CN106477043A - A kind of bionical Apiss - Google Patents
A kind of bionical Apiss Download PDFInfo
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- CN106477043A CN106477043A CN201610974219.0A CN201610974219A CN106477043A CN 106477043 A CN106477043 A CN 106477043A CN 201610974219 A CN201610974219 A CN 201610974219A CN 106477043 A CN106477043 A CN 106477043A
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- ceramic actuator
- apiss
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- 241000256836 Apis Species 0.000 title claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 88
- 239000000919 ceramic Substances 0.000 claims abstract description 83
- 229920000049 Carbon (fiber) Polymers 0.000 claims abstract description 33
- 239000004917 carbon fiber Substances 0.000 claims abstract description 33
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims abstract description 33
- 230000009194 climbing Effects 0.000 claims abstract description 23
- 230000006641 stabilisation Effects 0.000 claims abstract description 9
- 238000011105 stabilization Methods 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims description 22
- 230000008569 process Effects 0.000 claims description 19
- 210000003141 lower extremity Anatomy 0.000 claims description 18
- 229910052573 porcelain Inorganic materials 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 abstract description 19
- 230000009471 action Effects 0.000 description 16
- 230000008859 change Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 230000005684 electric field Effects 0.000 description 6
- 238000005452 bending Methods 0.000 description 4
- 230000010355 oscillation Effects 0.000 description 4
- 238000004904 shortening Methods 0.000 description 4
- 230000037147 athletic performance Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 241000256844 Apis mellifera Species 0.000 description 1
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 241000288673 Chiroptera Species 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000005284 basis set Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 229910010293 ceramic material Inorganic materials 0.000 description 1
- 210000000080 chela (arthropods) Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000012907 honey Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/028—Micro-sized aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/40—Ornithopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/04—Constructional details
- H02N2/043—Mechanical transmission means, e.g. for stroke amplification
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/06—Drive circuits; Control arrangements or methods
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
A kind of bionical Apiss, including one as body carbon fiber framework, described carbon fiber framework both sides are provided with multipair symmetrically arranged leg climbing mechanism, it is provided with mouth clamping device on front side of described carbon fiber framework, described carbon fiber frame mid portion is provided with aviation mechanism, and the inside of described carbon fiber framework is provided with flight stabilization system and control system；Described leg climbing mechanism, mouth clamping device, aviation mechanism are connected with control system by piezoelectric ceramic actuator powered motion, described piezoelectric ceramic actuator, and described control system is connected with ground controller by signal transceiver.The bionical Apiss of the present invention creep, take off, clamp object is all realized by piezoelectric ceramic actuator, could be adjusted to keep stable state of flight using miniature piezoelectric gyroscope to airfoil flight state simultaneously, realize the purpose of small power consumption, adapt to there is no any supply within a certain period of time and carry out execution task at a distance, have a wide range of applications in civil and military.
Description
Technical field
The invention belongs to robot field, it is related to a kind of bionical Apiss based on Piezoelectric Ceramic.
Background technology
The researching value of recent domestic increasing researcher bio-robot and feasibility, bio-robot
Technology gradually moves to maturity.Bionical Apiss are capable of taking off and function of hovering of original place, adapt to not appoint within a certain period of time
What feeds and carries out execution task at a distance, has a wide range of applications in civil and military.Traditional bio-robot
By the use of micromachine as power source, complex structure and also power consumption is big.And piezoelectric ceramics can be by electric energy and machinery as one kind
Can mutual conversion a kind of ceramic material, there is direct piezoelectric effect and inverse piezoelectric effect to be gradually applied to bio-robot technology
In field.
Content of the invention
The invention provides the wide bionical Apiss of a kind of small power consumption, application prospect.
The technical solution used in the present invention is：
A kind of bionical Apiss it is characterised in that：Including one as body carbon fiber framework, described carbon fiber framework both sides are provided with
Multipair symmetrically arranged leg climbing mechanism, is provided with mouth clamping device, described carbon fiber framework on front side of described carbon fiber framework
Middle part is provided with aviation mechanism, and the inside of described carbon fiber framework is provided with flight stabilization system and control system；
Described leg climbing mechanism includes the upper leg being hinged on carbon fiber frame facet and the lower lower limb being hinged on leg
Portion, the lower section of described upper leg is connected with the first piezoelectric ceramic actuator attaching that a vertically disposed driving leg moves forward and backward
Drive mechanism, the inner side of described lower leg is connected with the second piezoelectric ceramics that a horizontally disposed driving leg moves up and down and drives
The drive mechanism that dynamic device attaches, the drive mechanism that described first piezoelectric ceramic actuator attaches and the second piezoelectric ceramic actuator patch
It is fixedly connected by contiguous block between attached drive mechanism, and be all connected to its control system with output control signal；
Described aviation mechanism includes two wings, and each described wing is all by linkage and the 3rd piezoelectricity pottery driving it to flap
The drive mechanism that porcelain driver attaches connects, and the drive mechanism that described 3rd piezoelectric ceramic actuator attaches is installed on carbon fiber frame
In frame, and it is connected to its control system with output control signal；
Described flight stabilization system includes being respectively used to provide three miniature piezoelectric tops of the flight side-play amount around X, Y and Z axis
Spiral shell instrument, described miniature piezoelectric gyroscope is with the control system changing wing-beat state according to the flight side-play amount that it exports even
Connect；
Described mouth clamping device includes constituting two lobe mouths of clamp structure, and described in every lobe, mouth is all hinged on carbon fiber framework
Front surface on, and be equipped between its point and the front surface of carbon fiber framework drive point to draw close or separate the
The drive mechanism that four piezoelectric ceramic actuators attach, drive mechanism and output control that described 4th piezoelectric ceramic actuator attaches
Signal connects to its control system；
Described control system is connected with ground controller by signal transceiver.The bionical Apiss of the present invention creep, take off, press from both sides
Hold object all to realize by piezoelectric ceramic actuator, using miniature piezoelectric gyroscope, airfoil flight state is adjusted simultaneously
To keep stable state of flight, to realize the purpose of small power consumption, to adapt to there is no any supply and remote within a certain period of time
Carry out execution task, have a wide range of applications in civil and military.
Further, described control system includes a microcomputer, single-chip microcomputer process circuit, data acquisition circuit, signal
Control circuit, described microcomputer is connected by data transmit circuit with single-chip microcomputer process circuit, described data acquisition circuit,
Signal control circuit is all connected with single-chip microcomputer process circuit, and described single-chip microcomputer process circuit is connected with power circuit, described data
Acquisition Circuit is connected with signal transceiver, miniature piezoelectric gyroscope and minisize pick-up head respectively, described signal control circuit
It is connected with each piezoelectric ceramic actuator respectively.
Further, the mid portion of described piezoelectric ceramic actuator is elastic layer, and two parts up and down of elastic layer are piezoelectricity
Potsherd.Upon application of a voltage, upper strata piezoelectric ceramic piece can shrink under the effect of direction of an electric field upwards, and center elastomeric layer is constant
Shape, so can produce moment of flexure upwards；Lower floor's piezoelectric ceramic piece can extend under downward direction of an electric field acts on simultaneously, and elastic layer is not
Deformation, also can produce moment of flexure upwards.Two panels piezoelectric patches acts on the effect that can strengthen moment of flexure simultaneously.In the same manner, when need produce to
Under moment of flexure when it is only necessary to the direction changing external electrical field is just permissible.
Further, described linkage includes a horizontally disposed crotch structure, and the both ends of described crotch structure connect
It is connected to the kink of L-type, the end of kink is connected with the 3rd piezoelectric ceramic actuator, be provided with the crotch of described crotch structure
Wing contiguous block, wing is connected on wing contiguous block.Linkage is the amplifying device of piezoelectric ceramic actuator athletic performance.
Further, described upper leg is a horizontally disposed leg structure, and described lower leg is a leg being vertically arranged
Structure, its end is a cutting-edge structure.
Further, described mouth is an arcuate structure so that clamping object is more firm.
Beneficial effects of the present invention：Small power consumption, application prospect are wide.
Brief description
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the leg climbing mechanism structural representation of the present invention.
Fig. 3 is the aviation mechanism structural representation of the present invention.
Fig. 4 is the mouth clamping device structural representation of the present invention.
Fig. 5 is the structural representation of the piezoelectric ceramic actuator of the present invention.
Fig. 6 is the circuit theory diagrams of the present invention.
Specific embodiment
The present invention is further described with reference to specific embodiment, but do not limit the invention to these tools
Body embodiment.One skilled in the art would recognize that present invention encompasses being potentially included in Claims scope
All alternatives, improvement project and equivalents.
Referring to Fig. 1-6, a kind of bionical Apiss, including one as body carbon fiber framework 1,1 liang of described carbon fiber framework
Side is provided with multipair symmetrically arranged leg climbing mechanism, is provided with mouth clamping device on front side of described carbon fiber framework 1, and described carbon is fine
It is provided with aviation mechanism, the inside of described carbon fiber framework 1 is provided with flight stabilization system and control system in the middle part of dimension framework 1；
Under described leg climbing mechanism includes the upper leg 9 being hinged on carbon fiber framework 1 side and is hinged on leg 9
Leg 6, the lower section of described upper leg 9 is connected with the first piezoelectric ceramic actuator that a vertically disposed driving leg moves forward and backward
The drive mechanism of 7.1 attachings, the inner side of described lower leg 6 is connected with the second pressure that a horizontally disposed driving leg moves up and down
The drive mechanism that electroceramics driver 7.2 attaches, the drive mechanism that described first piezoelectric ceramic actuator 7.1 attaches and the second pressure
It is fixedly connected by contiguous block 8 between the drive mechanism that electroceramics driver 7.2 attaches, and all give it with output control signal
Control system connect；
Described aviation mechanism includes two wings 10, each described wing 10 all by linkage 11 and drive its flap the 3rd
The drive mechanism that piezoelectric ceramic actuator 12 attaches connects, and the drive mechanism that described 3rd piezoelectric ceramic actuator 12 attaches is installed
In carbon fiber framework 1, and it is connected to its control system with output control signal；
Described flight stabilization system includes being respectively used to provide three miniature piezoelectric tops of the flight side-play amount around X, Y and Z axis
Spiral shell instrument（In figure does not show）, described miniature piezoelectric gyroscope with wing 10 changed according to the flight side-play amount that it exports flap shape
The control system of state connects；
Described mouth clamping device includes constituting two lobe mouths 2 of clamp structure, and described in every lobe, mouth 2 is all hinged on carbon fiber frame
On the front surface of frame 1, and be equipped between its point and the front surface of carbon fiber framework 1 driving point draw close or separate
The drive mechanism that attaches of the 4th piezoelectric ceramic actuator 4, the control of described 4th piezoelectric ceramic actuator 4 and output control signal
System processed connects；
Described control system is connected with ground controller by signal transceiver.The bionical Apiss of the present invention creep, take off, press from both sides
Hold object all to realize by piezoelectric ceramic actuator, using miniature piezoelectric gyroscope, airfoil flight state is adjusted simultaneously
To keep stable state of flight, to realize the purpose of small power consumption, to adapt to there is no any supply and remote within a certain period of time
Carry out execution task, have a wide range of applications in civil and military.
Control system described in the present embodiment includes a microcomputer, single-chip microcomputer process circuit, data acquisition circuit, signal
Control circuit, described microcomputer is connected by data transmit circuit with single-chip microcomputer process circuit, described data acquisition circuit,
Signal control circuit is all connected with single-chip microcomputer process circuit, and described single-chip microcomputer process circuit is connected with power circuit, described data
Acquisition Circuit is connected with signal transceiver, miniature piezoelectric gyroscope and minisize pick-up head respectively, described signal control circuit
It is connected with each piezoelectric ceramic actuator respectively.
The mid portion of piezoelectric ceramic actuator described in the present embodiment is elastic layer, and two parts up and down of elastic layer are piezoelectricity
Potsherd.Upon application of a voltage, upper strata piezoelectric ceramic piece can shrink under the effect of direction of an electric field upwards, and center elastomeric layer is constant
Shape, so can produce moment of flexure upwards；Lower floor's piezoelectric ceramic piece can extend under downward direction of an electric field acts on simultaneously, and elastic layer is not
Deformation, also can produce moment of flexure upwards.Two panels piezoelectric patches acts on the effect that can strengthen moment of flexure simultaneously.In the same manner, when need produce to
Under moment of flexure when it is only necessary to the direction changing external electrical field is just permissible.
Linkage 11 described in the present embodiment includes a horizontally disposed crotch structure, on the both ends of described crotch structure
It is connected with the kink of L-type, the drive mechanism that the end of kink is attached with the 3rd piezoelectric ceramic actuator 12 is connected, described curved
It is provided with wing contiguous block 3, wing 10 is connected on wing contiguous block 3 at the crotch of hook structure.Linkage 11 is piezoelectric ceramics
The amplifying device of driver athletic performance.
Described in the present embodiment, upper leg 9 is a horizontally disposed leg structure, and described lower leg 6 is a lower limb being vertically arranged
Portion's structure, its end is a cutting-edge structure.
Mouth 2 described in the present embodiment is an arcuate structure so that clamping object is more firm.
The present invention drives wing to produce high-lift by piezoelectric ceramic actuator, adopts flying of miniature piezoelectric gyroscope simultaneously
Row stabilisation systemss, minisize pick-up head, signal transceiver, ground controller and control system are operating bionical Apiss in the air
Flight；Walking on ground surface for the bionical Apiss can be made by the control of the piezoelectric ceramic actuator to leg；And for imitative
The mouth of raw honey honeybee is driven by piezoelectric ceramic actuator to be drawn close or separately, realizes holding function, in flight course
Rest on jobbie, object can be clamped and carry out positioning function.In flight course, transmitted in real time using minisize pick-up head
Data, and the data of the monitoring to airfoil flight state for the miniature piezoelectric gyroscope, be all sent in single-chip microcomputer process circuit, by
Single-chip microcomputer processing data simultaneously makes corresponding adjustment, using Single-chip Controlling piezoelectric ceramic actuator, quickly changes wing
Flap frequency, the adjusting range of average angle of flapping etc., make bionical Apiss keep stable state of flight.
The operation principle of the present invention is as follows：
The bionical Apiss of the present invention are provided with 6 leg climbing mechanisms, are symmetricly set on the both sides of carbon fiber framework, leg climbing mechanism
Motion principle is when mechanism is passed through voltage signal：A) driver that the first piezoelectric ceramic actuator 7.1 being disposed vertically attaches
The variable condition when being passed through the voltage signal of a cycle for the structure is as follows：Work(will be transported forward backward.As voltage signal by 0 to
During positive peak value, the drive mechanism that the first piezoelectric ceramic actuator 7.1 elongation drive attaches will forward bending motion.Work as telecommunications
During number by positive peak to 0, the first piezoelectric ceramic actuator 7.1 will become original state by elongation state before.When
The signal of telecommunication by 0 to negative peak when, the first piezoelectric ceramic actuator 7.1 shorten drive attach drive mechanism will bend fortune backward
Dynamic.When the signal of telecommunication by negative peak in 0 change procedure, the first piezoelectric ceramic actuator 7.1 also will be by shortening shape when this
State becomes original state.This completes the swing backward forward in one period of motion of leg climbing mechanism.B) for level
Place the second piezoelectric ceramic actuator 7.2 attach drive mechanism, be passed through a cycle voltage signal when variable condition
As follows：The signal of telecommunication by 0 to positive peak when, the second piezoelectric ceramic actuator 7.2 elongation drive attach drive mechanism will be upwards
Flexural oscillations make leg climbing mechanism be lifted up.When the signal of telecommunication is by during on the occasion of change in electric to negative peak, the second piezoelectricity is made pottery
Porcelain driver 7.2 will be by elongation before -- and normal condition change turns to shortening state.Thus complete the upper of leg climbing mechanism
Lower motion.When respectively to the first piezoelectric ceramic actuator 7.1 and the second piezoelectric ceramic actuator 7.2 input voltage signal, lower limb
Portion's climbing mechanism motion will present an aggregate motion, to set leg group by the size in each signal of telecommunication cycle setting
The frequency of resultant motion.Aggregate motion is substantially described as follows：The drive mechanism that vertical the first piezoelectric ceramic actuator 7.1 attaches to
Front curve is moved, and drives leg climbing mechanism to travel forward, the biography that meanwhile horizontal second piezoelectric ceramic actuator 7.2 attaches
Motivation structure also can be bent upwards and lift leg climbing mechanism.Paste in the first piezoelectric ceramic actuator 7.1 being disposed vertically afterwards
Attached drive mechanism bends backward, drives leg climbing mechanism rearward movement, and horizontal second piezoelectric ceramic actuator 7.2 pastes simultaneously
Attached drive mechanism will recover before case of bending, carry out the decentralization of leg climbing mechanism.Piezoelectric ceramic actuator curved
Song is combined as：The drive mechanism that second piezoelectric ceramic actuator 7.2 attaches is bent upwards --- the first piezoelectric ceramic actuator 7.1
The drive mechanism attaching is to front curve --- drive mechanism that the second piezoelectric ceramic actuator 7.2 attaches falls ---, and the first piezoelectricity is made pottery
The drive mechanism rearward movement that porcelain driver 7.1 attaches.The aggregate motion of corresponding leg climbing mechanism is：Leg is upwards ---
--- fall --- forward-backward.
The bionical Apiss of the present invention have 6 leg climbing mechanisms, are combined into a torque by two leg climbing mechanisms, altogether
3 torques can be produced to realize the certain angle of rotation of whole carbon fiber framework.When bionical Apiss will be toward left steering, f lower limb is past
Before walk an action, c lower limb walks an action backward simultaneously.The tandem mutual motion of two lower limbs produces counterclockwise turning
Square；And then e lower limb also moves forward, and b lower limb moves backward, equally can produce a torque counterclockwise；Last d lower limb is transported forward
Dynamic, a lower limb moves backward, produces a torque counterclockwise.3 torques counterclockwise can make bionical Apiss body deflect to the left
Certain angle.When bionical Apiss are turned right rotation, it is the same with the mechanism of rotation of turning left in fact.The simply different combination in leg
Situation realizing different torques, go ahead one and move, and d lower limb moves backward by a lower limb, two lower limbs mutually move can be able to produce one suitable
The torque of hour hands.And then b lower limb moves forward, and e lower limb moves backward；C lower limb moves forward, and f lower limb moves backward and so will produce 3
Individual clockwise torque energy makes the whole body of Apiss turn right and deflects certain angle.
Flight or turning process before and after the bionical Apiss of the present invention：To fly in front and back or turning command will be sent to control system
In, changed to the expected value attitude in predetermined system by the flight attitude that the parameter of flapping adjusting wing makes Apiss, make to lead to
Cross the difference that three miniature piezoelectric gyroscopes constantly compare existing attitude and expected value, and by feedback of the information to one chip microcomputer
In reason circuit, single-chip microcomputer process circuit adjusts the parameter of flapping of wing by calculation process, makes flight reach preset posture, thus
Complete flare maneuver.
Aviation mechanism of the present invention includes port wing 10.1 and starboard wing 10.2, and port wing 10.1 passes through left connecting rod mechanism 11.1
Is connected with the drive mechanism of lower floor the 3rd piezoelectric ceramic actuator 12.2 attaching, starboard wing 10.2 pass through right connecting rod mechanism 11.2 and
The drive mechanism that upper strata the 3rd piezoelectric ceramic actuator 12.1 attaches connects.Specific operation principle is as follows：When to upper strata the 3rd
Piezoelectric ceramic actuator 12.1 be passed through ac signal by 0 to positive peak when, upper strata the 3rd Piezoelectric Ceramic of horizontal positioned
Device 12.1 elongation drives the drive mechanism attaching to be bent downwardly swing, by right connecting rod mechanism 11.2, athletic performance is passed to the right side
Wing 10.2, and so that starboard wing 10.2 is rotated and flap downwards.When voltage is by when returning to 0 value, upper strata the 3rd piezoelectricity is made pottery
Porcelain driver 12.1 is also by the original state returning to before deformation slowly.Now, action also can make starboard wing 10.2 return to
Original state.When voltage signal by 0 to negative peak when, upper strata the 3rd piezoelectric ceramic actuator 12.1 shorten drive attach transmission
Mechanism will lateral bend swing upwards, and action is passed to starboard wing 10.2, makes by the right connecting rod mechanism 11.2 amplified by action
Starboard wing 10.2 is flapped upwards and is rotated.When the signal of telecommunication by negative value in 0 change procedure, upper strata the 3rd piezoelectric ceramic actuator
12.1 are restored to original state, thus the right connecting rod mechanism 11.2 that action is amplified by action passes to starboard wing 10.2, make
Action is returned to original state by starboard wing.So far, a wing also will complete the actuation cycle of a cycle, and for left machine
The motion ultimate principle of the wing 10.1 and the characteristics of motion of starboard wing 10.2 are the same, that is, complete, when being passed through voltage signal, to make
Two piece of the 3rd piezoelectric ceramic actuator 12 stretches and drives the flexural oscillations direction of the drive mechanism attaching to be identical all the time, so
Two wings 10 can be made simultaneously to flap downwards, are lifted up after the amplification of linkage 11 action.Reach the mesh of flight
's.When to lower floor the 3rd piezoelectric ceramic actuator 12.2 be passed through ac signal by 0 to positive peak when, the lower floor of horizontal positioned
Three piezoelectric ceramic actuator 12.2 elongation drives the drive mechanism attaching to be bent downwardly swing, will be transported by left connecting rod mechanism 11.1
Action passes to port wing 10.1, and so that port wing 10.1 is rotated and flap downwards.When voltage is by when returning to 0 value,
Lower floor the 3rd piezoelectric ceramic actuator 12.2 is also by the original state returning to before deformation slowly.Now, action also can make a left side
Wing 10.1 returns to original state.When voltage signal by 0 to negative peak when, lower floor the 3rd piezoelectric ceramic actuator 12.2 shortens
The drive mechanism attaching is driven will lateral bend to swing upwards, action is passed to by the left connecting rod mechanism 11.1 amplified by action
Port wing 10.1, makes port wing 10.1 flap upwards and rotates.When the signal of telecommunication by negative value in 0 change procedure, lower floor the 3rd
Piezoelectric ceramic actuator 12.2 is restored to original state, thus the left connecting rod mechanism 11.1 that action is amplified by action passes to
Port wing 10.1, makes port wing 10.1 that action is returned to original state.
Due to bionical Apiss flight when unstable it is therefore desirable to have maintain flight stability system.The present invention flies
Row stabilisation systemss have three miniature piezoelectric gyroscopes.Bionical Apiss only before and after X-axis during flip-flop movement, X-axis orientation micro-
Type piezoelectric gyroscope provides the side-play amount of upset, and by single-chip microcomputer processing circuit processes, control system meeting basis sets before
Parameter is made wing 10 and is flapped the average angle instruction reduced greatly of change, makes aircraft recover steady statue；Bionical Apiss only have around Y-axis
Left-right rotation when, the miniature piezoelectric gyroscope in Y-axis orientation provides side-play amount, by single-chip microcomputer processing circuit processes, controls
When system processed can make 10.2 times bats of starboard wing according to the parameter setting before, the angle of attack diminishes greatly, and during Back stroke, the angle of attack becomes big and becomes
Little, when port wing 10.1 times is clapped, the angle of attack becomes and diminishes greatly, and during Back stroke, the angle of attack diminishes big instruction, makes aircraft recovery stablize shape
State；Bionical Apiss aircraft only about the z axis tilt motion when, the miniature piezoelectric gyroscope in Z axis orientation provides banking motion
Side-play amount, by single-chip microcomputer processing circuit processes, control system can make starboard wing 10.2 according to the parameter setting before
Frequency of flapping raises and reduces, and the frequency of flapping of port wing 10.1 reduces the instruction raising, and so that total life is held essentially constant, and flies
Row device recovers steady statue.In practice, three miniature piezoelectric gyroscopes work simultaneously, respectively by bionical Apiss aircraft around X,
Y, the side-play amount of Z coordinate axle passes to one chip microcomputer, after processing, changes the frequency of flapping of wing 10 through one chip microcomputer
Rate, flap average angle and conversion range of angle of attack of flapping, make bionical Apiss maintain stabilized flight condition.
The purpose of the mouth clamping device of the present invention is to clamp object, its operation principle and leg climbing mechanism piezoelectricity pottery
Porcelain operation principle is the same.When giving piezoelectric ceramic actuator voltage signal, left side the 4th piezoelectric ceramic actuator 4.1 extends,
Shorten and drive the drive mechanism flexural oscillations to left and right attaching, drive left mouth 2.1 to move to left and right.And right side the 4th piezoelectricity
When ceramic driver 4.2 is passed through voltage signal, the drive mechanism that 4.2 variable condition elongations, shortening drive attach will right, left side
Flexural oscillations, drive right, left mouth 2.2 is to left movement.The pliers of now exercise group synthesis clamping object.When needing to loosen object
When, give two the 4th piezoelectric ceramic actuators 4 with positive voltage signal.Two the 4th piezoelectric ceramic actuators 4 respectively to
The right side, left lateral bending swings, and so that two pincers is opened i.e. and loosens object.When needing to clamp object, give the 4th piezoelectric ceramic actuator
Cathode voltage signal.The now bending shortening the object direction driving the drive mechanism attaching to clamp to need of piezoelectric patches,
Object can be clamped.
Claims (6)
1. a kind of bionical Apiss it is characterised in that：Including one as body carbon fiber framework, described carbon fiber framework both sides set
There is multipair symmetrically arranged leg climbing mechanism, on front side of described carbon fiber framework, be provided with mouth clamping device, described carbon fiber frame
It is provided with aviation mechanism, the inside of described carbon fiber framework is provided with flight stabilization system and control system in the middle part of frame；
Described leg climbing mechanism includes the upper leg being hinged on carbon fiber frame facet and the lower lower limb being hinged on leg
Portion, the lower section of described upper leg is connected with the first piezoelectric ceramic actuator attaching that a vertically disposed driving leg moves forward and backward
Drive mechanism, the inner side of described lower leg is connected with the second piezoelectric ceramics that a horizontally disposed driving leg moves up and down and drives
The drive mechanism that dynamic device attaches, the drive mechanism that described first piezoelectric ceramic actuator attaches and the second piezoelectric ceramic actuator patch
It is fixedly connected by contiguous block between attached drive mechanism, and be all connected to its control system with output control signal；
Described aviation mechanism includes two wings, and each described wing is all by linkage and the 3rd piezoelectricity pottery driving it to flap
The drive mechanism that porcelain driver attaches connects, and the drive mechanism that described 3rd piezoelectric ceramic actuator attaches is installed on carbon fiber frame
In frame, and it is connected to its control system with output control signal；
Described flight stabilization system includes being respectively used to provide three miniature piezoelectric tops of the flight side-play amount around X, Y and Z axis
Spiral shell instrument, described miniature piezoelectric gyroscope is with the control system changing wing-beat state according to the flight side-play amount that it exports even
Connect；
Described mouth clamping device includes constituting two lobe mouths of clamp structure, and described in every lobe, mouth is all hinged on carbon fiber framework
Front surface on, and be equipped between its point and the front surface of carbon fiber framework drive point to draw close or separate the
The drive mechanism that four piezoelectric ceramic actuators attach, drive mechanism and output control that described 4th piezoelectric ceramic actuator attaches
Signal connects to its control system；
Described control system is connected with ground controller by signal transceiver.
2. a kind of bionical Apiss according to claim 1 it is characterised in that：Described control system includes a miniature calculating
Machine, single-chip microcomputer process circuit, data acquisition circuit, signal control circuit, described microcomputer is led to single-chip microcomputer process circuit
Cross data transmit circuit to connect, described data acquisition circuit, signal control circuit are all connected with single-chip microcomputer process circuit, described list
Piece machine process circuit is connected with power circuit, described data acquisition circuit respectively with signal transceiver, miniature piezoelectric gyroscope
And minisize pick-up head connects, described signal control circuit is connected with each piezoelectric ceramic actuator respectively.
3. a kind of bionical Apiss according to claim 1 it is characterised in that：The mid portion of each piezoelectric ceramic actuator is
Elastic layer, two parts up and down of elastic layer are piezoelectric ceramic pieces.
4. a kind of bionical Apiss according to one of claim 1 ~ 3 it is characterised in that：Described linkage includes a level
The crotch structure of setting, the both ends of described crotch structure are connected with the kink of L-type, the end of kink and the 3rd piezoelectricity
Ceramic driver connects, and is provided with wing contiguous block, wing is connected on wing contiguous block at the crotch of described crotch structure.
5. a kind of bionical Apiss according to claim 4 it is characterised in that：Described upper leg is a horizontally disposed leg
Structure, described lower leg is a leg structure being vertically arranged, and its end is a cutting-edge structure.
6. a kind of bionical Apiss according to claim 5 it is characterised in that：Described mouth is an arcuate structure.
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