KR20050006375A - Wing Mechanism Realizing Various Motion of Wings and Air Vehicle Using It - Google Patents

Abstract

PURPOSE: A blade apparatus and an air vehicle thereof are provided to realizing the motion of flapping, lagging, feathering as the motion of a bird or an insect's wings. CONSTITUTION: A blade apparatus comprises a pair of blades(11), flapping guide slot and a lagging guide slot. The flapping guide slot moves vertically by inserting shafts of each blade. The lagging guide slot moves horizontally by inserting the shafts of each blade. In operating horizontal and vertical force to the ends of the shafts while inserting the ends of the shafts into the guide slots sequentially, the other ends of the shafts are rotated in an oval. A pair of reciprocation apparatuses and couplings are added. The reciprocation apparatuses are crossed at a certain angle by putting in a parallel plane. The couplings connect the ends of the reciprocation apparatuses with the shafts of the blades. Thereby, an airplane to be freely flown upward, downward, frontward and backward is realized.

Description

Wing Mechanism Realizing Various Motion of Wings 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 lateral 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 was developed to solve the above-mentioned conventional problems, an object of the present invention is to provide a wing mechanism that can implement the wing of a bird or insect, and can use the same to freely move back and forth, up and down and stop flight To provide a vehicle.

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

Figure 2a is a perspective view of the wing mechanism according to the present invention.

FIG. 2B is a perspective view of drive means for driving the wing mechanism shown in FIG. 2A; FIG.

2C 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.

3C is a plan view of the first and second embodiments of the piezoelectric actuator shown in FIG. 3B.

3D to 3F are cross-sectional views taken along line C-C in FIG. 3C to illustrate the shape before and after deformation of the piezoelectric actuator.

FIG. 3G is a cross-sectional view taken along the line C-C of FIG. 3C and is a cross-sectional view of a piezoelectric actuator configured in bimorph form. FIG.

FIG. 3H is a plan view of third and fourth embodiments of the piezoelectric actuator shown in FIG. 3B; FIG.

3I to 3K are cross-sectional views taken along the line D-D in FIG. 3H to illustrate the shape before and after deformation of the piezoelectric actuator.

FIG. 3L is a cross-sectional view taken along the line D-D of FIG. 3H, and is a cross-sectional view of the piezoelectric actuator configured in the form of a bimorph.

Figure 4a is a perspective view schematically showing the configuration of the aircraft according to the present invention.

Figure 4b 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

15: fixing slot 16: piezo actuator

17: wing cover 18: slot for electrode

19: Electric grease 20: Controller

30: drive means 31: coupling

32: reciprocating means 33: guide cylinder

34: ring joint 35: coupler for rod

36: Coupler for ring joint 37: Crankshaft

38: connecting rod 39: sliding rod

40: power source 50: fuselage

60: sensor 70: transformer

80: communicator 90: external controller

111, 111 ': EAP 112: energized grease

113, 113 ': elastomer

An object of the present invention as described above, a pair of wings that are symmetrical, the vertical guide slot is formed so that the axis of each of the wings is inserted to perform the vertical movement, and the axis of each of the wings is inserted And a front and rear direction guide slot formed so as to be movable in the front and rear direction, and in the state where the blade shaft ends are sequentially inserted into the vertical guide slot and the front and rear direction guide slots, the front and rear directions and the vertical direction at the wing shaft ends. When a force is applied, the other end of the wing shaft is achieved by providing a wing mechanism that makes it possible to rotate in an elliptical shape.

Here, it is preferable to further comprise a pair of reciprocating means which are each placed on a plane parallel to each other and arranged to cross at a predetermined angle, and a coupling for connecting the distal end of the reciprocating means with the axis of the blade Do.

Here, the reciprocating means is a rotary drive source for generating a rotational force when the power is supplied, a crank shaft connected to the rotary shaft of the rotary drive source, a connecting rod connected to the crank shaft to the end reciprocating movement, the end of the connecting rod It is preferably composed of a sliding rod connected to the reciprocating motion, and a guide cylinder that constantly guides the reciprocating direction of the sliding rod.

Here, the coupling is a rod coupler to which the sliding rod of one of the two reciprocating means is inserted and fixed, a ring joint coupled to an end of the sliding rod of the other of the two reciprocating means, and A ring joint coupler rotatably inserted into the ring joint and the wing shaft inserted into and fixed to the ring joint; an end of the ring joint coupler connected to a side of the rod coupler by a pin joint, and a pin of the pin joint Is positioned in a direction perpendicular to the plane to which the coupling belongs, so that the ring joint coupler is configured to be rotatable relative to the rod coupler about the pin joint axis.

Here, the wing, the wing shaft constituting the skeleton of the wing and connected to the power source; And a piezoelectric actuator coupled to the wing shaft and capable of changing the shape of the wing according to the flight type, and the piezoelectric actuator enables the wing to be deformed in the vertical direction about the wing axis. Do.

Here, the wing, it is preferable to further include a wing cover made of a light material covering the surface of the piezoelectric actuator to insulate the piezoelectric actuator from the outside.

Here, the piezoelectric actuator is in the form of a monomorph having an elastic body having a pair of fixing slots spaced parallel to the wing axis, and an EAP having a predetermined size fixed through the fixing slot on the elastic body and coupled to the elastic body. It is preferable that the electrolytic grease which forms an electrode in the front and back surfaces is applied to the said EAP, and an electrode is formed.

On the other hand, the piezoelectric actuator is formed of a bimorph having an elastic body formed with a pair of fixing slots spaced parallel to the wing axis, and the front and rear surfaces of the elastic body through the fixing slot in the elastic body, The wing mechanism, characterized in that the EAP is applied to the conductive grease forming the electrode on the front and rear surfaces to form the electrode.

Meanwhile, the piezoelectric actuator may include an elastic body in which a plurality of electrode slots are further formed between the pair of fixing slots and the fixing slots spaced parallel to the blade axis, and fixed through the fixing slots. Consists of an EAP of a predetermined size coupled to the elastic body, the EAP is applied to the conductive grease forming the electrode on the front and rear surfaces where the electrode slot is formed, and electrically connected between the conductive grease The conductive grease is further applied in a direction perpendicular to the slot for the electrode to connect, and the EAP surface contacting the elastic body between the electrode slots is preferably made to be attached to the elastic body with an adhesive.

Meanwhile, the piezoelectric actuator may include an elastic body in which a plurality of electrode slots are further formed between the pair of fixing slots and the fixing slots spaced parallel to the blade axis, and the elastic body of the elastic body through the fixing slot. EAP is positioned on the front and rear surfaces, and conductive greases forming electrodes are applied to the EAPs of the front and rear surfaces, respectively, where the electrodes are joined to portions where the electrode slots are formed. The conductive grease is further applied in a direction perpendicular to the slot for the electrode so as to electrically connect, and the EAP surface contacting the elastic body between the electrode slots is preferably made to be attached to the elastic body with an adhesive.

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 It is achieved by providing a wing using a wing consisting of a control unit for controlling the movement of the vehicle by controlling a drive means and a power source, and a fuselage housing the wing mechanism, the drive means, the power source and the controller.

Here, the wing mechanism is a pair of wings that are symmetrical, up and down guide slots formed so that the axis of each of the wings is inserted to perform the movement in the vertical direction, and the axis of each of the wings is inserted back and forth Comprising a forward and backward guide slot formed so as to be able to move in the direction, and in the state that the blade shaft end is inserted into the vertical guide slot and the front and rear direction guide slot in sequence, the force in the front and rear direction and the vertical direction to the wing shaft end If this action, the other end of the blade axis is preferably rotated to form an oval.

Here, the drive means is composed of a pair of reciprocating means each placed on a plane parallel to each other and arranged to cross at a predetermined angle, the distal end of the reciprocating means is connected to the wing shaft by a coupling It is preferable.

Here, the vehicle is preferably configured to further include a sensor for sensing information about the surrounding environment surrounding the vehicle.

In this case, the sensor, the information is recognized from the sensor is transmitted to the controller is preferably controlled to the operation of the vehicle in accordance with the content previously programmed in the controller.

Here, the vehicle is composed of a power source for supplying a current to the power source is further configured to include a transformer for adjusting the voltage applied to the piezoelectric by adjusting the voltage of the current supplied from the power source, the controller in the aircraft It is desirable to modify the shape of the vane to a desired shape by controlling the voltage of the transformer in accordance with the required flight operation.

Here, it is preferable that the vehicle further includes a communicator, and controls each device installed in the vehicle through wireless communication with the communicator from an external controller installed separately from the outside of the vehicle.

In this case, it is preferable that the center of gravity of the body is disposed below by stacking the heavy parts of the components in order from the bottom to the bottom of the body.

Here, the body is preferably formed of a sphere having an elliptical front cross-sectional shape can reduce the air friction due to flight.

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, and FIG. 2B shows drive means for driving the wing mechanism shown in FIG. 2A. A perspective view of is shown, and FIG. 2C shows an exploded perspective view of the coupling shown in FIG. 2B.

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 left and right directions is relatively small, the other end of the blade shaft 14 moves in a long elliptical trajectory in the vertical direction.

2b shows a drive means for driving the wing mechanism according to the invention.

As shown in FIG. 2B, the driving means 30 for driving the wing mechanism 10 according to the present invention are made by crossing the front and rear driving means and the vertical driving means for reciprocating motion, respectively. Preferably, the crossing angle is vertical, but is not limited thereto, and may be disposed while forming an angle other than 90 degrees in order to implement a necessary wing movement. Moreover, it is preferable that the said front-back direction drive means and an up-down direction drive means are arrange | positioned on one plane or a parallel plane, respectively.

The front-rear drive means and the vertical drive means are connected to a rotation drive source (not shown) such as a motor or an engine, a crank shaft 37 connected to the rotation shaft of the rotation drive source, and the crank shaft 37, respectively. A guide rod having an end reciprocating, and a guide connected to an end of the connecting rod 38 to guide the reciprocating direction of the sliding rod 39 and the sliding rod 39 reciprocating. It consists of the reciprocating means 32 comprised of the cylinder 33. As shown in FIG.

The sliding rod 39 is inserted into the guide cylinder 33, and since the sliding rod 39 and the guide cylinder 33 move relative to each other with friction, the inside of the guide cylinder 33 It is desirable to lubricate properly.

As shown in FIGS. 2B and 2C, the driving means and the wing shaft 14 are connected to each other so that the power of the forward and backward driving means and the up and down driving means are transmitted to the wing shaft 14. Coupling 31 is used. The coupling 31 has a rod coupler 35 having a groove formed therein so that the sliding rod 39 can be inserted and fixed thereto, and a ring joint 34 coupled to an end of the sliding rod 39. It is composed of a ring joint coupler 36 is rotatably inserted and a groove is formed so that the wing shaft 14 can be inserted and fixed. An end of the ring joint coupler 36 is connected to the side of the rod coupler 35 by a pin joint. The pin of the pin joint is located in a direction perpendicular to the plane to which the coupling 31 belongs. The ring joint coupler 36 is configured to be rotatable within a 180 degree range with respect to the rod coupler 35 with respect to the pin joint axis.

Hereinafter, the principle that the power of the front-rear drive means and the vertical drive means is transmitted to the blade shaft when the coupling 31 is used.

The blade shaft 14 is inserted into and fixed to an end of the ring joint coupler 36 in the coupling 31, and the ring joint coupler 36 in the coupling 31 is in the front-rear direction. It is rotatably inserted and fixed to the ring joint 34 coupled to the end of the sliding rod 39 'of the drive means. The ring joint 34 is disposed in parallel with the plane in which the forward and backward driving means and the vertical driving means are located, and the portion of the ring joint coupler 36 is inserted perpendicular to the ring joint 34. The sliding rod 39 "of the up-and-down driving means is inserted and fixed to the portion of the rod coupler 35. The sliding rod 39" between the sliding rod 39 "and the rod coupler 35 is fixed. Is fixed in a direction in which the rod is inserted, and the rod coupler 35 is rotatably coupled to the sliding rod 39 ″ as an axis.

In the arrangement as described above, when the rotational drive source of the front-rear driving means rotates, the sliding rod 39 'reciprocates in the front-rear direction, and the ring joint inserted into the ring joint 34 A portion of the coupler 36 pivots a predetermined angle about the sliding rod 39 "of the vertical drive means.

When the rotational drive source of the vertical drive means rotates, the sliding rod 39 "of the vertical drive means reciprocates in the vertical direction, and moves up and down with the sliding rod 39" of the vertical drive means. The fixed rod coupler 35 reciprocates in the up and down direction, and the portion of the ring joint coupler 36 inserted into the ring joint 34 is restricted by the ring joint 34. A predetermined angle is pivoted about the axis of the pin joint.

As described above, for example, when the wing is moved in the same manner in the same way up and down and up and down at the same time, the end of the wing is rotated in a circle. In order to implement the forward flight operation as shown in Figure 1a or Figure 1b it can be made to make the elliptical wings by making the stroke of the wings in the vertical direction larger than the stroke of the wings in the front and rear direction.

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

As shown in Figure 3a and 3b, in the wing mechanism according to the present invention, the wing 11 can be deformed in the vertical direction about the wing axis in accordance with the flight operation, that is, can be feathering (feathering) It is made to The wing 11 is composed of a wing shaft 14 constituting the skeleton of the wing and connected to a power source, and a wing body coupled to the wing shaft 14 and capable of varying in shape depending on the type of flight. The blade body is preferably made of a piezoelectric actuator coupled to the elastic body and the piezoelectric body can reduce the weight of the blade. In addition, the vane cover 17 is made of an elastic material that can insulate the piezoelectric actuator 16 from which a high voltage is applied to the outside and can be deformed by the piezoelectric actuator.

3C shows a plan view of the first and second embodiments of the piezoelectric actuator constituting the wing mechanism according to the present invention, and FIGS. 3D to 3F show variations of the first embodiment of the piezoelectric actuator constituting the wing mechanism according to the present invention. Cross-sectional views before and after are shown.

As shown in FIGS. 3C to 3F, the piezoelectric actuator 16 of the first embodiment includes an elastic body 113 having a pair of fixing slots 15 spaced parallel to the wing axis 14, and It is composed of an EAP 111 of a predetermined size that is fixed through the fixing slot 15 on the elastic body 113 is coupled to the elastic body 113. The EAP 111 is coated with an energizing grease 112 for forming electrodes on the front and rear surfaces thereof.

As shown in FIG. 3C, three pairs of fixing slots 15 may be provided in the longitudinal direction of the wing, or an appropriate number thereof may be formed, and each pair of fixing slots 15 may be provided. EAP 111 is installed.

In the piezoelectric actuator 16 of the first embodiment, before the EAP 111 is coupled, the elastic body 113 has a permanent deformation such that the surface on which the EAP 111 is coupled is convex, and the EAP 111 is convex. ) Is set in a state in which elastic deformation is caused to concave the surface on which the EAP 111 is installed. In this state, when voltage is applied to the electrode formed by the conductive grease 112, the EAP 111 is expanded so that the piezoelectric actuator 16 is stretched out of the elastically deformed shape. Deformation may occur until the surface on which 111 is installed becomes convex. By having such a configuration, only the piezoelectric actuator in the form of a monomorph is used to enable the feed of the wings.

3G shows a cross-sectional view of the piezoelectric actuator of the second embodiment in which the piezoelectric actuator of the first embodiment is constituted by a bimorph actuator.

As shown in FIG. 3G, the piezoelectric actuator 16 of the second embodiment uses the elastic body (B) through the fixing slot 15 in the elastic body 113 such as the elastic body constituting the piezoelectric actuator 16 of the first embodiment. The EAP 111 is positioned on the front and rear surfaces of the 113.

On both sides of the EAP 111, an energizing grease 112 is applied to both surfaces thereof, and when a voltage is applied to an electrode formed of the energizing grease 112 in the EAP 111 exposed on the front surface of the elastic body 113, the EAP 111 on the front surface. ) Is expanded so that the front surface of the elastic body 113 is convexly deformed. On the contrary, when a voltage is applied to the electrode formed of the conducting grease 112 in the EAP 111 ′ exposed to the rear side of the elastic body 113, the EAP 111 ′ of the rear side is expanded so that the elastic body 113 is convexly deformed. do.

3H shows a plan view of the third and fourth embodiments of the piezoelectric actuator constituting the vane mechanism according to the present invention, and FIGS. 3I to 3K show a third embodiment of the piezoelectric actuator constituting the vane mechanism according to the present invention. Cross-sectional views before and after deformation are shown.

As shown in FIGS. 3H-3K, the piezoelectric actuator 16 of the third embodiment has a plurality of fixing slots 15 and a plurality of fixing slots 15 spaced parallel to the blade axis. Two electrode slots 18 are further formed, and an EAP 111 having a predetermined size fixed through the fixing slot 15 and coupled to the elastic body 113 '. A portion of the EAP 111 joined to a portion where the electrode slot 18 is formed is coated with a conductive grease 112 for forming electrodes on front and rear surfaces, and electrically connected between the conductive greases 112. The conductive grease 112 is further applied in a direction perpendicular to the electrode slot 18 so as to connect. Then, the EAP surface in contact with the elastic body other than the surface in contact with the electrode slot 18 is to be attached to the elastic body 113 with an adhesive.

Even in the piezoelectric actuator of the third embodiment, the elastic body 113 ′ has a permanent deformation such that the surface on which the EAP 111 is coupled is convex before the EAP 111 is coupled, and the EAP 111 is fixed. While engaging the EAP (111) is set in a state causing the elastic deformation so that the surface is installed concave. In this state, when voltage is applied to the electrode formed by the conductive grease 112, the EAP 111 is expanded so that the piezoelectric actuator 16 is stretched out of the elastically deformed shape. Deformation may occur until the surface on which 111 is installed becomes convex. By having such a configuration, only the piezoelectric actuator in the form of a monomorph is used to enable the feed of the wings.

FIG. 3L shows a cross-sectional view of the piezoelectric actuator of the fourth embodiment in which the piezoelectric actuator of the third embodiment is configured in bimorph form.

As shown in FIG. 3L, the piezoelectric actuator 16 of the fourth embodiment is connected to the elastic body through the fixing slot 15 in the elastic body 113 'such as the elastic body constituting the piezoelectric actuator 16 of the third embodiment. The EAP 111 is positioned on the front and rear surfaces of the 113 '.

The EAP 111 is provided with an energizing grease 112 on both sides of the surface in contact with the electrode slot 18, and is formed as an energizing grease 112 in the EAP 111 exposed on the front surface of the elastic body 113 ′. When the voltage is applied to the electrode, the front surface of the EAP 111 is expanded so that the front surface of the elastic body 113 'is convexly deformed. On the contrary, when a voltage is applied to an electrode formed of the conducting grease 12 from the EAP 111 'exposed to the rear surface of the elastic body 113', the EAP 111 'of the rear surface expands to convex the elastic body 113'. To be modified.

Unlike the first and second embodiments, in the third and fourth embodiments, even when the piezoelectric actuator 16 is bent, the elastic body 113 'is not exposed to the elastic body 113' in a bow shape. It becomes able to be attached to).

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

Figure 4a is a perspective view schematically showing the configuration of the aircraft according to the invention, Figure 5b is a block diagram showing the configuration of the aircraft according to the present invention.

As shown in Figure 4a, the vehicle 1 according to the present invention, the wing mechanism 10 for generating a lifting force for the flight, the drive means for driving the wing mechanism 10 to produce 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.

The body 50 is preferably formed of a sphere having an elliptical forward cross-sectional shape to minimize the resistance of the air during flight. In the fuselage 50, it is preferable to stack the relatively heavy components such as the power source 40 or the transformer 70 from the bottom. By doing so, the center of mass of the fuselage is located below, which helps to maintain the balance of the fuselage during takeoff and landing as well as during flight.

If necessary, the sensor 60 may be located at the upper end of the body 50 or at the bottom of the body 50 regardless of the size of the mass. If a sensor such as an altimeter, thermometer, or chemical sensor is mounted, the position may be anywhere on the fuselage, but in the case of a camera, the position may be important depending on the application. For example, attaching a camera to the bottom of the fuselage 50 is suitable for taking an object in a downward direction from a high place.

The power source 40 may be a replaceable or rechargeable battery, or may be made by installing a solar panel on the surface of the fuselage and using solar energy as a power source therefrom. It is also possible to use these two methods in parallel.

The power source 40 may be configured to transmit energy generated by a chemical method using a chemical reaction or a change in pressure and volume of gas to the drive means 30 as power.

As described above, according to the present invention, by connecting the motion of the two reciprocating mechanism by a coupling, it becomes possible to implement a flying vehicle that can freely move forward and backward, up and down and stationary flight.

In addition, according to the present invention, by forming a wing using a piezoelectric material so that the shape of the wing can be modified in accordance with the desired flight form, it is possible to achieve a great effect on the change of direction of the aircraft and the improvement of the driving force.

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 (19)

A pair of wings symmetrically; A vertical guide slot inserted into the shaft of each of the vanes so as to perform a vertical movement; And Each of the blade shaft is inserted into the front and rear direction guide slot formed so as to be able to move in the front and rear direction, and the blade shaft end is inserted into the vertical guide slot and the front and rear direction guide slot, the blade When a force is applied to the shaft end in the front-rear direction and the vertical direction, the other end of the wing shaft can be rotated in an oval shape. The method of claim 1, further comprising a pair of reciprocating means each placed on a plane parallel to each other and arranged to cross at a predetermined angle, and a coupling for connecting the distal end of the reciprocating means with the axis of the wing; The wing mechanism which is comprised. The method of claim 2, wherein the reciprocating means, A rotation drive source generating a rotational force when power is supplied; A crank shaft connected to the rotation shaft of the rotation drive source; A connecting rod connected to the crankshaft to reciprocate in an end thereof; A sliding rod connected to an end of the connecting rod to reciprocate; And A wing mechanism, characterized in that consisting of a guide cylinder for guiding the reciprocating direction of the sliding rod constantly. The method of claim 2 or 3, wherein the coupling, A rod coupler to which the sliding rod of one of the two reciprocating means is inserted and fixed; A ring joint coupled to an end of the sliding rod of the other of the two reciprocating means; And A ring joint coupler rotatably inserted into the ring joint and the wing shaft inserted into and fixed to the ring joint; an end of the ring joint coupler connected to a side of the rod coupler by a pin joint, and a pin of the pin joint Is located in a direction perpendicular to the plane to which the coupling belongs, so that the ring joint coupler is configured to be rotatable relative to the rod coupler about the pin joint axis. According to claim 2 or 3, The wing, A wing axis that constitutes the skeleton of the wing and is connected to a power source; And It is composed of a piezoelectric actuator coupled to the wing shaft and capable of changing the shape of the wing according to the flight shape, characterized in that the feeder is deformable in the vertical direction about the wing axis by the piezoelectric actuator is enabled Wing mechanism. The method of claim 5, wherein the wing, And a wing cover made of a light material covering the surface of the piezoelectric actuator to insulate the piezoelectric actuator from the outside. The piezoelectric actuator of claim 5, wherein the piezoelectric actuator is provided with an elastic body having a pair of fixing slots spaced parallel to the wing axis, and an EAP having a predetermined size fixed through the fixing slot on the elastic body and coupled to the elastic body. It is configured in the form of a monomorph, the wing mechanism, characterized in that the electrode is applied to the EAP is applied to the conductive grease forming the electrode front and back. 6. The piezoelectric actuator of claim 5, wherein the piezoelectric actuator has an elastic body having a pair of fixing slots spaced parallel to the blade axis, and an EAP is positioned on the front and rear surfaces of the elastic body through the fixing slot in the elastic body, thereby forming a bimorph. And an electroconductive grease that forms electrodes on the front and rear surfaces thereof, to form the electrode on the EAP. 6. The piezoelectric actuator of claim 5, wherein the piezoelectric actuator includes a pair of fixing slots spaced parallel to the blade axis and a plurality of electrode slots formed between the fixing slots, and the fixing slots. It consists of an EAP of a predetermined size fixed and coupled to the elastic body, the EAP is applied to the conductive grease to form the electrode on the front and rear surfaces of the junction where the electrode slot is formed, between the conductive grease The conductive grease is further applied in a direction perpendicular to the slot for the electrode so as to electrically connect the electrode, and the EAP surface contacting the elastic body between the electrode slots is made to be attached to the elastic body with an adhesive. 6. The piezoelectric actuator of claim 5, wherein the piezoelectric actuator includes a pair of fixing slots spaced parallel to the blade axis and a plurality of electrode slots formed between the fixing slots, and the fixing slot. EAP is positioned on the front and rear surfaces of the elastic body, and the conductive grease forming the electrodes is applied to the front and rear surfaces of the EAP on the front and rear surfaces, respectively, where the electrode slots are formed. An electrically conductive grease is further applied in a direction perpendicular to the electrode slot so as to electrically connect the teeth, and an EAP surface contacting the elastic body between the electrode slots is made to be attached to the elastic body with an adhesive. . 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 And a controller for controlling movement, and a fuselage accommodating the wing mechanism, drive means, power source, and controller. The method of claim 11, wherein the wing mechanism, A pair of wings symmetrically; A vertical guide slot inserted into the shaft of each of the vanes so as to perform a vertical movement; And Each of the blade shaft is inserted into the front and rear direction guide slot is formed so as to be able to move in the front and rear direction, the blade shaft end is inserted into the vertical guide slot and the front and rear direction guide slot, the blade And when a force acts on the shaft end in the front-rear direction and the vertical direction, the other end of the wing shaft can be rotated in an elliptical shape. 13. The drive means according to claim 12, wherein the drive means comprises a pair of reciprocating means each placed on a plane parallel to each other and arranged to intersect at an angle, the distal end of the reciprocating means being coupled to the vane by a coupling. A vehicle connected to the axis. The vehicle according to claim 12 or 13, wherein the vehicle further includes a sensor capable of sensing information about the surrounding environment surrounding the vehicle. 15. The vehicle of claim 14, wherein the sensor is configured to transmit information recognized by the sensor to the controller and to control the operation of the vehicle according to contents previously programmed in the controller. According to claim 12 or 13, wherein the vehicle is composed of a power source for supplying a current to the power source, and further includes a transformer for adjusting the voltage applied to the piezoelectric body by adjusting the voltage of the current supplied from the power source And the controller deforms the shape of the blade to a desired shape by controlling the voltage of the transformer in accordance with a flight operation required for the aircraft. The apparatus of claim 12 or 13, wherein the vehicle further includes a communicator to control each device installed in the vehicle through wireless communication with the communicator from an external controller installed separately from the outside of the vehicle. Air vehicle, characterized in that. 15. The vehicle according to claim 14, wherein in the fuselage, the weights of the fuselages are arranged below the heavy parts of the fuselage from the bottom to the bottom of the fuselage. 12. The vehicle according to claim 11, wherein the body is formed of a sphere having an ellipsoidal cross-sectional shape to reduce air friction due to flight.