CN100355627C - Mini-sized flap wings system of electro-magnet driving airfoil surface - Google Patents
Mini-sized flap wings system of electro-magnet driving airfoil surface Download PDFInfo
- Publication number
- CN100355627C CN100355627C CNB2005100955494A CN200510095549A CN100355627C CN 100355627 C CN100355627 C CN 100355627C CN B2005100955494 A CNB2005100955494 A CN B2005100955494A CN 200510095549 A CN200510095549 A CN 200510095549A CN 100355627 C CN100355627 C CN 100355627C
- Authority
- CN
- China
- Prior art keywords
- wing
- coil
- driving
- mini
- wings
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Toys (AREA)
Abstract
The present invention relates to a mini-sized simulating air vehicle, particularly to a simulating air vehicle which is provided with a mini-sized flapping wing system. The present invention comprises two pairs or more than two pairs of simulating wings, a main body skeleton which is connected with the simulating wings, and a driving device which causes the wings to generate a flapping wing movement, wherein the simulating wings are composed of films of which the base material is flexible or rigid, and coils which are countermarked on the surfaces of the simulating wings which are fixedly connected with the main body skeleton by a flexible connecting block or a mini-sized hinge, two sets of coils on each pair of wings are connected in series with each other, wherein the coils on one pair of wings are connected with a driving power supply after pass through a driving circuit, so a coil return circuit of the coils can generate the alternating current, and the coils on the other pair of wings are directly connected with the driving power supply. The present invention provides the driving force of the flapping wing movement by the energizing coil magnetic force on wing surfaces, and a power device and the wing surfaces are combined into a whole body. The present invention has the advantages of adjustable flapping wing frequency, simple and convenient control, and simple structure; furthermore, the present invention is favorable to realize the whole micromation and can be widely used for various simulating flapping wing mini-sized air vehicles and lab flapping wing research platforms.
Description
Technical field
The present invention relates to the minitype bionic aircraft, be specifically related to a kind of bionic Aircraft with mini-sized flap wings system.
Background technology
Little aircraft of flapping flight mode is the flying method that true insect flying adopts, and has bionic direct background.Than fixed-wing flight, flapping flight has high lift, and has higher manoevreability; Especially, the fixed-wing flying method only is suitable for big Re number (Reynolds number) situation usually, because the influence that the Re number that little aircraft yardstick is brought reduces the fixed-wing flying method was lost efficacy, and the flapping flight mode can be suitable for little Re number.
Flapping wing aircraft needs a sized flap wings system to finish the flapping wing motion.For many years, people endeavour to carry out the research of relevant sized flap wings system always, and the report of many this respects is arranged in the prior art.Using maximum is to utilize mode such as motor additional mechanical drive disk assembly to realize the flapping wing motion, but this mode exists problems such as the complicated and miniaturization difficulty of processing and manufacturing.Disclose a kind of mini-sized flap wings device by Electromagnetic Drive among the CN031129447, this device drives the dynamical axis link to each other with planar wings by electromagnetic field, wing can be out of shape and realize various compound movements, thereby reach air objective.Owing to have Poewr transmission mechanism in this device, so integral structure more complicated still is difficult to realization micro-miniaturisation (being often referred to the span below 15cm).
Summary of the invention
The objective of the invention is to,, provide a kind of magnetic field effect that makes full use of, make it on aerofoil, directly produce the mini-sized flap wings system that propulsive effort is realized the motion of wing flapping wing at deficiency of the prior art.
Purpose of the present invention realizes in the following manner.
The mini-sized flap wings system of electro-magnet driving airfoil surface of the present invention, the main body framework that includes two pairs or more bionical wing and be attached thereto, make wing produce the actuating device of flapping wing motion, it is characterized in that, described bionical wing is that the film and the mint-mark coil in its surface of flexibility or rigidity constitutes by base material, it is connected on the main body framework by flexibly connecting piece or miniatured hinge, two groups of coil tandems on the every pair of wing, coil on the wherein a pair of wing is connected with driving power behind driving circuit again, make on its wire loop and produce exchange current, this exchange current frequency is preferably the 0-150 hertz, its driving circuit is by power circuit, alternating signal produces circuit, and amplifying circuit is formed; Another is direct and driving power connection to the coil on the wing, perhaps uses the permanent magnet that adds to replace this group coil wing; Described driving circuit and driving power are installed on the main body framework; The coil winding-direction of described mint-mark on aerofoil surface be single around to coil, or behind the aerofoil along tape rerun to coil, perhaps use two kinds of coils simultaneously.
When the described main body framework that is connected uses miniatured hinge to be connected with bionical wing, wing can be rotated flexibly with respect to main body framework, coil is subjected to electromagnetic force and does the time spent and can produce flapping wing equally and move on wing.
The permanent magnet that described use adds can be a large tracts of land permanent magnet flat board, and the mini-sized flap wings system that will have a pair of bionical wing places on this plane, opens and promptly can produce the flapping wing motion behind the driving power.
The mini-sized flap wings system of electro-magnet driving airfoil surface of the present invention, if the bionical wing more than two pairs is set, for example three pairs or four pairs, when connecting, adopt by each coil AC driving, direct drive, AC driving to replace the bonded assembly arrangement, wherein, the drive source of two groups of coils of serial connection is identical, realizes the flapping wing motion to guarantee wing under the combined action in exchange current and magnetic field.
Coil on the mini-sized flap wings system of electro-magnet driving airfoil surface of the present invention, the two pairs of wings connects and composes two wire loops by point of connection on it and lead respectively.Wherein, a wire loop direct connection driving power produces the stationary magnetic field; Another wire loop connects driving circuit and produces exchange current.Because electrified wire can be subjected to being proportional to the electromagnetic force of magnetic-field intensity and electric current in magnetic field the time, therefore under the combined action in above-mentioned exchange current and magnetic field, make wing realize the flapping wing motion.The permanent magnet that adds for use replaces the situation of one group of dc coil aerofoil, and its mechanism is identical therewith.Use behind the aerofoil along tape rerun to coil can make wing realize different flapping wing athletic postures; Can change wing flapping wing frequency if change the sweep frequency of exchange current.The shape of described bionical wing can adopt the common basic configuration of existing aircraft, all can of for example plane, or curved surface.
The mini-sized flap wings system of electro-magnet driving airfoil surface of the present invention provides the aerodynamic force of flight and the propulsive effort of flapping wing motion by the hot-wire coil on the aerofoil, realizes the flapping wing motion of wing.Compare with existing flapping wing aircraft, have following advantage:
(1) the flapping wing frequency can change in a big way, controls simple and convenient.
(2) flapping wing frequency height can be realized different flapping wing attitudes by design dissimilar coil and control, and the motion details of simulation insect flapping wing that can be more true to nature realizes complicated flight.
When (3) being used for the little aircraft of bionic flapping-wing, rely on the wing of two pairs or more belt coil can either produce enough flight aerodynamic force, can keep the stability of flying again.
(4) two combine into one for engine installation and aerofoil, so physical construction is very simple, easy to make, helps realizing whole micro-miniaturisation.
The mini-sized flap wings system of electro-magnet driving airfoil surface of the present invention, because it is simple in structure, so manufacturing cost is lower, also is suitable for micro-miniaturisation, can be widely used in little aircraft of all kinds of bionic flapping-wings and laboratory flapping wing research platform.
Be described further below by embodiment and accompanying drawing thereof.
Description of drawings
Fig. 1 is the structural representation of a kind of embodiment of the mini-sized flap wings system of electro-magnet driving airfoil surface of the present invention.
Fig. 2 is the structural representation that the permanent magnet that adds of use of the present invention replaces the embodiment of direct current (DC) coil aerofoil.
Fig. 3 is the coil list described in the present invention around to scheme drawing.
Fig. 4 be behind the aerofoil described in the present invention along tape rerun to the coil winding-direction scheme drawing.
Fig. 5 is the coil driver scheme drawing described in the present invention.
The specific embodiment
Referring to Fig. 1, the flapping wing aircraft main body framework 3 that is made of light material is strip shape, the cross section is crosswise (common aircraft basic configuration such as circular or ellipse all can), two flexibly connect piece 4 and are made of the strip elastic film, and left and right symmetrically sticks on the cross high spot of main body framework near the positive and negative two sides of epimere respectively.Two pairs of mint-marks have the wing 1,2 of coil to stick on the end that flexibly connects piece 4 respectively, and make aerofoil surface vertical with the main body framework axis direction, are analogous to common aircraft.All being printed on two surfaces of wing 1,2 single has the via hole series connection to connect around to coil circuit, and respectively is provided with two and draws limit.Four limit places of wing 1,2 are connected with lead respectively, and insert on the circuit in the control capsule 5 be arranged in main body framework 3 grooves.The lead of two limits of wing 1 is connected with battery behind the coil driving circuit again, makes on its loop and produces exchange current, and the sweep frequency of this exchange current is 30 hertz.The lead of two limits of wing 2 is directly connected with galvanic battery is provided, and makes on its loop and produces DC current.The membraneous material that adopts in the present embodiment can be flexible also can be rigidity, its coil method is Copper Foil or other conductive metal foil, uses methods such as printing circuit board technology or optical semiconductor carving technology that coil is worked on the film substrate.Film thickness is 5 to 150 microns.Coil adopts close around mode on substrate film.The wing that has coil is the aerofoil of flapping wing: disturbance air in the flapping wing process produces aerodynamic force; Also provide the power of flapping wing: under the mutual action in exchange current and magnetic field, finish fluttering of coil.In the present embodiment, when two circuit of while conducting, produce exchange current in wing 1 coil circuit, and produce DC current in wing 2 coil circuits, promptly produce the stationary magnetic field, under the mutual action in exchange current and magnetic field, two wings will inevitably produce the flapping wing motion, and the sweep frequency that its flapping wing frequency is followed exchange current changes and changes.If behind the use aerofoil along tape rerun to coil, can make wing realize different flapping wing athletic postures.All adopt exchange current to drive if constitute two groups of coils of wing, also can produce required flapping wing motion, its mechanism and direct current driven are basic identical.
Fig. 2 is to use the permanent magnet that adds to replace the embodiment of direct current (DC) coil circuit and wing thereof.Have only the surface to be printed on list around a pair of wing 1 to coil circuit in this flapping wing aircraft system, omitted wing 2, T shape also is revised as in the cross section of its main body framework.The 6th, the flat permanent magnet body.The former can be placed permanent magnet flat board top during use.For not influencing flapping wing motion, can make again that coil remains in the big magnetic-field intensity of permanent magnet on the aerofoil, should make the dull and stereotyped maintenance of flapping wing aircraft and permanent magnet one segment distance.When the coil circuit in the conducting wing 1, this exchange current and magnetic field of permanent magnet produce combined action, make wing 1 produce the flapping wing motion.
Change coil on the wing around to, can make wing realize different flapping wing athletic postures, realistic simulation insect flapping wing motion better.Expressed among Fig. 3, Fig. 4 the coil of two kinds of different windings: Fig. 3 for simple single around to coil, Fig. 4 be behind the aerofoil along tape rerun to coil.The 7th, two limits of drawing of coil.Owing to respectively be provided with one group of coil on the both sides wing of same aircraft, therefore a limit in this group is used on the wing of both sides interconnecting between two groups of coils, and another limit is used for and being connected of driving circuit, or is used for the direct connection driving power.The 8th, the film substrate material.Described back along tape rerun to being meant: the regional coil except that aerofoil after along the part adopt one around to (as conter clockwise) then along regional employing another one around to (as cw), the back along tape rerun to coil after along part and other parts in same magnetic field following time, the magnetic field force that produces is just in time opposite, form the moment of couple, thereby drive the upset that aerofoil produces the angle of attack.The upset aerofoil angle of attack produces the necessary motion details of aerodynamic force when being insect flying, and the back is the design of real simulation insect flapping wing along the design of reverse winding, is the essential condition that this sized flap wings system is realized complicated flight.
Referring to Fig. 4,9 is power circuit, and two limits on the wing 2 directly are connected with power circuit output limit 13, and two limits on the wing 1 are connected with the output limit 12 of signal amplifying circuit 11; Alternating signal produces circuit 10 by power circuit 9 power supplies, and its output signal is an alternating signal, and this signal is sent into signal amplifying circuit 11 and amplified, and is input in the coil circuit on the wing 1 again.If adopt the remote control distributor mode, remote control circuit can be installed on the flapping wing aircraft, produce circuit 10 by remote signal control alternating signal.
Claims (6)
1. the mini-sized flap wings system of an electro-magnet driving airfoil surface, the main body framework that includes two pairs or more bionical wing and be attached thereto, make wing produce the actuating device of flapping wing motion, it is characterized in that, described bionical wing is that the film and the mint-mark coil in its surface of flexibility or rigidity constitutes by base material, it is connected on the main body framework by flexibly connecting piece or miniatured hinge, two groups of coil tandems on the every pair of wing, coil on the wherein a pair of wing is connected with driving power behind driving circuit again, make on its wire loop and produce exchange current, its driving circuit is by power circuit, alternating signal produces circuit, and amplifying circuit is formed; Another is direct and driving power connection to the coil on the wing; Described driving circuit and driving power are installed on the main body framework; The coil winding-direction of described mint-mark on aerofoil surface be single around to coil.
2. the mini-sized flap wings system of electro-magnet driving airfoil surface as claimed in claim 1 is characterized in that, the frequency that produces exchange current on the described wire loop is the 0-150 hertz.
3. the mini-sized flap wings system of electro-magnet driving airfoil surface as claimed in claim 1 is characterized in that, described coil wing direct and that driving power is connected is replaced by the permanent magnet that adds.
4. the mini-sized flap wings system of electro-magnet driving airfoil surface as claimed in claim 1, it is characterized in that during the described bionical wing that is provided with more than two pairs, each is organized coil and adopts AC driving, direct drive, AC driving to replace the bonded assembly arrangement, wherein, the drive source of two of serial connection groups of coils is identical.
5. the mini-sized flap wings system of electro-magnet driving airfoil surface as claimed in claim 1 is characterized in that, described mint-mark after the coil winding-direction on the aerofoil surface is aerofoil along tape rerun to coil.
6. the mini-sized flap wings system of electro-magnet driving airfoil surface as claimed in claim 1 is characterized in that, described mint-mark the coil winding-direction on the aerofoil surface be mix to use single around to aerofoil after along tape rerun to two kinds of coils.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100955494A CN100355627C (en) | 2005-11-09 | 2005-11-09 | Mini-sized flap wings system of electro-magnet driving airfoil surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100955494A CN100355627C (en) | 2005-11-09 | 2005-11-09 | Mini-sized flap wings system of electro-magnet driving airfoil surface |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1765702A CN1765702A (en) | 2006-05-03 |
| CN100355627C true CN100355627C (en) | 2007-12-19 |
Family
ID=36741870
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005100955494A Expired - Fee Related CN100355627C (en) | 2005-11-09 | 2005-11-09 | Mini-sized flap wings system of electro-magnet driving airfoil surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100355627C (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101948008B (en) * | 2010-09-22 | 2013-07-03 | 上海交通大学 | Anti-insect micro flapping wing aircraft |
| CN102338690B (en) * | 2011-05-20 | 2013-11-06 | 西北工业大学 | Three-freedom-degree flapping-wing comprehensive experiment platform |
| CN107284666A (en) * | 2017-07-17 | 2017-10-24 | 朱海燕 | It is a kind of to be suitable to avoid the unmanned plane and its method of work that influence aviation safety |
| CN107444637A (en) * | 2017-08-10 | 2017-12-08 | 王雁平 | A kind of flapping wing driver and unmanned vehicle, method of work |
| CN107315416A (en) * | 2017-08-10 | 2017-11-03 | 陈国栋 | The environmental monitoring unmanned plane and its method of work of Beidou navigation |
| CN109050912B (en) * | 2018-08-14 | 2021-07-16 | 北京航空航天大学 | Flapping wing mechanism combining electromagnetic drive and rope transmission |
| CN110143278B (en) * | 2018-10-09 | 2022-03-15 | 宁波大学 | Bionic flapping wing robot driven by flexible piezoelectric fibers |
| CN109398528B (en) * | 2018-11-15 | 2020-06-05 | 北京航空航天大学 | Bionic crawling robot based on electromagnetic driving principle |
| CN113211410B (en) * | 2021-04-26 | 2022-05-06 | 三峡大学 | Preparation method of micro towing robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5629918A (en) * | 1995-01-20 | 1997-05-13 | The Regents Of The University Of California | Electromagnetically actuated micromachined flap |
| US6082671A (en) * | 1998-04-17 | 2000-07-04 | Georgia Tech Research Corporation | Entomopter and method for using same |
| CN1182004C (en) * | 2003-03-10 | 2004-12-29 | 东南大学 | Bionic electromagnetically driven flapping wing unit for mini aircraft |
-
2005
- 2005-11-09 CN CNB2005100955494A patent/CN100355627C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5629918A (en) * | 1995-01-20 | 1997-05-13 | The Regents Of The University Of California | Electromagnetically actuated micromachined flap |
| US6082671A (en) * | 1998-04-17 | 2000-07-04 | Georgia Tech Research Corporation | Entomopter and method for using same |
| CN1182004C (en) * | 2003-03-10 | 2004-12-29 | 东南大学 | Bionic electromagnetically driven flapping wing unit for mini aircraft |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1765702A (en) | 2006-05-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100355627C (en) | Mini-sized flap wings system of electro-magnet driving airfoil surface | |
| CN101947389B (en) | Double-wing type insect-like air vehicle | |
| Jones et al. | Bio-inspired design of flapping-wing micro air vehicles | |
| CN101948008B (en) | Anti-insect micro flapping wing aircraft | |
| CN106184746A (en) | A kind of Fructus Forsythiae bionical butterfly flapping wing aircraft | |
| CN109436314A (en) | A kind of unmanned vehicle | |
| CN106081103B (en) | A kind of micro flapping wing air vehicle based on Lorentz force driving | |
| CN1182004C (en) | Bionic electromagnetically driven flapping wing unit for mini aircraft | |
| CN205256677U (en) | Modular solar energy spacecraft | |
| CN104943862A (en) | Under-actuated flexible flat wing-type flapping wing flight robot | |
| Bhushan et al. | Milligram-scale micro aerial vehicle design for low-voltage operation | |
| CN115447772A (en) | Super-light structure and bionic hummingbird flapping-wing aircraft with control system | |
| CN103482065B (en) | A kind of micro flapping wing air vehicle based on electrostatic self-excited driving principle | |
| CN102424109A (en) | Double swing-rod flapping-wing mechanism working in differential seat angle | |
| Bhushan et al. | Design of the first sub-milligram flapping wing aerial vehicle | |
| CN107016897A (en) | A kind of electromagnetic power Multi-axis aircraft | |
| CN109036078A (en) | A kind of dedicated dragonfly reconnaissance plane of teenager's defence education | |
| CN114735215A (en) | Control method of insect-imitating aircraft with flapping wing and rotor wing hybrid power | |
| CN208007279U (en) | A kind of rack and unmanned helicopter | |
| CN105151299B (en) | A kind of wing twist mechanism for lifting flapping flight lift | |
| Regulski et al. | Design and Characterization of a Dual Piezo-bimorph Micro Flapping Wing | |
| Zabunov et al. | Edge controller–a small UAVs distributed avionics paradigm | |
| CN109823533A (en) | A kind of mini-sized flap wings mechanism based on electromagnetic actuators driving | |
| Nguyen et al. | A novel hybrid design of an insect-based micro air vehicle capable of sustained and controlled flight | |
| CN214267958U (en) | Synchronous flapping micro four-flapping-wing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |