CN113665806B - Flapping-wing and rotor wing combined type micro air vehicle - Google Patents

Flapping-wing and rotor wing combined type micro air vehicle Download PDF

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Publication number
CN113665806B
CN113665806B CN202110973088.5A CN202110973088A CN113665806B CN 113665806 B CN113665806 B CN 113665806B CN 202110973088 A CN202110973088 A CN 202110973088A CN 113665806 B CN113665806 B CN 113665806B
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flapping
rotor
wing
small
wings
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CN113665806A (en
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李港
周超
褚松涛
吴江浩
张艳来
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Beihang University
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Beihang University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C33/00—Ornithopters
    • B64C33/02—Wings; Actuating mechanisms therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/02—Gyroplanes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/60—Efficient propulsion technologies, e.g. for aircraft

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
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Abstract

The invention provides a composite type miniature aircraft of flapping wings and rotor wings, which aims to solve the problems that the traditional flapping-rotor aircraft has too high wing load and has larger unbalanced aerodynamic moment and friction moment when the wing is flown forward to drive a fuselage to rotate. The main aerodynamic surface of the aircraft is a pair of flapping rotors, a pair of passively rotating rotors are only introduced below the plane of the flapping rotors, the small rotor rotating shaft is consistent with the flapping rotor rotating shaft, and the reverse rotation is realized under the combined action of the lower washing airflow and the forward flying airflow of the flapping rotors so as to supplement the lift force of the aircraft, reduce unbalanced moment and friction moment, thereby improving the lift force of the aircraft and reducing the design difficulty of a control system.

Description

Flapping-wing and rotor wing combined type micro air vehicle
Technical Field
The invention relates to the field of miniature aircrafts, in particular, but not exclusively, to a flapping-rotor combined type miniature aircraft.
Background
With the recent progress in microelectronics, the miniaturization of aircraft has become the focus of research in the current aviation field. The miniature aircraft has the advantages of small volume, light weight, strong maneuverability, lower cost, capability of being used in a large amount after batch production, wide application prospect in military and civil aspects, and capability of being used for detection, exploration, assistance rescue and other works in complex environments. The focus of current micro-aircraft research is mostly focused on the field of bionic micro-aircraft.
The flapping rotor wing layout is one of the composite type micro air vehicle layout of the flapping wings and the rotor wings, which is designed by combining the biological flight principle with the pneumatic principle of the traditional air vehicle. The flapping rotor wing layout fuses two motions of the flapping wings and the rotor wings, and the wings actively and vertically flap and passively rotate during the motion, so that the layout has the advantages of high lift force when the flapping wings are moved at a low Reynolds number and the characteristics of high pneumatic efficiency when the rotor wings are arranged.
Various designs of a flapping rotor aircraft have been proposed in the past, such as a patent "a flapping rotor aircraft based on piezoelectric driving and a driving method" (patent No. ZL 201711019042. X) and a patent "a miniature mechanical sliding rail type controllable flapping rotor aircraft" (patent No. ZL 2015121309. X). The design of these flapping wings presents certain problems in terms of aerodynamic performance, mainly in terms of: firstly, the flapping rotor wing mainly relies on the lower clapping process to generate lift force, and the upper clapping process has smaller contribution to the lift force. Therefore, the greater the wing load of a single flapping wing, the more obvious the difference between the up and down flapping loads, and the greater the instantaneous power requirement of the motor. And secondly, when the flapping rotor wing flies forward, one side wing is in a forward stage, the other side is in a backward stage, wherein the wing lift force in the forward stage is larger, the wing lift force in the backward stage is smaller, the difference of the two sides of the wing lift force can cause obvious unbalanced moment, and the design requirement on a control system is high. Third, although the rotation of the flapping wings is driven by aerodynamic torque, the friction torque still exists for friction between mechanism components to drive the machine body to rotate, so that the friction torque needs to be overcome in design.
The design scheme of coaxial reverse rotation wings is an effective way to solve the above problems, for example, a scheme of multiple pairs of wings is proposed in a patent 'a coaxial reverse double flapping rotor mechanism' (patent number ZL 201910332059.3), so as to reduce wing load and aerodynamic fluctuation through the increase of the number of wings and eliminate unbalanced moment between the front and rear wings. In the scheme, the multiple wings coaxially and reversely rotate, the two groups of wings are the same in size, the lower wing is positioned in the wake of the upper wing during movement and is always interfered by the washing air flow from the upper wing, and the aerodynamic efficiency is lower than that of the upper wing. In addition, the two sets of wings are all active driving wings, so that the aircraft needs to drive the two sets of wings to move simultaneously, and the requirements on mechanism transmission and driving energy are high. For this reason, there is still a need to explore a more simple multi-wing design scheme of a combined flapping-wing and rotor wing microminiature aircraft to solve the problems of the three aspects.
Disclosure of Invention
The invention provides a composite type miniature aircraft of a flapping wing and a rotor wing, which aims to solve the problems that the conventional flapping rotor wing is too high in wing load and the wing can generate unbalanced aerodynamic moment and friction moment to drive a fuselage to rotate when flying forwards. The main aerodynamic surface of the aircraft is still a pair of flapping rotors, a pair of small rotors which are driven to rotate horizontally are introduced below the rotation plane of the flapping rotors, the rotation shafts of the small rotors are consistent with the rotation shafts of the flapping rotors, and in the movement process of the aircraft, the small rotors reversely rotate under the combined action of the downward washing airflow and the forward flying airflow of the flapping rotors to supplement the lift force of the aircraft and reduce unbalanced moment and friction moment, so that the lift force generation requirement of the flapping rotors is reduced, the flight control difficulty of the aircraft is reduced, and the performance of the aircraft is improved.
Specifically, the invention relates to a flapping-rotor combined type microminiature aircraft which is characterized by comprising a base, a transmission device, a miniature motor, a flapping rotor and a small rotor.
The base is used for fixing the miniature motor and the transmission device, wherein a cylindrical cavity is formed in the upper surface of the base and used for fixing the miniature motor, and a supporting structure is arranged behind the cylindrical cavity and used for positioning and supporting a speed reducer gear of the transmission device and an inner rod of the actuating mechanism.
The miniature motor is fixed in the reserved cylindrical cavity of the base. The miniature motor outputs power, and the driving transmission device drives the flapping rotor wing to vertically and reciprocally flap and passively rotate.
The flapping rotor wing is arranged at the top end of the transmission device, and the flapping component of the transmission device and the rotating component flapping and rotate together. The flapping rotor wing comprises a main beam, two auxiliary beams and a wing film. One end of the main beam is fixedly connected to the tail end of the flapping assembly of the transmission device and is connected with the root ends of the two auxiliary beams, and the main beam and the auxiliary beams are adhered to the wing film. When the main beam of the flapping rotor is flapped to the horizontal plane during initial installation, the included angle between the plane of the flapping rotor and the horizontal plane is designed to be between 10 and 15 degrees, and the main purpose of setting the angle is to improve the rotation speed of the flapping rotor so as to increase the size of the downward washing airflow to drive the small rotor to rotate on one hand, and on the other hand, the attack angle of the flapping rotor is set near the attack angle generated by high lift force so as to ensure the generation of the high lift force.
The small rotor wing is of a light film structure, is coaxial with the flapping rotor wing, is arranged below the flapping rotor wing and only performs rotary motion. The horizontal mounting direction of the small rotor is opposite to that of the flapping rotor so as to realize reverse rotation. The small rotor wing span is 1/2-1/3 of the flapping rotor wing span so as to ensure that the small rotor wing has small moment of inertia to rotate rapidly to generate lift force. The aspect ratio of the small rotor wing is 5-7, so that the high aerodynamic efficiency of the small rotor wing is ensured. The rotation plane of the small rotor wing is horizontal, the distance from the rotation plane of the flapping rotor wing is in the range of 0.5-0.75 times of the length of the flapping wing span, and the rotation axis of the small rotor wing is the same as that of the flapping rotor wing. The small rotor wing root is adhered to the actuating mechanism rotating assembly, and the small rotor wing root and the flapping rotor wing are reversely rotated around the rotating shaft.
The transmission device comprises a spindle gear, a speed reducer and an executing mechanism. The main shaft gear is fixed on the output shaft of the miniature motor and meshed with the speed reducer to drive the motor to output high-speed rotation for speed reduction. The actuating mechanism comprises an oscillating assembly, a flapping assembly and a rotating assembly. The speed reducer is connected with the executing mechanism oscillating assembly, and the circular motion after speed reduction is changed into vertical oscillation of the oscillating assembly. The oscillating assembly drives the flapping assembly to drive a pair of flapping rotors to perform reciprocating flapping motion; the flapping rotor starts to rotate around the rotating assembly after generating a pushing moment through flapping motion, and the small rotor rotates around the rotating assembly under the combined action of the downward washing airflow and the forward flying airflow of the flapping rotor, but the rotating direction is opposite to that of the flapping rotor. The rotating assembly can realize reverse rotation of the flapping rotor wing and the small rotor wing around the same rotating shaft at different speeds.
The motion process of the flapping-rotor combined type microminiature aircraft is as follows: after the aircraft is powered, the miniature motor outputs high-speed rotation, the speed is reduced by the speed reducer, the flapping rotor wing is driven by the oscillating assembly and the flapping assembly to perform reciprocating flapping, and the miniature motor starts to rotate after the flapping motion generates pushing moment. The passive rotation of the small rotor during hover flight is driven by the flapping rotor wake and during forward flight is driven by the combined action of the flapping rotor wake and the forward flight, which is similar to a windmill or a children windmill toy. Because the horizontal installation directions of the flapping rotor and the small rotor are opposite, the rotation directions of the flapping rotor and the small rotor are opposite when the flapping rotor and the small rotor move.
The working principle of the flapping-rotor and rotor combined type microminiature aircraft for improving aerodynamic performance and reducing flight control difficulty by utilizing the small rotor is as follows:
(1) Compared with the traditional single-pair flapping rotor wing layout, the small rotor wing is additionally arranged below the flapping rotor wing, and the design scheme of the small rotor wing with light moment of inertia and large aspect ratio ensures that the rotor wing can rapidly rotate under the action of the upward incoming flow to generate additional lift force, so that the load of the flapping rotor wing is reduced;
(2) When flying forwards, the flapping rotor wing has larger unbalanced moment due to the asymmetric incoming flow speeds of the forward and backward stages of the wing in the forward flying process. After the small rotor wing is introduced, the rapid forward flying motion can bring high-speed rotation of the small rotor wing, and unbalanced moment can also appear due to force asymmetry in the forward moving stage and the backward moving stage when the small rotor wing flies forward. However, the rotation directions of the flapping rotor wing and the small rotor wing are opposite, and the unbalanced moment of the flapping rotor wing and the small rotor wing are just opposite, so that the unbalanced moment can be weakened due to the existence of the small rotor wing, and the design difficulty of a control system is reduced.
(3) The flapping rotor wing has a friction moment between the wing and a transmission mechanism component when rotating even though the wing rotates passively, and the friction moment of the mechanism needs to be overcome when the wing rotates to realize stable control of the machine body. The existence of the reverse rotation motion of the small rotor wing can introduce reverse friction moment, so that the friction moment of the flapping rotor wing can be offset to a certain extent, and the design difficulty of a control system can be reduced.
The invention has the advantages that:
(1) The flapping-rotor combined type miniature aircraft reduces the load and the power consumption of each wing, and the small rotor can supplement the lift force to generate without providing power additionally, so that the output power of a motor is reduced.
(2) The flapping-rotor combined type miniature aircraft disclosed by the invention has the advantages that unbalanced moment and small friction moment between mechanisms when the traditional flapping rotor flies forward are reduced, and the design difficulty of a control system is reduced.
Drawings
FIG. 1 is an overall schematic of a composite flapping-rotor microminiature aircraft of the present invention;
FIG. 2 is a schematic diagram of a flapping rotor of a composite type micro air vehicle of the flapping-wing and rotor of the present invention;
FIG. 3 is a schematic view of a base of a composite flapping-rotor microminiature aircraft of the present invention;
FIG. 4 is a schematic view of a transmission base of a composite flapping-rotor microminiature aircraft of the present invention;
FIG. 5 is a schematic view of a miniature motor of a compound ornithopter and rotor miniature aircraft of the present invention;
in the figure:
1-flapping rotor 2-small rotor 3-base
4-drive 5-micromotor
101-Main girder 102-short girder 103-oblique girder
104-wing film 401-spindle gear 402-large gear
403-drive link 404-inner rod 405-rotor support
406-big support 407-big bearing 408-small support
409-small bearing 410-wing link 411-rocker arm
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below. The invention will be described in further detail with reference to the drawings and examples.
Fig. 1 is an overall schematic diagram of a composite flapping-rotor microminiature aircraft of the invention, comprising a flapping rotor 1, a small rotor 2, a base 3, a transmission device 4 and a miniature motor 5.
Fig. 2 shows an exemplary embodiment of a flapping wing 1, wherein the main beam 101 and the auxiliary beams 102, 103 are made of carbon fiber rods, and the wing film 104 is made of polyethylene film. When the main beams of the flapping rotor wing 1 and the small rotor wing 2 are positioned in the horizontal plane during initial installation, the included angle between the plane of the flapping rotor wing 1 and the horizontal plane is designed to be between 10 and 15 degrees, and the cylinder at the root of the main beam 101 is fixedly installed in a reserved hole of a rocker arm 411 of the transmission device 4. As shown in fig. 1, a pair of flapping wings 1 are arranged antisymmetrically about a rotation axis.
An exemplary embodiment of the small rotor 2 is structurally identical to the flapping rotor 1 and also includes a main beam, two auxiliary beams and a wing membrane, wherein the wing has a wing span of 1/3-1/2 of the length of the flapping rotor 1, the wing aspect ratio of 5-7, the installation direction in the horizontal plane of the small rotor is opposite to that of the flapping rotor 1, and the bottom end of the main beam of the small rotor is bonded with the extending end of the rotor bracket 405 of the actuator rotating assembly.
Fig. 3 shows an exemplary embodiment of the base 3, which is integrally made of a resin material or a polylactic acid material by 3D printing. The base 3 is of a symmetrical structure, a cylindrical cavity is reserved in the center of the upper surface, and a gear rack is arranged behind the cavity and plays a role in supporting the large gear 402. A space is reserved at the rear side of the gear rack for positioning the spindle gear 401. And then sleeves are arranged in the vertical direction, and a central hole and a side groove are respectively formed for limiting the inner rod 404.
Fig. 4 shows an exemplary embodiment of a transmission 4, including a spindle gear 401, a reducer (gear wheel 402), an oscillating assembly (transmission link 403, inner lever 404), a flapping assembly ( wing links 410a and 410b, rocker arms 411a and 411 b), a rotating assembly (rotor support 405, large mount 406, large bearing 407, small mount 408, small bearing 409). The inner rod 404 is made of a light carbon fiber rod, the large bearing 407 and the small bearing 409 are light metal bearings, and the rest parts are made of resin materials or polylactic acid materials integrally through 3D printing. The spindle gear 401 and the large gear 402 are engaged in the same plane and perpendicular to the bottom surface of the chassis 3. One end of the transmission link 403 is connected with the eccentric hole of the large gear 402 by a rivet, and the other end is connected with the inner rod 404 by the rivet penetrating through the groove of the sleeve side wall of the base 3. The inner rod 404 is placed in the sleeve of the base 3 and can slide vertically in the sleeve. The rotor bracket 405 is installed above the top of the sleeve of the base 3, a certain gap is reserved between the rotor bracket and the upper end surface of the sleeve, and the middle opening is sleeved into the inner rod 404. The big support 406 is installed above the rotor bracket 405, a certain gap is reserved between the big support and the upper end face of the rotor bracket, the big support is hinged with the wing connecting rod 410, and the big bearing 407 is installed in a reserved hole of the big support 406. A small support 408 is mounted on top of the inner rod 404 and hinged to the rocker arm 411, and a small bearing 409 is mounted in a preformed hole of the small support 408. Wing link 410 is hinged to swing arm 411. The transmission device 4 is used for decelerating the high-speed circular motion output by the motor and converting the high-speed circular motion into the up-and-down motion of the oscillating assembly through the speed reducer, driving the flapping assembly to drive the flapping rotor wing 1 to perform reciprocating flapping motion, and the flapping rotor wing 1 starts to rotate around the rotating assembly after generating pushing moment through the flapping motion.
Fig. 5 shows an exemplary embodiment of a miniature motor 5. The miniature motor 5 is arranged in a cylindrical cavity reserved in the base 3, and an output shaft is fixedly connected with a main shaft gear 401 in the transmission device 4.
The working process of the flapping-rotor combined type microminiature aircraft is described with reference to fig. 1-5. After the aircraft is powered, the micro motor 5 outputs high-speed circular motion, the speed is reduced through the transmission device 4, the reciprocating flapping motion of the flapping rotor 1 is converted into the couple moment for driving the flapping rotor 1 to rotate, the flapping rotor 1 starts to rotate until the rotation is stable, and lift force is generated. During hovering flight, the small rotor wing 2 is driven by wake airflow of the flapping rotor wing 1 to rotate in a passive reverse direction; during forward flight, the wake airflow of the flapping rotor 1 and forward flight flow jointly drive the small rotor 2 to passively rotate reversely.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.

Claims (5)

1. A composite miniature aircraft with flapping wings and rotor wings is characterized by comprising a base, a transmission device, a miniature motor, flapping rotor wings and small rotor wings;
the flapping rotor wings and the small rotor wings are both a pair, and the flapping rotor wings are arranged at the tail end of the transmission device and can flap and rotate together with the transmission device;
the small rotor wing is of a light film structure, is coaxial with the flapping rotor wing, and is horizontally arranged below the flapping rotor wing in a rotating plane, and only performs rotating motion; the horizontal installation direction of the small rotor wing is opposite to that of the flapping rotor wing so as to realize reverse rotation;
the transmission device comprises a main shaft gear, a speed reducer and an executing mechanism; the main shaft gear is fixed on the output shaft of the miniature motor and meshed with the speed reducer to drive the high-speed rotary motion output by the motor to reduce the speed; the actuating mechanism comprises an oscillating assembly, a flapping assembly and a rotating assembly; the speed reducer is connected with the executing mechanism oscillating assembly, and the circular motion after speed reduction is changed into vertical oscillation of the oscillating assembly; the oscillating assembly drives the flapping assembly to drive the flapping rotor wing to perform reciprocating flapping motion; the flapping rotor starts to rotate around the rotating assembly after generating pushing moment through flapping motion, and the small rotor rotates around the rotating assembly under the action of wake airflow and forward flying flow of the flapping rotor, but the rotating direction is opposite to that of the flapping rotor.
2. A composite flapping-rotor microminiature aircraft according to claim 1, wherein the small rotor span is 1/2-1/3 of the flapping wing span to ensure that the small rotor has a small moment of inertia for rapid rotation to generate lift.
3. A composite flapping-rotor microminiature aircraft according to claim 1, wherein the aspect ratio of the small rotor is 5-7 to ensure high aerodynamic efficiency of the small rotor.
4. A composite flapping-rotor microminiature aircraft according to claim 1, wherein the distance between the plane of rotation of the small rotor and the plane of rotation of the flapping rotor is in the range of 0.5 to 0.75 times the length of the flapping wing span.
5. A composite flapping-rotor microminiature aircraft according to claim 1, wherein the rotary assembly of the actuator is adapted to effect counter-rotation of the flapping rotor and the mini rotor about the same axis of rotation at different speeds.
CN202110973088.5A 2021-08-24 2021-08-24 Flapping-wing and rotor wing combined type micro air vehicle Active CN113665806B (en)

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Publication number Priority date Publication date Assignee Title
CN114030610B (en) * 2021-11-29 2023-12-08 北京理工大学 Flapping wing micro air vehicle based on motor antisymmetric layout driving
CN115123530B (en) * 2022-06-30 2024-08-09 燕山大学 Micro aircraft with coaxial double rotor wings and magnetic driving flapping wings coupled and control method

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US6824094B2 (en) * 2002-06-06 2004-11-30 Charron Richard Power assembly for ornicopter
GB2470712A (en) * 2009-03-11 2010-12-08 Shijun Guo Air vehicle with flapping rotor
CN101492093B (en) * 2009-03-12 2011-05-04 北京理工大学 Flapping rotor wing design method and microminiature flapping rotor wing designed according to the method
CN102390530B (en) * 2011-09-19 2014-01-08 北京航空航天大学 Micromechanical controllable flapping rotary wing aircraft and manufacturing method as well as control method thereof
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
CN106347661B (en) * 2016-10-12 2018-10-09 北京理工大学 It is a kind of that rotor craft and production method are flutterred based on the miniature of voice coil motor driving
CN107352030B (en) * 2017-07-05 2020-01-14 北京航空航天大学 Micro flapping rotor wing aircraft with double wings flapping differentially
CN114030610B (en) * 2021-11-29 2023-12-08 北京理工大学 Flapping wing micro air vehicle based on motor antisymmetric layout driving

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