KR101838534B1

KR101838534B1 - Insect-like tailless flapping-wing micro air vehicle based on rack-pinion mechanism

Info

Publication number: KR101838534B1
Application number: KR1020160021105A
Authority: KR
Inventors: 박훈철; 투안 안 구옌
Original assignee: 건국대학교 산학협력단
Priority date: 2016-02-23
Filing date: 2016-02-23
Publication date: 2018-03-15
Also published as: KR20170099430A

Abstract

The present invention relates to an insect-mimicking flapping vehicle based on a rack-and-pinion mechanism, comprising: a body (110); A pair of blades symmetrically disposed on the left and right sides of the body 110; A driving motor 120 installed in the body 110; A pinion element (130) (140) rotatably mounted on the left and right sides of the body (110) by fixing each of the wings; A crank element 150 that is rotated by the rotational driving force of the driving motor 120; A rack gear element (not shown) which is in a state of being engaged with the pinion element 130 (140) and is moved up and down in the longitudinal direction of the body 110 by the rotational movement of the crank element 150 via the connecting rod 160 (170).

Description

{INSECT-LIKE TAILLESS FLAPPING-WING MICRO AIR VEHICLE BASED ON RACK-PINION MECHANISM}

The present invention relates to an insect-mimicking flapping vehicle based on a rack-pinion mechanism.

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.

In particular, insect mimics are attracting much attention because they have many advantages such as excellent flight maneuverability, stable hovering ability and high energy efficiency in limited space.

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.

The inventor of the present invention has proposed a scotch yoke mechanism for obtaining a large flapping motion and also proposed a pulley-belt mechanism combined with a slide-crank capable of improving the generation of thrust by implementing a larger flapping motion There is a bar.

Therefore, the inventor of the present invention has filed an application of the present invention by further improving the insect mimetic wing flap.

Patent Registration No. 10-1031869 (Publication Date: May 05, 2011) Patent Registration No. 10-1477687 (Publication Date: December 30, 2014)

An object of the present invention is to provide a flapping flight body having a simple structure and excellent durability in an ultra small flapping flight body such as an insect flying by using only two flaps.

In order to accomplish the above object, the present invention provides a flapping wing body comprising: a body; A pair of wings symmetrically disposed on the left and right sides of the body; A driving motor installed on the body; A pinion element fixed to each of the wings to be rotatable on the right and left sides of the body; A crank element for performing rotational motion by a rotational driving force of the driving motor; And a rack gear element which is in a state of being engaged with the pinion element and is vertically linearly moved in the longitudinal direction of the body by rotational motion of the crank element via a connecting rod.

Preferably, the moving body further includes a guide member for guiding upward and downward movement of the rack gear element.

More preferably, the guide member further includes a guide shaft supported by the body so as to be parallel to the vertical movement direction of the rack gear element.

Preferably, the rotary shaft of the crank element is disposed in the direction of movement of the rack gear element, and more preferably, the rotary shaft of the crank element is disposed on the symmetrical axis of the body.

The insect-mimic-type flapping flight according to the present invention has a wing structure using a rack-pinion mechanism, so that the structure of the drive mechanism is simple and easy to manufacture, durability is excellent, a high flapping frequency and a large thrust can be obtained , It is possible to obtain a constant thrust / power consumption ratio constant with respect to the frequency change.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic view showing a flapping mechanism of an insect mimetic wing flap according to the present invention;
FIG. 2 is a front view of a flapping mechanism of an insect-mimetic wing flap according to the present invention;
FIG. 3 is a photograph showing the artificial wings of the flapping wing of the present invention,
FIG. 4 is a view showing a test configuration for a gear ratio test of a flapping vehicle according to the present invention,
5 (a), 5 (b) and 5 (c) are graphs showing the results of measurement of the flapping frequency, thrust, power consumption, and thrust /
FIG. 6 is a front view of a flapping air vehicle, which is a comparative example of the present invention,
FIGS. 7A, 7B and 7C are graphs showing the results of measurement of the wing flap frequency, the thrust, the power consumption, and the thrust / power consumption ratio of the present embodiment and the comparative example.

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.

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

1 is a diagram schematically showing a flapping mechanism of an insect mimetic flapping body according to the present invention (hereinafter abbreviated as "flight body").

Referring to Figure 1, the wing mechanism of the present invention is provided by a combination of a scotch yoke mechanism and a rack-pinion mechanism.

Specifically, a crank element 10 having a body rotation axis O ₀ , one end of which is fixed to a moving body, is axially coupled (O ₁ ) to the connecting rod 20 and the upper end of the connecting rod 20 is connected to a rack gear element 30 is coupled with shaft (O _2).

The rack gear element 30 is slid up and down in the longitudinal direction of the body (y-axis) and has a rotation axis O ₃ fixed to both sides of the rack gear element 30, The pinion element 40 is provided. 1, only one pinion element 40 is shown on the right side of the rack gear element 30, but a pinion element is also provided on the left side of the rack gear element 30 symmetrically with respect to the rack gear element 30.

The body rotational axis O ₀ of the crank element 10 is located on the vertical axis (y axis) of the body together with the rack gear element 30.

The rack gear element 30 may be provided with a separate guide member for guiding the up and down movement direction.

The rotating mechanism of the crank element 10 is constituted by a drive source (not shown), and the rotational movement of the crank element 10 is transmitted to the rack gear element 30 and the upper and lower linear reciprocating motion of the rack gear element 30 causes the pinion element 40 to repeatedly rotate within a certain angle range.

In FIG. 1, the respective link elements can be expressed by the following relational expression (1).

[Equation 1]

Where r is the radius of rotation of the pinion element, d is the radius of rotation of the crank element, and Ψ is the flapping angle.

FIG. 2 is a front view of the flywheel mechanism according to the present invention. FIG.

2, the flying body of the present invention includes a body 110 constituting a basic skeleton of a flying body, a pinion element 130 (140) provided to be rotatable on the right and left sides of the body 110, A crank element 150 which is rotated by a rotational driving force of the driving motor 120 and a crank gear 150 which is in a state of being engaged with the pinion elements 130 and 140, And a rack gear element 170 in which up and down linear motion is performed in the longitudinal direction of the moving body 110 by the movement.

The body 110 constitutes the basic skeleton of the airplane, and the main components are assembled. Therefore, the shape and material of the body 110 may have various shapes in consideration of the arrangement and durability of the main components.

The moving body 110 may be provided with a guide shaft 113 in parallel with the up and down movement direction of the rack gear element 170. The guide shaft 113 may include fixing brackets 111 and 112 fixed to the moving body 110, . The rack gear element 170 may be provided with a guide bracket 171 to enclose the guide shaft 113 so that the rack gear element 170 can be guided by the guide shaft 113 to move up and down.

The driving force of the driving motor 120 may be transmitted to the crank element 150 directly or via a power transmitting means. The driving force of the driving motor 120 may be transmitted to the crank element 150, .

The driving motor 120 of the driving motor 120 transmits rotational driving force to the crank gear 151 through the reduction gear 121. The crank gear 151 is formed integrally with the crank arm 152 having a predetermined length Rotational motion is achieved. At this time, the drive motor 120, the reduction gear 121, and the crank gear 151 are disposed on the longitudinal axis of the body.

Both ends of the connecting rod 160 are hinged to the crank arm 152 and the rack gear element 170 so that the rotational movement of the crank arm 152 is transmitted to the rack gear element 170 by the connecting rod 160, Motion.

The pinion elements 130 and 140 are rotatably fixed to the left and right sides of the body 110, and the rack gears 170 have teeth formed at both ends thereof. Each of the pinion elements 130 has a wing fixing end 131 on which a tooth 132 is formed for tooth-coupling with the rack gear 170 and has wings fixed at one end thereof.

Example

The main components of the present invention (such as a fuselage, support structure of the wing mechanism) were machined using a CNC machine (MM-300S, precision 10 μm, MANIX, Korea), and the rack gear, pinion, Thick carbon / epoxy sheet.

FIG. 3 is a photograph showing an artificial wing of a winged flying vehicle according to the present invention. The artificial wing 180 includes a flexible membrane 181 and a tip fixing portion 182 fixed to the tip of the membrane 181 Lt; / RTI > In this embodiment, the membrane 181 may be provided by a 20 탆 thick PET thin film, and a plurality of angles 183 may be added to support the membrane 181. A carbon rod may be used for the tip fixing portion in which the pinion element and the assembly are assembled. Each of the artificial blades thus manufactured has an aspect ratio of 2.75 in area of 17 cm 2.

Gear ratio test

The gear ratio has a considerable influence on the flapping frequency. When the gear ratio is large, the torque becomes large and the rotation speed of the pinion element becomes small. Experiments of gear ratios are therefore carried out in order to determine the appropriate gear ratio to balance the output speed and torque of the wing mechanism while reducing power consumption.

In this experiment, experiments were conducted on three gear ratios of 12: 1, 16: 1, and 20: 1.

FIG. 4 is a view showing a test configuration for a gear ratio test of a winged flying vehicle according to the present invention. The wing flying object 100 is loaded with a load cell (Nano 17, ATI Industrial Automation, USA, force resolution 0.3 gf) (1). The flapping flight body 100 is powered by an external power supply (E3646a, Aligent, Malaysia) 2. Also, a high-speed camera 3 is provided to shoot a video image of a flapping motion of the flapping flight body 100.

A resistor 4 is connected in series between the driving motor of the flapping flying object 100 and the power supply device 2 to calculate the power consumption of the flapping flying object 100 by using Ohm's law.

Each of the flapping bodies having the above-mentioned gear ratios was fabricated to have the same flapping angle of 160 과 and passive wing rotation. The power supply was increased from 2V to 5V in 1V increments, and the flapping frequency, thrust, and power consumption were measured.

5 (a), 5 (b) and 5 (c) are graphs showing the result of measurement of the flapping frequency, thrust, and power consumption of the flapping airplane of each gear ratio.

Referring to FIG. 5 (a), it can be seen that the flapping flight body having the 16: 1 gear ratio generates the largest flapping frequency, and the flapping flight body having the 20: 1 gear ratio has the lowest power consumption.

Next, referring to FIG. 5 (b), it can be seen that the wing flap bodies of the respective gear ratios generate similar wing flap motions at the same flap frequency, so that the thrust measured at the same flap frequency is substantially similar.

However, referring to (c) of FIG. 5, it can be seen that the ratio of the thrust / power consumption is the largest in the flapping flight having a 16: 1 gear ratio. Therefore, in the present embodiment, the description will be made on the basis of a flapping flight having a 16: 1 gear ratio unless otherwise specified.

Next, the performance of the present embodiment is compared with that of a flap-wing aircraft using a pulley-belt mechanism as a comparative example. FIG. 6 is a front view of a flapping wing aircraft, which is a comparative example of the present invention.

6, the flap-wing flight 200 of the pulley-belt mechanism includes a reduction gear 211, a crank gear 212 that is meshed with the reduction gear 211 to be rotationally driven, a crank gear 212, A driving pulley 221 connected by a connecting rod 213, a right driven pulley 241 provided on the right side of the driving pulley 221 and connected by a first belt 231, And a left driven pulley 242 connected to the second belt 232 by a second belt 232.

The first belt 231 and the second belt 232 are connected to the driving pulley and the driven pulleys so that they are opposite to each other. Thus, by the one-way rotational motion of the driving pulley 221, the right driven pulley 241 and the left driven The pulleys 242a are rotated in opposite directions to each other so that the wings 241a and 242a are symmetrically winged.

The wing flap, which is a comparative example, has a flapping angle of 140..

Hereinafter, the thrust and the power consumption were measured by the same method as described above with respect to the embodiment (16: 1 gear ratio) and the pulley-belt mechanism flapping body.

[Table 1]

[Table 2]

[Table 1] and [Table 2] show a comparison of the performance of the comparative example and the present embodiment, and the thrust and the power consumption generated by applying 2V, 3V, and 4V to each flap were measured.

7 (a), 7 (b) and 7 (c) are graphs showing the measurement results of the wing flap frequency, the thrust, the power consumption, and the thrust / power consumption ratio in this embodiment and the comparative example.

7A, when the applied voltages are 2V, 3V, and 4V, the present embodiment has a higher flapping frequency of about 26.3%, 20.8%, and 21.2% higher than that of the comparative example, It can be understood that the friction force is small at the time of driving and the response is excellent.

Referring to FIG. 7 (b), it can be seen that the power consumption of the present embodiment is somewhat higher than that of the comparative example because the frequency of the flapping is higher for the same voltage.

However, as can be seen from FIG. 7C, the present embodiment shows that the thrust / power consumption ratio is 30% larger than that of the comparative example, and that the thrust / power consumption ratio is constant in the frequency variation. .

As described above, according to the present invention, a high flapping frequency and a large thrust can be obtained for the same voltage as compared with a flap-belt mechanism of a pulley-belt mechanism, and a high thrust / power ratio can be obtained.

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.

10, 150: crank element 20, 160: connecting rod
30, 170: rack gear element 40, 130, 140: pinion element
100: Flapping body 110: Body
120: drive motor

Claims

A fuselage;
A pair of wings symmetrically disposed on the left and right sides of the body;
A driving motor installed on the body;
A pinion element fixed to each of the wings to be rotatable on the right and left sides of the body;
A crank element for performing rotational motion by a rotational driving force of the driving motor;
And a rack gear element which is meshed with the pinion element and is vertically linearly moved in the longitudinal direction of the body by rotational movement of the crank element via a connecting rod.

2. The insect-mimetic winglet according to claim 1, wherein the body further comprises a guide member for guiding upward and downward movement of the rack gear element.

3. The insect-mimetic winglet according to claim 2, wherein the guide member further comprises a guide shaft supported by the body in parallel with a vertical movement direction of the rack gear element.

2. The insect-mimetic winglet according to claim 1, wherein the rotation axis of the crank element is disposed in the direction of movement of the rack gear element.

The insect-mimetic winglet according to claim 4, wherein the rotation axis of the crank element is disposed on a symmetrical axis of the body.