CN114013651A - Special-shaped blade contact type rotation controlled rotary moving wing device - Google Patents
Special-shaped blade contact type rotation controlled rotary moving wing device Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/003—Aircraft not otherwise provided for with wings, paddle wheels, bladed wheels, moving or rotating in relation to the fuselage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C21/00—Influencing air flow over aircraft surfaces by affecting boundary layer flow
- B64C21/02—Influencing air flow over aircraft surfaces by affecting boundary layer flow by use of slot, ducts, porous areas or the like
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Abstract
The invention relates to a rotary moving wing device for the contact type autorotation control of special-shaped blades of an unmanned aerial vehicle. The rotary wing comprises a rotary frame and a rotatable special-shaped blade arranged in the rotary frame, and the servo motor, the conductive disc and the transmission mechanism are used for controlling the rotation and resetting of the special-shaped blade. The invention absorbs the advantages of flapping wing flight and rotor wing flight, overcomes the defects of the flapping wing flight and the rotor wing flight, can solve the bottleneck problem of lower pneumatic efficiency in the existing small and miniature aircrafts, has the characteristics of small standby stroke resistance, large and stable working stroke thrust, high pneumatic efficiency, simpler device structure and convenient manufacture, and can be widely applied to various small aircrafts and unmanned planes flying at low Reynolds number.
Description
Technical Field
The invention relates to the field of movable wing aircrafts and flying robots, in particular to a rotary movable wing device for contact type autorotation control of special-shaped blades of an unmanned aerial vehicle.
Background
The flying mode of the aircraft comprises three flying types of a fixed wing, a rotor wing and a flapping wing, wherein the rotor wing and the flapping wing all belong to movable wings. Flapping wing flight is a flight mode adopted by natural flying organisms, mainly utilizes the up-and-down flapping of double wings to simultaneously generate lift force and thrust, and is mainly characterized in that the functions of lifting, hovering and propelling are integrated, and meanwhile, the flapping wing flight has strong maneuverability and flexibility and is more suitable for executing flight bypassing obstacles and the like. For an aircraft in a small-size and low-speed flight state, the aircraft flies at a low Reynolds number, and the unsteady lift force generated by the flapping wings is much larger than the unsteady lift force of the fixed wings;
from the thrust aspect, the flapping wing propulsion efficiency is higher than the propeller propulsion efficiency. At present, the research of the flapping wing air vehicle mainly focuses on simulating the flight attitude of flying organisms in the nature and designing various flapping wing mechanisms. However, the common problem of these flapping wing mechanisms is that the overall aerodynamic efficiency is low, even lower than that of the fixed wing micro-aircraft of the same scale. The main reason for the low overall efficiency of the flapping wing aircraft is that most of the existing researches simply imitate the appearance and flapping motion of wings of birds or insects, but the problem that the low aerodynamic efficiency seriously restricts the popularization and application of the flapping wing aircraft is difficult to realize that the air resistance is reduced and unsteady aerodynamic force is generated by utilizing the change of the self posture or structure of the wings in the process of the upward and downward flapping of the flight biological flapping wings.
Rotorcraft provides lift to an aircraft with the tension of a rotor (including a propeller), and the forward tension of the aircraft is derived from the horizontal component resulting from small angular deflections of the rotor vector. The attitude control and horizontal movement of the multi-rotor small aircraft which is developed rapidly at present are realized by differential tension of the multiple rotors. Rotorcraft are characterized by having vertical take-off and landing and hovering functions, and the ability to fly in relatively small areas. However, because the rotor of the rotorcraft is immobile relative to the central axis of the rotor, the rotorcraft has large advancing resistance, so that the rotorcraft has high energy consumption, low aerodynamic efficiency and difficult high-power long-endurance flight.
Disclosure of Invention
The invention aims to provide a rotary moving wing device which remarkably reduces the flight resistance of an aircraft, improves the aerodynamic efficiency, simultaneously provides lift force and thrust force, and is different from rotor flight and flapping wing flight, and is controlled by contact type rotation of special-shaped blades, so as to solve the problems in the prior flapping wing and rotor wing technology.
The technical solution for realizing the purpose of the invention is as follows: the rotary moving wing device comprises a rotary moving wing, a transmission mechanism, a servo motor, a conductive disc, a rotating shaft and a motor, wherein the rotary moving wing is fixedly connected to the rotating shaft, and the motor arranged on an aircraft is connected with the rotating shaft and enables the rotating shaft to continuously rotate.
Furthermore, the rotary movable wing comprises a rotary frame and a rotatable special-shaped blade arranged in the rotary frame, the servo motor is arranged in the rotary frame, the conductive disc is arranged on the aircraft, the rotary frame is provided with a conductive small rod in contact with the conductive disc, and the conductive disc, the servo motor and the transmission mechanism are used for controlling the rotation and the reset of the special-shaped blade.
Furthermore, the area of one end of the special-shaped blade, which is far away from the rotating shaft, is large, and the area of one end of the special-shaped blade, which is close to the rotating shaft, is small.
Further, the conductive disc comprises a conductive part and an insulating part, when the conductive small rod is contacted with the conductive part, the servo motor receives a high level signal and rotates forwards, and when the conductive small rod is contacted with the insulating part, the servo motor receives a low level signal and rotates backwards to reset;
further, the transmission mechanism comprises a rack and a gear which are meshed with each other, the servo motor is connected with the gear, the gear is connected with the special-shaped blade, and the rack is arranged in the rotating frame and can move relatively.
Furthermore, a central hole is formed in the rotating frame, and the rotating shaft is fixedly connected in the central hole.
Further, a straight beam is arranged on the rotating frame, the direction of the straight beam is parallel to the axis of the central hole, a blade mounting hole is formed in the straight beam, the axis of the blade mounting hole is orthogonal to the axis of the central hole, and the special-shaped blade comprises a blade rotating shaft; the blade rotating shaft is inserted in the blade mounting hole and can rotate, and the blade rotating shaft is inserted and fixed in the center of the gear.
Furthermore, a rack mounting hole is formed in the rotating frame, the axis of the rack mounting hole is parallel to the axis of the central hole, a rack cylinder is arranged on the rack, and the rack cylinder is inserted into the rack mounting hole and can slide relatively.
Furthermore, a supporting beam is arranged on the rotating frame, a servo motor mounting hole is formed in the supporting beam, and the servo motor is fixed in the servo motor mounting hole.
Further, the rotating frame further comprises at least one of an outer reinforcing curved beam and an inner reinforcing curved beam, which are used for reinforcing the strength of the rotating frame.
Further, the straight beam, the outer reinforcing curved beam and the inner reinforcing curved beam are all hollow structures; the straight beam, the outer reinforcing curved beam and the inner reinforcing curved beam are made of engineering plastics or carbon fiber.
Further, the small conductive rods, the straight beams, the rack holes and the supporting beams are uniformly distributed in the circumferential direction of the central hole, the number of the straight beams is greater than 1, and the number of the small conductive rods, the number of the rack holes and the number of the supporting beams are the same as the number of the straight beams; the blade mounting holes are uniformly distributed on the straight beams in a straight line, and the number of the blade mounting holes on each straight beam is more than 1.
When the special-shaped blade contact type rotation control rotating wing device is used, the motor and the conductive disc in the special-shaped blade contact type rotation control rotating wing device are fixedly arranged on the unmanned aerial vehicle.
The working principle of the invention is as follows: when the motor is started, the rotating shaft and the rotating frame are driven, the special-shaped blade continuously rotates, the small conductive rod on the rotating frame can be contacted with the conductive disc and alternately contacted with the conductive part and the non-conductive part in the rotating process, when the small conductive rod is contacted with the conductive part, the servo motor receives a high level signal and rotates forwards, and the high level signal and the positive level signal are meshed for transmission through a gear and a rack, so that the special-shaped blade is driven to rotate forwards, the special-shaped blade is perpendicular to the airflow direction, the airflow directly acts on the front face of the blade to enable the blade to obtain the maximum air driving force, and the positive pressure of the airflow acting on the front face of the blade can be decomposed into lift force and thrust force, and the working state is realized at the moment; when the small conducting rod is contacted with the insulating part, the servo motor receives a low level signal and reversely resets, and is meshed with the gear rack for transmission, so that the special-shaped blade is driven to reversely rotate, the front surface of the special-shaped blade returns to be parallel to the airflow direction, and the special-shaped blade returns to the reset state. Compared with the prior art, the invention has the following remarkable advantages:
1. according to the rotary moving wing device controlled by the contact type autorotation of the special-shaped blades, the special-shaped blades in the rotary moving wing are set to rotate continuously, so that the advantage of continuous rotation of a rotor wing is kept, and the defect that flapping wings need to do reciprocating motion is overcome.
2. The rotary moving wing device controlled by the contact type autorotation of the special-shaped blades controls the special-shaped blades to autorotate continuously through the servo motor, and realizes that the special-shaped blades rotate around the central rotating shaft through the motor, so that the blades move upwind in the largest area in the working state to obtain the largest aerodynamic force, and are parallel to the airflow direction in the reset state, thereby greatly reducing the resistance, achieving the purpose of improving the aerodynamic efficiency, and leading the aerodynamic efficiency to be far higher than that of the existing rotor wing and flapping wing air vehicle.
3. The rotary moving wing device controlled by the contact type autorotation of the special-shaped blades adopts the conductive signals to control the servo motor to drive the special-shaped blades to rotate, so that the whole device has a simple structure and good reliability.
4. According to the rotary moving wing device controlled by the contact type autorotation of the special-shaped blades, the special-shaped blades are directly driven to continuously rotate through the servo motor, the positive pressure of airflow in the working state of the blades directly acting on the surfaces of the special-shaped blades can simultaneously generate the lift force and the thrust force, and the purpose of controlling the rotary moving wing to generate the forward thrust force and the reverse thrust force is achieved through the forward and reverse rotation of the servo motor.
5. The rotary moving wing device controlled by the contact type autorotation of the special-shaped blades has the advantages of simple structure, good processing manufacturability and low production cost, can be used by simply transforming the device on an unmanned aerial vehicle, and is simple to install.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic view of the overall structure of a rotary moving-wing device controlled by contact-type rotation of the special-shaped blades according to the invention.
Fig. 2 is a detailed structural view of a rotary wing device for contact type rotation control of the irregular blades according to the present invention.
Fig. 3 is a detailed structure diagram of the reset state of the rotary wing device controlled by the contact type rotation of the special-shaped blades.
Fig. 4 is a detailed structure diagram of the working state of the rotary wing device controlled by the contact type rotation of the special-shaped blades.
Fig. 5 is a schematic structural diagram of a rotating frame of the rotary wing device for contact type rotation control of the special-shaped blades of the invention.
Fig. 6 is a schematic structural diagram of the special-shaped blade of the rotary moving wing device controlled by the contact type rotation of the special-shaped blade according to the invention.
FIG. 7 is a coordinate system diagram of the calculation formula of the shape and driving efficiency of the special-shaped blade of the rotary wing device controlled by the contact type rotation of the special-shaped blade according to the present invention.
Fig. 8 is a structural schematic diagram of a rack of a rotary moving wing device controlled by contact-type rotation of the special-shaped blades according to the invention.
Fig. 9 is a schematic structural diagram of a gear of a rotary moving wing device for contact type rotation control of the special-shaped blade of the invention.
Fig. 10 is a schematic structural diagram of a conductive disc of a rotary moving-wing device for contact-type autorotation control of the special-shaped blades according to the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious 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.
The invention is further described below with reference to the accompanying drawings, but the invention is not limited in any way.
Example 1:
with reference to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, the high-voltage wire inspection unmanned aerial vehicle adopting the rotary wing device with the contact-type autorotation control of the special-shaped blades comprises a rotary wing, a transmission mechanism, a servo motor 5, a conductive disc 6, a rotating shaft 7 and a motor 8, wherein the rotary wing is fixedly connected to the rotating shaft 7, and the motor 8 arranged on the aircraft is connected to the rotating shaft 7 and enables the rotating shaft 7 to continuously rotate; the rotary moving wing comprises a rotary frame 1 and a rotatable special-shaped blade 2 arranged in the rotary frame 1, wherein the shape function of the special-shaped blade 2 is determined by the following piecewise function: formula I:
formula II:
in the formula:
a-the length coefficient of the blade in the piecewise function;
l is the length of the special-shaped blade;
x1an x coordinate value of the starting point of the special-shaped blade is located at the center of a circle of the flywheel with the moving wing, and the positive direction of the x coordinate points to the circumference of the flywheel from the center of the circle of the flywheel;
pi-circumferential ratio, pi-3.1415926;
y1-half the width value of the first section of the profiled blade;
y3half the width of the third section of the profiled blade.
Driving force F generated by single profiled bladeHComprises the following steps: formula III:
in the formula:
p-atmospheric pressure at the altitude of the drone;
γ — adiabatic index;
omega-rotating angular velocity of the fly wheel;
c-the atmospheric sound velocity value of the altitude of the unmanned aerial vehicle.
Driving force F of single rectangular bladeH0Comprises the following steps: formula iv:
in the formula:
FH0-driving force of a rectangular blade single blade.
The driving force efficiency eta of the special-shaped blade 2 is as follows: formula v:
taking the following design examples:
get y16mm 0.006m, radius of the rotor blade flywheel is x3＝200mm＝0.2m，
The length of the blade is L-160 mm-0.16 m, x1＝x3-L＝200-160＝40mm＝0.04m
Get
Then from equation ii:
the parameters of the piecewise-function blade shape in equation i are then fully determined.
And then the novel blade driving efficiency eta is calculated by a formula III, a formula IV and a formula V:
η＝32.8％
if a is 0.2, then:
η＝42.3％
the servo motor 5 is arranged in the rotating frame 1, the conductive disc 6 is arranged on the aircraft, the rotating frame 1 is provided with a conductive small rod 107 which is in contact with the conductive disc 6, and the conductive disc 6, the servo motor 5 and the transmission mechanism are used for controlling the rotation and the reset of the special-shaped blade 2; the area of one end of the special-shaped blade 2, which is far away from the rotating shaft 7, is large, and the area of one end of the special-shaped blade, which is close to the rotating shaft 7, is small; the conductive disc 6 comprises a conductive part 601 and an insulating part 602, when the conductive small rod 107 is contacted with the conductive part 601, the servo motor 5 receives a high level signal and rotates forwards, and when the conductive small rod 107 is contacted with the insulating part 602, the servo motor 5 receives a low level signal and rotates backwards for resetting; the transmission mechanism comprises a rack 3 and a gear 4 which are meshed with each other, a servo motor 5 is connected with the gear 4, the gear 4 is connected with the special-shaped blade 2, and the rack 3 is arranged in the rotating frame 1 and can move relatively. The rotating frame 1 is provided with a center hole 101, and the rotating shaft 7 is fixed in the connecting center hole 101. The rotating frame 1 is provided with a straight beam 102, the direction of the straight beam 102 is parallel to the axis of the central hole 101, the straight beam 102 is provided with a blade mounting hole 103, the axis of the blade mounting hole 103 is orthogonal to the axis of the central hole 101, and the special-shaped blade 2 comprises a blade rotating shaft 201; the blade rotating shaft 201 is inserted in the blade mounting hole 103 and can rotate, and the blade rotating shaft 201 is inserted and fixed in the center of the gear 4. The rotating frame 1 is provided with a rack mounting hole 104, the axis of the rack mounting hole 104 is parallel to the axis of the central hole 101, the rack 3 is provided with a rack cylinder 301, and the rack cylinder 301 is inserted in the rack mounting hole 104 and can slide relatively. The rotating frame 1 is provided with a support beam 108, the support beam 108 is provided with a servo motor mounting hole 109, and the servo motor 5 is fixed in the servo motor mounting hole 109. At least one of an outer reinforcing curved beam 105 and an inner reinforcing curved beam 106 is further included on the rotating frame 1 for reinforcing the strength of the rotating frame 1. The straight beam 102, the outer reinforcing curved beam 105 and the inner reinforcing curved beam 106 are all hollow structures and made of engineering plastics or carbon fiber materials. The small conductive rods 107, the straight beams 102, the rack holes 104 and the supporting beams 108 are uniformly distributed in the circumferential direction of the central hole 101, the number of the straight beams 102 is more than 1, and the number of the small conductive rods 107, the number of the rack holes 104 and the number of the supporting beams 108 are the same as that of the straight beams 102; the blade mounting holes 103 are uniformly distributed on the straight beams 102 in a straight line, and the number of the blade mounting holes 103 on each straight beam 102 is more than 1. After the high-voltage wire inspection unmanned aerial vehicle adopts the rotary movable wing device controlled by the contact type autorotation of the special-shaped blades, the rotary movable wing has small resistance and high pneumatic efficiency, and can complete various detection and photographing works, compared with an unmanned aerial vehicle with wings, after the unmanned aerial vehicle is carried with the same working load of photographic equipment and the like, the one-time flight time is increased by 20 percent, and longer flight time work is realized.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (8)
1. The rotary moving wing device controlled by the contact type autorotation of the special-shaped blade is characterized in that: the electric vehicle comprises a rotary moving wing, a transmission mechanism, a servo motor (5), a conductive disc (6), a rotating shaft (7) and a motor (8), wherein the rotary moving wing is fixedly connected to the rotating shaft (7), and the motor (8) arranged on an aircraft is connected with the rotating shaft (7) and enables the rotating shaft (7) to continuously rotate;
the rotary movable wing comprises a rotary frame (1) and a rotatable special-shaped blade (2) arranged in the rotary frame (1), the servo motor (5) is arranged in the rotary frame (1), the conductive disc (6) is arranged on an aircraft, a conductive small rod (107) in contact with the conductive disc (6) is arranged on the rotary frame (1), and the conductive disc (6), the servo motor (5) and the transmission mechanism are used for controlling the rotation and the reset of the special-shaped blade (2);
the area of one end of the special-shaped blade (2) far away from the rotating shaft (7) is large, the area of one end of the special-shaped blade close to the rotating shaft (7) is small, and the shape function of the special-shaped blade (2) is determined by the following piecewise function:
in the formula:
a-the length coefficient of the blade in the piecewise function;
l is the length of the special-shaped blade;
x1an x coordinate value of the starting point of the special-shaped blade is located at the center of a circle of the flywheel with the moving wing, and the positive direction of the x coordinate points to the circumference of the flywheel from the center of the circle of the flywheel;
pi-circumferential ratio, pi-3.1415926;
y1-half the width value of the first section of the profiled blade;
y3-half the width of the third section of the profiled blade;
driving force F generated by single profiled bladeHComprises the following steps:
in the formula:
p-atmospheric pressure at the altitude of the drone;
γ — adiabatic index;
omega-rotating angular velocity of the fly wheel;
c-the atmospheric sound velocity value of the altitude at which the unmanned aerial vehicle is located;
driving force F of single rectangular bladeH0Comprises the following steps:
in the formula:
FH0-driving force of a single blade of a rectangular blade;
the driving force efficiency eta of the special-shaped blade (2) is as follows:
the conductive disc (6) comprises a conductive part (601) and an insulating part (602), when the conductive small rod (107) is in contact with the conductive part (601), the servo motor (5) receives a high-level signal and rotates forwards, and when the conductive small rod (107) is in contact with the insulating part (602), the servo motor (5) receives a low-level signal and rotates backwards to reset;
the transmission mechanism comprises a rack (3) and a gear (4) which are meshed with each other, the servo motor (5) is connected with the gear (4), the gear (4) is connected with the special-shaped blade (2), and the rack (3) is arranged in the rotating frame (1) and can move relatively.
2. A shaped blade contact rotation controlled rotary wing apparatus as claimed in claim 1, wherein: a central hole (101) is formed in the rotating frame (1), and the rotating shaft (7) is fixedly connected into the central hole (101).
3. A shaped blade contact rotation controlled rotary wing apparatus as claimed in claim 2, wherein: a straight beam (102) is arranged on the rotating frame (1), the direction of the straight beam (102) is parallel to the axis of the central hole (101), a blade mounting hole (103) is formed in the straight beam (102), the axis of the blade mounting hole (103) is orthogonal to the axis of the central hole (101), and a blade rotating shaft (201) is arranged on the special-shaped blade (2); the blade rotating shaft (201) is inserted in the blade mounting hole (103) and can rotate, and the blade rotating shaft (201) is inserted and fixed in the center of the gear (4).
4. A shaped blade contact rotation controlled rotary wing apparatus as claimed in claim 3, wherein: the rotary frame (1) is provided with a rack mounting hole (104), the axis of the rack mounting hole (104) is parallel to the axis of the central hole (101), the rack (3) is provided with a rack cylinder (301), and the rack cylinder (301) is inserted into the rack mounting hole (104) and can slide relatively.
5. A rotary wing device controlled by contact rotation of profiled blades according to claim 4, characterized in that: a supporting beam (108) is arranged on the rotating frame (1), a servo motor mounting hole (109) is formed in the supporting beam (108), and the servo motor (5) is fixed in the servo motor mounting hole (109).
6. A rotary wing device controlled by contact rotation of profiled blades according to claim 5, characterized in that: the rotating frame (1) further comprises at least one of an outer reinforcing curved beam (105) and an inner reinforcing curved beam (106) which are used for reinforcing the strength of the rotating frame (1).
7. A rotary wing device controlled by contact rotation of profiled blades according to claim 6, characterized in that: the straight beam (102), the outer reinforcing curved beam (105) and the inner reinforcing curved beam (106) are all hollow structures; the straight beam (102), the outer reinforcing curved beam (105) and the inner reinforcing curved beam (106) are made of engineering plastics or carbon fiber.
8. A rotary wing device controlled by contact rotation of profiled blades according to claim 5, characterized in that: the small conductive rods (107), the straight beams (102), the rack holes (104) and the supporting beams (108) are uniformly distributed in the circumferential direction of the central hole (101), the number of the straight beams (102) is more than 1, and the number of the small conductive rods (107), the number of the rack holes (104) and the number of the supporting beams (108) are the same as that of the straight beams (102); the blade mounting holes (103) are uniformly distributed on the straight beams (102) in a straight line, and the number of the blade mounting holes (103) on each straight beam (102) is more than 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111364258.6A CN114013651A (en) | 2021-11-17 | 2021-11-17 | Special-shaped blade contact type rotation controlled rotary moving wing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111364258.6A CN114013651A (en) | 2021-11-17 | 2021-11-17 | Special-shaped blade contact type rotation controlled rotary moving wing device |
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| Publication Number | Publication Date |
|---|---|
| CN114013651A true CN114013651A (en) | 2022-02-08 |
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ID=80064888
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111364258.6A Withdrawn CN114013651A (en) | 2021-11-17 | 2021-11-17 | Special-shaped blade contact type rotation controlled rotary moving wing device |
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| Country | Link |
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| CN (1) | CN114013651A (en) |
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2021
- 2021-11-17 CN CN202111364258.6A patent/CN114013651A/en not_active Withdrawn
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Application publication date: 20220208 |
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