CN113395015A - Variable flapping frequency rotor wing based on rotary ultrasonic motor drive - Google Patents
Variable flapping frequency rotor wing based on rotary ultrasonic motor drive Download PDFInfo
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- CN113395015A CN113395015A CN202110687835.9A CN202110687835A CN113395015A CN 113395015 A CN113395015 A CN 113395015A CN 202110687835 A CN202110687835 A CN 202110687835A CN 113395015 A CN113395015 A CN 113395015A
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- 238000010146 3D printing Methods 0.000 description 2
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/001—Driving devices, e.g. vibrators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/02—Gyroplanes
- B64C27/021—Rotor or rotor head construction
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/12—Constructional details
- H02N2/123—Mechanical transmission means, e.g. for gearing
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/14—Drive circuits; Control arrangements or methods
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Abstract
The invention relates to a rotary ultrasonic motor-driven flapping rotor wing with variable flapping frequency, which comprises a rack, a central rod driving mechanism and wings, wherein the central rod driving mechanism is arranged on the rack and drives the central rod to move vertically, the vertically-moving central rod enables the wings to have an upward flapping state and a downward flapping state, the upward flapping state is that the central rod moves downwards and drives the wings to flap upwards, and the downward flapping state is that the central rod moves upwards and drives the wings to flap downwards. The flapping rotor with the variable flapping frequency comprises a control circuit and a controller, wherein the controller comprises the control circuit, a center rod driving mechanism comprises an ultrasonic motor, the ultrasonic motor is provided with a rotor and a stator, a sensor is arranged on a rack, a trigger piece which is inducted with the sensor is arranged on the rotor, the trigger piece rotates to an induction area of the sensor, and the control circuit and the controller change the rotation rate of the rotor. The invention provides a flapping rotor wing with high lift force and variable flapping frequency based on the drive of a rotary ultrasonic motor.
Description
Technical Field
The invention relates to a flapping rotor wing, in particular to a flapping rotor wing with variable flapping frequency based on the drive of a rotary ultrasonic motor.
Background
Birds and flying animals have higher flying efficiency when the Reynolds number is smaller, the rotor can realize vertical take-off, landing and hovering, about ten years ago, the flapping rotor is a novel micro aircraft form combining the two configurations, namely the flapping rotor is proposed by Lidongchun, Wu Jianghao and the like, the flapping rotor not only has periodic rotary motion on a vertical plane like a flapping wing, but also has rotary motion on a horizontal plane, the rotary motion does not need an additional motor to give driving force to the flapping rotor, but utilizes an anti-Karman vortex street generated by wing flapping to derive a forward propelling force, when the flapping is just started, the anti-Karman vortex street thrust can accelerate the rotary motion angular velocity of the flapping rotor, after a period of time, the rotary angular velocity on the horizontal plane can tend to a stable value, and when the rotary motion resistance and the thrust generated by the anti-Karman vortex street achieve a dynamic self-balance, the flapping rotor wing comprises a rack, a central rod driving mechanism and a wing, wherein the central rod driving mechanism is arranged on the rack and drives the central rod to move vertically, the central rod moving vertically enables the wing to have an upward flapping state and a downward flapping state, the upward flapping state is that the central rod moves downwards, the wing is driven to flap upwards, the central rod in the downward flapping state moves upwards, and the wing is driven to flap downwards.
At present, because the motor is arranged on the flapping rotor wing, the weight of the motor also needs to be added to the total weight of the flapping rotor wing, and therefore, the weight of the motor cannot be overlarge. The uniform rotation of the motor enables the upward flapping speed and the downward flapping speed of the wings to be consistent, so that the flapping rotor wing can only generate relatively low lift efficiency.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a variable flapping frequency rotor wing which has strong lift force and is driven by a rotary ultrasonic motor.
In order to achieve the purpose, the invention provides the following technical scheme: the ultrasonic motor comprises a frame, well core rod, control circuit, a controller, well core rod actuating mechanism and wing, well core rod actuating mechanism sets up in the frame and drives well core rod along vertical removal, well core rod messenger wing of vertical removal has and beats the state and claps the state down, it shifts down for well core rod to beat the state, beat on the drive wing, it shifts up to clap well core rod in the state down, the bat is down beated to the drive wing, well core rod actuating mechanism includes the supersound motor, the supersound motor has rotor and stator, be provided with the sensor in the frame, be provided with the trigger piece that responds to mutually with the sensor on the rotor, the trigger piece rotates the induction zone to the sensor, change the rotation rate of rotor by control circuit and controller.
By adopting the technical scheme, in the aspect of power of a micro aircraft, the motor is the most common driving source, but the change rate of the rotating speed of the motor is limited due to the influence of rotating inertia force, the energy consumption is large, the common advantages of piezoelectric transmission are small volume, light weight, simple structure, high precision, no gear and small inertia effect, the piezoelectric transmission is suitable for being applied to a nano-scale to picometer-scale unmanned aerial vehicle and is taken as a typical piezoelectric transmission motor, the ultrasonic motor converts microscopic vibration into macroscopic rotating motion or linear motion by utilizing the inverse piezoelectric effect of piezoelectric ceramics, the ultrasonic motor not only can adapt to special environments such as low temperature, vacuum and the like, but also has the advantages of high response speed, low noise, low rotating speed, large torque, good control characteristics, power failure self-locking, no magnetic field interference, accurate motion and the like, therefore, the ultrasonic motor is very suitable for the design of a variable-speed flapping rotor wing, set up the sensor in the frame simultaneously, when the rotor of supersound motor rotated, the trigger piece that is located on the rotor rotated along with the rotor, rotate to the induction area as trigger piece, and then the sensor sends the signal to control circuit and controller, control rotor rotation frequency by control circuit and controller changes, lead to well core rod's removal speed to change, the time that the state lasted with clapping down on the final change wing claps the state, when clapping the state last time and being greater than clapping down the state, compare in the motor and maintain at the uniform velocity rotation, the variable speed of supersound motor makes the lift reinforcing of flapping rotor, the rising speed and the height of flapping rotor can increase, the sensor be photoelectric sensor.
The invention is further configured to: the central rod driving mechanism further comprises a rotary table and a connecting rod, the ultrasonic motor is provided with an output shaft, one end of the output shaft is connected with the rotor and synchronously rotates along with the rotor, the other end of the output shaft is arranged at the center of the rotary table, the rotary table synchronously rotates along with the output shaft, the connecting rod is vertically arranged, one end of the connecting rod rotates and is arranged on the rotary table, and the other end of the connecting rod rotates and is arranged on the central rod.
Through adopting above-mentioned technical scheme, when the rotor rotates, drive the output shaft and rotate, then, drive the carousel and rotate, and connecting rod one end is located the carousel, this one end is followed the carousel and is rotated, make the whole removal that takes place thereupon of connecting rod, the connecting rod other end takes place to remove in vertical, and then drive well core rod's rising and decline, turn into well core rod's removal in vertical through the rotation of above-mentioned structure with ultrasonic motor, be slider-crank mechanism promptly, this mode simple manufacture, and the transmission effect is stable, ultrasonic motor rotates the round, the carousel rotates the round, well core rod rises and descends once, the circulation effect is good.
The invention is further configured to: the wing comprises a supporting seat and a wing frame, the wing comprises a wing rod and wing pieces, the wing pieces are inserted into the wing rod, the wing frame is arranged on a central rod and moves along with the central rod, one end of the wing rod is hinged to the wing frame, the supporting seat is arranged on a rack and located below the wing frame, and the supporting seat is provided with a fulcrum end hinged to the wing rod.
By adopting the technical scheme, when the central rod moves, the wing frame is driven to move, the wing rod hinged with the wing frame rotates relatively, and the wing rod is hinged with the fulcrum end, so the wing rod rotates by taking the fulcrum end as a circle center, and further the wing panel rotates by taking the fulcrum end as a circle center, thereby achieving the purpose of upward flapping or downward flapping, the mode converts the vertical movement of the central rod into the rotation of the wing panel by taking the fulcrum end as a circle center, the design is simple, the distance from the wing panel to the fulcrum end is larger than the distance from the fulcrum end to the hinge point of the wing rod and the wing frame, namely, the wing panel moves by far larger than the moving distance of the central rod, the lifting capacity of the flapping rotor is increased, the wing is processed by adopting a 3D printing technology, and the flapping rotor has the characteristics of high precision, convenient processing and stable structure, and can meet the modification requirement of the flapping rotor structure, and developing customized design.
The invention is further configured to: the center rod penetrates through the supporting seat, a rotary bearing is arranged between the center rod and the supporting seat, and a linear bearing is arranged between the rotary bearing and the center rod.
By adopting the technical scheme, the central rod penetrates through the supporting seat, and the linear bearing exists between the rotary bearing and the central rod, so that the supporting seat does not move along with the central rod, when the central rod drives the wing frame to move, the end position of the fulcrum is kept unchanged, and the hinge point of the wing rod and the wing frame moves along with the central rod, so that the wing rod rotates.
The invention is further configured to: the number of the wing rods and the wing pieces is two, the supporting seat is U-shaped, two sides of the U-shaped supporting seat are used as fulcrum ends to be hinged with the two wing rods respectively, and the wing frame is H-shaped, and an upper end gap and a lower end gap of the H-shaped supporting seat are hinged with the two wing rods respectively.
Through adopting above-mentioned technical scheme, the figure of wing sets up to two for the wing is at last clapping with clap the in-process down more stable, and the lifting power that can provide is stronger, and the supporting seat adopts the U type, and the wing frame adopts the H type all to be the symmetry, the installation of two wings of being convenient for.
The invention is further configured to: the supporting seat comprises a bottom, a right side part and a left side part, wherein the right side part and the left side part are hinged with the bottom, and the right side part and the left side part are used as fulcrum ends.
Through adopting above-mentioned technical scheme, left side portion and right side portion are articulated with the supporting seat for the rotation range of wing pole is bigger, and the last bat of wing is bigger with lower bat amplitude, and its ability of going up and down is stronger.
The invention is further configured to: the number of the sensors is two, and the two sensors are respectively arranged on the upper side and the lower side of the rotor.
By adopting the technical scheme, the two sensors are respectively arranged at the upper side and the lower side of the rotor, so that the rotor can respectively sense the two sensors once when rotating for one circle, when the wing is positioned at the highest position, the trigger piece of the rotor rotates into the sensing area of one sensor, the rotation frequency of the rotor is increased, the speed of the wing for downflapping is increased, the duration time of the downflapping state is shortened, when the rotor rotates for half a circle, the wing is converted from the highest position to the lowest position, the rotor trigger piece rotates into the sensing area of the other sensor, the rotation frequency of the rotor is reduced to the original speed, the speed of the wing for upflapping is reduced, the duration time of the upflapping state is increased until the rotor rotates for half a circle again and returns to the highest position, the process is repeated, the complete action of the wing ascending and descending is obtained, and the duration time of the upflapping is longer than the duration time of the downflapping, so that the effect of generating the lift force of the flapping rotor is enhanced, the flapping rotor wing rises faster.
Drawings
FIG. 1 is a schematic structural view of the present invention as a whole;
FIG. 2 is a schematic view of the entire structure of the present invention with the airfoil removed;
FIG. 3 is a schematic structural view of a frame and center rod drive mechanism of the present invention;
FIG. 4 is a schematic overall view of the airfoil of the present invention from another perspective;
FIG. 5 is a partial enlarged view A of the present invention;
FIG. 6 is a circuit diagram of the controller of the present invention;
FIG. 7 is a schematic overall view of the airfoil of the present invention from another perspective.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1-7, the invention discloses a rotary ultrasonic motor-driven flapping rotor with variable flapping frequency, comprising a frame 1, a center rod 31, an ultrasonic motor controller 5, a control panel circuit 6, a center rod driving mechanism 3 and wings 2, wherein the center rod driving mechanism 3 is arranged on the frame 1 and drives the center rod 31 to move vertically, the vertically moving center rod 31 enables the wings 2 to have an upward flapping state and a downward flapping state, the upward flapping state is that the center rod 31 moves downwards and drives the wings 2 to flap upwards, the center rod 31 moves upwards and drives the wings 2 to flap downwards, the center rod driving mechanism 3 comprises an ultrasonic motor 32, the ultrasonic motor 32 is provided with a rotor 321 and a stator 322, the frame 1 is provided with a sensor 33, the rotor 321 is provided with a trigger piece 35 which is induced by the sensor 33, the trigger piece 35 rotates to an induction area of the sensor 33, the control circuit 6 and the controller 5 change the rotation rate of the rotor 321, in the aspect of power of a micro aircraft, a motor is the most common driving source, but the change rate of the rotating speed of the motor is limited due to the influence of rotating inertia force, the energy consumption is large, the piezoelectric transmission has the common advantages of small volume, light weight, simple structure, high precision, no gear and small inertia effect, the piezoelectric transmission is suitable for being applied to a nano-scale to pico-scale unmanned aerial vehicle and is taken as a typical piezoelectric transmission motor, the ultrasonic motor 32 converts microscopic vibration into macroscopic rotary motion or linear motion by utilizing the inverse piezoelectric effect of piezoelectric ceramics, the ultrasonic motor not only can adapt to low temperature, vacuum and other special environments, but also has the advantages of high response speed, low noise, low rotating speed, large torque, good control characteristics, power failure self-locking, no magnetic field interference, accurate motion and the like, therefore, the ultrasonic motor 32 is very suitable for the design of a variable-speed flapping rotor wing, and the sensor 33 is arranged on the rack 1, when the rotor 321 of the ultrasonic motor 32 rotates, the trigger piece 35 located on the rotor 321 rotates along with the rotor 321, when the trigger piece 35 rotates to the induction area, the sensor 33 sends a signal to the control circuit 6, the control circuit 6 generates a control voltage to the controller 5, the controller 5 controls the rotation frequency of the rotor 321 to change, so that the moving speed of the central rod 31 changes, the time for the upward-flapping state and the downward-flapping state of the wing 2 to last is finally changed, when the time for the upward-flapping state is longer than the downward-flapping state, the constant-speed rotation is maintained compared with the motor, the lift force of the flapping rotor is enhanced through the variable speed of the ultrasonic motor 32, the rising speed and the height of the flapping rotor can be increased, and the sensor 33 is a photoelectric sensor.
The central rod driving mechanism 3 further comprises a turntable 37 and a connecting rod 38, the ultrasonic motor 32 has an output shaft 36, one end of the output shaft 36 is connected with the rotor 321 and rotates synchronously with the rotor 321, the other end of the output shaft 36 is arranged in the center of the turntable 37 and the turntable 37 rotates synchronously with the output shaft 36, the connecting rod 38 is vertically arranged, one end of the connecting rod 38 is rotatably arranged on the turntable 37, the other end of the connecting rod 38 is rotatably arranged on the central rod 31, when the rotor 321 rotates, the output shaft 36 is driven to rotate, and then the turntable 37 is driven to rotate, one end of the connecting rod 38 is arranged on the turntable 37 and rotates along with the turntable 37, so that the whole connecting rod 38 moves along with the turntable, the other end of the connecting rod 38 moves vertically, and then the central rod 31 is driven to ascend and descend, and the rotation of the ultrasonic motor 32 is converted into the vertical movement of the central rod 31 through the structure, namely, the crank slider mechanism, this mode simple manufacture, and the transmission effect is stable, and supersound motor 32 rotates the round, and carousel 37 rotates the round, and well core rod 31 rises and descends once, and circulation effect is good.
The wing 2 comprises a wing rod 22 and a wing panel 21, the wing panel 21 is inserted on the wing rod 22, a wing frame 44 is arranged on the central rod 31 and moves along with the central rod 31, one end of the wing rod 22 is hinged on the wing frame 44, a support seat 41 is arranged on the frame 1 and is positioned below the wing frame 44, the support seat 41 is provided with a fulcrum end 43 hinged with the wing rod 22, when the central rod 31 moves, the wing frame 44 is driven to move, the wing rod 22 hinged with the wing frame 44 rotates relatively, and the wing rod 22 is hinged with the fulcrum end 43, so that the wing rod 22 rotates by taking the fulcrum end 43 as a circle center, further the wing panel 21 rotates by taking the fulcrum end 43 as a circle center, and the aim of upward flapping or downward flapping is achieved, in this way, the vertical movement of the central rod 31 is converted into the rotation of the wing panel 21 by taking the fulcrum end 43 as a circle center, the design is simple, and the distance from the fulcrum end 43 to the fulcrum end 43 of the wing panel 21 is larger than the distance from the hinge point of the wing rod 22 to the hinge point of the wing frame 44, play the principle similar to the lever promptly, the distance that wing piece 21 removed is far more than the distance that well core rod 31 removed, increases flapping rotor's lifting capacity, and wing 2 adopts 3D printing technology processing, has the characteristics that the precision is high, processing is convenient and stable in structure to can carry out the customization design according to flapping rotor structure's modification requirement.
The central rod 31 passes through the support seat 41, the rotating bearing 42 is arranged between the central rod 31 and the support seat 41, the linear bearing 421 exists between the rotating bearing 42 and the central rod 31, the central rod 31 passes through the support seat 41, and the linear bearing 421 exists between the rotating bearing 42 and the central rod 31, so that the support seat 41 does not move along with the central rod 31, when the central rod 31 moves with the wing frame 44, the position of the fulcrum end 43 remains unchanged, and the hinge point of the wing rod 22 and the wing frame 44 moves along with the central rod 31, so that the wing rod 22 rotates.
The wing rods 22 and the wing pieces 21 are two in number, the two sides of the U-shaped supporting seat 41 are hinged with the two wing rods 22 as pivot ends 43, the wing frame 44 is H-shaped, the upper end gap and the lower end gap of the H-shaped supporting seat are hinged with the two wing rods 22, the number of the wings 2 is two, the wings 2 are more stable in the process of upward flapping and downward flapping, the lifting force capable of being provided is stronger, the supporting seat 41 is U-shaped, the wing frames 44 are symmetrical in H-shaped, and the two wings 2 can be conveniently installed.
The supporting seat 41 includes a bottom, and a right side portion 411 and a left side portion 412 hinged to the bottom, the right side portion 411 and the left side portion 412 are used as a fulcrum end 43, the left side portion 412 and the right side portion 411 are hinged to the supporting seat 41, so that the rotation range of the wing rod 22 is larger, the upward flapping and downward flapping amplitudes of the wing 2 are larger, and the lifting capability is stronger.
The number of the sensors 33 is two, the two sensors 33 are respectively arranged on the upper side and the lower side of the rotor 321, so that the rotor 321 can respectively sense the two sensors 33 once by one rotation, when the wing 2 is at the highest position, the trigger piece 35 of the rotor 321 rotates into the sensing area of one sensor 33 at the moment, the rotation frequency of the rotor 321 increases, the speed of the wing 2 for downflapping is increased, the duration of the downflapping state is shortened, after the rotor 321 rotates for a half turn, the wing 2 is changed from the highest position to the lowest position, the trigger piece 35 of the rotor 321 rotates into the sensing area of the other sensor 33 at the moment, the rotation frequency of the rotor 321 is decreased to the original speed, the speed of the wing 2 for upflapping is decreased, the duration of the upflapping state is increased until the rotor 321 rotates for a half turn, the wing 2 returns to the highest position again, the above processes are repeated, and the complete ascending and descending, and the duration of upward flapping is longer than the duration of downward flapping, so that the effect of generating lift force of the flapping rotor wing is enhanced, and the rising speed of the flapping rotor wing is faster.
Based on the sensor 33, the control circuit 6 and the controller 5, the ultrasonic motor 32 completes step-type switching of the rotating speed when the wing 2 beats up and down at the top, and drives the wing 2 to complete the process of beating up and down at different flapping frequencies, wherein the ultrasonic motor 32 only drives the flapping motion of the wing 2, the torsional motion of the wing 2 is derived from the passive deformation of the wing panel 21, and the rotary motion of the wing 2 is derived from the anti-karman vortex street formed in the trailing edge flow field of the flapping wing 2.
Specific modes of the circuit in the controller 5: in order to rapidly switch different flapping frequencies in the up-flapping stage and the down-flapping stage of the wing 2, two sensors 33 need to be additionally arranged on the frame, a bread board circuit 6 for control needs to be built and connected to the controller 5, as shown in fig. 6, each time the trigger sheet 35 sweeps over the sensor 33 at the upper end, the sensor 33 generates an excitation signal, so that the output voltage is only influenced by the adjustable resistor, and the output voltage is the same; similarly, when the trigger plate 35 sweeps across the lower sensor 33, the other sensor 33 is positioned to generate an excitation signal such that the output voltage is only affected by the adjustable resistance, which is the output voltage. When the trigger plate alternately sweeps across the sensors at the upper end and the lower end, the output voltage of the control circuit is switched between two fixed voltage values (sum), the control circuit 6 sends the generated control voltage to the controller 5, and the controller 5 realizes the switching of the rotating speed of the motor, so that the change of the flapping frequency of the wing 2 is realized.
Claims (7)
1. The utility model provides a rotor is pounced on to variable flapping frequency based on rotary-type supersound motor drive, includes frame, well core rod actuating mechanism and wing, well core rod actuating mechanism sets up in the frame and drives well core rod along vertical removal, and well core rod of vertical removal makes the wing have and claps the state and clap the state down, goes up to clap the state and move down for well core rod, claps on the drive wing, claps well core rod in the state down and shifts up, claps its characterized in that under the drive wing: the ultrasonic motor is provided with a rotor and a stator, a sensor is arranged on a rack, a trigger piece which is inducted with the sensor is arranged on the rotor, the trigger piece rotates to an induction area of the sensor, and the rotation rate of the rotor is changed by the control circuit and the controller.
2. The rotary ultrasonic motor drive-based variable flapping frequency flapping rotor of claim 1, wherein: the central rod driving mechanism further comprises a rotary table and a connecting rod, the ultrasonic motor is provided with an output shaft, one end of the output shaft is connected with the rotor and synchronously rotates along with the rotor, the other end of the output shaft is arranged at the center of the rotary table, the rotary table synchronously rotates along with the output shaft, the connecting rod is vertically arranged, one end of the connecting rod rotates and is arranged on the rotary table, and the other end of the connecting rod rotates and is arranged on the central rod.
3. The rotary ultrasonic motor drive-based variable flapping frequency flapping rotor of claim 1, wherein: the wing comprises a supporting seat and a wing frame, the wing comprises a wing rod and wing pieces, the wing pieces are inserted into the wing rod, the wing frame is arranged on a central rod and moves along with the central rod, one end of the wing rod is hinged to the wing frame, the supporting seat is arranged on a rack and located below the wing frame, and the supporting seat is provided with a fulcrum end hinged to the wing rod.
4. The rotary ultrasonic motor drive-based variable flapping frequency flapping rotor of claim 3, wherein: the center rod penetrates through the supporting seat, a rotating bearing is arranged between the center rod and the supporting seat, and a linear bearing is arranged between the rotating bearing and the center rod.
5. The rotary ultrasonic motor drive-based variable flapping frequency flapping rotor of claim 3, wherein: the number of the wing rods and the wing pieces is two, the supporting seat is U-shaped, two sides of the U-shaped supporting seat are used as fulcrum ends to be hinged with the two wing rods respectively, and the wing frame is H-shaped, and an upper end gap and a lower end gap of the H-shaped supporting seat are hinged with the two wing rods respectively.
6. The rotary ultrasonic motor drive-based variable flapping frequency flapping rotor of claim 5, wherein: the supporting seat comprises a bottom, a right side part and a left side part, wherein the right side part and the left side part are hinged with the bottom, and the right side part and the left side part are used as fulcrum ends.
7. The rotary ultrasonic motor drive-based variable flapping frequency flapping rotor of claim 1, wherein: the number of the sensors is two, and the two sensors are respectively arranged on the upper side and the lower side of the rotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110687835.9A CN113395015B (en) | 2021-06-21 | 2021-06-21 | Variable flapping frequency flapping rotor wing driven by rotary ultrasonic motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110687835.9A CN113395015B (en) | 2021-06-21 | 2021-06-21 | Variable flapping frequency flapping rotor wing driven by rotary ultrasonic motor |
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| Publication Number | Publication Date |
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| CN113395015A true CN113395015A (en) | 2021-09-14 |
| CN113395015B CN113395015B (en) | 2023-06-20 |
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| CN202110687835.9A Active CN113395015B (en) | 2021-06-21 | 2021-06-21 | Variable flapping frequency flapping rotor wing driven by rotary ultrasonic motor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114394231A (en) * | 2022-01-24 | 2022-04-26 | 温州大学 | Bionic aircraft based on feather-like wings |
| CN114394232A (en) * | 2022-01-24 | 2022-04-26 | 温州大学 | Flapping-flapping rotor wing multi-flight mode bionic aircraft |
Citations (5)
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| CN114394231A (en) * | 2022-01-24 | 2022-04-26 | 温州大学 | Bionic aircraft based on feather-like wings |
| CN114394232A (en) * | 2022-01-24 | 2022-04-26 | 温州大学 | Flapping-flapping rotor wing multi-flight mode bionic aircraft |
| CN114394232B (en) * | 2022-01-24 | 2024-05-14 | 温州大学 | Flapping wing-flapping rotor wing multi-flight mode bionic aircraft |
| CN114394231B (en) * | 2022-01-24 | 2024-05-17 | 温州大学 | Bionic aircraft based on feather-like wings |
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