KR20050006376A - Actuator Using 3-fold-linkage and Air Vehicle Using It - Google Patents

Abstract

PURPOSE: A blade apparatus and an airplane thereof are provided to freely fly in any directions by realizing the motion of a bird or an insect's wings. CONSTITUTION: A driving apparatus comprises an actuator(101), a 3-fold-linkage(102), a guide cylinder(103), a driving arm(104) and a vertical guide slot(13). The actuator is fixed in a frame(106). The 3-link is moved by receiving the force and the displacement through the actuator. The one end of the 3-fold-linkage is fixed in the frame. The guide cylinder forms a passage to slide the other end of the 3-fold-linkage by inserting the other end of the 3-fold-linkage. The driving arm is fixed in the 3-fold-linkage. The vertical guide slot is formed by vertically connecting between an upper frame and a lower frame of the frame. An airplane to freely flap, lag and hover is realized by connecting two driving apparatuses through a coupling.

Description

SECTION 3 Actuator Using Links and Aircraft Using Them {Actuator Using 3-fold-linkage and Air Vehicle Using It}

The present invention relates to a drive device that implements a wing of a bird or insect, and a flying body using the same. Specifically, flapping in the vertical direction of the wing, lagging in the front and rear direction of the wing, and rotation of the wing axis center of the wing. The present invention relates to a wing mechanism for implementing a three-degree-of-freedom motion of a wing of feathers, and a vehicle capable of forward, backward, and stop flight by applying the wing mechanism.

Recently, research on small-scale aircraft commonly referred to as micro air vehicles (MAVs) has been actively conducted. Since such a vehicle may not be caught by a radar if it is made small, the possibility of using it as a spy or a surveillance vehicle as well as a toy is greatly open. The mainstream research on MAVs is to use fixed-wings, as with conventional aircraft, but the smaller wing size reduces the lift that can be made with smaller wings, making the fuselage and other components smaller and lighter. Instead of using fixed wing, research is also being conducted on aircraft that use wings to mimic the flight of insects or birds. In the case of a wing using a wing of a bird or insect, research on a method of obtaining propulsion by inducing flapping of a wing using a mechanism such as gears, belts, and links from vibration or rotational motion generated from the power source of the fuselage is mainly performed. Has been made.

However, the up and down movement of the wing implements only a part of the movement of the wing of an insect or a bird, and the up and down movement alone does not implement free flight like an actual insect or bird fly. That is, only the vertical movement of the wing can not implement the direction change, backward flight or stop flight (hovering).

There is an example in which a tail wing or propeller for changing direction is added together with a wing capable of vertical movement in order to enable the change of direction, but it is not efficient at the change of direction and has a disadvantage of lowering propulsion performance.

Therefore, in order to realize a small flying body that can be freely changed in direction and has a large propulsion force compared to the size, it is necessary for birds or insects to flap, flap, and feather the wings. Similarly, along with a drive that can move the wing in three degrees of freedom, there is a need to develop a vehicle that can change the shape of the wing to match the shape of the flight.

The present invention has been developed in order to solve the conventional problems as described above, an object of the present invention is to provide a wing mechanism that can implement the wing of a bird or insect, and can freely move back and forth, up and down and stop flight using the same To provide a vehicle.

1a to 1d show wings of various types of birds;

Figure 2a is a perspective view of the wing mechanism to which the drive device according to the present invention is applied.

2B is a perspective view of the vertical drive means constituting the wing mechanism according to the present invention;

Fig. 2C is a perspective view of the forward and backward drive means constituting the wing mechanism according to the present invention.

Figure 2d is a view for explaining the motion of the three-section link shown in Figures 2b and 2c.

2E is an exploded perspective view of the coupling shown in FIG. 2B.

Figure 3a is a perspective view of the wing constituting the wing mechanism used in the aircraft according to the present invention.

3B is an exploded perspective view of the wing shown in FIG. 3A.

4A to 4C are cross-sectional views illustrating the characteristics of the bimorph actuator used for the drive device and the blade according to the present invention.

Figure 5a is a perspective view schematically showing the configuration of the aircraft according to the present invention.

Figure 5b is a block diagram showing the configuration of a vehicle according to the present invention.

<Explanation of symbols for the main parts of the drawings>

1: aircraft 10: wing mechanism

10a: left wing mechanism 10b: right wing mechanism

11: wing 12: front and rear direction guide slot

13: up and down direction guide slot 14: wing shaft

16: piezo actuator 17: wing cover

18: Home 20: Controller

30: drive means 40: power source

50: fuselage 60: sensor

70: transformer 80: communicator

90: external controller 100: vertical drive means

101, 201: actuator 102, 202: section 3 link

103, 203: guide cylinder 104, 204: driving arm

105: coupling 106, 206: frame

108, 208: drive link 109: coupler for arm

110: wing coupler 111, 112: piezoelectric material

113: elastic body 200: forward and rearward driving means

An object of the present invention as described above, the actuator is one end fixed to the frame constituting the skeleton, the three-section link, the three-section link is fixed to the frame movement and receiving the force and displacement generated by the actuator The other end of the guide cylinder is inserted into the other end of the three-way link slide path, the drive arm fixed to one side of the three-way link, and is vertically connected between the upper frame and the lower frame of the frame It is achieved by providing a drive device composed of a vertical guide slot formed.

Here, the three-section link is preferably composed of four link members are connected in series by each of the flexible joint.

Here, the actuator is preferably composed of a monomorph or bimorph actuator combined with a piezoelectric material and an elastic body.

In addition, the object of the present invention as described above, the wing mechanism for generating the lifting force for the flight, the drive means for driving the wing mechanism to produce the necessary wing movement, the power source for supplying power to the drive means, the wing mechanism And a controller configured to control a driving means and a power source to control the movement of the vehicle, and a body configured to accommodate the wing mechanism, the driving means, the power source, and the controller, wherein the driving means is connected to a frame constituting a skeleton. The actuator is fixed at one end, and the movement is received by the force and displacement generated by the actuator, and the one end is fixed to the frame, the three-section link, the other end of the three-section link is inserted, the other end of the three-section link is slipped A guide cylinder defining a path, a driving arm fixed to one side of the three-section link, and an upper portion of the frame. It is achieved by providing a vehicle consisting of a vertical guide slot formed in a vertical connection between the frame and the lower frame.

Here, the three-section link is preferably composed of four link members are connected in series by each of the flexible joint.

Here, the actuator is preferably composed of a monomorph or bimorph actuator combined with a piezoelectric material and an elastic body.

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

Figures 1a to 1d shows the movement of the blade to be implemented in the aircraft according to the present invention.

As shown in FIG. 1A, when the bird flies forward at full speed, it moves its wings in an ellipse in a direction perpendicular to the direction of travel, and as shown in FIG. 1B, the bird can fly forward at normal speed. Move the wings in an ellipse that is slightly wider than when flying at full speed in the direction perpendicular to the direction of travel (Fig. 1A), and as shown in Fig. 1C, in the horizontal direction when doing Drawing an ellipse and moving the wings, as shown in Figure 1d, during the reverse flight, the body is standing up and moving the wings by drawing an ellipse inclined at an angle to the horizontal direction.

The wing of a bird, as shown in FIGS. 1A-1D, is a three degree of freedom movement of the wing defined by flapping, lagging, and feathering, and the wing itself flying. It turns out that what is deformed according to a form is combined.

FIG. 2A shows a perspective view of a wing mechanism capable of implementing a wing of a bird as shown in FIGS. 1A-1D, in accordance with the present invention.

As shown in Figure 2a, the wing mechanism 10 according to the present invention is a pair of wings 11, the left and right symmetry, the shaft 14 of each of the wings is inserted so that the movement in the front and rear direction The front and rear direction guide slots 12 and the shafts of the respective blades are inserted, and the vertical direction guide slots 13 are formed to allow movement in the vertical direction.

When the wing shaft 14 is inserted into the front and rear direction guide slot 12 and the vertical direction guide slot 13, when the force acts in the front and rear direction and the vertical direction at the end of the wing shaft 14, the wing The other end of the shaft can be rotated in an elliptical shape. At this time, by adjusting the force and displacement in the front and rear or up and down direction applied, it is possible to make the wings move while drawing a trajectory such as the trajectory of the wing of the bird or insect as shown in Figure 1a to 1d.

For example, when strokes in the front and rear and up and down directions of the same size are respectively applied to the end of the blade shaft 14 simultaneously in the form of a reciprocating motion, the stroke of the other end of the blade shaft 14 acts. It moves while drawing a circle of a predetermined size in proportion to the size of. By applying this, when the stroke in the vertical direction is increased and the stroke in the front and rear directions is relatively small, the other end of the blade shaft 14 moves in an elliptic trajectory long in the vertical direction.

Fig. 2B shows a perspective view of the vertical drive means constituting the wing mechanism according to the present invention, and Fig. 2C shows a perspective view of the forward and backward drive means constituting the wing mechanism according to the present invention.

As shown in FIG. 2B, the vertical driving means 100 includes a frame 106 constituting a skeleton, an actuator 101 having one end fixed to an upper bottom surface of the frame 106, and the actuator 101. Drive link 108 coupled to the end of the drive, the drive link 108 is composed of four plate members connected to the three flexible joints are moved and received by the force and displacement generated from the actuator 101 And one end of which is fixed to the upper section of the frame 106, the three-section link 102, the guide cylinder 103 into which the other end of the three-section link 102 is inserted, the driving arm fixed to one side of the three-section link ( 104, and a vertical guide slot 13 formed vertically connected between the upper frame and the lower frame of the frame 106.

As shown in FIG. 2C, the front and rear driving means 200 includes a frame 206 constituting a skeleton, an actuator 201 having one end fixed to a side of one frame among left and right frames of the frame 206, Drive link 208 coupled to the end of the actuator 201, the drive link 208 is transmitted by the force and displacement generated in the actuator 201 by the drive link 208 is moved and the actuator 201 in the frame 206 The three-section link 202, one side is fixed to the frame is fixed), the guide cylinder 203 is inserted into the other end of the three-section link 202, the driving arm 204 is fixed to one surface of the three-section link And front and rear guide slots 12 connected horizontally between left and right frames of the frame 206.

The up-down direction driving means 100 and the front-rear direction driving means 200 are disposed on parallel planes such that the up-down direction guide slots 13 and the front-back direction guide slots 12 cross at right angles. The guide slots 12, 13 are the same slots as the slots shown in the wing mechanism 11, the crossing angle of which is not limited to 90 degrees as shown in Figure 2a, the type of flight to be implemented Depending on the angle can be arranged.

2D is a diagram illustrating the motion of the three-section links 102 and 202.

As shown in FIG. 2D, the three-section links 102 and 202 are configured by connecting four link members of the first, second, third and fourth links in series with a flexible joint, respectively. When a force is applied to the three-section link (102, 202) by a drive link attached to point A in the figure, the three-section link (102, 202) is the third link (213) is the fourth link (214) ) Rotates counterclockwise around the joint portion and the first link 212 rotates clockwise around the joint with the first link 211. In this case, the driving arm 104 fixed to the upper surface of the second link 212 is rotated at an angle corresponding to the angle at which the second link 212 rotates. Although the angle of rotation is the same, the displacement of the drive arm end is much greater because the length of the drive arm 104 is much longer. The actuators 101 and 201 exerting a driving force on the point A are composed of a monomorph or bimorph actuator, in which a PZT (Plumbum-Zirconium-Titanium) and an elastic body are bonded to each other. The driving principle of the monomorph or bimorph actuator will be described later.

As shown in FIG. 2B, at the end of the drive arm 104 a coupling 105 is rotatably coupled to the drive arm axially.

2E shows an exploded perspective view of the coupling shown in FIG. 2B.

As shown in FIG. 2E, the coupling 105 includes an arm coupler 109 and a wing coupler 110, and the wing coupler 110 is disposed on a side of the arm coupler 109. The ends of are joined by pin joints. The axis of rotation of the pin joint is disposed perpendicular to the plane in which the coupling 105 is located.

Hereinafter, in the wing mechanism 10, the wing 11 is connected to the up-down direction driving means 100 and the front-back direction driving means 200 by the coupling 105, and in this configuration By the above, the principle that the wing mechanism 10 operates will be described.

The up and down direction driving means 100 and the front and rear direction driving means 200 are respectively installed to be symmetrical with respect to the wing mechanism 10 in a state adjacent to each other. In the coupling 105, the wing coupler 110 is sequentially inserted into the vertical guide slot 13, the driving arm 204, and the front and rear guide slot 12, and the front and rear guide slots ( 12 is engaged with the wing shaft 14 of the wing 11 in a protruding state.

In the arrangement as described above, when the actuator 101 of the up-down direction drive means swings in the front-rear direction, the drive arm 104 reciprocates in the up-down direction, and the end of the drive arm 104 The coupling 105 coupled to the also makes a predetermined angle reciprocating motion in the vertical direction.

In addition, when the actuator 201 of the front-back direction drive means swings up and down, the drive arm 204 reciprocates in the front-back direction, and the drive arm 204 and the front-back direction guide slot 12 A portion of the blade coupler 110 inserted into the blade pivots a predetermined angle about the pin joint axis of the coupling 105.

When the driving arms 104, 204 move in the vertical direction and the front-rear direction, respectively, by the driving of the actuators 101, 201, the blades swing in the vertical direction and the front-rear direction. For example, if a stroke of a predetermined same size, forward and downward, is applied to the end of the wing shaft 14 simultaneously by the drive arms 104 and 204 in the form of a reciprocating motion, respectively, the wing shaft The other end of 14 is moved while drawing a circle of a predetermined size in proportion to the size of the acting stroke. By applying this, when the stroke in the vertical direction is increased and the stroke in the front and rear directions is relatively small, the other end of the blade shaft 14 moves in a long elliptic trajectory in the vertical direction. By the same principle, it is possible to implement a wing as shown in Figures 1a to 1d by adjusting the front and rear stroke.

3A and 3B show perspective views of the wings constituting the wing mechanism according to the present invention.

As shown in Figure 3a and Figure 3b, in the wing mechanism 10 according to the present invention, the wing 11 is made so that the shape of the wing can be modified in the vertical direction around the wing axis in accordance with the flight operation. That is, the blade 11, the blade shaft 14 which constitutes the skeleton of the blade and is connected to a power source, is coupled to the blade shaft 14, the piezoelectric actuator 16 that can change the shape of the wing according to the flight form ) And a wing cover 17 covering the surface of the piezoelectric actuator 16 to insulate the piezoelectric actuator 16 through which current flows from the outside.

The piezoelectric actuator 16 may be made of EAP (Electro Active Polymer). The EAP is a polymer material whose shape changes when a voltage is applied, and controls the voltage applied to the EAP so that the blade 11 is bent in the vertical direction with respect to the blade axis 14 (ie, feathering). By changing the shape of the wing can be changed to a shape suitable for the flight form.

4A-4C are cross-sectional views illustrating the principle of operation of the bimorph actuator that enables the feeder of the blades constituting the wing mechanism according to the present invention.

As shown in FIG. 4A, the bimorph actuator is made by bonding the piezoelectric materials 111 and 112 to the upper and lower surfaces of the elastic body 113. The piezoelectric materials 111 and 112 have a characteristic that the length thereof changes when a voltage is applied. Applying a voltage to reduce the length of the one 111 located on the upper surface of the piezoelectric material, and at the same time applying a voltage to increase the length of the one 112 located on the bottom of the piezoelectric material, shown in Figure 4b As such, the bimorph actuator 101 is bent upwards. On the contrary, if a voltage is applied to increase the length of the piezoelectric material 111 located on the top surface and at the same time, a voltage is applied to reduce the length of the piezoelectric material 112 located on the bottom surface of the piezoelectric material. As shown, the bimorph actuator 101 is bent downward.

Although only bimorph actuators have been described herein, the use of monomorph actuators is also within the scope of the present invention, and the piezoelectric material used is not limited to PZT.

Hereinafter, a vehicle implemented using the wing mechanism 10 and the driving means 30 as described above will be described.

Figure 5a is a perspective view schematically showing the configuration of the aircraft according to the present invention, Figure 5b is a block diagram showing the configuration of the aircraft according to the present invention.

As shown in Figure 5a, the aircraft 1 according to the present invention, the wing mechanism 10 for generating a lift for flight, the drive means for driving the wing mechanism 10 to create the necessary wing movement ( 30), a controller for controlling the movement of the vehicle 1 by controlling the power source 40 for supplying power to the drive means 30, the wing mechanism 10, the drive means 30 and the power source 40 20, and a body 50 for receiving the wing mechanism 10, the drive means 3, the power source 40, and the controller 20.

In the vehicle 1 having such a configuration, the controller 20 controls the power source 40 and the driving means 30 to control the operation of the vehicle 1 according to a pre-programmed content.

The vehicle 1 according to the present invention may further include a sensor 60 that can detect information about the surrounding environment surrounding the vehicle 1. In this case, the sensor 60 includes a camera for shape recognition and an altimeter for altitude measurement, and the information recognized from the sensor 60 is transferred to the controller 20 to pre-programmed contents. Therefore, it can be configured to control the operation of the vehicle (1).

In addition, the vehicle 1 according to the present invention comprises a power source for supplying a current to the power source 40, and adjusts the voltage applied to the piezoelectric actuator 16 by adjusting the voltage of the current supplied from the power source. Transformer 70 may be further included. In this case, the controller 20 deforms the shape of the blade to a desired shape by controlling the voltage of the transformer 70 in accordance with the flight operation required for the vehicle 1.

The air vehicle 1 may further include a communicator 80. As described above, the vehicle 1 may be made to fly as programmed in its own manner, but through wireless transmission and reception with the communicator 80 in the external controller 90 separately installed outside the communicator 80. The movement of the vehicle 1 and the movement of the sensor 60 may be controlled.

As described above, according to the present invention, by connecting the movement of the two reciprocating mechanism driven by the actuator using a piezoelectric material by coupling, it is possible to implement a vehicle that can freely move forward, backward, up and down and stationary flight. Done.

Aircraft according to the present invention can be produced to a small size to be used for various functions such as measurement, surveillance and reconnaissance in a narrow area, such as a coal mine jungle.

In the above, certain preferred embodiments of the present invention have been illustrated and described. However, the present invention is not limited to the above-described embodiments, and various modifications can be made by those skilled in the art without departing from the gist of the present invention as claimed in the claims. will be.

Claims (6)

An actuator having one end fixed to a frame constituting the armature; A three-section link that is moved and received at one end of the frame by a force and a displacement generated by the actuator; A guide cylinder into which the other end of the three-section link is inserted to form a path in which the other end of the three-section link slides; A driving arm fixed to one side of the three-section link; And And a vertical guide slot formed vertically connected between the upper frame and the lower frame of the frame. The drive device according to claim 1, wherein the three-section link is configured by four link members connected in series by a flexible joint, respectively. The drive device according to claim 1 or 2, wherein the actuator is composed of a monomorph or bimorph actuator in which a piezoelectric material and an elastic body are combined. A wing mechanism for generating lift for flight, a drive means for driving the wing mechanism to produce the required wing movement, a power source for supplying power to the drive means, the wing mechanism, a drive means and a power source to control the aircraft In the air vehicle comprising a controller for controlling the movement and the fuselage housing the wing mechanism, the drive means, the power source and the controller, The drive means, An actuator having one end fixed to a frame constituting the armature; A three-section link that is moved and received at one end of the frame by a force and a displacement generated by the actuator; A guide cylinder into which the other end of the three-section link is inserted to form a path in which the other end of the three-section link slides; A driving arm fixed to one side of the three-section link; And And a vertical guide slot formed vertically connected between the upper frame and the lower frame of the frame. The vehicle according to claim 4, wherein the three-section link is configured by four link members connected in series by a flexible joint, respectively. 6. The vehicle according to claim 4 or 5, wherein the actuator is composed of a monomorph or bimorph actuator in which a piezoelectric material and an elastic body are combined.