CN114013653A - Rotary moving wing device controlled by contact type gear continuous rotation of special-shaped blade - Google Patents

Rotary moving wing device controlled by contact type gear continuous rotation of special-shaped blade Download PDF

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Publication number
CN114013653A
CN114013653A CN202111364276.4A CN202111364276A CN114013653A CN 114013653 A CN114013653 A CN 114013653A CN 202111364276 A CN202111364276 A CN 202111364276A CN 114013653 A CN114013653 A CN 114013653A
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blade
special
shaped blade
gear
wing
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华洪良
盛松梅
许建
陈粟裕
周雪峰
苏朗
王杰
邱明
廖振强
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Global Institute of Software Technology Suzhou
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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
    • 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
    • B64C21/08—Influencing air flow over aircraft surfaces by affecting boundary layer flow by use of slot, ducts, porous areas or the like adjustable

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Abstract

The invention relates to a rotary moving wing device for controlling continuous rotation of a special-shaped blade contact type gear 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 gear are used for controlling the 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

Rotary moving wing device controlled by contact type gear continuous rotation of special-shaped blade
Technical Field
The invention relates to the field of movable wing aircrafts and flying robots, in particular to a rotary movable wing device for the continuous rotation control of a special-shaped blade contact type 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 aerodynamic efficiency, simultaneously provides lift force and thrust and is different from rotor wing flight and flapping wing flight, and is controlled by the continuous rotation of a contact type gear of a special-shaped blade, 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, 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 rotate continuously.
Further, 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 gear 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 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;
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 relatively, and the blade rotating shaft is inserted and fixed in the center of the gear.
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 conductive small rods, 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 conductive small rods and the number of the supporting beams are the same as that of the straight beams.
When the special-shaped blade contact type gear continuous rotation control rotary moving wing device is used, a motor and a conductive disc in the special-shaped blade contact type gear continuous rotation control rotary moving wing device are installed and fixed 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 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 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 realized 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 direction of the airflow and returns to 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 contact type gear continuous rotation of the special-shaped blade, the special-shaped blade in the rotary moving wing is set to rotate continuously, so that the advantage of continuous rotation of a rotor wing is kept, and the defect that the flapping wing needs to do reciprocating motion is overcome.
2. The rotary movable wing device controlled by the special-shaped blade contact type gear through continuous rotation controls the special-shaped blade to rotate continuously through the servo motor, and realizes that the special-shaped blade rotates around the central rotating shaft through the motor, so that the blade moves against the wind in the largest area in the working state to obtain the maximum aerodynamic force, and is 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 movable wing device controlled by the contact type gear continuous rotation of the special-shaped blade has the advantages that the servo motor is controlled by adopting the conductive signal to drive the special-shaped blade to rotate, so that the whole device is simple in structure and good in reliability.
4. According to the rotary moving wing device controlled by the contact type gear continuous rotation of the special-shaped blade, the special-shaped blade is directly driven to rotate continuously through the servo motor, 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 aim 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 for the contact type gear continuous rotation control of the special-shaped blade is simple in structure, good in processing manufacturability and low in production cost, can be used after being simply transformed 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 whole structure of a rotary wing device for the continuous rotation control of the profiled blade contact type gear of the invention.
Fig. 2 is a detailed structural view of a rotary wing device for the shaped blade contact type gear continuous rotation control of the present invention.
Fig. 3 is a detailed structure diagram of the reset state of the rotary wing device controlled by the contact type gear of the special-shaped blade in the continuous rotation mode.
FIG. 4 is a detailed structural diagram of the working state of the rotary wing device for the shaped blade contact type gear continuous rotation control of the present invention.
Fig. 5 is a schematic structural diagram of a rotating frame of the rotary wing device for the contact type gear continuous rotation control of the special-shaped blade of the invention.
Fig. 6 is a schematic structural diagram of the special-shaped blade of the rotary wing device for the contact type gear continuous rotation control of the special-shaped blade.
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 for the contact type gear continuous rotation control 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 contact type gear according to the invention.
Fig. 9 is a schematic structural diagram of a conductive disc of a rotary wing device for continuous rotation control of a profiled blade contact gear 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 and 9, the high-voltage wire inspection unmanned aerial vehicle adopting the rotary wing device controlled by the contact type gear with the special-shaped blades to rotate continuously comprises a rotary wing, a gear 3, a servo motor 4, a conductive disc 5, a rotating shaft 6 and a motor 7, wherein the rotary wing is fixedly connected to the rotating shaft 6, and the motor 7 arranged on the aircraft is connected with 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:
Figure BDA0003360324440000051
formula II:
Figure BDA0003360324440000052
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:
Figure BDA0003360324440000053
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:
Figure BDA0003360324440000061
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:
Figure BDA0003360324440000062
Figure BDA0003360324440000063
Figure BDA0003360324440000064
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-
Figure BDA0003360324440000065
Then from equation ii:
Figure BDA0003360324440000066
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:
Figure BDA0003360324440000071
η＝42.3％
the servo motor 4 is arranged in the rotating frame 1, the conductive disc 5 is arranged on the aircraft, the rotating frame 1 is provided with a conductive small rod 106 which is in contact with the conductive disc 5, and the conductive disc 5, the servo motor 4 and the gear 3 are used for controlling the continuous rotation and resetting 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 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 conductive disc 5 comprises a conductive part 501 and an insulating part 502, when the conductive small rod 106 is contacted with the conductive part 501, the servo motor 5 receives a high level signal and rotates forwards, and when the conductive small rod 106 is contacted with the insulating part 502, the servo motor 4 receives a low level signal and rotates backwards for resetting; 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, 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 1 is provided with a support beam 107, the support 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 conductive small rods 106, 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 conductive small rods 106 and the number of the support beams 107 are 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 contact type gear to rotate continuously, 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, so that the long flight time 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 contact type gear with the special-shaped blades is characterized in that: the electric motor comprises a rotary moving wing, a gear (3), a servo motor (4), a conductive disc (5), a rotating shaft (6) and an electric motor (7), wherein the rotary moving wing is fixedly connected to the rotating shaft (6), and the electric 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 conductive disc (5) is arranged on an aircraft, a conductive small rod (106) in contact with the conductive disc (5) is arranged on the rotary frame (1), and the conductive disc (5), the servo motor (4) and the gear (3) are used for controlling the continuous rotation and resetting of the special-shaped blade (2);
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:
Figure FDA0003360324430000011
Figure FDA0003360324430000012
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:
Figure FDA0003360324430000013
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:
Figure FDA0003360324430000021
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), the partial derivative of the driving efficiency eta to the length coefficient a of the blade in the segmentation function and the partial derivative of the driving efficiency eta to the length L of the special-shaped blade are as follows:
Figure FDA0003360324430000022
Figure FDA0003360324430000023
Figure FDA0003360324430000024
the conductive disc (5) comprises a conductive part (501) and an insulating part (502), when the conductive small rod (106) is in contact with the conductive part (501), the servo motor (4) receives a high-level signal and rotates forwards, and when the conductive small rod (106) is in contact with the insulating part (502), the servo motor (4) receives a low-level signal and rotates backwards to reset;
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. A profiled-blade contact-gear continuous-rotation-controlled rotary moving-wing apparatus 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. A profiled-blade contact-gear continuous-rotation-controlled rotary moving-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 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).
4. A profiled-blade contact-gear continuous-rotation-controlled rotary moving-wing apparatus as claimed in claim 3, wherein: a supporting beam (107) is arranged on the rotating frame (1), a servo motor mounting hole (108) is formed in the supporting beam (107), and the servo motor (4) is fixed in the servo motor mounting hole (108).
5. A profiled-blade contact-gear continuous-rotation-controlled rotary moving-wing apparatus as claimed in claim 4, wherein: 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. A profiled-blade contact-gear continuous-rotation-controlled rotary moving-wing apparatus as claimed in claim 5, wherein: 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. A profiled-blade contact-gear continuous-rotation-controlled rotary moving-wing apparatus as claimed in claim 4, wherein: the small conductive rods (106), 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 small conductive rods (106) and the number of the supporting beams (107) are the same as that of the straight beams (102).
CN202111364276.4A 2021-11-17 2021-11-17 Rotary moving wing device controlled by contact type gear continuous rotation of special-shaped blade Withdrawn CN114013653A (en)

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Application Number Priority Date Filing Date Title
CN202111364276.4A CN114013653A (en) 2021-11-17 2021-11-17 Rotary moving wing device controlled by contact type gear continuous rotation of special-shaped blade

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