KR102134474B1 - Insect-like tailless flying robot based on change of flapping-wing plane angle - Google Patents

Abstract

The present invention relates to an insect imitating flight robot based on a device for a wing flapping lane angle of a, which includes: a driving motor; a pair of wings; a wing flat driving body coupling the driving motor to the center, providing the pair of wings to be symmetrical to left and right sides, and transmitting a rotating motion of the driving motor to symmetrical wing flaps of the wings; and a wing flapping plane angle adjusting part installed in the center of weight of the wing flap driving body and adjusting the wing flapping plane angle of the wings through a wing flap control mechanism inducing rotation of the wing flap driving body. Accordingly, the insect imitating flight robot can generate force and control moments required in rapid maneuvers by using a method for rotating a main body (wing flap driving body) including the motor which is an actuator to change the wing flapping plane angle.

Description

Insect-Like TAILLESS FLYING ROBOT BASED ON CHANGE OF FLAPPING-WING PLANE ANGLE}

The present invention relates to an insect-mimicking flight robot, and more specifically, using a method of changing a wing plane angle by rotating a body including a motor as a driver, based on a wing plane angle change device that generates a force and control moment required for rapid starting. It is about an insect-mimicking flying robot.

In general, the flying wing aircraft (ORNITHOPTER) refers to the flying aircraft with flapping wings, and the research on the flying wing aircraft with FLAPPING MOTION has been highly developed since the design of Leonardo Da Vinci in 1490, Kinds of aircraft are being developed, because they have a wide range of applications not only for simple toys, but also for various industrial and other military uses, and also, by using them, excellent effects can be obtained. Conventional winged vehicles use engines, rubber bands, or compressed gas as a power source, while the engine-powered winged vehicles have a large output while having a high noise, making it difficult for beginners to handle engines and fuels. In addition, a winged vehicle using rubber power or compressed gas power is easy to handle, but has a problem in that the flight time is very short and the user cannot control the direction or altitude at will. On the other hand, unlike birds, insects do not have a control surface at the tail, but they use only wings to control posture with both wings in addition to generating lift or thrust. It is difficult.

The present inventor has researched and developed an insect-mimetic winged vehicle that has been flying using only two wings for many years, and for example, has proposed a flying device that generates a large flying angle in Patent No. 10-1031869 (2011.04.21), In Patent Registration No. 10-1744721 (2017.06.01), an insect-mimicking wing aircraft is proposed in which a wing portion is installed between a flapping slot as a guide to rotate the guide to change the wing plane angle.

Korean Registered Patent No. 10-1031869 (2011.04.21) provides sufficient lift to enable the flying of a very small aircraft by flying at a large angle even if the body size and weight of the aircraft are reduced. It relates to a flapping device that generates a large flapping angle.

Korean Registered Patent No. 10-1744721 (2017.06.01) relates to an insect-mimetic wing-wing vehicle, a pair of wings 110 symmetrically arranged on the left and right sides of the fuselage, and a DC motor 120 installed on the fuselage and the A slide-crank mechanism that converts a one-way rotation motion of the DC motor 120 into a forward and backward reciprocation motion within a predetermined rotation angle range, and a reciprocating rotation motion of the slide-crank mechanism to a symmetrical wing of the wing It includes a driving force conversion module 130 having a pulley-belt mechanism to be transmitted, and preferably, the fuselage further includes an SPC module 140 capable of adjusting the stroke surface angle of the blade.

However, in order to actually drive the prior art (Korean Registered Patent No. 10-1744721 (2017.06.01)), a servo generating a considerably large torque is required, which acts as a factor that greatly increases the weight of the entire system. do. Therefore, in reality, it is difficult to miniaturize an insect-mimetic winged vehicle by applying this device.

Accordingly, the present inventor is to apply the present invention by further improving the insect-mimetic winged vehicle.

Korean Registered Patent No. 10-1031869 (2011.04.21) Korean Registered Patent No. 10-1744721 (2017.06.01)

An embodiment of the present invention is to provide an insect-mimicking flying robot based on a flying-wing plane angle device that generates a force and a control moment required for rapid starting by using a method of changing the flying-wing plane angle by rotating a flying-wing drive body including a driving motor do.

In one embodiment of the present invention, by rotating the entire body to change the plane angle of the wings, the control moment is generated and the direction of the air force can be changed at the same time, and the twist angle distribution on the blade is also changed to simultaneously generate the air force and control moment required for quick start In order to provide an insect-mimicking flying robot based on each plane, it is said to be flying wings.

One embodiment of the present invention is to provide an insect-mimicking flying robot based on a flying plane, which is capable of controlling even with a small torque of an ultra-light servo motor, thereby contributing to miniaturization of a flying vehicle.

Among the embodiments, the insect-mimicking flying robot based on the flapping plane angle device combines a driving motor, a pair of wings, and the driving motor in the center and symmetrically sets the pair of wings to the left and right to perform rotational movement of the driving motor. Adjusting the wing's wing plane angle through a wing control mechanism that is installed at the center of gravity of the wing drive and a wing control device that performs the fly drive to the symmetrical wing of the wing and induces rotation of the wing drive Includes a flapping plane angle adjustment.

The wing plane angle adjustment unit includes two pairs of hinge modules that are disposed along the circumference of the hinge frame and the hinge frame installed on the lower center of gravity of the wing drive body and adjust the wing plane angle of the wing in association with the rotation of the wing drive body. It can contain.

The two pairs of hinge modules are first and second hinge modules respectively disposed symmetrically to each other in a direction parallel to the wing on both sides of the hinge frame, and in a direction perpendicular to the wing on the front and rear surfaces of the hinge frame. It may be composed of third and fourth hinge modules respectively disposed symmetrically to each other.

The wing control mechanism may rotate the wing-driving body around the two pairs of hinge modules.

The wing control mechanism may generate a pitching moment by adjusting the wing plane angle by tilting the wing driver forward or rearward around the first and second hinge modules.

The wing control mechanism may generate a roll moment by adjusting the wing plane angle by tilting the wing driver in both directions with respect to the third and fourth hinge modules.

The first and second hinge modules are attached to the center of both sides of the hinge frame so as to be rotatable, and the upper ends are provided to the first and second hinge members, and the first and second hinge members to engage the wing drive. First and second pivot hinges respectively pivotably coupled, first and second hinge bars respectively pivotably coupled to the first and second pivot hinges, and distal ends of the first and second hinge bars to each other It may include a fixing plate to connect.

The third and fourth hinge modules are attached to the center of the front and rear surfaces of the hinge frame so as to be rotatable, respectively, and the first and third hinge members coupled to the lower ends of the third and fourth hinge members, respectively. The second connecting plates and the first and second connecting plates may be coupled to each of the third and fourth hinge bars extending downward.

The wing plane angle adjustment unit may generate a yaw moment by rotating the fixing plate so that the first and second hinge bars move in opposite directions.

Among the embodiments, the insect-mimicking flying robot based on the wing-planar angle device includes a driving motor in the center and symmetrically provided with a pair of wings on the left and right sides to perform the driving of the wings, the lower surface of the wings-driving body The hinge frame installed at the center of gravity, the first and second hinges respectively installed at the center of the front and rear surfaces of the hinge frame, and the third and fourth hinges installed at the center of the left and right sides of the hinge frame, respectively Including, by rotating the wing-driving body about the first to fourth hinges as a central axis, it is possible to adjust the flapping plane angle of the wing.

The disclosed technology can have the following effects. However, since a specific embodiment does not mean that all of the following effects should be included or only the following effects are included, the scope of rights of the disclosed technology should not be understood as being limited thereby.

Insect imitation flight robot based on a wing plane device according to an embodiment of the present invention can generate a force and a control moment required for rapid starting by using a method of changing the wing plane angle by rotating the wing vehicle driving body including a driving motor. have.

Insect-mimicking flight robot based on the wing-planking plane angle device according to an embodiment of the present invention rotates the entire body to change the wing-planking plane angle to generate a control moment while simultaneously changing the direction of the air force and also changing the twist angle distribution on the wing. It is possible to simultaneously generate the air force and control moment required for quick start.

Insect-mimicking flight robot based on a flapping plane angle device according to an embodiment of the present invention can be controlled even with a small torque of an ultra-light servo motor, thus contributing to miniaturization of a flying vehicle.

1 is a perspective view showing the entire configuration of an insect-mimicking flying robot based on a flat-angle device of a wing according to an embodiment of the present invention.
2A, 2B, and 2C are diagrams illustrating the wing plane angle adjustment unit of the insect-mimicking flight robot based on the wing plane device according to FIG. 1.
FIG. 3 is a view showing an operation example according to a wing control mechanism of an insect-mimicking flight robot based on a wing plane plane angle device according to an embodiment of the present invention.
4A to 4C are diagrams illustrating a control process according to pitching, roll, and yaw moment generation of an insect-mimicking flying robot based on a flapping plane angle device according to an embodiment of the present invention.
5 is a view showing an operation according to a plurality of servos of an insect-mimicking flying robot based on a flying plane device according to an embodiment of the present invention.
FIG. 6 is a photograph showing a state installed in a load cell for measuring the force and moment of an insect-mimicking flying robot based on a flapping plane angle device according to an embodiment of the present invention.
7 is a graph showing the results of measuring force and moment using the load cell of FIG. 8.
8 is a photograph showing an actual appearance of an insect-mimicking flying robot based on a flat-angle device of a wing according to an embodiment of the present invention.

Since the description of the present invention is merely an embodiment for structural or functional description, the scope of the present invention should not be interpreted as being limited by the embodiments described in the text. That is, since the embodiments can be variously changed and have various forms, it should be understood that the scope of the present invention includes equivalents capable of realizing technical ideas. In addition, the purpose or effect presented in the present invention does not mean that a specific embodiment should include all of them or only such an effect, and the scope of the present invention should not be understood as being limited thereby.

Meanwhile, the meaning of terms described in the present application should be understood as follows.

Terms such as “first” and “second” are for distinguishing one component from other components, and the scope of rights should not be limited by these terms. For example, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.

Singular expressions are to be understood as including plural expressions unless the context clearly indicates otherwise, and terms such as “comprises” or “have” are used features, numbers, steps, actions, elements, parts or the like. It is to be understood that a combination is intended to indicate the existence, and does not preclude the existence or addition possibility of one or more other features or numbers, steps, operations, components, parts or combinations thereof.

All terms used herein have the same meaning as generally understood by a person skilled in the art to which the present invention pertains, unless otherwise defined. The terms defined in the commonly used dictionary should be interpreted as being consistent with meanings in the context of the related art, and cannot be interpreted as having ideal or excessively formal meanings unless explicitly defined in the present application.

The present invention discloses an insect-mimicking winged vehicle capable of flying using only two wings without a control surface of a tail wing. For example, in the case of a flying robot (aircraft) without tail wings, such as an insect, the flying object must be able to generate control power as well as flight power so that the air vehicle stays in the air with only the wings of the wing. In order to simultaneously generate this flight and control force, the vehicle needs an active control mechanism that integrates with a lightweight micro-servo actuator. Such a control mechanism (wing control mechanism) can generate sufficient control torque required for stabilization of a vehicle (robot) having inherent instability. The present invention incorporates a pair of winged winged vehicles capable of hovering, capable of simultaneously changing the wing's flat angle and twisting of the wings by rotating the body of the winged flying vehicle (winging drive) flying through the winging We propose an old wing control mechanism. Tilting the plane of the stroke changes the direction of the average thrust and wing torsion distribution, so that control torque for pitch and roll can be generated. In one embodiment, in the case of yaw control moment control, the root portion of the wing is adjusted asymmetrically, so that the torsion of the wing changes during the flapping motion to generate yaw torque.

1 is a perspective view showing the overall configuration of an insect-mimicking flying robot (hereinafter referred to as a flying object) based on a flapping plane angle device according to an embodiment of the present invention.

Referring to FIG. 1, the air vehicle 1 includes a driving motor 10, a pair of wings 20, a flying wing driving body 30, and a flying wing plane angle adjustment unit 100.

Here, the lateral direction (left and right directions) corresponding to both sides of the vehicle 1 is the x-axis, the longitudinal direction of the vehicle 1 orthogonal to the x-axis is z-axis, and the front-back direction is orthogonal to the xz plane y-axis The rotation about the x-axis is pitched, the rotation about the y-axis is rolled, and the rotation about the z-axis is yawing.

Wingswing body 30 is coupled to the drive motor 10 in the center, and a pair of wings (20) provided symmetrically to the left and right to transmit the rotational motion of the drive motor (10) to the wings of a symmetrical wing Drive can be performed. That is, the wing-driving body 30 can generate symmetrical wings of a pair of wings 20 only by the driving force generated by one driving motor 10. The specific driving mechanism is not covered by the present invention, but refers to the mechanism disclosed in Korean Patent Registration No. 10-1744721 (2017.06.01).

The wingspan angle adjustment unit 100 is installed at the center of gravity of the wingspan driving body 30 to adjust the wingspan angle of the wings through a wingspan control mechanism that induces rotation of the wingspan driving body 30.

In the case of the invention disclosed in Korean Patent Registration No. 10-1744721 (2017.06.01), the left and right wings are independently controlled by a driving source provided in each of the left and right wings to control the angle of the wing plane to generate pitching and yawing moments. On the contrary, in the present invention, the wing plane angle of the pair of wings 20 disposed on the left and right can be adjusted by rotating the wing drive body 30 itself through the wing control mechanism installed at the center of gravity of the wing drive body 30. . More specifically, the air vehicle 1 of the present invention is provided with two pairs of hinges (first and second hinge modules and third and fourth hinge modules, respectively) at the center of gravity of the wing drive body 30, The angle of the flapping plane of the wing can be adjusted by rotating the wing-driving body in the front and rear or left and right directions around the two pairs of hinges. Due to this, the vehicle 1 can generate the force and control moment required for rapid starting, and can be controlled even with a small torque of an ultra-light servo motor.

2A to 2C are diagrams illustrating a wing plane angle adjustment unit of the insect-mimicking flight robot based on the wing plane angle device according to FIG. 1. 2A is a perspective view of the wing plane angle adjustment unit, FIG. 2B is a front view of the wing plane angle adjustment unit, and FIG. 2C is a side view of the wing plane angle adjustment unit.

Referring to FIG. 2, the wing plane angle adjustment unit 100 may include a hinge frame 110 and two pairs of hinge modules.

The hinge frame 110 may be installed on the lower surface of the center of gravity of the winged driving body 30, and is intended to maintain the center of gravity during the rotation process of the winged driving body 30. Can be designed as The two pairs of hinge modules are disposed along the circumference of the hinge frame 110 and can be associated with the rotation of the wing drive body 30 to adjust the wing plane angle of the wing 20. More specifically, the two pairs of hinge modules are first and second hinge modules 120 and wings 20 respectively disposed symmetrically to each other in a direction parallel to the wings 20 on both sides of the hinge frame 110. And the third and fourth hinge modules 130 disposed symmetrically to each other on the front and rear surfaces of the hinge frame 110 in the vertical direction. More specifically, the first and second hinge modules 120 and the third and fourth hinge modules 130 are disposed to be orthogonal to each other in the hinge frame 110 to maintain the center of gravity of the wing drive body 30. Can.

In one embodiment, the first and second hinge modules 120 include first and second hinge members 122, first and second pivot hinges 124, first and second hinge bars 126 ).

More specifically, the first and second hinge members 122 may be attached to the center of both sides of the hinge frame 110 so as to be rotatable. The first and second hinge members 122 are attached so as to be rotatable so that the wing-driving body 30 of the first and second hinge modules 120 are axially (centered) during the operation of the vehicle 1. It can be rotated back and forth (see FIG. 3). The first and second hinge members 122 may couple each upper end to the wing-driving body 30. In one embodiment, the first and second hinge members 133 flap in such a way that the upper projection (projection) is inserted into the engaging hole of the lower frame (parallel symmetric with the upper frame) of the flap driving body 30 The driving body 30 and the flapping plane angle adjustment unit 100 may be combined.

The first and second pivot hinges 124 may be rotatably coupled to the first and second hinge members 122, respectively. In one embodiment, the first and second pivot hinges 124 may engage the hinge frame 110 with the first and second hinge members 122 interposed therebetween, and the first and second hinge members It is fixed to the hinge frame 110 in the course of the operation of the air vehicle (1) together with the field (122) can be coupled by a coupling rod to freely rotate. More specifically, the first and second pivot hinges 124 are rotatably coupled to the first and second hinge members 122 as described above, so as to generate a yaw moment in the operation process of generating a yaw moment of the air vehicle 10 The driving body 30 may be rotated about the z-axis (see FIG. 3).

The first and second hinge bars 126 may be pivotably coupled to the first and second pivot hinges 124, respectively. More specifically, the first and second hinge bars 126 are attached to the first and second pivot hinges 124 so as to be pivotable to generate a roll moment during the operation of the flying body 1, which generates a roll moment ( It is possible to tilt (rotate) in both directions (left and right) of 30) (see Fig. 3).

In one embodiment, the third and fourth hinge modules 130 include third and fourth hinge members 132, first and second connecting plates 134, and third and fourth hinge bars 136 ).

More specifically, the third and fourth hinge members 132 may be attached to the center of the front and rear surfaces of the hinge frame 110, respectively, to be rotatable. In one embodiment, the third and fourth hinge members 132 are provided with first and second hinge members 122 on the front and rear surfaces of the hinge frame 110 so that the wing drive body 30 maintains the center of gravity. It can be attached to be perpendicular to each other. The third and fourth hinge members 132 may be coupled through a hinge frame 110 and a connecting rod to be rotatable. Accordingly, the wing-driving body 30 may rotate left and right around the third and fourth hinge modules 130.

The first and second connecting plates 134 may be coupled to the lower ends of the third and fourth hinge members, and the third and fourth hinge bars 136 may be connected to the first and second connecting plates 134. Can be combined and extended downward. In one embodiment, the first and second connecting plates 134 couple the third and fourth hinge members 132 to one end and the third and fourth hinge bars 136 to the other end. Can. The first and second connecting plates 134 connect the third and fourth hinge members 132 and the third and fourth hinge bars 136 coupled with the hinge frame 110 while the wing driver 30 ) May be designed in various forms to maintain the center of gravity, and FIG. 2 corresponds to one form according to an embodiment, but is not limited thereto.

FIG. 3 is a view showing an operation example according to a wing control mechanism of an insect-mimicking flying robot based on a wing plane plane angle device according to an embodiment of the present invention.

In one embodiment, the air vehicle 1 controls the pitching and roll moments generated by rotating the wing drive body 30 through the wing control mechanism of the wing plane angle adjustment unit 100 and adjusting the angle by rotating the wing plane accordingly can do. The flapping plane angle adjusting unit 100 may perform a flapping control mechanism that rotates the flapping driving body 30 around two pairs of hinge modules. In one embodiment, the flap plane angle adjustment unit 100 adjusts the angle of the flap plane by rotating the flap driving body 30 around the first and second hinge modules 120 through the flap control mechanism. And can generate a pitching moment. The wing control mechanism can adjust the plane angle of the wing and generate roll moment by rotating the wing drive 30 in both directions (left and right) around the third and fourth hinge modules. More specifically, the wing control mechanism may incline (H1) the first and second hinge modules axially (H1) or tilt the wing driver 30 forward or backward for control to generate a pitching moment. Alternatively, the wing control mechanism may tilt the third and fourth hinge modules axially (H2) to the left or right wing body 30 for control to generate a roll moment. Accordingly, the wing plane can be inclined to the front or rear (center of H1, first and second hinge modules) and left or right (center of H2, third and fourth hinge modules), respectively.

In one embodiment, the flap plane angle adjustment unit 100 includes a fixing plate 140 connecting the distal ends of the first and second hinge bars 126 to each other, so that the first and second hinge bars rotate in opposite directions to each other The yaw moment may be generated by rotating the fixing plate 140. More specifically, the wing plane angle adjustment unit 100 controls the first and second hinge bars to rotate in opposite directions by rotating the fixing plate through an actuator such as a servo motor, and accordingly rotates the wing drive body 30 around the z axis Rotating can be performed to control the yaw moment.

4A is a view for explaining a control process according to the occurrence of a pitching moment of an insect-mimicking flying robot based on a flapping plane angle device according to an embodiment of the present invention. 4B is a view for explaining a control process according to a roll moment generation of an insect-mimicking flying robot based on a flapping plane angle device according to an embodiment of the present invention. 4C is a view for explaining a control process according to a yaw moment generation of an insect-mimicking flying robot based on a flapping plane angle device according to an embodiment of the present invention.

In FIG. 4A, the stroke plane may be inclined in the same direction as the change in the direction of the force for generating the pitching moment. For example, the air vehicle 1 rotates the wing drive body 30 back and forth around the first and second hinge modules 120 through the wing plane angle adjustment unit 100, and accordingly, a pair of wings 20 The flapping plane of can be inclined according to the rotation direction of the flapping drive body 30. Additionally, since the root spar of the wing 20 is constrained, tilting the wing plane of the wing 20 will change the twist of the wing and the magnitude of the force generating additional pitch torque will change. Can. In Figure 4b, the wing twist of the left and right wings is adjusted asymmetrically so that the magnitude of the force of the two wings can be changed. Thus, the roll control moment can be generated by changing the wing plane and changing the wing twist at the same time as the pitch control moment. In Fig. 4c, control of the yaw moment is possible by rotating the lower fixing plate 140 connected to the hinge bar 126 to which the root portions of the left and right wings are fixed. The rotation may change the angle of attack during the flighting motion of the air vehicle 10 and generate an asymmetric horizontal force on the pair of left and right wings 20 to generate yaw moment.

5 is a view showing an operation according to a plurality of servos of an insect-mimicking flying robot based on a flapping plane angle device according to an embodiment of the present invention.

For example, in FIG. 5, the vehicle 1 can be manufactured using a 0.8 mm thick carbon/epoxy panel for control mechanism parts. In addition, for example, the vehicle 1 may independently perform pitch and roll control through two sub-micro servos (0.5 g, microflierradio.com) (pitch servo, roll servo). The air vehicle 1 may generate sufficient torque to tilt the wing plane stably during posture control and wing movement using a sub-micro servo through the wing control mechanism of the wing plane angle adjustment unit 100. In one embodiment, the flapping plane angle adjustment unit 100 may use a conventional high torque digital servo (HK-5320, hobbyking.com) (yaw servo) having a weight of 1.5 g for yaw control.

Figure 6 is a photograph showing a state installed in a load cell (load cell) for measuring the force and moment of the insect-mimicking flying robot based on a flapping plane angle device according to an embodiment of the present invention.

For example, to investigate the control torque generation capability of the wing 1 through the wing control mechanism in FIG. 6, the load cell is a six-axis load cell (Nano 17, ATI Industrial Automation, USA, force resolution 0.003 N or 0.3 gf, torque Resolution 0.0156 N.mm) can be used. In one embodiment, the load cell may be disposed close to the location of the center of gravity (CG) of the vehicle 1. Therefore, the torque obtained from the load cell corresponds to the torque relative to the center of gravity, and the winging system can be driven using an external power supply (E36103A, Keysight, Korea) at a flying frequency of 23 Hz.

7 is a graph showing the results of measuring force and moment using the load cell of FIG. 6.

The air vehicle 1 may apply a control command to generate pitch, roll, and yaw motions through the wing control mechanism of the wing plane angle adjustment unit 100. In FIG. 7, in this case, the thrust Fz is almost constant, the force Fy in the left-right direction is almost zero, and the force Fx in the front-rear direction is also not large, so that the vehicle 1 is almost stationary flight. You can see that you can In one embodiment, only the pitch moment (My) occurs when the pitch command is applied in FIG. 7, only the roll moment (Mx) occurs when the roll command is given, and the yaw moment (Mz) when the yaw command is given It can be seen that occurs mainly. In addition, in each case, a positive moment may be generated with respect to a positive control command angle, and a negative moment may be generated with respect to a negative control command angle. In one embodiment, the yaw moment is relatively small compared to the pitch or roll moment, but the mass moment of inertia about the yaw axis is small compared to the mass moment of inertia about the other two axes, which can sufficiently generate yaw motion.

More specifically, FIG. 7 shows the forces and torques generated in three axes for different pitch, roll and yaw inputs. In FIG. 7, the vehicle 1 can generate an average vertical force (Fz) of about 18.5 gf at 23 Hz, and changing the control input (βp) for the pitch produces the horizontal force (Fx) and the pitch torque (My). Can be changed linearly. For example, from FIG. 7, the horizontal force (Fx) measured in the control input range (βp) from -15° (pitch down) to 15° (pitch up) varies from -4.0 gf to 3.1 gf and pitch torque (My) can be seen to vary from -4.2 N.mm to 2.7 N.mm. In addition, the vehicle 1 can generate a pitch torque of about -0.5 Nmm without a control input for a stationary flight state (βp = 0 °). This is due to some vertical alignment imbalance between the average aerodynamic force center and the load cell. The effect of the pitch control input on different forces (Fy and Fz) and torque (Mx and Mz) is negligible. For roll control, changing the control input (βr) from -15 ° (right of roll) to 15 ° (left of roll) results in a lateral force (Fy) from 2.4 gf to -2.6 gf, roll torque from -2.8 N.mm A roll moment of 2.6 N.mm can be created. In one embodiment, the vehicle 1 can slightly reduce the vertical force Fz for a higher control input angle. In one embodiment, the yaw torque (Mz) is less sensitive than the pitch and roll command, so the yaw torque is 0.5 N.mm for the range of yaw input as the yaw servo's arm tilts from -20 ° to 20 ° In -0.3 N.mm (standard of 0.06 N.mm in stationary flight conditions). In conclusion, the wing control mechanism of the wing plane angle adjustment unit 100 can generate a reasonable control torque that can be implemented in the vehicle (1).

8 is a photograph showing an actual shape of an insect-mimicking winged vehicle according to an embodiment of the present invention.

For example, in FIG. 8, the air vehicle 1 has no tail wings, such as an insect of 16.4 g, has two wings, and may correspond to a vehicle capable of stationary flight. In one embodiment, the air vehicle 1 may simultaneously change the angle of the wing plane and the wing twist for pitch and roll control and asymmetrically change the position of the wing root for yaw control. Since the vehicle 1 requires less driving torque from actuators such as various servos, it is easy to manufacture and simple, and a small actuator for reducing weight can be used. The vehicle 1 can effectively generate a reasonable amount of force and torque for posture control of the wing control mechanism in the driving process.

Although described above with reference to preferred embodiments of the present application, those skilled in the art variously modify the present invention without departing from the spirit and scope of the present invention as set forth in the claims below. And can be changed.

1: Insect-mimicking flying robot based on a flat-angle device with wings (aircraft)
10: drive motor 20: a pair of wings
30: Wing drive
100: wing angle flat angle adjustment
110: hinge frame 120: first and second hinge modules
122: first and second hinge members 124: first and second pivot hinges
126: first and second hinge bars
130: third and fourth hinge modules 132: third and fourth hinge members
134: first and second connecting plates 136: third and fourth hinge bars
140: fixed plate

Claims (10)

Drive motor;
A pair of wings;
A wing drive body that couples the drive motor to the center and provides the pair of wings symmetrically to the left and right to perform a fly drive that transmits rotational motion of the drive motor to a symmetric wing of the wing; And
It is installed at the center of gravity of the wing drive body includes a wing plane angle adjustment unit for adjusting the wing plane angle through the wing control mechanism to induce the rotation of the wing drive,
The wing plane angle adjustment unit
A hinge frame installed on a lower surface of the center of gravity of the winged driving body; And
And two pairs of hinge modules arranged along the periphery of the hinge frame and adjusting the wing flap plane angle in association with the rotation of the wing drive.
The two pairs of hinge modules
First and second hinge modules disposed on both sides of the hinge frame symmetrically with each other in a direction parallel to the wing, and first and second hinge modules disposed on the front and rear surfaces of the hinge frame symmetrically with each other in the direction perpendicular to the wing. It consists of third and fourth hinge modules,
The first and second hinge modules
First and second hinge members attached to the center of both sides of the hinge frame to be rotatable and coupling the wing-driving body;
First and second pivot hinges respectively rotatably coupled to the first and second hinge members;
And first and second hinge bars respectively pivotably coupled to the first and second pivot hinges.
delete delete delete The method of claim 1, wherein the third and fourth hinge modules
Third and fourth hinge members attached to the center of the front and rear surfaces of the hinge frame so as to be rotatable, respectively;
First and second connecting plates coupled to lower ends of the third and fourth hinge members, respectively; And
Insect imitation flight robot based on the wing plane angle change device, characterized in that it comprises a third and fourth hinge bars extending downwardly in combination with the first and second connecting plates, respectively.
The method of claim 1, wherein the wing control mechanism
Insect-mimicking flight robot based on the wing plane angle change device, characterized in that for rotating the wing drive body around the two pairs of hinge modules.
The method of claim 6, wherein the wing control mechanism
Insect imitation flight robot based on the wing plane angle change device, characterized in that by generating the pitching moment by adjusting the wing plane angle by rotating the wing drive body forward or rearward around the first and second hinge modules.
The method of claim 1 or 7, wherein the wing control mechanism is
Insect-mimicking flight robot based on the wing plane angle change device, characterized in that by generating the roll moment by adjusting the wing plane angle by rotating the wing drive body around the third and fourth hinge modules in both lateral directions.
The method of claim 1, wherein the wing plane angle adjustment unit
And a fixing plate connecting the distal ends of the first and second hinge bars to each other,
The first and second hinge bars to rotate in the opposite direction to each other by rotating the fixing plate to generate a yaw moment, insect flight mimic flight robot based on the wing plane angle change device.
A wing-driving body including a drive motor in the center and symmetrically arranging a pair of wings on the left and right to perform driving of the wings;
A hinge frame installed at a center of gravity of the lower side of the wing-driving body;
The first and second hinge modules respectively installed at the center of the front and rear surfaces of the hinge frame and the third and fourth hinge modules respectively installed at the center of the left and right sides of the hinge frame,
The first and second hinge modules
First and second hinge members attached to the center of both sides of the hinge frame to be rotatable and coupling the wing-driving body;
First and second pivot hinges rotatably coupled to the first and second hinge members, respectively;
And first and second hinge bars respectively pivotably coupled to the first and second pivot hinges,
Insect imitation flight robot based on the wing plane angle change device, characterized in that by adjusting the first to fourth hinge modules by rotating the wing drive body about the central axis.

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