CN101948008B - Anti-insect micro flapping wing aircraft - Google Patents
Anti-insect micro flapping wing aircraft Download PDFInfo
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- CN101948008B CN101948008B CN 201010289527 CN201010289527A CN101948008B CN 101948008 B CN101948008 B CN 101948008B CN 201010289527 CN201010289527 CN 201010289527 CN 201010289527 A CN201010289527 A CN 201010289527A CN 101948008 B CN101948008 B CN 101948008B
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Abstract
The invention discloses an anti-insect micro flapping wing aircraft, belonging to the technical field of micro electro mechanical system. The anti-insect micro flapping wing aircraft comprises a thorax framework, a flexible motion block, an electrically-controlled system, wings sand a rigidity ring, wherein the flexible motion block is vertically arranged in the middle of the thorax framework; the rigidity ring is respectively connected with the wings and the flexible motion block; the electrically-controlled system is arranged at the tail of the thorax framework and is directly connected with the thorax framework through line distribution by using the micro electro mechanical technology. Through flapping drive wings of an electromagnetic drive structure in high frequency to generate lift force, and simultaneously adopting a flexible hinge, the round rigidity ring and pterostigma, the anti-insect micro flapping wing aircraft improves passive rotation of the wings in the flapping process under a function of air kinetics to generate larger lift force and propelling force.
Description
Technical field
What the present invention relates to is a kind of device of field of micro electromechanical technology, specifically is a kind of imitative insect minisize flapping wing aircraft.
Background technology
At present imitative insect minisize aerocraft is in a kind of theoretic research substantially, and the product that does not also have really can independently fly comes out.Why be difficult to realize that the major cause of flying is exactly that wing is little, driving efficiency efficiently not, producing is enough to allow lift and the propulsive force of aircraft flight device.
Find through the retrieval to prior art, disclose a kind of bionic micro aircraft with flapping wing device of electromagnetic type among the Chinese patent literature CN03112944.7, the mode that this device adopts permanent magnet and electromagnetic driver to combine is controlled two pairs of wings and is produced the flapping wing motion.
Electromagnetic interference is serious to permanent magnet and electromagnetic driver but the prior art is owing to employing is many, the mode complexity, be difficult to produce accurately wing motion, and permanent magnet magnetic can be weakened even disappear by interference, is not easy to permanent use, and complete machine is difficult to realize micro-miniaturisation.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of imitative insect minisize flapping wing aircraft is provided, drive wing high frequency by the Electromagnetic Drive structure and agitate to produce lift, adopt flexible hinge, circular rigidity circle and pterostigma to improve the passive rotation under aerodynamic action in the moving process of wing simultaneously, obtain multivariant wing and agitate, produce bigger lift and propulsive force.
The present invention is achieved by the following technical solutions, the present invention includes: thoracic cavity framework, compliant motion piece, electric-control system, wing and rigidity circle, wherein: the compliant motion piece is vertically installed in the middle part of thoracic cavity framework, the rigidity circle is connected with the compliant motion piece with wing respectively, and electric-control system is positioned at thoracic cavity framework afterbody and links to each other with the thoracic cavity framework by the direct wiring of micro-processing technology.
Described thoracic cavity framework is the annular arrangement tubular structure, comprise: interior side skeleton, flexible hinge and planar coil, wherein: planar coil is positioned on the outside face of side skeleton, and link to each other the middle part of side skeleton and terminal bonding with the compliant motion piece in flexible hinge is in electric-control system by micro-processing technology cloth lead on the framework outside face of thoracic cavity.
Described compliant motion piece comprises: flexible crossbeam and soft metal layer, and wherein: soft metal layer is positioned at the outside face of flexible crossbeam and is in the midway location of flexible crossbeam, and soft metal layer adopts fine wire to be connected in thoracic cavity framework inside with electric-control system.
Described electric-control system comprises: be positioned at the power supply of electric-control system inner surface, control circuit unit and remote sensing receive projector, and wherein: power supply adopts the 3.7v lithium cell.
Described wing comprises: vein, parachute and pterostigma, wherein: pterostigma is embedded in the leading edge terminal position of vein, and parachute is coated on the upper and lower surface of vein.
Described rigidity circle is snail formula coil, and this rigidity circle can make the wing rotate under aerodynamic effect.
The present invention is by the Electromagnetic Drive principle, galvanization in the coil in the framework of thoracic cavity, can produce the magnetic field that is parallel to framework in inside, thoracic cavity, and the soft metal layer of the compliant motion piece of energising can be subjected to the effect of Ampere force in magnetic field, ampere force direction is perpendicular to the thoracic cavity framework, can make compliant motion piece distribution alternately distorted movement up and down by the control coil direction of current, thereby driving the wing agitates up and down, in agitating process, flexible hinge reduces mechanism's friction, improves driving efficiency, the little mass mass concentration of nose of wing, can drive the wing and produce bigger drift angle, in the interaction process of the wing and air, certain elastic deformation can take place in the rigidity circle, makes the wing produce inside and outside upset and the angle of attack, thereby reach the high efficiency effect of agitating, produce lift and propulsive force that aircraft can be flown.
Characteristics such as the present invention adopts electromagnetic type to drive, and compares other type of drive and has the response frequency height, and power output and displacement are big.
Description of drawings
Fig. 1 is the imitative insect minisize flapping wing aircraft birds-eye view of the present invention.
Fig. 2 is the imitative insect minisize flapping wing aircraft oblique drawing of the present invention.
Fig. 3 is rigidity circle of the present invention and flexible hinge view.
Fig. 4 is the imitative insect minisize flapping wing aircraft back view of the present invention.
Fig. 5 is the imitative insect minisize flapping wing aircraft lateral plan of the present invention.
The specific embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Shown in Fig. 1-5, this device comprises: thoracic cavity framework 1, compliant motion piece 2, electric-control system 3, wing 4 and rigidity circle 5, wherein: compliant motion piece 2 is vertically installed in the middle part of thoracic cavity framework 1, rigidity circle 5 is connected with compliant motion piece 2 with wing 4 respectively, and electric-control system 3 is positioned at thoracic cavity framework 1 afterbody and links to each other with thoracic cavity framework 1 by the direct wiring of micro-processing technology.
Described compliant motion piece 2 comprises: soft metal layer 6 and flexible crossbeam 7, and wherein: soft metal layer 6 is positioned at the outside face of flexible crossbeam 7 and is in the midway location of flexible crossbeam 7, and soft metal layer 6 adopts fine wire to be connected in thoracic cavity framework inside with electric-control system 3.
Described thoracic cavity framework 1 is the annular arrangement tubular structure, comprise: interior side skeleton 8, flexible hinge 9 and planar coil 10, wherein: planar coil 10 is positioned on the outside face of side skeleton 8, and link to each other the middle part of side skeleton 8 and terminal bonding with compliant motion piece 2 in flexible hinge 9 is in electric-control system 3 by micro-processing technology cloth lead on thoracic cavity framework 1 outside face.
Described electric-control system 3 comprises: the power supply, control circuit unit and the remote sensing that are positioned at the electric-control system inner surface receive projector, and wherein: power supply is the 3.7v lithium cell.
Described wing 4 comprises: vein 11, parachute 12 and pterostigma 13, wherein: pterostigma 13 is embedded in the leading edge terminal position of vein 11, and parachute 12 is coated on the upper and lower surface of vein 11.
Described rigidity circle 5 is snail formula coil, and this rigidity circle rotates the wing under aerodynamic effect.
The working process of present embodiment is as follows:
Amplify power supply to planar coil 10 and soft metal layer 6 in the thoracic cavity framework 1 by the power supply in the electric-control system 3 through electric current, planar coil 10 is in the interior side skeleton 8 inner magnetic fields that produce, and produce electric current at soft metal layer 6, by electromagnetic principle, electrical conductor can be subjected to the effect of Ampere force in magnetic field.
Suppose as shown in Figure 4, the vertical paper of magnetic direction inwards, when soft metal layer 6 led to left electric current, soft metal layer 6 suffered ampere force directions were downward, flexible crossbeam 7 is bent downwardly, and drives wing 4 and produces and clap motion down; When soft metal layer 6 led to right electric current, ampere force direction was changed into upwards, and flexible crossbeam 7 K/UPs drive wing 4 and produce the arsis motion.
This arsis, finishing of following bat fan wing motion all is to lean on the bending of flexible crossbeam 7 to drive, wherein flexible hinge 9 has played good connection effect minimizing degradation of energy, pterostigma 13 has increased wing 4 end mass, increased the fan angle of wing 4, and in the process of flapping up and down, be subjected to aerodynamic effects, wing 4 can deform and overturn, energy exchange occurs on the rigidity circle 5, in the following bat process, and extruding rigidity circle 5 stored energy, wing 4 is produced to turn up, and when the beginning arsis has just been finished in bat down, release energy, beginning tensible rigidity circle 5 is to turn in wing 4 produces.The arsis process is just in time finished energy exchange and flip-flop movement on the contrary.
Electromagnetic drive mode of the present invention has advantage simple to operate, adopt the driving that is used for of the suffered ampere power of soft metal layer, avoided the employing magnet its magnetic to be weakened or the inefficacy shortcoming because of factors such as permanent use, external magnetic field interference, the employing of flexible hinge and rigidity circle has increased the degree of freedom that wing is agitated, passive upset when being convenient to realize taking end, help the generation of eddy current in the aerodynamics and catch lift and propulsive force that the increase wing produces.
Claims (4)
1. imitative insect minisize flapping wing aircraft, comprise: thoracic cavity framework, compliant motion piece, electric-control system, wing and rigidity circle, it is characterized in that: the compliant motion piece is vertically installed in the middle part of thoracic cavity framework, the rigidity circle is connected with the compliant motion piece with wing respectively, and electric-control system is positioned at thoracic cavity framework afterbody and links to each other with the thoracic cavity framework by the direct wiring of micro-processing technology;
Described thoracic cavity framework is the annular arrangement tubular structure, comprise: interior side skeleton, flexible hinge and planar coil, wherein: planar coil is positioned on the outside face of side skeleton, and link to each other the middle part of side skeleton and terminal bonding with the compliant motion piece in flexible hinge is in electric-control system by micro-processing technology cloth lead on the framework outside face of thoracic cavity;
Amplify power supply to planar coil and soft metal layer in the framework of thoracic cavity by the power supply in the electric-control system through electric current, planar coil is in the inner magnetic field that produces of interior side skeleton, and produce electric current at soft metal layer, by electromagnetic principle, electrical conductor can be subjected to the effect of Ampere force in magnetic field;
Described compliant motion piece comprises: flexible crossbeam and soft metal layer, and wherein: soft metal layer is positioned at the outside face of flexible crossbeam and is in the midway location of flexible crossbeam, and soft metal layer adopts fine wire to be connected in thoracic cavity framework inside with electric-control system;
When soft metal layer led to left electric current, the suffered ampere force direction of soft metal layer was downward, and flexible crossbeam is bent downwardly, and drove wing and produced bat motion down; When soft metal layer led to right electric current, ampere force direction was changed into upwards, and flexible crossbeam K/UP drives wing and produces the arsis motion;
In the process of flapping up and down, be subjected to aerodynamic effects, wing can deform and overturn, and energy exchange occurs on the rigidity circle, in the following bat process, extruding rigidity circle stored energy, wing is produced turn up, and when the beginning arsis has just been finished in bat down, release energy, beginning tensible rigidity circle, make in the wing generation and turn over, the arsis process is just in time finished energy exchange and flip-flop movement on the contrary.
2. imitative insect minisize flapping wing aircraft according to claim 1 is characterized in that described electric-control system comprises: be positioned at the power supply of electric-control system inner surface, control circuit unit and remote sensing receive projector, and wherein: power supply adopts the 3.7v lithium cell.
3. imitative insect minisize flapping wing aircraft according to claim 1, it is characterized in that described wing comprises: vein, parachute and pterostigma, wherein: pterostigma is embedded in the leading edge terminal position of vein, and parachute is coated on the upper and lower surface of vein.
4. imitative insect minisize flapping wing aircraft according to claim 1 is characterized in that, described rigidity circle is snail formula coil, and this rigidity circle rotates the wing under aerodynamic effect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010289527 CN101948008B (en) | 2010-09-22 | 2010-09-22 | Anti-insect micro flapping wing aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010289527 CN101948008B (en) | 2010-09-22 | 2010-09-22 | Anti-insect micro flapping wing aircraft |
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| CN101948008A CN101948008A (en) | 2011-01-19 |
| CN101948008B true CN101948008B (en) | 2013-07-03 |
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| CN 201010289527 Expired - Fee Related CN101948008B (en) | 2010-09-22 | 2010-09-22 | Anti-insect micro flapping wing aircraft |
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Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102673785B (en) * | 2011-03-11 | 2015-02-25 | 张家港市九鼎机械有限公司 | Flapping-wing aircraft |
| CN102229359B (en) * | 2011-06-09 | 2013-04-17 | 西北工业大学 | Cylindrical cam flapping wing driving mechanism |
| CN102328744B (en) * | 2011-08-05 | 2014-04-30 | 上海交通大学 | Electromagnetically-driven flapping wing type micro aircraft based on flexible hinges |
| CN102602537A (en) * | 2012-03-31 | 2012-07-25 | 西北工业大学 | Micro flapping rotor aircraft |
| CN103482065B (en) * | 2013-10-15 | 2015-08-12 | 北京航空航天大学 | A kind of micro flapping wing air vehicle based on electrostatic self-excited driving principle |
| CN104129501B (en) * | 2014-08-05 | 2016-06-29 | 佛山市神风航空科技有限公司 | A kind of miniature ornithopter |
| CN104443382B (en) * | 2014-12-15 | 2016-06-01 | 佛山市神风航空科技有限公司 | A kind of motor drives the dull and stereotyped flapping wing lift device of upper and lower switch |
| CN104875884B (en) * | 2015-05-22 | 2017-04-12 | 广西大学 | Vibrating actuator and ornithopter |
| CN106081103B (en) * | 2016-08-04 | 2019-01-18 | 北京航空航天大学 | A kind of micro flapping wing air vehicle based on Lorentz force driving |
| CN107554781B (en) * | 2017-08-07 | 2019-02-22 | 北京理工大学 | It is a kind of to cut with scissors the wing and production method for the miniature elasticity for flutterring rotor craft |
| CN107729639B (en) * | 2017-10-10 | 2020-03-20 | 东莞理工学院 | Design method of suspended-flight lower wing of hummingbird-flapping-wing-imitating micro aircraft |
| CN109436320B (en) * | 2018-11-07 | 2023-12-15 | 杭州翼能科技有限公司 | Aircraft |
| CN109808880A (en) * | 2019-01-16 | 2019-05-28 | 北京航空航天大学 | Flapping wing thrust adjustment mechanism and method |
| CN109885908B (en) * | 2019-01-30 | 2021-01-15 | 北京理工大学 | Novel feather wing bionic ventilation flapping wing system and multi-vortex interference mechanism analysis method |
| CN112224439A (en) * | 2020-10-20 | 2021-01-15 | 冯旭辉 | High-precision simulation method for aerodynamic characteristics of flapping wings |
| CN112224440A (en) * | 2020-10-20 | 2021-01-15 | 冯旭辉 | High-precision simulation method for aerodynamic characteristics of flapping wings |
| CN113335520A (en) * | 2021-06-07 | 2021-09-03 | 中国科学院合肥物质科学研究院 | Bionic mechanical dragonfly aircraft capable of hovering and control method thereof |
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| CN2642378Y (en) * | 2003-08-05 | 2004-09-22 | 廖煜晴 | Electromagnetic drive rudder-face device |
| CN1765702A (en) * | 2005-11-09 | 2006-05-03 | 中国科学技术大学 | A kind of mini-sized flap wings system of electro-magnet driving airfoil surface |
| CN201049212Y (en) * | 2007-05-22 | 2008-04-23 | 俞彬彬 | Ornithopter electromagnetic steering device |
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2010
- 2010-09-22 CN CN 201010289527 patent/CN101948008B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2642378Y (en) * | 2003-08-05 | 2004-09-22 | 廖煜晴 | Electromagnetic drive rudder-face device |
| CN1765702A (en) * | 2005-11-09 | 2006-05-03 | 中国科学技术大学 | A kind of mini-sized flap wings system of electro-magnet driving airfoil surface |
| CN201049212Y (en) * | 2007-05-22 | 2008-04-23 | 俞彬彬 | Ornithopter electromagnetic steering device |
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| CN101948008A (en) | 2011-01-19 |
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