CN112249303A - Tail fin balancer of flapping-wing micro flying robot - Google Patents
Tail fin balancer of flapping-wing micro flying robot Download PDFInfo
- Publication number
- CN112249303A CN112249303A CN202011154217.XA CN202011154217A CN112249303A CN 112249303 A CN112249303 A CN 112249303A CN 202011154217 A CN202011154217 A CN 202011154217A CN 112249303 A CN112249303 A CN 112249303A
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- China
- Prior art keywords
- flying robot
- pipe
- tail
- balancer
- ornithopter
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C5/00—Stabilising surfaces
- B64C5/02—Tailplanes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C5/00—Stabilising surfaces
- B64C5/10—Stabilising surfaces adjustable
Abstract
The invention provides a tail fin balancer of a flapping wing micro flying robot, which comprises a tail fin and a connector, wherein the tail fin is connected with a tail fin swinging piece of the flapping wing micro flying robot through the connector, the connector comprises a connecting pipe, a butt joint pipe and a connecting rod, one end of the connecting pipe is connected with the tail fin, the other end of the connecting pipe is connected with one end of the butt joint pipe, the other end of the butt joint pipe is connected with one end of the connecting rod, and the other end of the connecting rod is connected with the tail fin swinging piece of the flapping wing micro flying robot. Each part in the connector is a movable part, the connection between the parts is very convenient, the whole structure is light and small, the assembly is simple, the price is low, and the stable flight of the flying robot can be met.
Description
Technical Field
The invention relates to the field of flapping wing micro flying robots, in particular to a tail fin balancer of a flapping wing micro flying robot.
Background
Over the years, flapping wing micro air vehicles have been receiving attention from many researchers because not only the flight vehicle has gliding characteristics but also hovering functions, it is important that the vehicle is light and portable, and can perform special tasks such as rescue, reminding exploration and the like, and since the united states DARPA proposed the concept vehicle, some research institutes have conducted research on the vehicle such as Nano-Hummingbird in the united states, Delfly in the netherlands, collibri in belgium and the like, and then the problem of stable flight balance of the vehicle has been a great challenge. In nature, birds or flying insects control stable flying postures by controlling organs such as wings, tails and the like, thereby achieving stable flying. The flapping wing micro air vehicle has the characteristics of small structure and high integration, and has extremely high requirements on flight weight, so that the design of the stable flight control component puts extremely high requirements on the selection of the structural design and materials.
In nature, the tail fin plays an important role for flying animals such as birds and the like, and the stability (namely pitching, yawing and rolling) in the flying process is met by controlling the posture (namely controlling the lifting force and the pulling force) of the tail fin. At present, researches on the hummingbird empennage and the design of an empennage balancer of a miniature flapping wing aircraft are less. The tail balancer of the flight machine in the existing design also has a plurality of problems: overall structure is heavy, and the equipment is loaded down with trivial details, and is expensive, from the performance aspect, because this structural reason is not convenient for control the fin equalizer, so can not produce sufficient lift to reach the effect of balanced aircraft.
Disclosure of Invention
The invention aims to provide the tail fin balancer of the flapping wing micro flying robot, which has the advantages of light and small integral structure, simple assembly and low price and can meet the requirement of stable flying of the flying robot.
In order to achieve the above purpose, the invention provides the following technical scheme:
the utility model provides a miniature flying robot's of flapping wing fin equalizer, includes fin and connector, the fin passes through the connector and is connected with miniature flying robot's of flapping wing fin oscillating piece, the connector includes the connecting pipe, to managing and connective bar, connecting pipe one end is connected with the fin, the other end of connecting pipe is connected with the one end of managing, the other end of managing and the one end of connective bar are connected, the other end of connective bar is connected with miniature flying robot's of flapping wing fin oscillating piece.
Further, the connecting pipe is a carbon pipe, and the carbon pipe is a tubular device made of carbon fiber.
Further, the outer diameter of the carbon tube is 2-4 mm, and the inner diameter of the carbon tube is 1-2 mm.
Further, the outer diameter of the carbon tube is 3 mm, and the inner diameter of the carbon tube is 1.5 mm.
Further, the connecting rod is a solid carbon fiber rod.
Further, the outer diameter of the connecting rod is 1-2 mm.
Further, the butt joint pipe is a heat shrinkable pipe.
Further, the two ends of the butt joint pipe are respectively connected with the fixed connecting pipe and the connecting rod through the thermoplasticity of the pipes.
Furthermore, the empennage is made of balsa wood.
Further, the spread angle of the empennage is 60-180 degrees.
The invention has the beneficial effects that:
the empennage of the invention is connected with the empennage swinging piece of the flapping wing micro flying robot through the connector, wherein the connector comprises a connecting pipe, a butt joint pipe and a connecting rod, one end of the connecting pipe is connected with the empennage, the other end of the connecting pipe is connected with one end of the butt joint pipe, the other end of the butt joint pipe is connected with one end of the connecting rod, and the other end of the connecting rod is connected with the empennage swinging piece of the flapping wing micro flying robot.
Drawings
FIG. 1 is a schematic structural diagram of an flapping-wing micro flying robot;
FIG. 2 is a schematic view of the structure of the tail balancer of the present invention;
FIG. 3 is a schematic cross-sectional view of a connecting tube of the present invention;
FIG. 4 is a schematic cross-sectional view of a connector rod of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1 to 4, a tail balancer of a flapping wing micro flying robot 1 includes a tail 4 and a connector 3, the tail 4 is connected with a tail swing part 2 of the flapping wing micro flying robot 1 through the connector 3, the connector 3 includes a connection pipe 31, a butt connection pipe 32 and a connection rod 33, one end of the connection pipe 31 is connected with the tail 4, the other end of the connection pipe 31 is connected with one end of the butt connection pipe 32, the other end of the butt connection pipe 32 is connected with one end of the connection rod 33, and the other end of the connection rod 33 is connected with the tail swing part 2 of the flapping wing micro flying robot 1. Each part in the connector 3 is a movable part, the connection between each part is very convenient, the whole structure is light and small, the assembly is simple, the price is low, and the stable flight of the flying robot can be met.
The connector 3 in this embodiment is used for the empennage 4 to connect the flying robot 1 and also for stabilizing the flight of the empennage 4. In the aspect of selecting materials, the materials are selected to be easily purchased, light in structure and the like.
The connecting tube 31 in this embodiment may be a carbon tube, the carbon tube is a tubular material made of carbon fiber, the outer diameter r2 of the connecting tube 31 is 2-4 mm, and the inner diameter r1 of the connecting tube 31 is 1-2 mm.
In addition, the carbon tube is light, high in hardness and certain in flexibility, and is very suitable for being connected with the tail fin 4.
The most preferred embodiment is: the outer diameter of the connection pipe 31 is 3 mm, and the inner diameter of the connection pipe 31 is 1.5 mm.
The connecting rod 33 in this embodiment is a solid carbon fiber rod, and the outer diameter of the connecting rod 33 is 1 to 2 mm.
The most preferred embodiment is: the outside diameter of the connecting rod was 1.5 mm.
The butt joint pipe 32 in this embodiment is a heat shrinkable tube, and both ends of the butt joint pipe 32 are respectively connected with the fixed connection pipe 31 and the connection rod 33 through the thermoplasticity of the pipes, and when in connection, (1) the butt joint pipe 32 with both ends having a diameter slightly larger than that of the connection pipe 31 and the connection rod 33 is selected according to the outer diameters of the connection pipe 31 and the connection rod 33; (2) removing burrs and sharp corners on the connecting pipe 31 and the connecting rod 33 to prevent the connecting pipe 32 from being punctured and cracked in the retraction process, and cleaning oil stains and impurities on the connecting part of the connecting pipe 31 and the connecting rod 33 by using a quick-drying cleaning agent in advance to keep clean; (3) calculating the length to be wrapped, cutting the butt joint pipe 32 with the corresponding length, wherein when the butt joint pipe 32 is cut, the cut is neat and smooth, and burrs or cracks cannot be generated, so that stress concentration generated during heating shrinkage is avoided, and the stress concentration is prevented from spreading along the cracks; (4) sleeving the butt joint pipe 32 into one end of the connecting pipe 31 and one end of the connecting rod 33 respectively, and moving the sleeved butt joint pipe 32 to a proper position; (5) the heating tool generally uses a hot air gun, an oven or a blower, and in the heating process, the heating tool needs to heat from left to right or from right to left in a single direction, and can also heat from the middle to two ends, so that air is prevented from being left in the butt joint pipe 32, the connecting pipe 31 and the connecting rod 33 are tightly wrapped after shrinkage, the heating tool cannot be too close to the surface of the butt joint pipe 32 or can be concentrated at one position for heating, and otherwise, the butt joint pipe 32 can be burnt or thinned.
The empennage 4 of the embodiment is made of balsa wood; at present, the tail fin 4 is mainly made of a PET (polyethylene terephthalate) polyester film material, and although the flexibility of the tail fin 4 is ensured, the material is extremely easy to damage in the manufacturing process and the flying process of the tail fin 4, and the durability of the tail fin balancer cannot be ensured. In the aspect of manufacturing, the material is light and thin, so the material is not easy to be fixed in a designed structure, and a lot of difficulties are brought to manufacturing. From a performance aspect, it is not convenient to manipulate the tail balancer due to structural reasons, so that sufficient lift cannot be generated, thereby failing to achieve the effect of balancing the aircraft. The empennage 4 of the embodiment is made of balsa wood, and the balsa wood has flexibility and wear resistance; is not easily damaged during assembly.
The spread angle of the tail 4 of the present embodiment is 60 to 180 °.
The preferred embodiment of the tail 4 is: the spread angle is 120 degrees, the thickness of the tail wing 4 is 1 cm, the area of the tail wing 4 is 5128.7mm2The tail wing aspect ratio is 2.86; the tail span of the tail fin 4 is 121.2 mm.
Wherein the area of the tail wing 4 is:
Rnthe average length of the tail radius, β is the flare angle.
Empennage aspect ratio:
btthe transverse span of the tail.
Transverse span of the empennage:
r is the length of the radius of the tail wing.
The above description is not intended to limit the technical scope of the present invention, and any modification, equivalent change and modification of the above embodiments according to the technical spirit of the present invention are still within the technical scope of the present invention.
Claims (10)
1. The utility model provides a tail fin equalizer of miniature flying robot of flapping wing which characterized in that: including fin and connector, the fin passes through the connector to be connected with flapping wing micro flying robot's fin swing piece, and the connector includes the connecting pipe, to managing and the connective bar, and connecting pipe one end is connected with the fin, and the other end of connecting pipe is connected with the one end of butt joint pipe, and the other end of butt joint pipe is connected with the one end of connective bar, and the other end of connective bar is connected with flapping wing micro flying robot's fin swing piece.
2. The tail balancer of an ornithopter-type micro flying robot according to claim 1, wherein: the connecting pipe is a carbon pipe which is a tubular device made of carbon fiber.
3. The tail balancer of an ornithopter-type micro flying robot according to claim 1, wherein: the carbon tube has an outer diameter of 2 to 4 mm and an inner diameter of 1 to 2 mm.
4. The tail balancer of an ornithopter micro flying robot according to claim 3, wherein: the carbon tube had an outer diameter of 3 mm and an inner diameter of 1.5 mm.
5. The tail balancer of an ornithopter-type micro flying robot according to claim 1, wherein: the connecting rod is a solid carbon fiber rod.
6. The tail balancer of an ornithopter-type micro flying robot according to claim 1, wherein: the outer diameter of the connecting rod is 1-2 mm.
7. The tail balancer of an ornithopter-type micro flying robot according to claim 1, wherein: the butt joint pipe is a heat shrinkable pipe.
8. The tail balancer of an ornithopter micro flying robot according to claim 7, wherein: the two ends of the butt joint pipe are respectively connected with the fixed connecting pipe and the connecting rod through the thermoplasticity of the pipe.
9. The tail balancer of an ornithopter-type micro flying robot according to claim 1, wherein: the empennage is made of balsa wood.
10. The tail balancer of an ornithopter-type micro flying robot according to claim 1, wherein: the spread angle of the empennage is 60-180 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011154217.XA CN112249303A (en) | 2020-10-26 | 2020-10-26 | Tail fin balancer of flapping-wing micro flying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011154217.XA CN112249303A (en) | 2020-10-26 | 2020-10-26 | Tail fin balancer of flapping-wing micro flying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112249303A true CN112249303A (en) | 2021-01-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011154217.XA Pending CN112249303A (en) | 2020-10-26 | 2020-10-26 | Tail fin balancer of flapping-wing micro flying robot |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012218474A (en) * | 2011-04-04 | 2012-11-12 | Fujikura Ltd | Hummingbird type flapping flight robot |
| CN202953170U (en) * | 2012-09-26 | 2013-05-29 | 北京观典航空设备公司 | Unmanned aerial vehicle (UAV) empennage connecting rod |
| CN104260885A (en) * | 2014-09-26 | 2015-01-07 | 北京航空航天大学 | Fishtail flapping mechanism suitable for flapping-wing micro air vehicle |
| CN104590568A (en) * | 2015-02-02 | 2015-05-06 | 上海交通大学 | Long-endurance hybrid power UAV (Unmanned Aerial Vehicle) |
| CN205583125U (en) * | 2016-04-28 | 2016-09-14 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle |
| CN110027705A (en) * | 2019-04-15 | 2019-07-19 | 东莞理工学院 | A kind of large simulated flapping wing robot being conveniently steered |
| CN110466756A (en) * | 2019-08-29 | 2019-11-19 | 河海大学常州校区 | A kind of small-sized flapping flight robot of imitative bird |
| CN110588971A (en) * | 2019-09-30 | 2019-12-20 | 沈阳理工大学 | Bird-like flying flapping-wing robot capable of automatically twisting wings |
| CN209814258U (en) * | 2018-05-13 | 2019-12-20 | 珠海速飞智能科技有限公司 | Novel prevent pyrocondensation carbon fiber tube unmanned aerial vehicle that splits |
-
2020
- 2020-10-26 CN CN202011154217.XA patent/CN112249303A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012218474A (en) * | 2011-04-04 | 2012-11-12 | Fujikura Ltd | Hummingbird type flapping flight robot |
| CN202953170U (en) * | 2012-09-26 | 2013-05-29 | 北京观典航空设备公司 | Unmanned aerial vehicle (UAV) empennage connecting rod |
| CN104260885A (en) * | 2014-09-26 | 2015-01-07 | 北京航空航天大学 | Fishtail flapping mechanism suitable for flapping-wing micro air vehicle |
| CN104590568A (en) * | 2015-02-02 | 2015-05-06 | 上海交通大学 | Long-endurance hybrid power UAV (Unmanned Aerial Vehicle) |
| CN205583125U (en) * | 2016-04-28 | 2016-09-14 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle |
| CN209814258U (en) * | 2018-05-13 | 2019-12-20 | 珠海速飞智能科技有限公司 | Novel prevent pyrocondensation carbon fiber tube unmanned aerial vehicle that splits |
| CN110027705A (en) * | 2019-04-15 | 2019-07-19 | 东莞理工学院 | A kind of large simulated flapping wing robot being conveniently steered |
| CN110466756A (en) * | 2019-08-29 | 2019-11-19 | 河海大学常州校区 | A kind of small-sized flapping flight robot of imitative bird |
| CN110588971A (en) * | 2019-09-30 | 2019-12-20 | 沈阳理工大学 | Bird-like flying flapping-wing robot capable of automatically twisting wings |
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Application publication date: 20210122 |