turn motivation frame 3D is hinged；The tail end of complete dynamic V tail rocking bar 3G installs complete dynamic V tail, entirely moves V
The top of tail rocking bar 3G is fixed to pitching rotating shaft 3H；It addition, pitching rotating shaft 3H is also fixedly connected with and turns with pitching
Pitching rotating shaft connecting rod 3C vertical for axle 3H；
Pitch rotation steering wheel 3B it is installed with in frame 3D, the rocking arm of pitch rotation steering wheel 3B horizontally rotating
Hinged with one end of pitch link, the other end of pitch link is hinged with pitching rotating shaft connecting rod 3C, pitch rotation
Steering wheel 3B drives pitch link to carry out pitching motion, and then makes pitching rotating shaft 3H rotate, when pitching rotating shaft 3H turns
Time dynamic, complete dynamic V tail rocking bar 3G is driven to carry out the motion of pitch orientation.
In actual application, the geometric feature description of complete dynamic V tail is as follows:
1, the fuselage bulkhead profile of the actuation mechanism of complete dynamic V tail is 55mm × 60mm
2, pitch rotation steering wheel 3B and horizontally rotate the rocking arm of steering wheel 3F and be 5mm
3, the pitching rotating shaft connecting rod 3C of pitch rotation steering wheel is a length of with the connecting rod that pitch rotation steering wheel 3B rocking arm is connected
15mm
4, horizontally rotating frame rotating shaft 3E and horizontally rotating the connecting rod that steering wheel 3F rocking arm is connected of steering wheel is horizontally rotated
A length of 20mm
5, a length of 160mm of rocking bar that V tail stabilization 7 is connected with the pitching rotating shaft of complete dynamic V tail
(4) motor coordination processor
Motor coordination processor is installed on the internal body of flapping wing aircraft, respectively with image processor, left machine
Tool pawl steering wheel, right gripper steering wheel and actuator mechanism connect.
The present invention also provides for a kind of rising and dropping control method of flapping wing aircraft, comprises the following steps:
Step 1, when flapping wing aircraft needs landing, left photographic head and the right photographic head of vision guided navigation unit are adopted
Collection ambient image, and the environment map collected is transferred to image processor；
Step 2, image processor carries out three-dimensional reconstruction to environment, determines position and the shape of drop target, and
Position and the shape of the drop target determined are transferred to motor coordination processor；
Step 3, motor coordination processor carries out integration analysis to position and the shape of drop target, is calculated
The frequency of fluttering of flapping wing, amplitude of fluttering in, gripper unit is drawn control command and the pendulum to complete dynamic V tail
Dynamic control command；
Step 4, by fluttering flapping wing, frequency is controlled with the amplitude of fluttering, it is achieved leaning on to drop target
Closely, and, during drop target, on the one hand, send to complete dynamic V tail actuation mechanism and swing control
System order, it is achieved the horizontal direction of complete dynamic V tail rotates or pitch orientation rotates, and then balance flapping wing aircraft fall
The rotating torque brought when falling；
On the other hand, sending to gripper unit and draw control command in, gripper unit is receiving gathering control
After system order, the left left gripper of gripper servo driving carries out gathering action, and meanwhile, right gripper steering wheel drives
Dynamic right gripper carries out gathering action, finally makes left gripper and right gripper close up and clamp drop target,
Realize stable landing；
In this step, it is achieved the horizontal direction of complete dynamic V tail rotates or pitch orientation rotates, and detailed process is:
The horizontal direction controlling complete dynamic V tail in the following manner rotates: owing to complete dynamic V tail is shaken by complete dynamic V tail
Bar 3G is fixed on pitching rotating shaft 3H, pitching rotating shaft 3H and is hinged on and horizontally rotates frame 3D；Therefore, horizontally rotate
Steering wheel 3F horizontally rotates frame 3D by waling stripe driving and carries out horizontal direction around horizontally rotating frame rotating shaft 3E
During rotation, complete dynamic V tail rocking bar 3G can be driven to carry out horizontal direction rotation, the complete dynamic V tail of final drive carries out level
Direction rotates；
The pitch orientation controlling complete dynamic V tail in the following manner rotates: pitch rotation steering wheel 3B drives pitch link
Carry out pitching motion, and then make pitching rotating shaft 3H rotate, when pitching rotating shaft 3H rotates, drive and state complete dynamic V
Tail rocking bar 3G carries out the motion of pitch orientation, and the complete dynamic V tail of final drive carries out pitch orientation rotation.
Step 5, when flapping wing aircraft needs to take off, on the one hand, motor coordination processor is to gripper unit
Control command is opened in transmission, gripper unit after receiving and opening control command, left gripper servo driving
Left gripper carries out expansion action, and meanwhile, the right right gripper of gripper servo driving carries out expansion action,
Left gripper and right gripper is made to open and discharge drop target eventually；Meanwhile, by frequency that flapping wing is fluttered,
Fluttering amplitude, the swing mode of complete dynamic V tail and then control, final realization is steadily taken off.
In this step, gripper unit carries out gathering action, and detailed process is:
The left gripper of gripper unit and right gripper synchronize to carry out gathering action, wherein, for left machinery
Pawl, the detailed process carrying out gathering action is:
Left gripper servo driving push rod 2B upwards action, push rod 2B pulls left rocking bar 2C and right rocking bar 2D upwards
Move toward one another, and then synchronize to drive left hook 2E and right hook 2F to carry out rotating around pin joint F1 and pin joint F2
Move toward one another, finally makes left hook 2E and the tip contacts of right hook 2F and clamps drop target.
Certainly, if during left gripper servo driving push rod 2B downward actuation, left rocking bar 2C and right rocking bar 2D phase
Unlucky dynamic, it is the loosening up into gripper.Cooperation by two grippers, it is ensured that at six
On degree of freedom, flapping wing aircraft is fixed.
The key point of the present invention is the total arrangement of this bionic-type undercarriage, in order to realize dwelling of flapping wing aircraft
Stop function, add bionical landing gear, this device comprise vision guided navigation unit, motor coordination processor,
Gripper unit and complete dynamic V tail.Further, this gripper and complete dynamic V tail actuation mechanism have specific geometry spy
Levy such that it is able to realize flapping wing aircraft and freely dwell as birds in nature and stop, and, flapping flight
Device rises and falls and participates in completely without artificial, has the advantage that functional reliability is high.
Verify through dynamics simulation and wind tunnel test and know, this example designs the bionical Landing Gear System obtained,
Flutter frequency and the amplitude of flapping wing can be coordinated, it is achieved for the landing of specific objective.
Different from tradition landing mode, that the present invention provides bionical Landing Gear Systems, can make flapping wing aircraft complete
Entirely realizing freely dwells as birds stops and landing, therefore, during scouting, can dwell on being stopped at and be scouted
On building near object or other targets, thus the landing methods such as even hovering that replace spiraling in the past, this
Invention is substantially reduced flapping wing aircraft energy consumption, increases cruising time and cruising range.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill of the art
For personnel, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these
Improvements and modifications also should regard protection scope of the present invention.
Claims (7)
1. apply the bionical Landing Gear System at flapping wing aircraft for one kind, it is characterised in that including: vision is led
Boat unit, motor coordination processor, gripper unit and complete dynamic V tail actuation mechanism；
Wherein, described vision guided navigation unit includes left photographic head, right photographic head and image processor；A described left side
Photographic head and described right photographic head are symmetrically arranged on the abdominal part front of flapping wing aircraft；Described left photographic head and institute
State right photographic head and be all connected to described image processor；
Described gripper unit includes: left gripper, right gripper, left gripper steering wheel and right gripper rudder
Machine；Described left gripper and described right gripper is lateral symmetry is installed on flapping wing aircraft position of centre of gravity；Described
Left gripper steering wheel and described right gripper steering wheel are installed on the internal body of flapping wing aircraft；Described left machinery
Pawl steering wheel and the linkage of described left gripper, for controlling the opening and closing movement of described left gripper；Described right machinery
Pawl steering wheel and the linkage of described right gripper, for controlling the opening and closing movement of described right gripper；
Described complete dynamic V tail actuation mechanism includes: complete dynamic V tail and actuator mechanism；Described complete dynamic V tail is installed on
Body afterbody, described actuator mechanism is installed on internal body, described actuator mechanism be used for controlling described entirely
Dynamic V tail carries out horizontal direction rotation or pitch orientation rotates, and then band when balance flapping wing aircraft lands or takes off
The rotating torque come；
Described motor coordination processor is installed on the internal body of flapping wing aircraft, respectively with described image procossing
Device, described left gripper steering wheel, described right gripper steering wheel and described actuator mechanism connect.
The most according to claim 1 applying the bionical Landing Gear System at flapping wing aircraft, its feature exists
In, described left gripper and described right gripper are symmetrical structure；
For described left gripper, for four-bar linkage, including: installation base plate (2A), push rod (2B),
Left rocking bar (2C), right rocking bar (2D), left hook (2E) and right hook (2F)；
Described installation base plate (2A) is vertically arranged, including integrally formed vertical substrate (2A-1), left hanger
(2A-2) with right hanger (2A-3)；The top of described vertical substrate (2A-1) is fixed on organism bottom center of gravity
Position；The bottom symmetrical of described vertical substrate (2A-1) arranges described left hanger (2A-2) and the described right side is hung
Ear (2A-3)；
The middle part of described left hook (2E) and described right hook (2F) is respectively hinged at described left hanger (2A-2)
With on described right hanger (2A-3), the pin joint of left hook (2E) and left hanger (2A-2) is designated as F1,
The pin joint of right hook (2F) and right hanger (2A-3) is designated as F2；Described left hook (2E) and described
The top of right hook (2F) is hinged with the bottom of described left rocking bar (2C) and described right rocking bar (2D) respectively,
The pin joint of left hook (2E) and left rocking bar (2C) is designated as F3, by right hook (2F) and right rocking bar (2D)
Pin joint be designated as F4；The top of described left rocking bar (2C) and described right rocking bar (2D) is all hinged to described
The bottom of push rod (2B), by described left rocking bar (2C), described right rocking bar (2D) and described push rod (2B)
Common pin joint be designated as F5；Link with described left gripper steering wheel in the top of described push rod (2B)；Pass through
Push rod (2B) described in described left gripper servo driving carries out lifting action, and then controls described left hook (2E)
Opening and closing movement is carried out with described right hook (2F).
The most according to claim 2 applying the bionical Landing Gear System at flapping wing aircraft, its feature exists
In, the distance of pin joint F1 to pin joint F2 is 48mm；Pin joint F2 to right hook (2F) distal point away from
From for working arm length, it is worth for 35mm；The distance of pin joint F3 to pin joint F1 is transmission arm length, is worth and is
17mm；The distance of pin joint F5 to pin joint F4 is 30mm.
The most according to claim 1 applying the bionical Landing Gear System at flapping wing aircraft, its feature exists
In, described actuator mechanism includes the fuselage bulkhead (3A) being fixedly installed on internal body, described fuselage every
The cavity of frame (3A) is provided with and horizontally rotates frame (3D), described in horizontally rotate frame (3D) and pass through water
Flat turn motivation frame rotating shaft (3E) is rotatably connected with described fuselage bulkhead (3A)；Described fuselage bulkhead (3A)
Inside cavity be additionally provided with and horizontally rotate steering wheel (3F), described in horizontally rotate rocking arm and the water of steering wheel (3F)
One end of flat connecting rod is hinged, the other end of described waling stripe with described to horizontally rotate frame (3D) hinged,
Described horizontally rotate steering wheel (3F) and drive described waling stripe action, and then horizontally rotate frame described in driving
(3D) horizontally rotate frame rotating shaft (3E) carry out horizontal direction rotation around described；
It is internally provided with pitching rotating shaft (3H), described pitching at the described support body horizontally rotating frame (3D)
The two ends of rotating shaft (3H) are hinged with the described left side plate horizontally rotating frame (3D)；Complete dynamic V tail rocking bar
(3G) tail end installs complete dynamic V tail, and the top of described complete dynamic V tail rocking bar (3G) is fixed to described pitching and turns
Axle (3H)；Hang down it addition, described pitching rotating shaft (3H) is also fixedly connected with described pitching rotating shaft (3H)
Straight pitching rotating shaft connecting rod (3C)；
Described horizontally rotate be installed with pitch rotation steering wheel (3B) in frame (3D), described pitching turns
The rocking arm of dynamic steering wheel (3B) is hinged with one end of pitch link, and the other end of described pitch link is bowed with described
Facing upward rotating shaft connecting rod (3C) hinged, described pitch rotation steering wheel (3B) drives described pitch link to carry out pitching
Action, and then make described pitching rotating shaft (3H) rotate, when described pitching rotating shaft (3H) rotates, drive
Described complete dynamic V tail rocking bar (3G) carries out the motion of pitch orientation.
5. the rising and dropping control method of a flapping wing aircraft, it is characterised in that comprise the following steps:
Step 1, when flapping wing aircraft needs landing, left photographic head and the right photographic head of vision guided navigation unit are adopted
Collection ambient image, and the environment map collected is transferred to image processor；
Step 2, image processor carries out three-dimensional reconstruction to environment, determines position and the shape of drop target, and
Position and the shape of the drop target determined are transferred to motor coordination processor；
Step 3, described motor coordination processor carries out integration analysis to position and the shape of drop target, calculates
Obtain the frequency of fluttering of flapping wing, amplitude of fluttering, to the gathering control command of gripper unit and move V tail to complete
Weave control order；
Step 4, by fluttering flapping wing, frequency is controlled with the amplitude of fluttering, it is achieved leaning on to drop target
Closely, and, during drop target, on the one hand, send to complete dynamic V tail actuation mechanism and swing control
System order, it is achieved the horizontal direction of complete dynamic V tail rotates or pitch orientation rotates, and then balance flapping wing aircraft fall
The rotating torque brought when falling；
On the other hand, sending to gripper unit and draw control command in, gripper unit is receiving gathering control
After system order, the left left gripper of gripper servo driving carries out gathering action, and meanwhile, right gripper steering wheel drives
Dynamic right gripper carries out gathering action, finally makes left gripper and right gripper close up and clamp drop target,
Realize stable landing；
Step 5, when flapping wing aircraft needs to take off, on the one hand, motor coordination processor is to gripper unit
Control command is opened in transmission, gripper unit after receiving and opening control command, left gripper servo driving
Left gripper carries out expansion action, and meanwhile, the right right gripper of gripper servo driving carries out expansion action,
Left gripper and right gripper is made to open and discharge drop target eventually；Meanwhile, by frequency that flapping wing is fluttered,
Fluttering amplitude, the swing mode of complete dynamic V tail and then control, final realization is steadily taken off.
The rising and dropping control method of flapping wing aircraft the most according to claim 5, it is characterised in that step 4
In, it is achieved the horizontal direction of complete dynamic V tail rotates or pitch orientation rotates, and detailed process is:
The horizontal direction controlling complete dynamic V tail in the following manner rotates: owing to complete dynamic V tail is shaken by complete dynamic V tail
Bar (3G) is fixed on pitching rotating shaft (3H), and pitching rotating shaft (3H) is hinged on and horizontally rotates frame (3D)；
Therefore, horizontally rotate steering wheel (3F) and horizontally rotate frame (3D) around horizontally rotating by waling stripe driving
When frame rotating shaft (3E) carries out horizontal direction rotation, complete dynamic V tail rocking bar (3G) can be driven to carry out level side
To rotation, the complete dynamic V tail of final drive carries out horizontal direction rotation；
The pitch orientation controlling complete dynamic V tail in the following manner rotates: pitch rotation steering wheel (3B) drives pitching
Connecting rod carries out pitching motion, and then makes pitching rotating shaft (3H) rotate, when pitching rotating shaft (3H) rotates,
Drive is stated complete dynamic V tail rocking bar (3G) and is carried out the motion of pitch orientation, and the complete dynamic V tail of final drive carries out pitching side
To rotation.
The rising and dropping control method of flapping wing aircraft the most according to claim 5, it is characterised in that step 4
In, gripper unit carries out gathering action, and detailed process is:
The left gripper of gripper unit and right gripper synchronize to carry out gathering action, wherein, for left machinery
Pawl, the detailed process carrying out gathering action is:
Left gripper servo driving push rod (2B) upwards action, push rod (2B) pull left rocking bar (2C) and
Right rocking bar (2D) moves upward, and then synchronizes to drive left hook (2E) and right hook (2F) rotating around hinge
Contact F1 and pin joint F2 carries out move toward one another, finally makes left hook (2E) and the tip of right hook (2F)
Contact and clamp drop target.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510933810.7A CN105416575B (en) | 2015-12-14 | 2015-12-14 | Apply in the bionical Landing Gear System of flapping wing aircraft and rising and dropping control method |
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| CN201510933810.7A CN105416575B (en) | 2015-12-14 | 2015-12-14 | Apply in the bionical Landing Gear System of flapping wing aircraft and rising and dropping control method |
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| CN105416575B true CN105416575B (en) | 2016-08-17 |
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| CN113306701B (en) * | 2021-06-17 | 2022-04-19 | 东莞理工学院 | Bionic hummingbird flapping wing aircraft |
| CN113247246B (en) * | 2021-06-29 | 2021-10-01 | 北京科技大学 | Flapping wing aircraft cruise control system based on asynchronous multiple cameras |
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| CN2213118Y (en) * | 1994-09-14 | 1995-11-22 | 任寿年 | Mixed ornithopter |
| US20110278391A1 (en) * | 2010-05-17 | 2011-11-17 | Kotler Andrey | Dragonfly unmanned aerial vehicle |
| FR2981910B1 (en) * | 2011-10-26 | 2013-12-27 | Eurocopter France | LANDFILL, AIRCRAFT AND METHOD |
| CN103991540B (en) * | 2014-05-30 | 2015-12-02 | 佛山市神风航空科技有限公司 | A kind of taper rotary flapping wing aircraft |
| CN205203375U (en) * | 2015-12-14 | 2016-05-04 | 西北工业大学 | Use bionical undercarriage system at flapping wing aircraft |
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