KR101477687B1 - Flapping-wing system having a pitching moment generator for longitudinal attitude control - Google Patents

Abstract

The present invention relates to a flapping flight having a pitching moment generator for longitudinal position control, comprising: a frame (110) constituting a body of a flapping flight; A driving module (120) fixed to the frame (110) to generate a rotational driving force; A slider 130 slidable in a vertical direction on the frame 110 by a rotational driving force of the driving module 120; A pair of blade fixing holders 140 provided symmetrically on both sides of the frame to fix the blades; A pair of link members (150) rotatably connected at one end to each of the blade fixing holders (140) and the other end rotatably connected to the slider (130); And a tilting angle operating member 160 rotatably connected to each of the pair of blade fixing holders 140 and hinged to the frame 110 to adjust a tilting angle range of the blade fixing holder 140 Thus, it is possible to easily perform posture control even if the flapping angle range of the flapping flight body is manipulated without a complicated mechanical structure.

Description

TECHNICAL FIELD [0001] The present invention relates to a flapping-wing system having a pitching moment generating device for longitudinal posture control,

[0001] The present invention relates to a flapping body having a pitching moment generating device for longitudinal posture control, and more particularly to a longitudinal flapping control by a pitching moment generated by adjustment of a flapping angle range in an insect-mimicking flapping body without a tail The present invention relates to a winging flight vehicle having a pitching moment generator capable of generating a pitching moment.

In general, the ORNITHOPTER is a flapping flapping flapping motion, and the study of the flapping motion flapping motion is based on the highly developed technology since the design of Leonardo da Vinci in 1490, A variety of applications are being developed not only for simple toys but also for various industrial and other military applications, and it is also possible to obtain excellent effects by using it.

Conventional flapping vehicles use an engine, a rubber band, or a compressed gas as a power source. The engine-powered flapping vehicle has a large output, but has a large noise and is difficult for a beginner to handle the engine and fuel. In addition, the wing flap body using rubber power or compressed gas power is easy to handle, but the flight time is very short and the user can not control the direction or altitude at will.

On the other hand, it is very difficult to realize an insect mimic wing flap flight body because the insect has control surface with only two wings in addition to lift or thrust generation by using only the wings without the control surface in the tail unlike the algae.

The present inventor has conducted research and development on insect-mimicking flapping bodies that have been made using only two wings for many years. For example, the present invention is described in Korean Patent No. 10-1031869 (registered date: 2011.04.21) (hereinafter referred to as "prior art document" ) Proposed a flapping device that produces a large flap angle.

The prior art document discloses a flapping device capable of obtaining a large flapping angle so that a flapping flap is formed at a large angle in an ultra small flapping flight body to generate sufficient lift.

FIG. 1 is a schematic view showing a wing mechanism of a wing flap according to the prior art. FIG. 1 shows an operation mechanism used in the prior art wing flap apparatus, and is driven symmetrically about a fuselage. Only one wing is shown.

1, the driving force of the driving motor provided in the moving body is transmitted to the crank R through the reduction gear, and the rotational motion of the crank R is transmitted to the upper and lower portions of the slider S by the scotch yoke mechanism y-axis direction) movement is made, wherein the sliders (S) one end hinged (O ₁₎ of fastening a first link (L1) is provided being hinged to the first link (L1) (O ₂₎ entered into the second link ( L2) is made to rotate within a predetermined angle (β) range of the medium to the first link (L1) in accordance with the vertical movement of the hinge as the center (O ₃₎ fixed to the slider body (S). On the other hand, the second link (L2) is fixed on the wing of the airplane, and the rotation angle of the second link (L2) corresponds to the wing angle.

The wing flap body having such a flapping operation mechanism has a vector expression as shown in the following Equation (1).

[Equation 1]

On the other hand, the vector expression of [Equation 1] can be expressed as Equation 2 with respect to the x and y components as follows.

&Quot; (2) "

In the above equation, A is the length of the link (R), and? Is the rotation angle due to the rotation of the drive motor. From Equation (2), the flapping angle (?) Can be expressed by the following Equation (3).

&Quot; (3) "

Such a flapping device can obtain a very large flapping angle by a combination of appropriate links.

In addition, as mentioned above, the insect generates the thrust or lift required for the flight by the flapping action, and the posture control is performed by using the flapping. Specifically, the control force for controlling the posture of the insect is the flapping The size of the stroke (flapping angle), the flapping frequency (or flapping frequency), and the change in posture.

The amplitude of the flapping stroke is considered as an important adjustment parameter in the generation of aerodynamic forces in the flies, and the aerodynamic force center (AC) can be varied by varying the stroke amplitude.

The frequency of the flapping wing is considered as another important parameter in the generation of flight force and maneuvering force, and has a great influence on the generation and flight speed of the force.

The change of the posture of the insect actually changes the position of the center of gravity (CG) of the flying object, and thus adjusts the distance between the average aerodynamic center (AC) and the center of gravity (CG), thereby generating the steering moment.

In addition, it is known that in some insects, the stroke plane angle is changed with respect to the body axis to adjust the aerodynamic force to obtain the steering force.

In this way, the understanding of the posture adjustment mechanism of insects can be used for development and research of insect mimetic wing flap vehicles. The present inventors adjusted the range of the amplitude of the wing stroke amplitude of the flapping wing aircraft to calculate the pitching moment ) Of the vehicle can be prevented from occurring.

In the present invention, it is possible to control the longitudinal posture of an ultra-small flapping flight body such as an insect flying by using only two wings, and to control the longitudinal posture of the flight body by simply manipulating the flapping angle range, To provide a wing flap body having a pitching moment generator.

According to an aspect of the present invention, there is provided a wing flap body including: a frame constituting a body of a flap body; A driving module fixed to the frame to generate a rotational driving force; A slider vertically slidable on the frame by a rotational driving force of the driving module; A pair of blade fixing holders provided symmetrically on both sides of the frame to fix the blades; A pair of link members each having one end rotatably connected to each of the blade fixing holders and the other end rotatably connected to the slider; And a tilting angle operating member rotatably connected to each of the pair of blade fixing holders and hinged to the frame to adjust a tilting angle range of the blade fixing holder.

Preferably, in the present invention, the tilting angle operating member includes: a fixed hinge shaft rotatably hinged to the frame; a tilt angle adjusting member that is hinged to each of the pair of the blade fixing holders, A pair of driven portions including movable hinge shafts as possible; And a driving unit for regulating an angle of rotation of the driven unit with the fixed hinge axis as a rotation axis.

More preferably, in the present invention, the drive unit includes a rack gear that can linearly move on a body, and the driven unit includes a pinion gear engaged with the rack gear.

More preferably, in the present invention, the driving unit is provided so as to be movable up and down on a central axis of the moving body, and the rack gear is symmetrically formed on both sides so as to correspond to each of the pair of driven parts.

Next, the flapping flight body of the present invention is a flapping flight body in which a flight is performed by the flap of two wings, and the rotational driving force of the drive source provided on the body is converted into a vertical reciprocating motion to generate a vertical flapping motion of the two flaps, A movable hinge shaft capable of being manipulated with respect to a moving body, and manipulation of the range of the flapping angles of the two wings according to the position of the movable hinge shaft is performed, thereby generating a pitching moment of the flying body.

The wing flap body according to the present invention includes a movable hinge shaft capable of being moved with respect to a moving body, and a manipulation of the flapping angle range of both wings is performed according to the manipulation of the position of the movable hinge shaft, , The posture control can be easily performed even if the flapping angle range of the flapping flight body is manipulated without complicated mechanical configuration for the longitudinal control of the flapping flight body.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagrammatic view showing a wing mechanism of a wing flap according to the prior art,
2 is a perspective view showing the overall configuration of a flapping wing flight according to the present invention,
FIG. 3 is an exploded perspective view of a winged flying vehicle according to the present invention,
FIG. 4 is a diagram schematically showing a flapping mechanism of a flapping wing according to the present invention,
5 is a view for explaining angles defined in the flapping flight according to the present invention,
6 (a) and 6 (b) are views showing a configuration and an operation example of a main part of a flapping wing flight according to the present invention,
FIG. 7 is a photograph showing a real photograph of a winged flying body manufactured according to the present invention,
8 (a) and 8 (b) are graphs obtained by measuring the flapping motion and the wing rotation motion of the flapping air vehicle manufactured according to the present invention,
FIG. 9 is a photograph showing a test setup state for testing a winged flight vehicle manufactured according to the present invention,
FIG. 10 is a photograph showing the state of the test for the normal case of the flapping air vehicle manufactured according to the present invention,
FIG. 11 is a photograph showing a test resting state of a pitching-up case of a winged flying vehicle manufactured according to the present invention,
FIG. 12 is a photograph showing a test resting state of a pitching-down case of a winged flying vehicle manufactured according to the present invention,
FIG. 13 is a photograph showing an experimental apparatus for demonstrating longitudinal posture control of a winged flying object manufactured according to the present invention,
FIGS. 14 (a), 14 (b) and 14 (c) are photographs continuously showing the operation of the airplane according to different flapping angle ranges in the flapping airplane manufactured according to the present invention.

The specific structure or functional description presented in the embodiment of the present invention is merely illustrative for the purpose of illustrating an embodiment according to the concept of the present invention, and embodiments according to the concept of the present invention can be implemented in various forms. And should not be construed as limited to the embodiments described herein, but should be understood to include all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Meanwhile, in the present invention, the terms first and / or second etc. may be used to describe various components, but the components are not limited to the terms. The terms may be referred to as a second element only for the purpose of distinguishing one element from another, for example, to the extent that it does not depart from the scope of the invention in accordance with the concept of the present invention, Similarly, the second component may also be referred to as the first component.

Whenever an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but it should be understood that other elements may be present in between something to do. On the other hand, when it is mentioned that an element is "directly connected" or "directly contacted" to another element, it should be understood that there are no other elements in between. Other expressions for describing the relationship between components, such as "between" and "between" or "adjacent to" and "directly adjacent to" should also be interpreted.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. It will be further understood that the terms " comprises ", or "having ", and the like in the specification are intended to specify the presence of stated features, integers, But do not preclude the presence or addition of steps, operations, elements, parts, or combinations thereof.

The wing flap body according to the present invention includes a movable hinge shaft capable of operating a position with respect to a moving body, wherein the wing flap body converts the rotational driving force of a driving source provided in the body into a reciprocating motion to generate upper and lower flap motions of the two wings. The operation of the flapping angle range of both wings is performed according to the position of the movable hinge shaft, thereby generating a pitching moment of the flying body.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 2 is a perspective view showing the overall configuration of a flapping body according to the present invention. The longitudinal direction of the flying body 100 orthogonal to the X-axis is defined as a Z-axis, the X- The direction perpendicular to the plane is defined as the Z axis. The rotation around the Z axis is referred to as rolling (R), the rotation around the X axis is referred to as pitching (P), and the rotation around the Y axis is referred to as yawing (Y).

Referring to FIG. 2, the flapping body 100 according to the present invention includes a frame 110 constituting a body of a flapping body; A driving module (120) fixed to the frame (110) to generate a rotational driving force; A slider 130 slidable in a vertical direction on the frame 110 by a rotational driving force of the driving module 120; A pair of blade fixing holders 140 provided symmetrically on both sides of the frame to fix the blades; A pair of link members (150) rotatably connected at one end to each of the blade fixing holders (140) and the other end rotatably connected to the slider (130); And a tilting angle operating member 160 rotatably connected to each of the pair of blade fixing holders 140 and hinged to the frame 110 to adjust a tilting angle range of the blade fixing holder 140 do.

3 is an exploded perspective view of a winged flying vehicle according to the present invention.

3, the frame 110 includes a front plate 111 and a rear plate 112, and the front plate 111 and the rear plate 112 are supported by upper and lower horizontal plates 113, respectively, And are arranged parallel and spaced apart from each other.

A pair of vertical rods 114 are assembled to the horizontal plate 113 at the upper and lower ends and a slider 130 is assembled to the vertical rods 114 to guide the vertical movement of the slider 130.

The drive module 120 includes a drive motor 121, a gear group 122 driven by the drive motor 121 and a crankshaft 123 provided in the gear group 122, (123) is assembled with the slider (130), and the slider (130) is reciprocated in the vertical direction by rotational drive of the crank shaft (123).

The slider 130 has a long guide groove 131 formed in the horizontal direction and is assembled with the crank shaft 123 and is reciprocated in the vertical direction of the frame 110 by the drive module 120. Further, the slider 130 has a left-right symmetrical shape, and both ends thereof are hinged to the lower end of the link member 150 by hinge pins.

The slider 130 is provided with an assembly hole 132 to be assembled with the vertical bar 114.

The wing fixing holders 140 are provided symmetrically on both sides of the frame 110, and wings (not shown) are fixed. The wing fixture holder 140 is provided at one end thereof with a fitting groove 141 to fix the wing and a first hinge hole 142 at the other end thereof to be assembled by the upper end of the link member 150 and the hinge pin. And a second hinge hole 143 is formed at the center of the wing fixing holder 140 so that the hinge pin is assembled by the tilting angle manipulation member 160 and the hinge pin.

The link member 150 is assembled such that both ends of the link member 150 are rotatable by the slider 130 and the wing fixing holder 140 and the hinge pin and the wing movement of the wing fixing holder 140 is performed by the vertical movement of the slider 130 .

The tilting angle operating member 160 is rotatably assembled to each of the pair of blade fixing holders 140 while being hinged to the frame 110 so that the tilting angle range of the blade fixing holder 140 can be adjusted have.

The tilting angle manipulating member 160 includes a fixed hinge axis O ₄ that is rotatably hinged to the frame 110 and a fixed hinge axis O _{4 that} is hinged to each of the pair of the blade fixing holders 140, A pair of driven portions 161 including a movable hinge axis O ₃ rotatable about an axis O ₄ as a rotational axis; And a driving unit 162 that regulates a rotation angle of the driven unit 161 having the fixed hinge axis O ₄ as a rotation axis.

3, a first hinge hole 161a is formed at a substantially central portion of the driven portion 161 and is assembled by a front plate 111 and a hinge pin, The second hinge hole 161b provided at one end is rotatably assembled by the second hinge hole 143 of the wing fixture holder 140 and the hinge pin so that the fixed hinge shaft And serves as a movable hinge shaft which can rotate with the rotation shaft.

On the other hand, a plurality of pinion gears 161c are provided at one end of the driven portion 161 in the shape of an arc centering on the first hinge hole 161a.

Preferably, in this embodiment, the driving portion 162 is formed symmetrically on both sides of a rack gear 162a which is linearly movable in a direction perpendicular to the body, and the rack gear 162a is fixed to the pinion gear The angle of rotation of the driven portion 161 can be regulated according to the vertical position of the driving portion 162 and the position of the driven portion 161 can be restricted by the position Adjustment of the tilting angle range is made.

Reference numeral 163 denotes a fixing bracket for assembling the driving unit 162 to the frame and one or two fixing brackets are assembled with the front plate 111 so as to enclose the driving unit 162 so that the driving unit 162 can move vertically Can be moved to.

Although not shown, the driving unit in the present invention can be vertically operated by an actuator such as a separate linear motor.

FIG. 4 is a schematic view showing a wing mechanism of a winged flying vehicle according to the present invention. In the present invention, the right and left wings are driven symmetrically with respect to a fuselage, and only the driving mechanism of the left wing is shown in FIG.

4, the slider 130 is rotatably connected to the lower end of the link member 150 and the upper end of the link member 150 is rotatably connected to _one end of the blade fixing holder 140, ₂ ) and the other end of the blade fixing holder 140 is connected to the joint (O ₃ ) so as to be rotatable with one end of the driven part 161. Driven members 161, one end is fastened hinge rotatably in the body, the hinge axis is a fixed hinge axis (O ₄₎ as the driven members 161 is a wing fixed holder 140 and the rotation axis to a fixed hinge axis (O ₄₎ The joint O ₃ connected to the link member 150 functions as the movable hinge axis O ₃ of the blade fixing holder 140 rotated by the driving of the link member 150.

Therefore, the rotational motion of the driving module is switched to the vertical reciprocating motion of the slider 130 by the scotch yoke mechanism, and the wing fixing holder 140 is moved up and down by the vertical movement of the slider 130 to the movable hinge axis O ₃ And the wing movement is performed by the link member 150 within a range of a predetermined tilting angle beta.

On the other hand, the movable hinge axis (O ₃₎ of the tilting angle (χ) is a blade according to the position of being determined in accordance with the vertical position of the drive unit 162 (see FIG. 3), and thus the hinge axis (O ₃₎ flapping angle ( flapping angle can be manipulated in arbitrary angle range.

는 크랭크축(123)의 회전운동에 의한 회전 각도를 나타내며, γ는 슬라이더(130)와 링크부재(150)의 조인트(O₁)를 지나는 수직축과 가동 힌지축(O₃) 사이의 사잇각을 나타낸다.4,

Represents the angle of rotation by the rotational motion of the crankshaft (123), γ denotes an included angle between the slider 130 and the link member 150, the joint (O ₁₎ for passing through the vertical axis and movable hinge axis (O ₃₎ .

The output angle (?) Of the blade fixing holder 140 due to the rotational motion of the crankshaft can be expressed by the following Equation (4).

&Quot; (4) "

On the other hand, in Equation (4),? Is expressed by the following Equation (5).

&Quot; (5) "

FIG. 5 is a view for explaining angles defined in the flapping flight according to the present invention. Referring to FIG. 5, the flapping angle can be expressed by the following equation (6).

&Quot; (6) "

가 -π/2에서 π/2 만큼 회전하게 되면 날개 축(feather axis)은 ψ_max에서 ψ_min 각도 범위를 갖게 되며, 이때 ψ_max와 ψ_min은 각각 업스트로크와 다운스트로크에서의 최대 각도에 해당한다. For example, when the tilting angle? Of the movable hinge axis O ₃ is 0 (zero) (hereinafter referred to as a "normal case"),

The feather axis has a range of angles ψ _min at ψ _max, where ψ _max and ψ _min correspond to the maximum angles in upstrokes and downstrokes, respectively. do.

When the vertical distance h between the rotational axis of the crankshaft and the fixed hinge axis O ₄ and the length between the joint O ₂ and the joint O ₃ are determined, the radius (R) of the ψ _max and can calculate the ψ _min, wherein the link member 150, the two joints (O ₁₎ (O _2), the length and the crankshaft 123 between the can from the following formula 7] Can be calculated.

&Quot; (7) "

In this embodiment, the vertical distance h is 8.0 mm, the length between the joint O ₂ and the joint O ₃ is set to 4 mm, and the output flapping angle in the normal case is 100 ° , Where the wings are symmetrical about the x axis, so ψ _max and ψ _min are 50 ° and -50 °, respectively. The radius R of the crankshaft and the length between the two joints O ₁ and O ₂ can be calculated by substituting these values into Equation 7. The calculated radius R is 3.1 mm, (O ₁ ) (O ₂ ) is 8.4 mm.

As also referring to Figure 6, described apseodo, flapping change in the angle range is made by the location operation of the movable hinge axis (O _3), where the operation of the movable hinge axis (O ₃₎ is a fixed hinge axis (O ₄ And a drive unit 162 for restricting the rotation of the driven unit 161. In this embodiment, the driven unit and the drive unit are driven by a rack-and-pinion gear .

Example

Table 1 below shows specifications of the main components used in the wing flap body according to the present embodiment.

[Table 1]

The following table 2 shows the flapping angles for the three tilting angles (χ), and the flapping angle and the intermediate stroke angle can be manipulated by manipulating the tilting angle (χ) Can be used to adjust the pitching moment with respect to the CG.

[Table 2]

7 is a photograph showing a real photograph of a flapping vehicle manufactured according to the present invention, and is manufactured using a CNC machine (MM-300S, precision 10 μm, MAXIX, Korea).

- Measurement of wing motion locus -

The wing motion trajectory of the aircraft was determined by tracking the three-dimensional coordinates of the marked points on the wing surface from the continuous images of the wings captured at 2000 fps by two synchronized high-speed cameras. The flapping frequency was approximately 38 Hz.

Figure 8 (a) shows the variation over time of the flapping angle in this embodiment, where the flapping angle corresponds to the angle between the upstroke end and the downstroke end in one wing cycle, and the three , The flapping angles in the normal, pitching-down, and pitching-up cases were approximately 104 °, 99 °, and 116 °, respectively. This flapping angle is somewhat larger than the flapping angle of the originally designed flapping angle of Fig. 6 (b), which indicates the bending deformation of the leading edge vein of the wing during the flapping operation, .

FIG. 8 (b) shows the rotation angle of the wing in the present embodiment, and the rotation angle shows the wing chord and the stroke plane at three different wing positions of the three cases. As shown in FIG. The final wing motion trajectory was determined by averaging the measured wing motion trajectories.

From FIG. 8 (b), it can be seen that the wing has a negative twist during downstroke, and the opposite phenomenon appears in upstroke.

- Experimental apparatus -

For the test in this example, a multi-axis load cell (Nano 17, ATI Industrial Automation, USA, resolution 0.3 gf) was used to measure the force and pitching moment generated by the flapping vehicle. As illustrated in FIG. 9, the load cell was installed perpendicular to the flap body via a carbon rod 7 mm in diameter and 20 mm in length. The z-axis (Z _L ) of the load cell is perpendicular to the stroke plane through the center of gravity (CG) of the flapping wing. The center of gravity (CG) is located at about 36% from the tip of the wing protrusion. The wing flap was operated by the external power supply (E3646A, Agilent, Malaysia) at a flapping frequency of about 38.3 ㅁ 0.3 ㎐.

The average force and moment were calculated by taking an average value for about 100 times of the flapping cycle during the flapping motion, and three cases for the change of the tilting angle (χ) (hereinafter also referred to as "pitch adjustment angle") The forces and moments for normal, pitching up, and pitching down were measured.

1. Normal Case

In the case of the normal case, the pitch adjustment angle (χ) was fixed at 0 ° and the force and moment were measured 10 times to obtain the average value.

Figure 10 shows the experimental set-up for the normal case, and the following [Table 3] shows the results.

[Table 3]

It can be seen from Table 3 that the average vertical force Fz is 5.12 g and the horizontal force Fy is about 2.8% of the normal force because flapping motion is symmetrical about the x axis of the flapping body, And the horizontal force is canceled in the up / down stroke process.

)를 측정할 수 있으며, 전체 피칭 모멘트는 로드셀 축(x_L)에 대한 Fz에 의한 피칭 모멘트(

)와 Fy에 의한 피칭 모멘트(

)의 합이다. 무게중심(CG)과 로드셀의 축(x_L) 사이의 거리를 알기 때문에 무게중심(CG)에서의 피칭 모멘트를 계산할 수 있다. 우선 Fy의 힘중심과 로드셀 사이의 거리를 Fy와 곱하여

를 구하고 전체 모멘트(

)에서

를 빼서 로드셀 축에 대한 피칭 모멘트(

)를 결정할 수 있다. The load cell calculates the total pitching moment (

), And the total pitching moment is the pitching moment due to Fz for the load cell axis (x _L )

) And the pitching moment due to Fy (

). Since the distance between the center of gravity CG and the axis x _L of the load cell is known, the pitching moment at the center of gravity CG can be calculated. First, the distance between the force center of the Fy and the load cell is multiplied by Fy

And the total moment (

)in

To calculate the pitching moment for the load cell axis (

Can be determined.

The pitching moment for the center of gravity (CG) in the normal case is about 0.05 mN-m (5 g-mm), but the accuracy for the moment in the load cell is about 1.6 g-mm. .

2. Pitching up case

The force and moment of the pitching case were the same as those of the normal case and were measured with different pitch adjustment angles (χ). The angle to the pitching was -10 °.

The test was carried out 10 times and the average value was taken, and the results are shown in the following [Table 4].

[Table 4]

)로부터 로드셀의 수평력(

)에 의한 모멘트를 빼주어 계산할 수 있다. 이는 시계방향으로 대략 46.4g-㎜로써 피칭업 모멘트를 발생시킨다.
In this case, since the flapping angle is larger than the normal case, the average normal force Fz is about 6.2 g, which is larger than the normal force of the normal case. During the down stroke and up stroke, as shown in the blade rotation angle of FIG. 8, a relatively large horizontal force Fy is generated in the y direction due to the asymmetry of the wing shape. The force in the y direction caused by the flapping during upstroke is greater than the force generated during downstroke. In the end, the average horizontal force of about 0.5g was caused by the flap of the airplane and corresponds to the left direction in Fig. As can be seen from [Table 4], due to manipulation of the flapping angular range, a negative pitching moment was generated with respect to the center of gravity (CG) in this case. The center of the horizontal force Fy passes through the center of gravity CG even if there is manipulation of the flapping angular range so that the horizontal force Fy does not cause any pitching moment for the center of gravity CG. The center of gravity CG is aligned with the z-direction load cell coordinate and therefore the pitching moment of the generated body for the center of gravity CG when the pitch adjustment angle χ is -10 ° is the total moment of the load cell

The horizontal force of the load cell

) Can be calculated. This results in a pitching moment of approximately 46.4 g-mm in the clockwise direction.

3. Pitching down case

For the pitching down case, the force and moment were measured in the same manner as the normal case and the pitching case with the pitch adjustment angle (χ) of 20 ° without any change to the other experimental set-up conditions.

In this case, the average centers of Fz and Fy should be located on the right side of the center of gravity CG as shown in Fig. [Table 5] shows the average vertical force, horizontal force and positive pitching moment for the center of gravity (CG) generated by the wings. Since the size of the flapping angle in this case is somewhat smaller than that of the normal case and the pitching case, the vertical force (Fz) of the three cases is the smallest at about 4.5 g. The average horizontal force Fy is about +0.086 g, and the direction of the force is right as shown in FIG. The moment about the center of gravity (CG) produces a pitching-down moment of about 36.8 g-mm counterclockwise.

[Table 5]

4. Demonstration of pitching moment generation

In order to show that the pitching moment can be generated during the flapping operation of the aircraft according to the manipulation of the pitch adjustment angle (?), The experimental apparatus as shown in FIG. 13 was manufactured. The aircraft was mounted on a test jig to allow free rotation about the center of gravity (CG) on the yz plane. The power was started by using a wireless infrared transmitter (ITX2H-V2, 38 kHz) and a receiver (IRX262, 38 kHz). The power source was a pair of lithium batteries (3.7 V, 20 mAh, Fullriver, China) Respectively.

14 (a), 14 (b) and 14 (c) are photographs continuously showing the operation of a flying object according to different flapping angle ranges in the flapping flight vehicle manufactured according to the present invention. Captured.

The flapping frequency is 38 Hz to 40 Hz, and a slight difference occurs depending on the charged state of the battery.

FIG. 14 (a) shows a vertical flight state for 3 seconds with a normal case (x = 0), and the flying body has a vertical direction during the flapping although a slight vibration occurs at the hinge portion with the test jig .

14 (b) shows that the flight vehicle has a pitching-up moment due to the flapping of the flight vehicle with the pitching-up case (x = -10), and is rotated at the hinge portion with the test jig and tilted to the left.

14C shows that the pitching-down case (x = 20 DEG) causes the flying body to generate a pitching-down moment due to the wing flap and rotate in the right direction at the hinge portion with the test jig.

As described above, it can be seen that a pitching moment is generated by manipulation of the flapping angle range of the flying object of the present invention.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the inventions. It will be apparent to those of ordinary skill in the art.

100: Flapping body 110: Frame
120: driving module 130: slider
140: wing fixing holder 150: link member
160: tilting angle operating member

Claims (5)

A frame constituting a body of a flapping wing;
A driving module fixed to the frame to generate a rotational driving force;
A slider vertically slidable on the frame by a rotational driving force of the driving module;
A pair of blade fixing holders provided symmetrically on both sides of the frame to fix the blades;
A pair of link members each having one end rotatably connected to each of the blade fixing holders and the other end rotatably connected to the slider;
And a tilting angle manipulation member rotatably connected to each of the pair of blade fixing holders and hinged to the frame so that the tilting angle range of the pair of blade fixing holders can be adjusted only by a single driving unit. The tilting angle control device according to claim 1,
A fixed hinge shaft rotatably hinged to the frame, and a pair of movable hinge shafts mounted on the pair of fixed wing holders, the movable hinge shafts being rotatable about the fixed hinge shafts as rotation shafts, ,
Wherein the driving portion restricts the rotation angle of the driven portion with the fixed hinge axis as a rotation axis. 3. The winging flight according to claim 2, wherein the driving unit includes a rack gear capable of linearly moving on a body, and the driven unit includes a pinion gear engaged with the rack gear. 4. The winged flying object according to claim 3, wherein the driving unit is vertically movable on a center axis of the moving body so that the rack gear is symmetrical on both sides so as to correspond to each of the pair of driven parts. As a winged flying body in which a flight is made by the wings of two wings,
A movable hinge shaft capable of being moved with respect to a moving body by a single drive unit, wherein the two wings are provided with a movable hinge shaft, Wherein a flapping angle range of both wings is operated to generate a pitching moment of the flying body.

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