CN114013652A - Rotary moving wing device for gear continuous rotation control of special-shaped blade sensor - Google Patents
Rotary moving wing device for gear continuous rotation control of special-shaped blade sensor Download PDFInfo
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- CN114013652A CN114013652A CN202111364274.5A CN202111364274A CN114013652A CN 114013652 A CN114013652 A CN 114013652A CN 202111364274 A CN202111364274 A CN 202111364274A CN 114013652 A CN114013652 A CN 114013652A
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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
- B64C39/005—Aircraft not otherwise provided for with wings, paddle wheels, bladed wheels, moving or rotating in relation to the fuselage about a horizontal transversal axis
Abstract
The invention relates to a rotary moving wing device for continuously controlling the rotation of a special-shaped blade sensor gear of an unmanned aerial vehicle. The rotary movable wing is fixedly connected to the rotating shaft, the motor arranged on the aircraft is connected with the rotating shaft and enables the rotating shaft to rotate, the rotary movable wing comprises a rotating frame and a rotatable special-shaped blade arranged in the rotating frame, an angle sensor is arranged between the aircraft and the rotating frame, and the angle sensor, the servo motor, the controller and the gear are used for controlling continuous 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 continuously controlling the rotation of a special-shaped blade sensor gear 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 pneumatic efficiency, simultaneously provides lift force and thrust and is different from the gear continuous rotation control of a special-shaped blade sensor for rotor wing flight and flapping wing flight, 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 gear, a servo motor, an angle sensor, a rotating shaft, a motor and a controller, 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 rotate continuously.
Further, the rotary moving 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 angle sensor is arranged between the aircraft and the rotary frame, and the angle sensor, the servo motor, the controller and the transmission mechanism are used for controlling the continuous rotation and resetting 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 controller controls the servo motor to rotate forwards or backwards according to the rotation angle of the rotating frame relative to the aircraft obtained by the angle sensor;
furthermore, the number of the special-shaped blades distributed along the axial direction of the rotating shaft is even, each special-shaped blade is fixedly connected with one gear, the adjacent gears are meshed with each other, and one gear is connected with the servo motor.
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, the rotating frame is provided with a mounting hole of the controller and a supporting beam, the supporting beam is provided with a servo motor mounting hole, 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 straight beams and the supporting beams are uniformly distributed in the circumferential direction of the central hole, the number of the straight beams is larger than 1, and the number of the supporting beams is the same as that of the straight beams.
When the special-shaped blade sensor gear continuous rotation control rotary moving wing device is used, a motor and an angle sensor in the special-shaped blade sensor gear continuous rotation control rotary moving wing device are fixedly arranged on an 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 rotating angle of the rotating frame relative to the aircraft is obtained according to the angle sensor, the controller controls the servo motor, when the servo motor receives a signal and rotates forwards, the special-shaped blade is driven to rotate 90 degrees through gear meshing transmission, the special-shaped blade is perpendicular to the airflow direction, airflow directly acts on the front face of the blade to enable the blade to obtain the maximum air driving force, and 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 achieved at the moment; when the servo motor receives a signal to continue rotating, the servo motor drives the special-shaped blade to continue rotating for 90 degrees through gear meshing transmission, and the special-shaped blade is parallel to the airflow direction, namely in a 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 continuous rotation of the special-shaped blade sensor gear, the special-shaped blades in the rotary moving wing are set to rotate continuously, so that the advantage of continuous rotation of the rotor wing is kept, and the defect that the flapping wing needs to do reciprocating motion is overcome.
2. The rotary moving wing device controlled by the special-shaped blade sensor gear in the continuous rotation mode controls the special-shaped blades to rotate 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 maximum aerodynamic force, and are parallel to the airflow direction in the reset state, the resistance is greatly reduced, the aim of improving the aerodynamic efficiency is fulfilled, and the starting efficiency of the rotary moving wing device is far higher than that of the existing rotor wing and flapping wing air vehicle.
3. In the invention, the number of each group of special-shaped blades is even, and when one blade rotates in the forward direction, the other blade rotates in the reverse direction, so that the resultant moment generated by the blade group to the rotating frame is zero, and the problem of moment imbalance generated by synchronous and homodromous rotation of the blades is solved; meanwhile, the servo motor only needs to rotate forwards and does not need to rotate backwards, so that the flying state is more stable and reliable.
4. According to the rotating movable wing device for the continuous rotation control of the special-shaped blade sensor gear, the angle sensor and the controller are adopted to control the servo motor to drive the special-shaped blade to rotate, so that the whole device is simple in structure, the rotation angle of the special-shaped blade has more possibility, the control is more accurate, and the reliability is better.
5. According to the rotary moving wing device controlled by the continuous rotation of the special-shaped blade sensor gear, the servo motor directly drives the special-shaped blade to rotate continuously, the positive pressure of the airflow in the working state of the blade directly acting on the surface of the special-shaped blade can generate the lift force and the thrust force at the same time, 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.
6. The rotary moving wing device for the continuous rotation control of the special-shaped blade sensor gear 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 wing device for the continuous rotation control of a profiled blade sensor gear of the present invention.
Fig. 2 is a detailed structural schematic diagram of the rotary moving wing device for the gear continuous rotation control of the special-shaped blade sensor.
Fig. 3 is a detailed structure diagram of the reset state of the rotary wing device controlled by the continuous rotation of the special-shaped blade sensor gear.
FIG. 4 is a detailed structural diagram of the working state of the rotary wing device for the continuous rotation control of the shaped blade sensor gear of the present invention.
Fig. 5 is a schematic structural diagram of a rotating frame of a rotary wing device for continuous rotation control of a profiled blade sensor gear of the invention.
FIG. 6 is a schematic structural diagram of a profiled blade of a rotary wing apparatus for gear continuous rotation control of a profiled blade sensor of the present 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 schematic structural diagram of a gear of a rotary wing device for continuous rotation control of a profiled blade sensor gear of the present invention.
Fig. 9 is a schematic structural diagram of a controller of a rotary wing device for continuous rotation control of a profiled blade sensor gear of the invention.
Fig. 10 is a schematic structural view of an angle sensor of a rotary wing device for continuous rotation control of a profiled blade sensor gear of the present 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 controlled by the special-shaped blade sensor gear in continuous rotation comprises a rotary wing, a gear 3, a servo motor 4, an angle sensor 5, a rotating shaft 6, a motor 7 and a controller 8, wherein the rotary wing is fixedly connected to the rotating shaft 6, and the motor 7 arranged on the aircraft is connected to the rotating shaft 6 and enables the rotating shaft 6 to rotate continuously; the rotary moving wing comprises a rotary frame 1 and a rotatable special-shaped blade 2 arranged in the rotary frame 1, wherein the area of one end, away from a rotary shaft 6, of the special-shaped blade 2 is large, the area of one end of the rotary shaft 6 is small, and 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;
y3-half 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 at which the unmanned aerial vehicle is located;
driving force F of single rectangular bladeH0Comprises the following steps: formula iv:
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: 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-L200-
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 4 is arranged in the rotating frame 1, the angle sensor 5 is arranged between the aircraft and the rotating frame, and the angle sensor 5, the servo motor 4, the controller 8 and the gear 3 are used for controlling the continuous rotation and resetting of the special-shaped blade; the area of one end of the special-shaped blade 2, which is far away from the rotating shaft 6, is large, and the area of one end of the special-shaped blade, which is close to the rotating shaft 6, is small; the rotation angle of the rotating frame 1 relative to the aircraft is obtained according to the angle sensor 5, and the controller 8 controls the servo motor 4 to rotate forwards or backwards; the number of the special-shaped blades 2 distributed along the axial direction of the rotating shaft 6 is even, each special-shaped blade 2 is fixedly connected with one gear 3, the adjacent gears 3 are meshed with each other, and one gear 3 is connected with the servo motor 4. The rotating frame 1 is provided with a center hole 101, and the rotating shaft 6 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 3. The rotating frame is provided with a mounting hole 106 of the controller 8 and a supporting beam 107, the supporting beam 107 is provided with a servo motor mounting hole 108, and the servo motor 4 is fixed in the servo motor mounting hole 108. At least one of an outer reinforcing curved beam 104 and an inner reinforcing curved beam 105 is further included on the rotating frame 1 for reinforcing the strength of the rotating frame 1. The straight beam 102, the outer reinforced curved beam 104 and the inner reinforced curved beam 105 are all hollow structures and made of engineering plastics or carbon fiber materials. The straight beams 102 and the support beams 107 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 support beams 107 is the same as that of the straight beams 102. After the high-voltage wire inspection unmanned aerial vehicle adopts the rotary moving wing device controlled by the special-shaped blade sensor gear in the continuous rotation mode, various detection and photographing operations can be completed due to small resistance and high pneumatic efficiency of the rotary moving wing, and compared with the unmanned aerial vehicle with wings, after the unmanned aerial vehicle is carried with the same working load such as photographic equipment, the flight time is increased by 20 percent, and longer flight time operation 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 (7)
1. The rotary moving wing device controlled by the continuous rotation of the special-shaped blade sensor gear is characterized in that: the aircraft comprises a rotary movable wing, a gear (3), a servo motor (4), an angle sensor (5), a rotating shaft (6), a motor (7) and a controller (8), wherein the rotary movable wing is fixedly connected to the rotating shaft (6), and the motor (7) arranged on an aircraft is connected with the rotating shaft (6) and enables the rotating shaft (6) 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 (4) is arranged in the rotary frame (1), the angle sensor (5) is arranged between the aircraft and the rotary frame (1), and the angle sensor (5), the servo motor (4), the controller (8) and the transmission mechanism are used for controlling the special-shaped blade (2) to continuously rotate and reset;
the area of one end of the special-shaped blade (2) far away from the rotating shaft (6) is large, the area of one end of the special-shaped blade close to the rotating shaft (6) 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 rotation angle of the rotating frame (1) relative to the aircraft is obtained according to the angle sensor (5), and the controller (8) controls the servo motor (4) to rotate forwards or backwards;
the number of the special-shaped blades (2) is even along the axial direction of the rotating shaft (6), each special-shaped blade (2) is fixedly connected with one gear (3), the adjacent gears (3) are meshed with each other, and one gear (3) is connected with the servo motor (4).
2. The non-contact software rotation controlled rotary moving wing device with the special-shaped blades as claimed in claim 1, wherein: a central hole (101) is formed in the rotating frame (1), and the rotating shaft (6) is fixedly connected into the central hole (101).
3. The profiled blade sensor gear continuous rotation controlled rotary moving wing apparatus of claim 2, characterized in that: 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 (3).
4. The profiled blade sensor gear continuous rotation controlled rotary moving wing apparatus of claim 1, characterized in that: the rotating frame is provided with a mounting hole (106) of the controller (8) and a supporting beam (107), the supporting beam (107) is provided with a servo motor mounting hole (108), and the servo motor (4) is fixed in the servo motor mounting hole (108).
5. The profiled blade sensor gear continuous rotation controlled rotary moving wing apparatus of claim 3, characterized in that: the rotating frame (1) further comprises at least one of an outer reinforcing curved beam (104) and an inner reinforcing curved beam (105) which are used for reinforcing the strength of the rotating frame (1).
6. The profiled blade sensor gear continuous rotation controlled rotary moving wing apparatus of claim 5, characterized in that: the straight beam (102), the outer reinforcing curved beam (104) and the inner reinforcing curved beam (105) are all hollow structures; the straight beam (102), the outer reinforcing curved beam (104) and the inner reinforcing curved beam (105) are made of engineering plastics or carbon fiber.
7. The profiled blade sensor gear continuous rotation controlled rotary moving wing apparatus of claim 5, characterized in that: the straight beams (102) and the supporting beams (107) 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 supporting beams (107) is the same as that of the straight beams (102).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111364274.5A CN114013652A (en) | 2021-11-17 | 2021-11-17 | Rotary moving wing device for gear continuous rotation control of special-shaped blade sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111364274.5A CN114013652A (en) | 2021-11-17 | 2021-11-17 | Rotary moving wing device for gear continuous rotation control of special-shaped blade sensor |
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| Publication Number | Publication Date |
|---|---|
| CN114013652A true CN114013652A (en) | 2022-02-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111364274.5A Withdrawn CN114013652A (en) | 2021-11-17 | 2021-11-17 | Rotary moving wing device for gear continuous rotation control of special-shaped blade sensor |
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| Country | Link |
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| CN (1) | CN114013652A (en) |
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2021
- 2021-11-17 CN CN202111364274.5A patent/CN114013652A/en not_active Withdrawn
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Application publication date: 20220208 |