CN113395015B - Variable flapping frequency flapping rotor wing driven by rotary ultrasonic motor - Google Patents
Variable flapping frequency flapping rotor wing driven by rotary ultrasonic motor Download PDFInfo
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- CN113395015B CN113395015B CN202110687835.9A CN202110687835A CN113395015B CN 113395015 B CN113395015 B CN 113395015B CN 202110687835 A CN202110687835 A CN 202110687835A CN 113395015 B CN113395015 B CN 113395015B
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- 230000005284 excitation Effects 0.000 claims description 4
- 238000010009 beating Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 7
- 230000008901 benefit Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000000630 rising effect Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 3
- 238000010146 3D printing Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 235000008429 bread Nutrition 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
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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
Abstract
The invention relates to a variable flapping frequency rotor wing driven by a rotary ultrasonic motor, which comprises a frame, a center rod driving mechanism and a wing, wherein the center rod driving mechanism is arranged on the frame and drives the center rod to vertically move, the vertically moving center rod enables the wing to have an up-shooting state and a down-shooting state, the up-shooting state is that the center rod moves downwards to drive the wing to up-shoot, the down-shooting state is that the center rod moves upwards to drive the wing to down-shoot. The variable flapping frequency rotor wing comprises a control circuit and a controller, wherein the controller comprises a central rod driving mechanism, the central 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 induced by 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. The invention provides a flapping-frequency-variable rotor wing with high lifting force and based on the driving 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 rotary ultrasonic motor driving.
Background
Birds and flying animals have higher flying efficiency when the Reynolds number is smaller, the rotor wing can realize vertical take-off and hover, a novel miniature aircraft form combining the two configurations, namely a flapping rotor wing, is provided by Li Daochun, wu Jianghao and the like, the flapping rotor wing has periodical rotary motion on a vertical plane like a flapping wing and also rotary motion on a horizontal plane, the rotary motion does not need an additional motor to give an impetus, an advancing propelling force is derived by using a reverse-blocking door vortex street generated by wing flapping, the rotary motion angular velocity of the flapping rotor wing can be accelerated by the reverse-blocking door vortex street thrust when the flapping is started, a stable value can be achieved by the rotary motion angular velocity on the horizontal plane after a period of time, when the rotary angle velocity is reached, the dynamic self-balancing of the resistance of the rotary motion and the thrust generated by the reverse-blocking door vortex is achieved, the flapping rotor wing comprises a frame, a center rod driving mechanism and a wing, the center rod driving mechanism is arranged on the frame and drives the center rod to move vertically, the center rod is driven to move vertically, and the center rod is driven vertically up and down, and the center rod is driven up and down.
At present, the motor is arranged on the flapping rotor wing, so that the weight of the motor is also calculated into the total weight of the flapping rotor wing, and the weight of the motor cannot be too large. The uniform rotation of the motor enables the upper swatter and the lower swatter of the wing to be consistent in speed, so that the flapping rotor wing can only generate relatively low lifting efficiency.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a flapping rotor wing with high lifting force and variable flapping frequency based on the driving of a rotary ultrasonic motor.
In order to achieve the above purpose, the present invention provides the following technical solutions: the device comprises a frame, a center rod, a control circuit, a controller, a center rod driving mechanism and a wing, wherein the center rod driving mechanism is arranged on the frame and drives the center rod to vertically move, the vertically moving center rod enables the wing to have an upward shooting state and a downward shooting state, the upward shooting state is that the center rod moves downwards, the wing is driven to move upwards, the downward shooting state is that the center rod moves upwards, the wing is driven to move downwards, the center rod driving mechanism comprises an ultrasonic motor, the ultrasonic motor is provided with a rotor and a stator, a sensor is arranged on the frame, a trigger piece which is sensed by the sensor is arranged on the rotor, the trigger piece rotates to a sensing area of the sensor, and the rotation rate of the rotor is changed by the control circuit and the controller.
Through adopting above-mentioned technical scheme, in the power aspect of miniature aircraft, the motor is the most commonly used driving source, but owing to receive rotatory inertia force's influence, the rate of change of motor rotational speed receives the restriction, and the power consumption is big, and the common advantage of piezoelectricity transmission is small, the quality is light, simple structure, the precision is high, no gear and inertial effect are little, these advantages make piezoelectricity transmission be fit for being applied to nanoscale to the leather meter level unmanned aerial vehicle, as typical piezoelectricity transmission motor, the ultrasonic motor utilizes piezoceramics's reverse piezoelectric effect, convert microscopic vibration into macroscopic rotary motion or rectilinear motion, not only can adapt to low temperature, special environment such as vacuum, also have response speed fast, the noise is low, low rotational speed is big moment, control characteristics is good, outage auto-lock, do not receive the magnetic field interference, the motion is accurate grade advantage such as so, the ultrasonic motor is particularly suitable for the design of speed changing the flapping rotor, simultaneously in the frame, when the rotor of ultrasonic motor rotates, trigger piece on the rotor rotates along with the rotor, when trigger piece rotates to the induction zone, then the sensor sends the signal to control circuit and controller, by control circuit and control circuit, the high-speed change the time when the rotor is changed with the high-speed, the last state of the speed of the rotor is changed, the high-speed is taken off, the state when the speed is changed, the state is changed, the high-speed is changed, the state is changed, the condition is changed, and the speed is changed.
The invention is further provided with: the center rod driving mechanism also comprises a turntable 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 turntable and synchronously rotates along with the output shaft, the connecting rod is vertically arranged, one end of the connecting rod is rotationally arranged on the turntable, and the other end of the connecting rod is rotationally arranged on the center rod.
Through adopting above-mentioned technical scheme, when the rotor rotates, drive the output shaft and rotate, drive the carousel and rotate then, and connecting rod one end is located the carousel, this end follows the carousel and rotates, make the whole follow-up of connecting rod remove, the connecting rod other end takes place to remove in vertical, and then drive the rising and the decline of center pole, turn into the rotation of center pole in vertical removal through 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, center pole rises and falls once, the circulation is effectual.
The invention is further provided with: the wing comprises a wing rod and a wing frame, wherein the wing plate is inserted on the wing rod, the wing frame is arranged on the central rod and moves along with the central rod, one end of the wing rod is hinged on the wing frame, the supporting seat is arranged on the frame and located below the wing frame, and the supporting seat is provided with a fulcrum end hinged with the wing rod.
Through adopting above-mentioned technical scheme, when the center pole removes, drive the wing frame and remove, and take place relative rotation with the articulated wing pole of wing frame, and still with the fulcrum end articulated on the wing pole, so the wing pole takes place to rotate as the centre of a circle with the fulcrum end, and then make the wing panel take place to rotate as the centre of a circle with the fulcrum end, reach the purpose of beating up or down, this mode is with the center pole along vertical removal turn into the wing panel regard as the centre of a circle with the fulcrum end rotation, the design is simple, and steerable wing panel is greater than the fulcrum end to the distance of wing pole and wing frame pin joint, play the principle of similar to the lever promptly, the distance that the wing piece removed is greater than the distance that the center pole removed, increase the lifting capacity of flapping wing, the wing adopts 3D printing technique processing, have the precision height, processing is convenient and stable in structure's characteristics, and can develop the customization design according to the remodel requirement of flapping wing structure.
The invention is further provided with: the center rod passes 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.
Through adopting above-mentioned technical scheme, the center pole passes the supporting seat, and because there is linear bearing between this swivel bearing and the center pole for the supporting seat does not remove along with the center pole, and when the center pole drove the wing frame and removed, fulcrum end position remains unchanged, and wing pole and wing frame pin joint then remove along with the center pole, makes the wing pole take place to rotate.
The invention is further provided with: the number of the wing rods and the wing sheets is two, the supporting seat is U-shaped, two sides of the U-shaped supporting seat are used as fulcrum ends to be respectively hinged with the two wing rods, the wing frame is H-shaped, and the upper end gap and the lower end gap of the H-shaped supporting seat are respectively hinged with the two wing rods.
Through adopting above-mentioned technical scheme, the number of wing sets up to two for the wing is last to clap with clap the in-process down more stable, and can provide the lifting force stronger, and the supporting seat adopts the U type, and the wing frame adopts the H type to be the symmetry type, the installation of two wings of being convenient for.
The invention is further provided with: 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 and right side are articulated with the supporting seat for the rotation range of wing pole is bigger, and the upper flap and the lower flap range of wing are bigger, and its ability of going up and down is stronger.
The invention is further provided with: 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.
Through adopting above-mentioned technical scheme, two sensors set up respectively in the upper and lower both sides of rotor, make the rotor rotate round can once with two sensors response respectively, when the wing is in the highest department, the trigger piece of rotor rotates to in the induction zone of a sensor this moment, rotor rotation frequency rises, make the speed that the wing was beaten down rise, the time that the lower clap state lasted shortens, after the rotor rotated half round, the wing changes from the highest department into the lowest department, rotor trigger piece rotates to in the induction zone of another sensor this moment, the rotor rotation frequency falls to original speed, the speed that the wing was beaten up falls, the time that the clap state lasted increases, until the rotor rotates half round again, the wing returns to the highest department again, repeat above-mentioned process, namely for complete wing rising and descending action, and last clap duration is greater than lower clap duration, make the effect that the lift of the generation of flapping rotor strengthen, the speed that the flapping rotor risen is faster.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the overall structure of the present invention with the engine tab removed;
FIG. 3 is a schematic view of a frame and center rod drive mechanism according to the present invention;
FIG. 4 is a schematic view of the structure of the present invention from another perspective with the engine tab removed;
FIG. 5 is a partial enlarged view A of the present invention;
FIG. 6 is a circuit diagram of a controller according to the present invention;
FIG. 7 is a schematic view of the structure of the present invention from another perspective with the engine tab removed.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific 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 variable flapping-frequency rotor wing, which comprises a frame 1, a central rod 31, an ultrasonic motor controller 5, a bread board control circuit 6, a central rod driving mechanism 3 and a wing 2, wherein the central rod driving mechanism 3 is arranged on the frame 1 and drives the central rod 31 to move vertically, the vertically moving central rod 31 enables the wing 2 to have an up-flapping state and a down-flapping state, the up-flapping state is that the central rod 31 moves downwards, the wing 2 is driven to flap upwards, the center rod 31 moves upwards, the wing 2 is driven to flap downwards, the central rod driving mechanism 3 comprises an ultrasonic motor 32, the ultrasonic motor 32 is provided with a rotor 321 and a stator 322, a sensor 33 is arranged on the frame 1, a trigger piece 35 which is sensed with the sensor 33 is arranged on the rotor 321, the trigger piece 35 rotates to a sensing area of the sensor 33, the control circuit 6 and the controller 5 change the rotation rate of the rotor 321, and in the aspect of the power of the micro-aircraft, the motor is the most commonly used driving source, but the change rate of the motor rotation speed is limited due to the influence of the rotation inertia force, and the energy consumption is large, the piezoelectric transmission has the advantages of small volume, light weight, simple structure, high precision, no gear and small inertia effect, so that the piezoelectric transmission is suitable for being applied to the nanoscale to picometer unmanned plane, and as a typical piezoelectric transmission motor, the ultrasonic motor 32 converts microscopic vibration into macroscopic rotary motion or linear motion by using the inverse piezoelectric effect of piezoelectric ceramics, thereby not only being suitable for special environments such as low temperature, vacuum and the like, but also having the advantages of high response speed, low noise, low rotation speed, large torque, good control characteristics, power-off self-locking, no magnetic field interference, accurate motion and the like, the ultrasonic motor 32 is very suitable for the design of speed-changing flapping rotor, set up the sensor 33 on frame 1 simultaneously, the rotor 321 of ultrasonic motor 32 rotates, the trigger piece 35 that is located on rotor 321 rotates along with rotor 321, when trigger piece 35 rotates to the induction zone, then sensor 33 gives control circuit 6 with the signal transmission, control circuit 6 produces control voltage and gives controller 5, control rotor 321 rotation frequency changes by controller 5, the velocity of movement of center pole 31 changes, finally change the last time that the state of beating and the state of beating down of wing 2 last, when last time that the state of beating up is greater than the state of beating down, compare and maintain at uniform velocity rotation with the motor, the speed change of ultrasonic motor 32 makes the lift enhancement of flapping rotor, the speed of rising and the altitude of flapping rotor can increase, sensor 33 be photoelectric sensor.
The center rod driving mechanism 3 further comprises a turntable 37 and a connecting rod 38, the ultrasonic motor 32 is provided with an output shaft 36, one end of the output shaft 36 is connected with the rotor 321 and synchronously rotates along with the rotor 321, the other end of the output shaft 36 is arranged at the center of the turntable 37, the turntable 37 synchronously rotates along with the output shaft 36, the connecting rod 38 is vertically arranged, one end of the connecting rod 38 is rotatably arranged on the center rod 31, the output shaft 36 is driven to rotate when the rotor 321 rotates, the turntable 37 is driven to rotate, one end of the connecting rod 38 is arranged on the turntable 37, the end of the connecting rod is driven to rotate along with the turntable 37, the whole connecting rod 38 moves along with the whole connecting rod, the other end of the connecting rod 38 moves vertically, and then the center rod 31 is driven to ascend and descend, so that the ultrasonic motor 32 is converted into the movement of the center rod 31 in the vertical direction through the structure, namely the crank slider mechanism.
The wing 2 comprises a wing rod 22 and a wing plate 21, the wing plate 21 is inserted on the wing rod 22, the 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, the supporting seat 41 is arranged on the frame 1 and positioned below the wing frame 44, the supporting seat 41 is provided with a pivot 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 pivot end 43, so that the wing rod 22 rotates around the pivot end 43, and the wing plate 21 rotates around the pivot end 43, the purpose of up-shooting or down-shooting is achieved, the mode converts the vertical movement of the center rod 31 into the rotation of the wing piece 21 by taking the fulcrum end 43 as the center of a circle, the design is simple, the distance from the wing piece 21 to the fulcrum end 43 is controlled to be larger than the distance from the fulcrum end 43 to the hinge point of the wing rod 22 and the wing frame 44, namely, the principle similar to a lever is achieved, the moving distance of the wing piece 21 is far larger than the moving distance of the center rod 31, the lifting capacity of the flapping wing is improved, the wing 2 is processed by adopting a 3D printing technology, the wing has the characteristics of high precision, convenience in processing and stable structure, and the customized design can be developed according to the modification requirement of the flapping wing structure.
The center rod 31 passes through the supporting seat 41, a rotary bearing 42 is arranged between the center rod 31 and the supporting seat 41, a linear bearing 421 is arranged between the rotary bearing 42 and the center rod 31, the center rod 31 passes through the supporting seat 41, and the supporting seat 41 does not move along with the center rod 31 due to the fact that the linear bearing 421 is arranged between the rotary bearing 42 and the center rod 31, when the center rod 31 drives the wing frame 44 to move, the position of the fulcrum end 43 is kept unchanged, and the hinge point of the wing rod 22 and the wing frame 44 moves along with the center rod 31, so that the wing rod 22 rotates.
The number of the wing rods 22 and the number of the wing pieces 21 are two, the supporting seat 41 is U-shaped, two sides of the U-shaped are respectively hinged with the two wing rods 22 as fulcrum ends 43, the wing frame 44 is H-shaped, the upper end clearance and the lower end clearance of the H-shaped are respectively hinged with the two wing rods 22, the number of the wings 2 is two, the wings 2 are more stable in the upper shooting and lower shooting processes, the lifting force can be provided is stronger, the supporting seat 41 adopts U-shaped, the wing frame 44 adopts H-shaped to be symmetrical, and the installation of the two wings 2 is facilitated.
The supporting seat 41 comprises a bottom, a right side 411 and a left side 412 hinged with the bottom, wherein the right side 411 and the left side 412 are used as fulcrum ends 43, the left side 412 and the right side 411 are hinged with the supporting seat 41, so that the rotation range of the wing rod 22 is larger, the upper swatter and the lower swatter of the wing 2 are larger, and the lifting capacity of the wing is stronger.
The number of the sensors 33 is two, the two sensors 33 are respectively arranged at the upper side and the lower side of the rotor 321, so that the rotor 321 can respectively sense with the two sensors 33 once in one turn, when the wing 2 is at the highest position, the trigger piece 35 of the rotor 321 rotates to the sensing area of one sensor 33, the rotation frequency of the rotor 321 rises, the speed of the wing 2 is increased, the duration of the lower shooting state is shortened, after the rotor 321 rotates for half a turn, the wing 2 rotates from the highest position to the lowest position, at the moment, the trigger piece 35 of the rotor 321 rotates to the sensing area of the other sensor 33, the rotation frequency of the rotor 321 is reduced to the original speed, the speed of the wing 2 is reduced, the duration of the upper shooting state is increased until the rotor 321 rotates for half a turn again, the wing 2 returns to the highest position again, and the process is repeated, namely the actions of the rising and the falling of the wing 2 are completed, and the duration of the upper shooting is longer than the duration of the lower shooting, so that the effect of the generation of the flapping lift is enhanced, and the flapping effect is faster.
The invention is based on a sensor 33, a control circuit 6 and a controller 5, an ultrasonic motor 32 completes step-type switching of rotating speed when the wing 2 beats up and down at the vertex, and drives the wing 2 to complete the process of beating up and down at different beating frequencies, wherein the ultrasonic motor 32 only drives the beating motion of the wing 2, the torsion motion of the wing 2 is derived from passive deformation of a wing plate 21, and the rotation motion of the wing 2 is derived from a reverse karman vortex street formed in a wake flow field of the beating wing 2.
Specific manner of circuitry in the controller 5: in order to rapidly switch different flapping frequencies in the upper and lower stages of the wing 2, besides two sensors 33 are additionally arranged on the frame, a bread board circuit 6 for control needs to be built and connected with the controller 5, as shown in fig. 6, each time the trigger piece 35 sweeps across 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 at the moment; similarly, when the trigger piece 35 sweeps across the sensor 33 at the lower end, the other sensor 33 is positioned to generate an excitation signal such that the output voltage is affected only by the adjustable resistance, when the output voltage is. When the trigger piece alternately sweeps the upper end and the lower end of the sensor, 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 (5)
1. The utility model provides a rotor is flapped to variable frequency based on rotary-type ultrasonic motor drive, includes frame, center pole actuating mechanism and wing, and center pole actuating mechanism sets up in the frame and drives the center pole and follow vertical movement, and vertical moving center pole makes the wing have and beats the state and beat down, goes up to beat the state and moves down for center pole, drives the wing to beat, and lower to beat the state center pole and move up, drives the wing to beat down, its characterized in that: the central rod driving mechanism comprises an ultrasonic motor, wherein the ultrasonic motor is provided with a rotor and a stator, a sensor is arranged on a rack, a trigger piece which is induced by 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;
the central rod driving mechanism also comprises a turntable 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 turntable and synchronously rotates along with the output shaft, the connecting rod is vertically arranged, one end of the connecting rod is rotationally arranged on the turntable, and the other end of the connecting rod is rotationally arranged on the central rod;
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 in the axial direction;
the control circuit is a sensor which generates an excitation signal when the trigger piece sweeps over the upper end, and the output voltage is V out_down The method comprises the steps of carrying out a first treatment on the surface of the When the trigger piece sweeps across the sensor at the lower end, the other sensor generates an excitation signal, and the output voltage is V out_up The method comprises the steps of carrying out a first treatment on the surface of the The control circuit outputs a voltage V when the trigger plate alternately sweeps across the upper and lower sensors out Will be at a fixed voltage V out_down And V out_up Is switched between, the control circuit generates a control voltage V out The controller is provided, and the controller realizes the switching of the rotating speed of the motor, so that the change of the flapping frequency of the wing is realized.
2. The variable flapping-frequency flapping rotor driven by a rotary ultrasonic motor according to claim 1, wherein: the wing comprises a wing rod and a wing frame, wherein the wing plate is inserted on the wing rod, the wing frame is arranged on the central rod and moves along with the central rod, one end of the wing rod is hinged on the wing frame, the supporting seat is arranged on the frame and located below the wing frame, and the supporting seat is provided with a fulcrum end hinged with the wing rod.
3. The variable flapping-frequency flapping rotor driven by a rotary ultrasonic motor according to claim 2, wherein: the center rod passes 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.
4. The variable flapping-frequency flapping rotor driven by a rotary ultrasonic motor according to claim 2, wherein: the number of the wing rods and the wing sheets is two, the supporting seat is U-shaped, two sides of the U-shaped supporting seat are used as fulcrum ends to be respectively hinged with the two wing rods, the wing frame is H-shaped, and the upper end gap and the lower end gap of the H-shaped supporting seat are respectively hinged with the two wing rods.
5. The variable flapping-frequency flapping rotor driven by a rotary ultrasonic motor according to claim 4, 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.
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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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| 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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| CN113395015A CN113395015A (en) | 2021-09-14 |
| CN113395015B true CN113395015B (en) | 2023-06-20 |
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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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107352030A (en) * | 2017-07-05 | 2017-11-17 | 北京航空航天大学 | A kind of double-vane is differential flap miniature flutter rotor craft |
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|---|---|---|---|---|
| KR100451984B1 (en) * | 2001-11-16 | 2004-10-08 | 주식회사 뉴로스 | Power-Driven Ornithopter |
| CN105539839A (en) * | 2015-12-30 | 2016-05-04 | 北京航空航天大学 | Miniature mechanical sliding rail type controllable flapping rotor craft |
| CN107046380B (en) * | 2017-02-23 | 2019-04-19 | 南京航空航天大学 | A kind of more spoke-type ultrasound electric machines |
| CN107867397B (en) * | 2017-12-15 | 2023-07-25 | 南京航空航天大学 | Linear ultrasonic motor driven miniature ornithopter |
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2021
- 2021-06-21 CN CN202110687835.9A patent/CN113395015B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107352030A (en) * | 2017-07-05 | 2017-11-17 | 北京航空航天大学 | A kind of double-vane is differential flap miniature flutter rotor craft |
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