JP2017061285A - Flapping flying body to which flight control of cicada is applied - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a sophisticated flight capability such as inversion of advancing direction in a flight distance significantly shorter than a conventional control method by fully utilizing a characteristic of a flapping wing.SOLUTION: The number of components can be significantly decreased by using an electromagnet and an elastic annular shell 80 for a driving method of flapping motion, and further by relating left and right wings to each other through a linkage. In four wings in total, among arranged front and rear and a pair of left and right wings, a rear end of a front quill and a front end of a rear quill are linked, and the front quill is driven while the rear quill is only controlled for braking, so that, flight motion such as rising, advancing, retreating, and revolving can be controlled.SELECTED DRAWING: Figure 1

Description

  The present invention is a research theme submitted by the inventor to the 59th Japan Student Science Award. A high-speed camera is used to capture the appearance of a cicada taking off from the trunk of a tree. Invented from the clarification, a method of flight control of a flapping flying vehicle is invented.

  Conventionally, in the case of a fixed wing, flight control of a flying object has been performed by steering a smaller sized steering wing attached to the main wing or each tail wing. Moreover, in the rotary wing represented by the helicopter, the flight was controlled by adjusting the angle of the rotating wing and the inclination of the rotary shaft and the angle of attack of the smaller rotary wing provided at the rear. These methods are not suitable for flight control of flapping wings.

  Conventionally, in flight control of a flapping wing, flight control is performed by changing the angle of attack of the flapping wing by controlling the rotation axis of the base of the flapping wing with a linkage. In this method, it is not possible to make use of the characteristics of the flapping wing because it is not possible to stop flapping only at one wing and stop it at a certain angle.

  JP2013-103702A   JP 2012-180050 A   JP 2012-140038 A   JP 2009-292329 A   JP 2009-90770 A   JP 2009-67086 A

  The present invention has been made in view of the above problems, and provides advanced flight capabilities such as reversing the traveling direction at a flight distance extremely shorter than the conventional control method by fully utilizing the characteristics of the flapping wing. It is the purpose.

The cicada wing is composed of a large forehead and a smaller area of the rear wing, and the front and rear wings are keyed to each other so that the angle can be varied by the linkage, and the wings can be swung at the same time. .
The outpost is driven by great power to generate lift and thrust. In addition, the rear rod does not have a driving force and exerts a resistance force while being driven to operate the angle of the front rod through the linkage. By applying this mechanism to flying objects, more advanced flapping control is possible.
Of the semi-flight flight control methods described here, the role of the outpost and back end was revealed for the first time in the world as the inventor researched to submit to the 59th Japan Student Science Award without any previous research case. It is.

  According to the present invention, flight can be controlled only by a pair of a power source that generates a driving force and a resistor that generates a resistance force. Compared with the conventional case where the power source for steering is controlled via a number of gears, the flight can be controlled with a significantly smaller number of parts and the power source. This can greatly reduce the weight of the flying object and reduce the driving force required for flight.

  Perspective view of this mechanism   Connecting the chest and rear chest   Linkage between front and back   The drive coil's current is turned off, and it flutters upward with the elastic force of the elastic ring   The drive coil is turned on and the elastic ring is flung downward by the force of the electromagnet   Diagram showing ultra-small positioning linear and rear anchor linkage   Continuation diagram showing that when the rear heel is braked, the front heel has an inclination.   Operation diagram with the front arm tilted when the rear arm is braked   While the left wing is fixed, the free right wing is flapping

  Below, in the flapping aircraft applying semi flight control, the flight is controlled by the micro positioning linear device connected to the rear wing that is driven by the electromagnetic coil built in the chest shell and linked with the front wing. A description will be given with reference to FIGS.

  FIG. 1 shows an electromagnetic coil (60) and iron core (60) inside a chest shell (80) that is made of a material having sufficient elasticity, such as carbon fiber, and that follows deformation several tens of times per second and has a predetermined spring constant. 70) and on the outside of the chest shell is a forehead (90) connected by a spherical joint (20). Moreover, a mode that the back collar (100) connected by the linear joint (30) installed in the outer side of a back breast shell (150) was combined is shown as a front perspective view. Also, in the rear perspective view, the ultra-small positioning linear (120, 130) built inside the rear chest shell (150) is connected to the rear heel (100, 101) via the linkage (110, 111). Is illustrated.

  In FIG. 2, the chest (80) and the rear chest shell (150) are connected via a bridge-like connection (140) so that deformation due to the drive of the chest shell (80) is not transmitted to the rear chest shell (150). Indicates the state.

  In FIG. 3, the front heel (90) is connected to the rear heel (100) via a linear joint (10), and the fulcrum (20) of the front heel (90) is spherical, and the fulcrum ( 30) shows the state on the line.

  FIG. 4 shows that the electromagnet built in the breast shell (80) does not act in a state where the current does not flow through the electromagnetic coil (60) and the iron core (70) and opens in the vertical direction by the elastic force of the breast shell (80). In this state, the forehead (90, 91) connected to the rod (50) of invariable length via the linkage (40, 41) fluttered upward.

  FIG. 5 shows that the electromagnet built in the chest shell (80) acts in a state where a current flows through the electromagnetic coil (60) and the iron core (70), and the chest shell is vertically opposed to the elastic force of the chest shell (80). The distance between the spherical fulcrum (20) of the right front heel (90) and the spherical fulcrum (21) of the left heel (91) is larger than in the state of FIG. Therefore, the forehead (90, 91) connected to the rod (50) of the invariable length via the linkage (40, 41) is inclined downward.

  FIG. 6 illustrates a mechanism in which the ultra-small positioning linear (120, 130) built in the rear chest shell controls the dorsum (100, 101) via the linkage (110, 111).

  In FIG. 7, when the front heel (90) is driven in the direction of the arrow (180), the movement of the rear heel (100) is restrained to be smaller as indicated by the arrow (190), thereby making the rear heel (100) more than the front heel (90). ) With the joint (10) on the line connecting with each other being delayed, and turning with the spherical joint (20) of the forehead (90) as a fulcrum in the direction of the arrow (160) about the axis (170) The state of occurrence is illustrated.

  FIG. 8 shows “A” in which the turning (160) occurs because the movement of the hindlimb (100) described in FIG. 7 is suppressed, and the hindlimb (100) is not suppressed. The difference of “B” that does not occur is illustrated.

  In FIG. 9, the movement of the left forehead (91) is also fixed because the microminiature positioning linear (130) connected to the left hind heel (101) built in the rear chest (150) fixes the sliding. Is illustrated. Even in this state, since the breast shell (80) is driven by the electromagnet drive (55), the right forehead (90) and the right side through the rod (50) connecting the forehead linkage (40) and the left and right foreheads with the linkage. The rear wing (100) illustrated performing a flapping motion.

10 ... Linear joint of the forehead and backboard 20 ... Spherical joint of the right side forehead and chest shell 21 ... Spherical joint of the left side of the chest and chest wall 30 ... Linear joint 40 of the back and chest shell ... Linkage 41 ... Left frontal linkage 50 ... Rod 55 connecting left and right foreheads with linkage ... Electromagnetic drive unit 60 and 70 60: Electromagnetic coil fixed to the bottom of the breast shell 70 ... Fixed to the chest top Iron core 80 ... Elastic annular chest 90 ... Right forehead 91 ... Left forehead 100 ... Right forehead 101 ... Left forehead 110 ... Right foreside linkage 111 ... Left forehead linkage 120 ... Ultra-compact Positioning linear: Connected to the right hind limb 130 ... Ultra-small positioning linear Connected to the left hind limb 140: Bridge-like connection that extends the vibration and deformation of the chest shell so that it is not transmitted to the rear chest shell 50 ... Komunekara 160 ... forewing rotational direction 170 ... forewing center axis 180 ... forewing is fly swing up direction of movement 190 ... back wing is flapping swing up direction of movement 200 ... right wing flapping operation with angle of attack with the angle of attack

Claims (2)

An elastic chest shell (80) is formed with a power source such as an electromagnetic drive unit composed of an electromagnetic coil (60) and an iron core (70) so that the number of parts can be reduced in order to establish a micro air vehicle with flapping wings. When the shell (80) is shrunk and deformed in one direction and flapped in the forward direction and the electromagnet drive (55) is not applied, the movement of flapping in the reverse direction with the force of restoring the deformation by the elastic force of the chest shell (80) Flapping drive mechanism A flapping mechanism that controls the front angle of attack and the flapping motion of the front wing by controlling the movement of the rear wing linked to the front wing as shown in FIG.

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