CN106394898B - A kind of auto lock unlocking mechanism for foldable flapping-wing MAV - Google Patents
A kind of auto lock unlocking mechanism for foldable flapping-wing MAV Download PDFInfo
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- CN106394898B CN106394898B CN201611039689.4A CN201611039689A CN106394898B CN 106394898 B CN106394898 B CN 106394898B CN 201611039689 A CN201611039689 A CN 201611039689A CN 106394898 B CN106394898 B CN 106394898B
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- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 229910052751 metal Inorganic materials 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 16
- 238000000034 method Methods 0.000 description 7
- 239000012528 membrane Substances 0.000 description 5
- 210000003462 vein Anatomy 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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Abstract
本发明公开了一种用于可折叠扑翼微飞行器的自动锁紧解锁机构，自动锁紧解锁机构安装于机身中；自动锁紧解锁机构第一舵机与第一摇臂的一端通过螺栓固定，第二舵机与第二摇臂的一端也通过螺栓固定，第一摇臂的另一端与可调节连杆的左端铰接，可调节连杆的右端与第二舵机的左定位孔铰接，第二摇臂的另一端与钩子固连在一起。第二舵机的底部与直线滑块固连在一起，而直线圆柱滑轨与直线滑块安装组合成一个能做往复直线运动的运动副；锁紧环安装在折叠翼上，锁紧环能够被钩子钩住。自动锁紧解锁机构能完成自动锁紧和自动解锁动作；折叠后的机翼能贴紧机身，从而提高其储运安全性，降低擦伤、甚至损坏的概率，延长其使用寿命。
The invention discloses an automatic locking and unlocking mechanism for a foldable flapping-wing micro-aircraft. The automatic locking and unlocking mechanism is installed in the fuselage; the first steering gear of the automatic locking and unlocking mechanism and one end of the first rocker arm pass through a bolt. Fixed, the second steering gear and one end of the second rocker arm are also fixed by bolts, the other end of the first rocker arm is hinged to the left end of the adjustable connecting rod, and the right end of the adjustable connecting rod is hinged to the left positioning hole of the second steering gear , the other end of the second rocker arm is fixedly connected with the hook. The bottom of the second steering gear is fixedly connected with the linear slider, and the linear cylindrical slide rail and the linear slider are installed and combined to form a kinematic pair capable of reciprocating linear motion; the locking ring is installed on the folding wing, and the locking ring can Get hooked. The automatic locking and unlocking mechanism can complete the automatic locking and automatic unlocking actions; the folded wings can be attached to the fuselage, thereby improving its storage and transportation safety, reducing the probability of scratches or even damage, and extending its service life.
Description
技术领域technical field
本发明是指一种自动锁紧解锁机构，具体是设计了一种用于可折叠扑翼微飞行器的自动锁紧解锁机构。The present invention refers to an automatic locking and unlocking mechanism, and specifically designs an automatic locking and unlocking mechanism for a foldable flapping-wing micro-aircraft.
背景技术Background technique
在扑翼式微飞行器的研究中，可折叠扑翼式微飞行器具有良好的应用前景：其体积小，质量轻，携带方便，隐蔽性好，在执行狭小空间或复杂地形条件下的任务时具有其它飞行器无法比拟的优势；另一方面，可折叠扑翼微飞行器在储运时，因其折叠后体积更小，更易于携带，且可降低其机翼损坏概率。In the study of flapping-wing micro-aircraft, the foldable flapping-wing micro-aircraft has a good application prospect: it is small in size, light in weight, easy to carry, good in concealment, and has the advantages of other aircraft when performing tasks in small spaces or complex terrain conditions. Incomparable advantages; on the other hand, when the foldable flapping-wing micro-aircraft is stored and transported, because of its smaller size after folding, it is easier to carry and can reduce the probability of damage to its wings.
然而目前可折叠扑翼式微飞行器研发中，依然存在一些问题，如由于可折叠扑翼折叠机构的存在，当飞行器飞行完毕降落后，机翼在折叠后经常不能贴紧机身，导致飞行器在运输储藏时，会与其它物体发生摩擦或刮蹭，造成机翼损伤，甚至可能影响再次飞行时的飞行姿态。因此如果机翼折叠后能够自动的与机身锁紧，在即将飞行时又可自动解锁，这将会大大的提高可折叠扑翼式微飞行器的储运安全性和使用寿命。However, there are still some problems in the research and development of the foldable flapping-wing micro-aircraft. For example, due to the existence of the foldable flapping-wing folding mechanism, when the aircraft finishes flying and lands, the wings often cannot be attached to the fuselage after being folded, resulting in the failure of the aircraft during transportation. During storage, it will rub or scratch against other objects, causing damage to the wings, and may even affect the flight attitude when flying again. Therefore, if the wings can be automatically locked with the fuselage after folding, and can be automatically unlocked when they are about to fly, this will greatly improve the storage and transportation safety and service life of the foldable flapping-wing micro-aircraft.
发明内容Contents of the invention
本发明提供一种用于可折叠扑翼微飞行器的自动锁紧解锁机构。其目的是使可折叠扑翼式微飞行器在降落后，折叠后的机翼能贴紧机身(与机身锁紧)，提高其储运安全性，保证了可折叠扑翼式微飞行器在折叠后，机体更加紧凑，降低擦伤、甚至损坏的概率，延长其使用寿命；在飞行时其可折叠翼自动解锁，展开机翼起飞。The invention provides an automatic locking and unlocking mechanism for a foldable flapping-wing micro-aircraft. Its purpose is to make the foldable flapping-wing micro-aircraft land, and the folded wings can be close to the fuselage (locked with the fuselage), improve its storage and transportation safety, and ensure that the foldable flapping-wing micro-aircraft , the body is more compact, reducing the probability of scratches or even damage, and prolonging its service life; its foldable wings are automatically unlocked during flight, and the wings are unfolded to take off.
本发明之可折叠扑翼微飞行器包括翅基、翅膜、翅脉和机身，翅基、翅膜和多个翅脉构折叠翼，折叠翼安装在机身上；The foldable flapping-wing micro-aircraft of the present invention comprises a wing base, a wing membrane, a wing vein and a fuselage, the wing base, the wing membrane and a plurality of wing veins form a folded wing, and the folded wing is installed on the fuselage;
本发明之自动锁紧解锁机构包括锁紧环、第一舵机、第一摇臂、直线圆柱滑轨、直线滑块、第二舵机、第二摇臂、可调节连杆、钩子，自动锁紧解锁机构安装于机身中；第一舵机与第一摇臂的一端通过螺栓固定，第二舵机与第二摇臂的一端也通过螺栓固定，第一摇臂的另一端与可调节连杆的左端铰接，可调节连杆的右端与第二舵机的左定位孔铰接，第二摇臂的另一端与钩子固连在一起。第二舵机的底部与直线滑块固连在一起，而直线圆柱滑轨与直线滑块安装组合成一个能做往复直线运动的运动副；锁紧环安装在折叠翼上，锁紧环能够被钩子钩住。The automatic locking and unlocking mechanism of the present invention includes a locking ring, a first steering gear, a first rocker arm, a linear cylindrical slide rail, a linear slider, a second steering gear, a second rocker arm, an adjustable connecting rod, and a hook. The locking and unlocking mechanism is installed in the fuselage; the first steering gear and one end of the first rocker arm are fixed by bolts, the second steering gear and one end of the second rocker arm are also fixed by bolts, and the other end of the first rocker arm is connected to the The left end of the adjusting link is hinged, the right end of the adjustable link is hinged with the left positioning hole of the second steering gear, and the other end of the second rocking arm is fixedly connected with the hook. The bottom of the second steering gear is fixedly connected with the linear slider, and the linear cylindrical slide rail and the linear slider are installed and combined to form a kinematic pair capable of reciprocating linear motion; the locking ring is installed on the folding wing, and the locking ring can Get hooked.
所述的第一舵机和第二舵机均为P0090舵机。Both the first steering gear and the second steering gear are P0090 steering gears.
所述的第一摇臂和第二摇臂均为单边金属铝合金转向臂。The first rocker arm and the second rocker arm are single-sided metal aluminum alloy steering arms.
本发明自动锁紧和自动解锁过程：The automatic locking and automatic unlocking process of the present invention:
本发明机翼的初始状态为完全折叠状态。The initial state of the wing of the present invention is a fully folded state.
当折叠翼完成飞行，此时单片机中控制折叠的信号开始发出，飞行器开始执行机翼折叠动作，于此同时，该信号也被位于机身中的第一舵机和第二舵机检测到，于是便可以在第一舵机和第二舵机的控制器中添加适当的延迟时间，使折叠动作完成后再开始驱动自动锁紧解锁机构。When the folded wings complete the flight, the signal for controlling the folding in the single-chip microcomputer starts to be sent out, and the aircraft starts to perform the wing folding action. At the same time, the signal is also detected by the first steering gear and the second steering gear in the fuselage. Therefore, an appropriate delay time can be added to the controllers of the first steering gear and the second steering gear, so that the automatic locking and unlocking mechanism can be driven after the folding action is completed.
锁紧原理：Locking principle:
自动锁紧解锁机构处于A状态时，首先第二舵机在检测到信号后，带动第二摇臂以及位于第二摇臂上的钩子逆时针旋转，旋转适当的角度后，钩子恰好钩住折叠翼上的锁紧环，该动作完成后，信号被第一舵机检测到，于是第一舵机带动第一摇臂开始顺时针旋转，自动锁紧解锁机构15处于B状态，此时第一摇臂与之铰接的可调节连杆、第二舵机、直线圆柱滑轨组成曲柄滑块机构，直线滑块逐渐向左运动适当距离后，被钩子钩住的锁紧环(即折叠翼)已经贴紧机身，完成了自动锁紧动作。When the automatic locking and unlocking mechanism is in state A, firstly, after the second servo detects the signal, it drives the second rocker arm and the hook on the second rocker arm to rotate counterclockwise. After rotating at an appropriate angle, the hook just hooks the folded The locking ring on the wing, after the action is completed, the signal is detected by the first steering gear, so the first steering gear drives the first rocker arm to start rotating clockwise, and the automatic locking and unlocking mechanism 15 is in the B state. The adjustable connecting rod with which the rocker arm is hinged, the second steering gear, and the linear cylindrical slide rail form a crank slider mechanism. After the linear slider gradually moves to the left for an appropriate distance, the locking ring (that is, the folding wing) hooked by the hook It has been attached to the fuselage and completed the automatic locking action.
解锁原理：自动锁紧解锁机构初始状态为C状态，当飞行器准备再次飞行时，第一舵机首先检测到信号，驱动第一摇臂逆时针旋转，此时第一摇臂与之铰接的可调节连杆、第二舵机、直线圆柱滑轨组成的曲柄滑块机构使位于直线滑块上的第二舵机向右滑动，滑动适当的距离后，第二舵机驱动其上的第二摇臂顺时针旋转，此时，位于第二摇臂上的钩子也开始顺时针旋转，与锁紧环(即折叠翼)分离，完成了自动解锁动作，此时，自动锁紧解锁机构状态为A状态。Unlocking principle: The initial state of the automatic locking and unlocking mechanism is C state. When the aircraft is ready to fly again, the first servo first detects the signal and drives the first rocker arm to rotate counterclockwise. At this time, the first rocker arm is hinged to it. Adjust the crank slider mechanism composed of the connecting rod, the second steering gear and the linear cylindrical slide rail so that the second steering gear on the linear slider slides to the right. After sliding an appropriate distance, the second steering gear drives the second steering gear on it. The rocker arm rotates clockwise. At this time, the hook on the second rocker arm also starts to rotate clockwise and separates from the locking ring (ie, the folding wing). The automatic unlocking action is completed. At this time, the state of the automatic locking and unlocking mechanism is A state.
本发明的有益效果：Beneficial effects of the present invention:
在两个舵机的驱动下，各个相互连接的零件能够准确、快速的做出反应，完成自动锁紧和自动解锁动作；折叠后的机翼能贴紧机身，从而提高其储运安全性，保证了可折叠扑翼式微飞行器在折叠后，机体更加紧凑，降低擦伤、甚至损坏的概率，延长其使用寿命；同时，在再次飞行时其扑翼与机身可自动解锁，快速展开机翼起飞。Driven by two steering gears, each interconnected part can respond accurately and quickly to complete automatic locking and automatic unlocking; the folded wings can be attached to the fuselage, thereby improving its storage and transportation safety , to ensure that the body of the foldable flapping-wing micro-aircraft is more compact after folding, reducing the probability of scratches or even damage, and prolonging its service life; wing take off.
附图说明Description of drawings
图1为本发明的折叠翼完全展开状态示意图。Fig. 1 is a schematic diagram of the fully unfolded state of the folding wings of the present invention.
图2为本发明的折叠翼完全折叠状态示意图。Fig. 2 is a schematic diagram of a fully folded state of the folding wings of the present invention.
图3、图4、图5和图6为本发明折叠翼折叠过程示意图。Fig. 3, Fig. 4, Fig. 5 and Fig. 6 are schematic diagrams of the folding process of the folding wings of the present invention.
图7为本发明之自动锁紧解锁机构安装在机身上的示意图。Fig. 7 is a schematic view of the automatic locking and unlocking mechanism of the present invention installed on the fuselage.
图8为本发明之自动锁紧解锁机构结构示意图。Fig. 8 is a structural schematic diagram of the automatic locking and unlocking mechanism of the present invention.
图9为机身中自动锁紧解锁机构处于A状态时示意图，即开始锁紧前的状态示意图。9 is a schematic diagram of the automatic locking and unlocking mechanism in the fuselage when it is in state A, that is, a schematic diagram of the state before starting to lock.
图10为自动锁紧解锁机构处于A状态时示意图，即开始锁紧前的状态示意图。Fig. 10 is a schematic diagram of the automatic locking and unlocking mechanism in state A, that is, a schematic diagram of the state before starting to lock.
图11为机身中自动锁紧解锁机构处于B状态时示意图，即第二舵机启动，完成钩子钩住锁紧环后的状态示意图。11 is a schematic diagram of the automatic locking and unlocking mechanism in the fuselage when it is in state B, that is, a schematic diagram of the state after the second steering gear is activated and the hook is hooked to the locking ring.
图12为自动锁紧解锁机构处于B状态时示意图，即第二舵机启动，完成钩子钩住锁紧环后的状态示意图。Fig. 12 is a schematic diagram of the state of the automatic locking and unlocking mechanism in state B, that is, a schematic diagram of the state after the second steering gear is activated and the hook is hooked to the locking ring.
图13为机身中自动锁紧解锁机构处于C状态时示意图，即完全锁紧时的状态示意图。Fig. 13 is a schematic diagram of the automatic locking and unlocking mechanism in the fuselage when it is in state C, that is, a schematic diagram of the fully locked state.
图14为自动锁紧解锁机构处于C状态时示意图，即完全锁紧时的状态示意图。Fig. 14 is a schematic diagram of the automatic locking and unlocking mechanism in state C, that is, a schematic diagram of the fully locked state.
其中：1-翅基；2-翅膜；3-多种翅脉；4-锁紧环；5-第一舵机；6-第一摇臂；7-机身；8-折叠翼；9-直线滑块；10-直线圆柱滑轨；11-可调节连杆；12-钩子；13-第二摇臂；14-第二舵机。Among them: 1-wing base; 2-wing membrane; 3-multiple wing veins; 4-locking ring; 5-first steering gear; 6-first rocker arm; 7-body; 8-folding wing; 9 - linear slider; 10 - linear cylindrical slide rail; 11 - adjustable connecting rod; 12 - hook; 13 - second rocker arm; 14 - second steering gear.
具体实施方式Detailed ways
请参阅图1至图6所示，可折叠扑翼微飞行器包括翅基1、翅膜2、翅脉3和机身7，翅基1、翅膜2和多个翅脉3构折叠翼8，折叠翼8安装在机身7上；折叠翼8的折叠过程如图1和图2所示，折叠翼8本身的折叠过程和折叠在机身7上的过程如图3、图4、图5和图所示。Please refer to Figures 1 to 6, the foldable flapping-wing micro-aircraft includes a wing base 1, a wing membrane 2, a wing vein 3 and a fuselage 7, and a wing base 1, a wing membrane 2 and a plurality of wing veins 3 constitute a folding wing 8 , the folding wing 8 is installed on the fuselage 7; the folding process of the folding wing 8 is shown in Figure 1 and Figure 2, the folding process of the folding wing 8 itself and the process of folding on the fuselage 7 are shown in Figure 3, Figure 4, 5 and Fig.
如图7和图8所示，本发明之自动锁紧解锁机构15包括锁紧环4、第一舵机5、第一摇臂6、直线圆柱滑轨10、直线滑块9、第二舵机14、第二摇臂13、可调节连杆11、钩子12，自动锁紧解锁机构安装于机身7中；第一舵机5与第一摇臂6的一端通过螺栓固定，第二舵机14与第二摇臂13的一端也通过螺栓固定，第一摇臂6的另一端与可调节连杆11的左端铰接，可调节连杆11的右端与第二舵机14的左定位孔铰接，第二摇臂13的另一端与钩子12固连在一起。第二舵机14的底部与直线滑块9固连在一起，而直线圆柱滑轨10与直线滑块9安装组合成一个能做往复直线运动的运动副；锁紧环4安装在折叠翼8上，锁紧环4能够被钩子12钩住。As shown in Figures 7 and 8, the automatic locking and unlocking mechanism 15 of the present invention includes a locking ring 4, a first steering gear 5, a first rocker arm 6, a linear cylindrical slide rail 10, a linear slider 9, a second rudder Machine 14, second rocking arm 13, adjustable connecting rod 11, hook 12, automatic locking and unlocking mechanism are installed in the fuselage 7; the first steering gear 5 and one end of the first rocking arm 6 are fixed by bolts, the second steering gear The other end of the first rocking arm 6 is hinged with the left end of the adjustable connecting rod 11, and the right end of the adjustable connecting rod 11 is connected with the left positioning hole of the second steering gear 14. Hinged, the other end of the second rocker arm 13 is fixedly connected with the hook 12 . The bottom of the second steering gear 14 is fixedly connected with the linear slider 9, and the linear cylindrical slide rail 10 is installed and combined with the linear slider 9 to form a kinematic pair capable of reciprocating linear motion; the locking ring 4 is installed on the folding wing 8 On, the locking ring 4 can be hooked by the hook 12 .
所述的第一舵机5和第二舵机14均为P0090舵机。Both the first steering gear 5 and the second steering gear 14 are P0090 steering gears.
所述的第一摇臂6和第二摇臂13均为单边金属铝合金转向臂。The first rocker arm 6 and the second rocker arm 13 are single-sided metal aluminum alloy steering arms.
本发明自动锁紧和自动解锁过程：The automatic locking and automatic unlocking process of the present invention:
本发明机翼的初始状态为完全折叠状态，如图2所示。The initial state of the wing of the present invention is a fully folded state, as shown in FIG. 2 .
当折叠翼完成飞行，此时单片机中控制折叠的信号开始发出，飞行器开始执行机翼折叠动作，于此同时，该信号也被位于机身7中的第一舵机5和第二舵机14检测到，于是便可以在第一舵机5和第二舵机14的控制器中添加适当的延迟时间，使折叠动作完成后再开始驱动自动锁紧解锁机构15。When the folded wing finishes flying, the signal for controlling the folding in the single-chip microcomputer starts to send out, and the aircraft starts to perform the wing folding action. Detected, then an appropriate delay time can be added in the controllers of the first steering gear 5 and the second steering gear 14, so that the automatic locking and unlocking mechanism 15 can be driven after the folding action is completed.
锁紧原理：Locking principle:
如图9和图10所示，自动锁紧解锁机构15处于A状态时，首先第二舵机14在检测到信号后，带动第二摇臂13以及位于第二摇臂13上的钩子12逆时针旋转，旋转适当的角度后，钩子12恰好钩住折叠翼8上的锁紧环4，该动作完成后，信号被第一舵机5检测到，于是第一舵机5带动第一摇臂6开始顺时针旋转，如图11和图12所示，自动锁紧解锁机构15处于B状态，此时第一摇臂6与之铰接的可调节连杆11、第二舵机14、直线圆柱滑轨10组成曲柄滑块机构，直线滑块9逐渐向左运动适当距离后，被钩子12钩住的锁紧环4(即折叠翼8)已经贴紧机身7，完成了自动锁紧动作，如图13和图14所示，自动锁紧解锁机构15处于C状态。As shown in Figures 9 and 10, when the automatic locking and unlocking mechanism 15 is in state A, firstly, after the second steering gear 14 detects the signal, it drives the second rocker arm 13 and the hook 12 on the second rocker arm 13 to reverse Rotate clockwise. After rotating at an appropriate angle, the hook 12 just hooks the locking ring 4 on the folding wing 8. After this action is completed, the signal is detected by the first steering gear 5, so the first steering gear 5 drives the first rocker arm 6 starts to rotate clockwise, as shown in Figure 11 and Figure 12, the automatic locking and unlocking mechanism 15 is in state B, at this time the first rocker arm 6 is hinged with the adjustable connecting rod 11, the second steering gear 14, the linear cylinder The slide rail 10 forms a slider crank mechanism, and after the linear slider 9 gradually moves to the left for an appropriate distance, the locking ring 4 (that is, the folding wing 8) hooked by the hook 12 has been attached to the fuselage 7, and the automatic locking action has been completed. , as shown in Figure 13 and Figure 14, the automatic locking and unlocking mechanism 15 is in the C state.
解锁原理：自动锁紧解锁机构15初始状态为如图13和图14所示的C状态，当飞行器准备再次飞行时，第一舵机5首先检测到信号，驱动第一摇臂6逆时针旋转，此时第一摇臂6与之铰接的可调节连杆11、第二舵机14、直线圆柱滑轨10组成的曲柄滑块机构使位于直线滑块9上的第二舵机14向右滑动，滑动适当的距离后，第二舵机14驱动其上的第二摇臂13顺时针旋转，此时，位于第二摇臂13上的钩子12也开始顺时针旋转，与锁紧环4(即折叠翼8)分离，完成了自动解锁动作，此时，自动锁紧解锁机构15状态为如图9和图10所示的A状态。Unlocking principle: the initial state of the automatic locking and unlocking mechanism 15 is the C state shown in Figure 13 and Figure 14. When the aircraft is ready to fly again, the first steering gear 5 first detects the signal and drives the first rocker arm 6 to rotate counterclockwise At this time, the crank slider mechanism composed of the first rocker arm 6 hinged with the adjustable connecting rod 11, the second steering gear 14, and the linear cylindrical slide rail 10 makes the second steering gear 14 on the linear slider 9 move to the right. After sliding for an appropriate distance, the second steering gear 14 drives the second rocker arm 13 on it to rotate clockwise. At this time, the hook 12 on the second rocker arm 13 also starts to rotate clockwise, and lock ring 4 (that is, the folding wings 8) are separated, and the automatic unlocking action is completed. At this time, the state of the automatic locking and unlocking mechanism 15 is A state as shown in FIGS. 9 and 10 .
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| CN107697285B (en) * | 2017-09-21 | 2023-11-17 | 吉林大学 | Air pressure integrated foldable wing mechanism for foldable flapping-wing micro air vehicle |
| CN108454852B (en) * | 2018-04-04 | 2023-11-10 | 吉林大学 | A self-adjusting deformation foldable wing mechanism for foldable flapping-wing micro-aircraft |
| CN108945429B (en) * | 2018-07-02 | 2020-10-30 | 北京航空航天大学 | Wing flapping and unfolding and folding multi-mode driving device of miniature flapping wing aircraft |
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| US10023307B2 (en) * | 2013-03-08 | 2018-07-17 | Purdue Research Foundation | Electromagnetic actuator system with a rotor oscillation |
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