KR101549994B1 - Structure of flapping robotic wing - Google Patents

Abstract

The present invention relates to a structure of a flapping robotic wing. More specifically, the structure of a flapping robotic wing comprises: a drive part to provide a rotational force in a forward rotation or a reverse rotation; an inside wing part connected to the drive part to include an interworking shaft part forwardly or reversely rotating by interworking according to a supply of the forward or reverse rotational force by the drive part, on an inside end thereof, and rotating with regard to the interworking shaft part as an axis according to the rotation of the interworking shaft unit; an outside wing part connected to a first joint part to be capable of rotation at the outside end of the inside wing part, and rotating with regard to the first joint unit as an axis according to the rotation of the inside wing part; a sliding wing part which is installed on the outside wing part, and moves in a straight-line motion type in a longitudinal direction of the outside wing part; and a link member of which the outside end is connected to a second joint part integrally formed on a lower part of the sliding member, and of which the inside end is connected to a link shaft part disposed on a lower side of the interworking shaft part of the inside wing part, wherein the link member depends on the rotation of the interworking shaft part of the inside wing part to rotate with regard to the link shaft part as an axis and to guide the course of the sliding member. A flying form of the present flapping robot can be embodied as a figure more similar to an actual bird than a conventional flapping robot. The structure of the flapping robotic wing controls the force applied to a joint according to the flapping strength of the inside wing part and the outside wing part by the sliding member moving in a straight-line motion type in a longitudinal direction of the outside wing unit, thereby effectively generating a lift force. Since an additional lift force and thrust are generated, the size of the flapping robot can be embodied as small, or the consumption of power can be reduced, thereby providing the structure of the flapping robotic wing of which the flying performance is more improved than a conventional flapping robot.

Description

Structure of Flapping Robotic Wing

[0001] The present invention relates to a wing structure of a wing-flying robot, and more particularly, to a wing structure of a flying robot which comprises a pair of wings arranged in a symmetrical manner, The present invention relates to a wing structure of a wing-flying flying robot that includes a sliding member that moves along the outer wing to realize a folding motion in which the outer wing folds / unfolds.

Ornithopter generally refers to a flying object while flapping its wings, for example Leonardo da Vinci's air vehicle.

The first successful design of rubber powered wing aircraft was in the early 1870s and since then unmanned or manned wing aircraft has been invented.

Most winged aircraft today use engines, rubber bands or compressed gas as the power source. The engine power wing aircraft has a large output, but the noise is large and it is difficult for a novice to handle the engine and the fuel.

In addition, the winged aircraft using rubber power or compressed gas power is easy to handle, but the flight time is very short and the user can not control the direction or altitude at will.

2. Description of the Related Art Recently, as the performance of a motor and a battery has been rapidly developed, a wing-flying vehicle using motor power has been actively developed.

These winged aircraft are powered by motors and batteries, so you do not need to use engines or fuel, you can fly with a fully charged battery, and you have stable, smooth power transmission.

A power transmission unit that is driven by a motor shaft gear to transmit a power so as to have a wing speed and a force required for a flying body to fly, is provided with a power transmission unit driven by a motor shaft gear, And the wings connected by a connecting rod for converting the circular motion of the transmitting portion into linear motion are moved up and down.

In addition to the above-mentioned technique, another conventional technique is disclosed in Korean Utility Model Registration No. 20-0281641 (Jun. 26, 2002), wherein the power unit and other device units, A power transmission unit connected to the power unit, a wing unit connected to the power transmission unit, a wing structure unit, and a tail wing unit capable of adjusting the direction of flight, When the UPSTROKE is in the middle, it is folded, and when the wing is downstroke, it is provided with a winged aircraft with a joint device attached to the wing so as not to be folded.

However, in the above-mentioned prior art, since the wings are made of the integral joints in obtaining the lift force and the propulsive force by flapping the wings up and down, when the upper wing for the propulsive force generated by the lower wing occurs, There is a problem that the power loss and the flying efficiency are deteriorated.

Therefore, in order to solve the above-mentioned problem, the present invention is characterized in that the wing of a flying robot flying with a pair of wings arranged symmetrically is divided into an inner wing portion and an outer wing portion similar to a bird wing, By implementing a folding motion in which the outer wing portion folds / unfolds by providing a sliding member that moves along with the outer wing portion, the wing motion of flying like an actual bird is produced, and the lift and thrust generation efficiency of the wing And to provide a wing structure of a winged flying robot having an improved flight performance.

The wing structure of the vane-flying robot according to the present invention includes a driving unit for providing a forward or reverse rotation force, and a driving unit for driving the forward / An inner wing portion configured to rotate on an inner end thereof and configured to rotate about an interlocking shaft portion as the interlocking shaft portion is rotated; and a second wing portion connected to the outer end of the inner wing portion so as to be rotatable as a first joint portion, An outer wing portion provided on the outer wing portion and linearly reciprocating along the longitudinal direction of the outer wing portion and an outer end portion provided on the lower portion of the sliding member, And an inner end connected to a link shaft portion located below the interlocking shaft portion of the inner wing portion, Side wings is dependent as an additional rotation shaft linked to the shaft includes a link member which guides the path of the sliding member by rotating the shaft in the axial link.

The first and second stoppers may be disposed on the outer wing portion of the present invention with the sliding member interposed therebetween, and may intermittently control the travel range of the sliding member.

A permanent magnet provided on a side end of the sliding member to control the movement of the sliding member by providing the sliding member according to the present invention with an attractive force and a repulsive force, and a permanent magnet provided on each of the first and second stoppers, And an electromagnet for selectively providing a magnetic force to the electromagnet.

In addition, the link member of the link member according to the present invention may further include a gear member for interlocking the link shaft portion located on the other side so that the pair of left and right wings of the flying robot can interlock with each other in the same motion.

The wing structure of the winged flying robot according to the present invention has the following effects.

First, the inner wing portion and the outer wing portion forming the wing of the flying robot are rotatably connected to each other through a joint, and the rotation angle of the outer wing portion is controlled according to the rotation angle of the inner wing portion, It has the effect of realizing the appearance similar to the real bird when flying than the robot.

Second, the sliding member that linearly reciprocates along the longitudinal direction of the outer wing portion can effectively generate lifting force by adjusting the force applied to the joints according to the flapping strength of the inner wing portion and the outer wing portion. .

Third, because the additional wing and the thrust are generated by the inner wing portion connected with the joint, the outer wing portion and the sliding member, the size of the winged flying robot can be reduced or the power consumption can be reduced, And the performance is improved.

FIG. 1 is an exemplary view showing a wing structure according to a wing structure of a winged flying robot according to the present invention.
FIG. 2 is an exemplary diagram showing a state in which a wing of a flying robot according to an embodiment of the present invention wings upwards.
FIG. 3 is an exemplary view showing a state in which a wing of a flying robot according to an embodiment of the present invention changes from upward to downward. FIG.
FIG. 4 is an exemplary view showing a state in which the wings of the flying robot according to the configuration of the present invention sweep downward.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concepts of the terms appropriately The present invention should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention, and not all of the technical ideas of the present invention are described. Therefore, at the time of the present application, It should be understood that variations can be made.

FIG. 1 is an exemplary view showing a wing structure according to a wing structure of a winged flying robot according to the present invention, FIG. 2 is an exemplary view showing a wing of a flying robot according to an embodiment of the present invention, FIG. 4 is a view showing a state where a wing of a flying robot according to an embodiment of the present invention is winged when it is switched from an upward direction to a downward wing. FIG. Fig.

The present invention is characterized in that a wing of a flying robot flying with a pair of wings arranged symmetrically is divided into an inner wing portion and an outer wing portion similar to a bird wing and a sliding member moving along the outer wing portion And a wing motion that produces a flying like a real bird by implementing a folding motion in which the outer wing portion folds / unfolds. In addition, The wing structure of a flying robot is described in more detail with reference to the drawings.

1 to 4, the vane structure of a vane flying robot according to the present invention includes a driving unit 10, an inner vane unit 20, an outer vane unit 30, a sliding member 40, and a link member 50 .

First, the driving unit 10 of the present invention provides power to the wing of the flying robot. The driving unit 10 is not limited to any one of the configurations, and may include a driving contact 11 of the driving unit 10 It is possible to raise and lower the inner blade portion 20 so as to provide a forward or reverse rotation force to the inner blade portion 20.

For example, the drive shaft of the electric motor is engaged with the gear, and the rotational force of the electric motor may be provided to the inner wing 20 through the gear to provide a forward or reverse rotational force. As the drive shaft of the electric motor is driven And may be configured to provide a forward rotation or a reverse rotation force to the inner wing portion 20 through the lifting rod.

The inner wing 20 according to the present invention includes an inner wing portion 20 at its inner end to form an interlocking shaft portion 21 connected to the driving portion 10. The interlocking shaft portion 21 is a fixed axis, The interlocking shaft portion 21 is interlocked with the driving portion 10 by providing the rotating force of the forward rotation or the reverse rotation so that the interlocking shaft portion 21 also rotates in the forward or reverse direction and the interlocking shaft portion 21 rotates The inner wing portion 20 rotates up and down about the interlocking shaft portion 21.

Therefore, the rotational force of the driving unit 10 is transmitted to the interlocking shaft portion 21 by the above-described configuration, so that the inner wing portion 20 rotates about the interlocking shaft portion 21 as shown in FIG. 2 to FIG. It can rotate up and down to produce the same motion as a bird's wing.

The outer wing portion 30 is rotatably connected to the outer end of the inner wing portion 20 by a first joint portion 31. The outer wing portion 30 according to the present invention includes the inner wing portion 20 The first joint part 31 is rotated up and down about the axis of the first joint part 31 and the joint part 21 of the inner wing part 20 is circularly moved about the axis.

Therefore, the entire wing including the inner wing portion 20 and the outer wing portion 30 performs the wing motion to rotate around the interlocking shaft portion 21 of the inner wing portion 20.

The outer wing portion 30 is provided with a sliding member 40. When the outer wing portion 30 rotates up and down about the first joint portion 31, And reciprocates linearly along the longitudinal direction of the outer wing (30).

At this time, the link member 50 is connected to the sliding member 40, and the link member 50 guides the course of the sliding member 40 as the inner wing portion 20 rotates up and down.

The first and second stoppers 60 and 70 are provided on the outer wing 30 with the sliding member 40 interposed therebetween, (40).

The first and second stoppers 60 and 70 are spaced apart from each other by a predetermined distance and are disposed on the outer wing portion 30. The sliding member 40 includes first and second stoppers 60, 70).

Therefore, the maximum movement of the sliding member 40 makes a linear reciprocating motion within a fixed distance, and the maximum movement angle of the inner wing 20 and the outer wing 30 is kept constant.

A permanent magnet 41 may be provided on the side of the sliding member 40 and electromagnets 61 and 71 or permanent magnets may be provided on the first and second stoppers 60 and 70, respectively.

The sliding member 40 provided with the permanent magnets 41 is capable of generating a magnetic force between the first and second stoppers 60 and 70 by a magnetic force selectively provided by the first and second stoppers 60 and 70, And its position and movement are controlled by repulsive force and repulsive force.

Therefore, the first and second stoppers 60 and 70 can control the position and the movement of the sliding member 40 to control the rotation of the outer wing 30,

The rotation of the outer wing portion 30 can be selectively controlled according to the rotation angle of the inner wing portion 20 to realize a folding motion in which the outer wing portion 30 is folded / .

The sliding member 40 is supported and moved by the link member 50. The outer end of the link member 50 is connected to the lower portion of the sliding member 40 and the second joint portion 42 And an inner end thereof is positioned below the interlocking shaft portion 21 of the inner wing portion 20 by constituting a link shaft portion 51 having a structure similar to the interlocking shaft portion 21. [

Therefore, when the inner wing portion 20 rotates about the interlocking shaft portion 21, the link member 50 rotates about the link shaft portion 51 in accordance with the rotation of the inner wing portion 20, Guide.

More specifically, when the inner wing 20 is winged upward, the sliding member 40 moves toward the second stopper 70 to fold the outer wing 30, and when the wing is downward, The first wing portion 40 is moved toward the first stopper 60 and the outer wing portion 30 is unfolded.

In addition, a gear member 52 is provided on the link shaft portion 51 of the link member 50 according to the present invention so that the left and right wings of the flying robot symmetrical to each other are linked with each other in the same motion, The link shaft portion constituting the wing of the wing is interlocked.

At this time, the gear member 52 provided on the link shaft portion 51 on one side and the gear member provided on the link shaft portion on the other side are engaged with each other and interlocked with each other.

The wing structure of the wing-flying robot according to the present invention is configured such that the inner wing portion and the outer wing portion are rotatably connected to each other through a joint, and the rotation angle of the outer wing portion is controlled according to the rotation angle of the inner wing portion The outer wing portion can be folded downward when the inner wing portion is raised from below, and the outer wing portion folded when the inner wing portion is lowered from top to bottom) It is possible to enhance the lift and thrust generation efficiency of the flying robot as well as to direct the wing motion.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

10: driving part 20: inner wing
21: interlocking shaft portion 30: outer wing portion
31: first joint part 40: sliding member
41: permanent magnet 42: second joint
50: link member 51: link shaft portion
52: gear member 60: first stopper
61,71: Electromagnet 70: Second stopper

Claims (4)

In constructing the wing of a flying robot having a pair of left and right wings and flying with a wing,
A driving unit for providing a forward or reverse rotation force;
And an interlocking shaft portion connected to the driving portion and adapted to rotate forward or reverse while interlocking with the rotation of the driving portion by providing a forward or reverse rotation force is formed at an inner end, and the interlocking shaft portion is rotated An inner wing portion;
An outer wing connected to the outer end of the inner wing portion to be rotatable as a first joint portion and rotated about the first joint portion as the inner wing portion rotates;
A sliding member provided on the outer wing portion and linearly reciprocating along a longitudinal direction of the outer wing portion; And
The inner end of the inner wing portion is connected to a link shaft portion located below the interlocking shaft portion of the inner wing portion and the inner wing portion is rotated about the interlocking shaft portion And a link member that is dependent on the link member and rotates about the link shaft portion to guide the course of the sliding member.
The method according to claim 1,
And a first and a second stopper provided on the outer wing portion with the sliding member interposed therebetween for controlling a career range of the sliding member.
The method of claim 2,
Wherein the sliding member is provided with an attractive force and a repulsive force to control the movement of the sliding member,
A permanent magnet provided on a side end of the sliding member;
And an electromagnet provided on each of the first and second stoppers to selectively provide a magnetic force to the permanent magnets.
The method according to claim 1,
And the link shaft portion of the link member
The wing structure of a vane-flying robot further comprising a gear member for interlocking a link shaft portion located on the other side so that the pair of wings of the flying robot can interlock with each other in the same motion.

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