CN114248904B - Incomplete gear control rotary foldable wing flying device - Google Patents
Incomplete gear control rotary foldable wing flying device Download PDFInfo
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- CN114248904B CN114248904B CN202111462363.3A CN202111462363A CN114248904B CN 114248904 B CN114248904 B CN 114248904B CN 202111462363 A CN202111462363 A CN 202111462363A CN 114248904 B CN114248904 B CN 114248904B
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- gear
- rotating shaft
- hinge
- incomplete
- rotate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/10—Shape of wings
- B64C3/14—Aerofoil profile
- B64C3/141—Circulation Control Airfoils
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
Abstract
The invention discloses a non-complete gear control rotary foldable wing flying device, which comprises: a rotating shaft, a rotating foldable wing connected with the rotating shaft; the driving mechanism is used for driving the rotating shaft to rotate, so that the attack angle of the rotary foldable wing is adjusted and the hinge is driven to unfold and fold; the rotating shaft is radially and symmetrically provided with a gear mechanism and a non-complete gear transmission mechanism; the gear mechanism is meshed with the incomplete gear transmission mechanism, can rotate relative to the axis of the rotating shaft and drives the incomplete gear transmission mechanism to rotate; the foldable wings comprise a rotating frame and a plurality of foldable hinges arranged in the rotating frame; the foldable hinge is connected with the push rod, and the push rod can move in the rotating frame along the axial direction of the rotating shaft; the rotation of the incomplete gear transmission mechanism can drive the push rod to linearly move, so that the hinge is driven to unfold and fold on the rotating frame. The invention improves the pneumatic efficiency.
Description
Technical Field
The invention relates to the field of movable wing aircrafts and flying robots, in particular to a non-complete gear control rotary foldable wing flying device for an unmanned aerial vehicle.
Background
The flight mode of the aircraft comprises three flight types of a fixed wing, a rotor wing and a flapping wing, wherein the rotor wing and the flapping wing belong to movable wings.
Flapping-wing flight is a flight mode adopted by natural flight 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 aircraft 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 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 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 fixed relative to the central axis of the rotor, the forward resistance is large, 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 foldable wing flying device controlled by a non-complete gear, which solves the problem of low pneumatic efficiency in the existing small and miniature aircrafts.
The technical solution for realizing the purpose of the invention is as follows:
a non-fully geared rotary folding wing flying device comprising:
a rotating shaft, a rotating foldable wing connected with the rotating shaft;
the driving mechanism is used for driving the rotating shaft to rotate, so that the attack angle of the rotary foldable wing is adjusted and the hinge is driven to unfold and fold;
the rotating shaft is radially and symmetrically provided with a gear mechanism and a non-complete gear transmission mechanism;
the gear mechanism is meshed with the incomplete gear transmission mechanism, can rotate relative to the axis of the rotating shaft and drives the incomplete gear transmission mechanism to rotate;
the foldable wings comprise a rotating frame and a plurality of foldable hinges arranged in the rotating frame; the foldable hinge is connected with the push rod, and the push rod can move in the rotating frame along the axial direction of the rotating shaft;
the rotation of the incomplete gear transmission mechanism can drive the push rod to linearly move, so that the hinge is driven to unfold and fold on the rotating frame.
Compared with the prior art, the invention has the remarkable advantages that:
(1) The hinge in the rotary foldable wing is set to continuously rotate, so that the advantage of continuous rotation of the rotor wing is kept, and the defect that the flapping wing needs to reciprocate is overcome.
(2) The hinge which is controlled to rotate continuously by the gear mechanism and the incomplete gear transmission mechanism can rotate relative to the central rotating shaft, so that the hinge moves upwind in the largest area in the working state to obtain the maximum aerodynamic force, and airflow directly flows out of the frame in the standby state, thus the resistance is greatly reduced, the aim of improving the aerodynamic efficiency is achieved, and the aerodynamic efficiency is far higher than that of the existing rotor wing and flapping wing aircraft.
(3) The foldable hinge is automatically switched between the working state and the standby state under the control of the gear mechanism and the incomplete gear transmission mechanism, a complex electronic control system is not needed, and the foldable hinge is simple in structure and good in reliability.
(4) The hinge is driven to rotate continuously through the motor and the speed reducer, positive pressure of airflow in the working state of the hinge, which directly acts on the surface of the hinge, can generate lift force and thrust force simultaneously, and the purpose of controlling the rotary foldable wing to generate the forward thrust force and the reverse thrust force is achieved through forward and reverse rotation of the motor.
Drawings
Fig. 1 is a schematic view of the overall structure of the apparatus.
Fig. 2 is a detailed structural schematic diagram of the apparatus.
Fig. 3 is a detailed structural diagram of the standby state of the device.
Fig. 4 is a detailed structural diagram of the working state of the device.
Fig. 5 is a schematic view of the structure of the rotating frame of the device.
Figure 6 is a schematic view of the hinge of the device.
Fig. 7 is a schematic view of a first non-complete gear of the device.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
With reference to fig. 1 to 7, a non-complete gear controlled rotary foldable wing flying device of the present embodiment includes a rotary foldable wing, a non-complete gear transmission mechanism, a gear mechanism and a rotary shaft 13;
the rotary foldable wing is fixedly connected to the rotating shaft 13 and comprises a rotating frame 1 and a plurality of foldable hinges arranged in the rotating frame 1, the gear mechanism is connected with the aircraft and the incomplete gear transmission mechanism, the incomplete gear transmission mechanism is connected with the hinges, and the gear mechanism and the incomplete gear transmission mechanism are used for controlling the unfolding and folding of the hinges.
The upper and lower parts of the rotating frame 1 are provided with two rows of hinge arrays, and the rotating frame 1 is provided with a central hole 101 for fixedly mounting the rotating shaft 13; a fixed hinge mounting hole 102 and a long waist-shaped movable hinge moving hole 103 are arranged on the rotating frame 1; the rotating shaft 13 is connected with a speed reducer 11 on the aircraft;
the hinge comprises a fixed hinge 2 and a movable hinge 8 which are hinged together and can rotate relatively, a fixed hinge rotating shaft 201 is arranged on the fixed hinge 2, a movable hinge rotating shaft 801 is arranged on the movable hinge 8, the fixed hinge rotating shaft 201 is inserted in the fixed hinge mounting hole 102 and can rotate, the movable hinge rotating shaft 801 is inserted in the movable hinge moving hole 103 and can move, and the moving direction is parallel to the axial direction of the rotating shaft 13. The axis of the fixed hinge rotating shaft 201 and the axis of the movable hinge rotating shaft 801 are both orthogonal to the axis of the rotating shaft 13.
The radial both ends symmetry of rotation axis 13 is equipped with gear mechanism, and gear mechanism includes driven cylindrical gear set and the initiative roller gear 6 that intermeshing and axis are parallel, gear installation piece 7 and intermeshing and axis quadrature's motion bevel gear 9 and fixed bevel gear 10, and driven gear set includes identical first driven roller gear 5 and second driven roller gear 15, and first driven roller gear 5 and second driven roller gear 15 are about the spur rack or the push rod symmetrical arrangement of upper end. The fixed bevel gear 10 is connected to an aircraft and is coaxial with the rotating shaft 13, the moving bevel gear 9 is inserted on the rotating shaft 13 and can rotate relative to the rotating shaft 13, the moving bevel gear 9 is meshed with the fixed bevel gear 10 and can do rotary motion relative to the rotating shaft 13 through the fixed bevel gear 10, the driving cylindrical gear 6 is coaxial with and fixed to the moving bevel gear 9, the gear mounting block 7 is sleeved on the rotating shaft 13 and can rotate relative to the rotating shaft 13, and the first driven cylindrical gear 5 and the second driven cylindrical gear 15 are inserted on the gear mounting block 7 and can rotate relative to the gear mounting block 7; the incomplete gear transmission mechanism comprises a first incomplete gear 4 and a second incomplete gear 14 which are connected with a push rod 3 and are identical, and the push rod 3 is inserted into the rotating frame 1 and can only move along the axial direction of the rotating shaft 13; a rotating shaft 801 of a movable hinge is inserted and fixed on the push rod 3; the first incomplete gear 4 is provided with a toothed part 401 and a locking arc 402, the first incomplete gear 4 and the first driven cylindrical gear 5 are coaxial and fixed together, and the second incomplete gear 14 and the second driven cylindrical gear 15 are coaxial and fixed together; the toothed portion 401 of the incomplete gear 4 is engaged with the spur rack portion of the push rod 3, and the locking arc 402 is not engaged with the spur rack portion of the push rod 3.
The electric motor 12 provided in the aircraft is rotatable in the forward direction and also in the reverse direction;
when the motor 12 rotates in the forward direction, the motor is decelerated by the reducer 11 in the aircraft to drive the rotating shaft 13 to rotate continuously, and simultaneously drive the rotating frame 1 and the hinge in the transmission mechanism connected to the rotating frame 1 to rotate, and the push rod 3 to move linearly, and simultaneously drive the motion bevel gear 9 on the rotating shaft 13 to rotate continuously around the fixed bevel gear 10, so as to drive the driving cylindrical gear 6 to rotate, so that the first driven cylindrical gear 5 and the second driven cylindrical gear 15 are turned to be consistent, when the engagement of the toothed part 401 in the first incomplete gear 4 is finished, the hinge is unfolded completely, by controlling the locking arc position of the second incomplete gear 14, the hinge can maintain the completely unfolded state, when the toothed part in the second incomplete gear 14 enters into engagement, the hinge starts to fold, when the engagement of the toothed part in the second incomplete gear 14 is finished, the hinge is folded completely, and the folded state is maintained under the action of the locking arc 402;
when the toothed part 401 in the first incomplete gear 4 is engaged, the hinge is completely unfolded, the hinge can maintain a completely unfolded state by controlling the position of the locking arc 402 in the second incomplete gear 14, the hinge is perpendicular to the direction of airflow, the airflow directly acts on the hinge to enable the hinge to obtain the maximum gas driving force, and the positive pressure of the airflow acting on the hinge can be decomposed into lifting force and pushing force, which is a working condition at this time;
when the toothed part 401 in the second incomplete gear 14 is engaged, the hinge starts to fold, and a transition working condition is adopted at the moment;
when the engagement of the toothed part 401 in the second incomplete gear 14 is finished, the hinge is completely folded, and the folded state is maintained under the action of the locking arc 402, the gas resistance on the hinge is minimum, and the hinge is in a standby working condition;
when the motor 12 rotates in the reverse direction, the hinge moves in the opposite direction to the motor 12 rotating in the forward direction, and the rotating foldable wing device generates airflow thrust in the opposite direction to the motor 12 rotating in the forward direction.
The output shaft of the motor 12 arranged on the aircraft is arranged in the input hole of the speed reducer 11; the fixed hinge mounting holes 102 and the movable hinge moving holes 103 are uniformly distributed along the axial direction of the push rod 3, and the number of the fixed hinge mounting holes 102 and the number of the movable hinge moving holes 103 are more than 1. After the rotary foldable wing flying device and the method are controlled by the incomplete gear, the unmanned aerial vehicle can complete various detection and photographing works due to small resistance and high pneumatic efficiency of the rotary foldable wing, and compared with a rotor wing unmanned aerial vehicle, after the rotary wing unmanned aerial vehicle carries the same working load of photographic equipment and the like, the flying time can be obviously prolonged, and longer flight time work is realized.
Claims (7)
1. A non-fully geared rotary wing aircraft device, comprising:
a rotating shaft, a rotating foldable wing connected with the rotating shaft;
the driving mechanism is used for driving the rotating shaft to rotate, so that the attack angle of the rotary foldable wing is adjusted and the hinge is driven to unfold and fold;
the rotating shaft is radially and symmetrically provided with a gear mechanism and a non-complete gear transmission mechanism;
the gear mechanism is meshed with the incomplete gear transmission mechanism, can rotate relative to the axis of the rotating shaft and drives the incomplete gear transmission mechanism to rotate;
the foldable wings comprise a rotating frame and a plurality of foldable hinges arranged in the rotating frame; the foldable hinge is connected with the push rod, and the push rod can move in the rotating frame along the axial direction of the rotating shaft;
the rotation of the incomplete gear transmission mechanism can drive the push rod to linearly move, so that the hinge is driven to unfold and fold on the rotating frame;
the gear mechanism comprises a driven cylindrical gear set and a driving cylindrical gear which are meshed with each other and have parallel axes, a gear mounting block, and a moving bevel gear and a fixed bevel gear which are meshed with each other and have orthogonal axes;
the fixed bevel gear is coaxial with the rotating shaft, and the moving bevel gear is rotationally connected with the rotating shaft and meshed with the fixed bevel gear; the rotating shaft rotates to drive the moving bevel gear to rotate relative to the fixed bevel gear; the motion bevel gear is coaxially and fixedly connected with the driving cylindrical gear, and the driving cylindrical gear is connected with the incomplete gear transmission mechanism through the driven cylindrical gear set to convert the rotation of the rotating shaft into the linear movement of the push rod.
2. The non-fully geared rotary foldable wing flying device according to claim 1, wherein the driven cylindrical gear set comprises a first driven cylindrical gear and a second driven cylindrical gear; the first driven cylindrical gear and the second driven cylindrical gear are inserted on the gear mounting block and can rotate relative to the mounting block; the gear mounting block is sleeved on the rotating shaft and can rotate relative to the rotating shaft; the first driven cylindrical gear and the second driven cylindrical gear are symmetrically arranged around the push rod.
3. The non-full geared rotary foldable wing flying device of claim 2, wherein the non-full geared mechanism comprises a spur rack connected to a push rod, a first non-full gear and a second non-full gear; the first incomplete gear and the second incomplete gear are coaxially and fixedly connected with the first driven cylindrical gear and the second driven cylindrical gear respectively, and the first incomplete gear and the second incomplete gear are alternately meshed with the spur rack to control the unfolding and folding of the hinge.
4. The non-full gear controlled rotary foldable wing flying device according to claim 1, wherein the hinges comprise a fixed hinge and a movable hinge hinged together for relative rotation, the fixed hinge and the movable hinge are inserted into the rotary frame, and the fixed hinge can rotate but cannot move relative to the rotary frame; the movable hinge can move relative to the rotating frame, and the moving direction is parallel to the axial direction of the rotating shaft.
5. The non-fully geared rotary foldable wing flying device according to claim 4, wherein the axes of the fixed hinge pivots and the movable hinge pivots are orthogonal to the axis of the rotating shaft.
6. The non-full gear controlled rotary foldable wing flying device of claim 1, wherein the driving mechanism comprises a speed reducer connected to the rotating shaft, and a motor connected to the speed reducer.
7. The non-fully geared rotary wing aircraft device according to any one of claims 1 to 6, wherein the drive mechanism rotates in a forward direction to continuously rotate the rotary shaft; the rotation shaft rotates to drive the rotary foldable wing to rotate, meanwhile, the gear mechanism is driven to rotate, the gear mechanism drives the incomplete gear transmission mechanism to move, the incomplete gear transmission mechanism drives the push rod to move linearly, and when the toothed part of the first incomplete gear is meshed, the hinge is enabled to be unfolded completely; and after the toothed part in the second incomplete gear is meshed, the hinge is folded, and after the toothed part in the second incomplete gear is meshed, the hinge is folded completely.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111462363.3A CN114248904B (en) | 2021-12-02 | 2021-12-02 | Incomplete gear control rotary foldable wing flying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111462363.3A CN114248904B (en) | 2021-12-02 | 2021-12-02 | Incomplete gear control rotary foldable wing flying device |
Publications (2)
| Publication Number | Publication Date |
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| CN114248904A CN114248904A (en) | 2022-03-29 |
| CN114248904B true CN114248904B (en) | 2022-11-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111462363.3A Active CN114248904B (en) | 2021-12-02 | 2021-12-02 | Incomplete gear control rotary foldable wing flying device |
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080099587A (en) * | 2007-05-10 | 2008-11-13 | 우종복 | Symmetry control apparatus and flapping aircraft using the same |
| CN110254712B (en) * | 2019-07-19 | 2020-12-08 | 苏州高博软件技术职业学院 | Two-horizontal two-vertical blade-rotatable four-wheel type rotor unmanned aerial vehicle |
| CN110422329B (en) * | 2019-07-19 | 2020-12-08 | 苏州高博软件技术职业学院 | Wheel type movable wing device and method for controlling rotation of blades through cam |
| CN110815183B (en) * | 2019-11-13 | 2021-11-23 | 南京理工大学 | Four-freedom-degree high-speed parallel robot mechanism with double-drive branched chains |
| CN213768961U (en) * | 2020-12-24 | 2021-07-23 | 王仕光 | Circular single manned flapping wing aircraft |
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| CN114248904A (en) | 2022-03-29 |
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