CN104760697A - Electromagnetic driven micro ornithopter - Google Patents
Electromagnetic driven micro ornithopter Download PDFInfo
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- CN104760697A CN104760697A CN201510159754.6A CN201510159754A CN104760697A CN 104760697 A CN104760697 A CN 104760697A CN 201510159754 A CN201510159754 A CN 201510159754A CN 104760697 A CN104760697 A CN 104760697A
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Abstract
An electromagnetic driven micro ornithopter comprises a body, a piston cylinder, an AC power supply, upper and lower electromagnetic coils, a permanent magnet, left and wing motion bars, left wing and right wing rotation shafts, left wing and right wing frameworks and left wing and right wing fins, wherein the piston cylinder and the AC power supply are internally arranged in the frame of the body; the upper and lower electromagnetic coils are arranged at the upper and lower ends of the piston cylinder respectively; the AC power supply is connected with the upper and lower electromagnetic coils; a permanent magnet sleeve is positioned in the middle part of the piston cylinder; the permanent magnet is internally arranged in the permanent magnet sleeve; one end of the left motion pole and one end of the right motion pole are fixed to the left side and the right side of the permanent magnet sleeve and the other end of the left motion pole and the other end of the right motion pole are fixedly to the left wing rotation shaft and the right wing rotation shaft; the left wing rotation shaft and the right wing rotation shaft are fixed to the ends of the left wing framework and the right wing framework; and the right ends of the left wing fins and the left ends of the right wing fins are fixed to the left wing framework and the right wing framework respectively. According to the invention, the upper and lower electromagnetic coils are used for providing magnetic force, so that the flapping power output is doubled. The defect that the magnetic force of a single coil may be influenced by the travel distance is made up and the power output becomes more stable.
Description
Technical field
The present invention relates to bionic Aircraft, flapping wing aircraft field, particularly adopt the miniature ornithopter of Electromagnetic Drive.
Background technology
Miniature ornithopter is the one of bionic Aircraft, is patted the action of wing by simulation birds, thus produces lift and thrust maintenance flight.Current research contents mainly concentrates on the structure of flapping wing and the actuating device of flapping wing.
In the structural research of flapping wing, due to flapping-wing aircraft flapping wing upper flutter and under in the process of flutterring, the lift of generation is asymmetric, under flutter produce favourable to raising force, on flutter, produce disadvantageous reverse lift, that causes to raising force in flutter cycle is less than normal with joint efforts, inefficiency.In order to supply a gap, researchist has carried out the improvement of flapping wing configuration aspects, mainly through use mechanical device change flapping wing upper flutter and under the area of effectively spreading the wings flutterred, make down the area of spreading the wings when flutterring be greater than area when flutterring, reach the lift increased in flutter cycle and make a concerted effort.A kind of Miniature semi-active folding flapping wing disclosed in Chinese patent CN102381476A, under when flutterring flapping wing open completely, area of spreading the wings is maximum, and when above flutterring, flapping wing has the folding of certain angle, reduce to spread the wings area, thus reach the object that in increase flutter cycle, lift is made a concerted effort.But on area of spreading the wings when flutterring only have minimizing to a certain degree, efficiency is still lower.
In the actuating device research of flapping wing, generally utilize motor cooperative mechanical driving device as power resources system at present.Chinese patent CN103274049A discloses a kind of electromagnetic power drive system, installs a helicoil and a permanent magnet at body, by the mechanical periodicity of gravitation, repulsion between magnetic pole, drives the synchronous up-down vibration of left and right two wing, produces lift.Its weak point is, what adopt is that the square wave current of certain frequency makes helicoil produce magnetic, and its magnetic-field intensity is constant, but the magnetic force between helicoil and permanent magnet be with distance square inversely, therefore cause flapping wing to flutter up and down the asymmetric of power, make flight stable not.
Summary of the invention
For the excessive lift caused of area of spreading the wings when flutterring on overcoming is made a concerted effort lower, and overcome the unstable asymmetric deficiency of flapping wing power caused of magnetic force, the invention provides a kind of electromagnetic structure device of miniature ornithopter, can synchro control fuselage magnet coil and wing magnet coil, Power output is stablized, and efficiency obtains larger raising.
The present invention takes following technical scheme to realize above-mentioned purpose:
A kind of Electromagnetic Drive miniature ornithopter, comprises fuselage 1, piston barrel 2, source of AC 101, upper magnet coil 3, permanent magnet cover 4, permanent magnet 41, lower magnet coil 5, left portable bar 6, right portable bar 7, left wing's rotating shaft 8, right flank rotating shaft 9, left wing's skeleton 20, right flank skeleton 21, left wing's wing page 18, right flank wing page 19, wherein piston barrel 2, source of AC 101 is built in fuselage 1 framework, upper magnet coil 3 and lower magnet coil 5 are placed in piston barrel about 2 two ends respectively, source of AC 101 is connected with lower magnet coil 5 with upper magnet coil 3, permanent magnet cover 4 is positioned at the middle part of piston barrel 2, permanent magnet 41 is built in permanent magnet cover 4, left portable bar 6, one end of right portable bar 7 is fixedly connected on permanent magnet respectively and overlaps 4 the right and lefts, left portable bar 6, the other end of right portable bar 7 respectively with left wing rotating shaft 8, right flank rotating shaft 9 is fixedly connected with, left wing's rotating shaft 8, right flank rotating shaft 9 is fixedly connected on left wing's skeleton 20 respectively, the end of right flank skeleton 21, the right-hand member of left wing's wing page 18, the left end of right flank wing page 19 is fixedly connected on left wing's skeleton 20 respectively, on right flank skeleton 21.
The built-in source of AC of fuselage 1 101 gives upper magnet coil 3, lower magnet coil 5 inputs exchange current, during input forward current, upper magnet coil 3 pairs of permanent magnets 41 produce gravitation, lower magnet coil 5 pairs of permanent magnets 41 produce repulsion, permanent magnet 41 drives permanent magnet to overlap 4 upward movements, be with left portable bar 6, right portable bar 7 moves downward together, left portable bar 6, right portable bar 7 involve again left wing's skeleton 20, right flank skeleton 21 makees down work of fluttering.During input negative current, upper magnet coil 3 pairs of permanent magnets 41 produce repulsion, lower magnet coil 5 pairs of permanent magnets 41 produce gravitation, permanent magnet 41 drives permanent magnet to overlap 4 and moves downward, be with left portable bar 6, right portable bar 7 upward movement together, left portable bar 6, right portable bar 7 involve again left wing's skeleton 20, right flank skeleton 21 makees work of fluttering.When such permanent magnet pumps in piston barrel, wing is also just and then fluttered up and down.Owing to there being upper and lower two coils to provide power, overcoming the shortcoming only having the magnetic force of a coil generation large along with stroke distances fluctuates, make Power output more stable.
Described left wing's skeleton 20, right flank skeleton 21 is also separately installed with left wing's pipe link 16, right flank pipe link 17, left wing's magnet coil 10 and 1001, right flank magnet coil 13 and 1301, left wing's permanent magnet 11, right flank permanent magnet 14, the right-hand member of its left-wing pipe link 16, the left end of right flank pipe link 17 is separately installed with left wing's permanent magnet 11, right flank permanent magnet 14, left wing's magnet coil 10 and 1001, right flank magnet coil 13 and 1301 is arranged on the right-hand member of left wing's skeleton 20 respectively, the left end of right flank skeleton 21, respectively with left wing permanent magnet 11, right flank permanent magnet 14 is relative, the left end of left wing's pipe link 16, the right-hand member of right flank pipe link 17 respectively with left wing's wing page 18 right-hand member edge, right flank wing page 19 left end edge flexible hinge connects, left wing's magnet coil 10 and 1001, right flank magnet coil 13 and 1301 is connected with source of AC 101.
When flapping-wing aircraft is fluttered under doing and is done, source of AC 101 is synchronous to left wing's magnet coil 10 and 1001, right flank magnet coil 13 and 1301 inputs forward current, left wing's magnet coil 10, right flank magnet coil 13 is respectively to left wing's permanent magnet 11, right flank permanent magnet 14 produces gravitation, left wing's magnet coil 1001, right flank magnet coil 1301 is respectively to left wing's permanent magnet 11, right flank permanent magnet 14 produces repulsion, drive left wing's pipe link 16, right flank pipe link 17, left wing's pipe link 16, right flank pipe link 17 drives left wing's wing page 18 again, right flank wing page 19 closes, for flapping-wing aircraft provides larger raising force.When flapping-wing aircraft is fluttered on doing and is done, source of AC 101 is synchronous to left wing's magnet coil 10 and 1001, right flank magnet coil 13 and 1301 inputs negative current, left wing's magnet coil 10, right flank magnet coil 13 is respectively to left wing's permanent magnet 11, right flank permanent magnet 14 produces repulsion, left wing's magnet coil 1001, right flank magnet coil 1301 is respectively to left wing's permanent magnet 11, right flank permanent magnet 14 produces gravitation, drive left wing's pipe link 16, right flank pipe link 17, left wing's pipe link 16, right flank pipe link 17 drives left wing's wing page 18 again, right flank wing page 19 opens, reduce the resistance that wing is flutterred.
The fluttering up and down of flapping wing closes with wing, open is all by Electromagnetic Drive, and the turning point of both electromagnetism is all by same source of AC synchro control in one-period, and structure simplifies more.
The invention has the beneficial effects as follows:
The present invention adopts electromagnetic drive mode control the closed of flapping wing wing page and opening accurately initiatively, compared with passive mode, when above flutterring area reduce larger, in the cycle, lift is made a concerted effort significantly.
Present invention employs upper and lower two magnet coils and provide magnetic force, compare a magnet coil, the increasing of flapping wing Power output is twice, and overcomes the impact of magnetic force with stroke distances of single coil, makes Power output more stable.
The closing of fuselage power and flapping wing wing page, opening control can by same source of AC synchro control, and designs simplification, is beneficial to integrated.
Fuselage power-on and power-off magnetic coil, one provides gravitation one to provide repulsion, and the permanent magnet crank motion in the middle of being used for driving, avoids the power that single magnet coil causes due to stroke distances asymmetric, complete machine is flown more stable.Simultaneously, electromagnetic structure device also can in the highest, the conversion that extreme lower position realizes magnetic pole of wing, control the closed of laminated wing easily and open, when upper flutterring, wing opens and can reduce air contact surfaces and amass by actv., under flutter time, the closed air contact surfaces that can increase of wing amasss, make lift in the cycle make a concerted effort to enlarge markedly, improve flapping wing efficiency.
Accompanying drawing explanation
Fig. 1 is: the structure of the miniature ornithopter of Electromagnetic Drive of the present invention is always schemed.
Fig. 2 is: the miniature ornithopter fuselage permanent magnet of Electromagnetic Drive of the present invention and permanent magnet cover schematic diagram.
Fig. 3 is: the left portable bar schematic diagram of miniature ornithopter of Electromagnetic Drive of the present invention.
Fig. 4 is: the left fin structure figure of miniature ornithopter of Electromagnetic Drive of the present invention.
Fig. 5 is: the mass motion periodogram of the miniature ornithopter of Electromagnetic Drive of the present invention.
In figure:
1, fuselage; 101, source of AC; 2, piston barrel; 3, upper magnet coil; 4, permanent magnet cover; 41 permanent magnets; 5, magnet coil under fuselage; 6, left portable bar; 7, right portable bar; 8, left wing's rotating shaft; 9, right flank rotating shaft; 10, left wing's No. 1 magnet coil; 1001, left wing's No. 2 magnet coils; 11, left wing's permanent magnet; 12, left wing's coil lead; 13, right flank No. 1 magnet coil; 1301, right flank No. 2 magnet coils; 14, right flank permanent magnet; 15, right flank coil lead; 16, left wing's pipe link; 17, right flank pipe link; 18, left wing's wing page; 19, right flank wing page; 20, left wing's skeleton; 21, right flank skeleton; 22, power supply lead wire; 23, coil lead on fuselage; 24, fuselage lower coil lead-in wire.
Detailed description of the invention
Below in conjunction with accompanying drawing 1-5 and embodiment, the present invention will be described
The built-in source of AC of fuselage 1 101 gives upper magnet coil 3, lower magnet coil 5 inputs exchange current, during input forward current, upper magnet coil 3 pairs of permanent magnets 41 produce gravitation, lower magnet coil 5 pairs of permanent magnets 41 produce repulsion, permanent magnet 41 drives permanent magnet to overlap 4 upward movements, be with left portable bar 6, right portable bar 7 moves downward together, left portable bar 6, right portable bar 7 involve again left wing's skeleton 20, right flank skeleton 21 makees down work of fluttering.During input negative current, upper magnet coil 3 pairs of permanent magnets 41 produce repulsion, lower magnet coil 5 pairs of permanent magnets 41 produce gravitation, permanent magnet 41 drives permanent magnet to overlap 4 and moves downward, be with left portable bar 6, right portable bar 7 upward movement together, left portable bar 6, right portable bar 7 involve again left wing's skeleton 20, right flank skeleton 21 makees work of fluttering.
When flapping-wing aircraft is fluttered under doing and is done, source of AC 101 is synchronous to left wing's magnet coil 10 and 1001, right flank magnet coil 13 and 1301 inputs forward current, left wing's magnet coil 10, right flank magnet coil 13 is respectively to left wing's permanent magnet 11, right flank permanent magnet 14 produces gravitation, left wing's magnet coil 1001, right flank magnet coil 1301 is respectively to left wing's permanent magnet 11, right flank permanent magnet 14 produces repulsion, drive left wing's pipe link 16, right flank pipe link 17, left wing's pipe link 16, right flank pipe link 17 drives left wing's wing page 18 again, right flank wing page 19 closes, for flapping-wing aircraft provides larger raising force.When flapping-wing aircraft is fluttered on doing and is done, source of AC 101 is synchronous to left wing's magnet coil 10 and 1001, right flank magnet coil 13 and 1301 inputs negative current, left wing's magnet coil 10, right flank magnet coil 13 is respectively to left wing's permanent magnet 11, right flank permanent magnet 14 produces repulsion, left wing's magnet coil 1001, right flank magnet coil 1301 is respectively to left wing's permanent magnet 11, right flank permanent magnet 14 produces gravitation, drive left wing's pipe link 16, right flank pipe link 17, left wing's pipe link 16, right flank pipe link 17 drives left wing's wing page 18 again, right flank wing page 19 opens, reduce the resistance that wing is flutterred.
Claims (3)
1. an Electromagnetic Drive miniature ornithopter, is characterized in that: comprise fuselage (1), piston barrel (2), source of AC (101), upper magnet coil (3), permanent magnet (41), lower magnet coil (5), left portable bar (6), right portable bar (7), left wing's rotating shaft (8), right flank rotating shaft (9), left wing's skeleton (20), right flank skeleton (21), left wing's wing page (18), right flank wing page (19), wherein piston barrel (2), source of AC (101) is built in the framework of fuselage (1), upper magnet coil (3) and lower magnet coil (5) are placed in piston barrel (2) two ends up and down respectively, source of AC (101) is connected with lower magnet coil (5) with upper magnet coil (3), permanent magnet cover (4) is positioned at the middle part of piston barrel (2), permanent magnet (41) is built in permanent magnet cover (4), left portable bar (6), one end of right portable bar (7) is fixedly connected on permanent magnet cover (4) the right and left respectively, left portable bar (6), the other end of right portable bar (7) respectively with left wing's rotating shaft (8), right flank rotating shaft (9) is fixedly connected with, left wing's rotating shaft (8), right flank rotating shaft (9) is fixedly connected on left wing's skeleton (20) respectively, the end of right flank skeleton (21), the right-hand member of left wing's wing page (18), the left end of right flank wing page (19) is fixedly connected on left wing's skeleton (20) respectively, on right flank skeleton (21).
2. Electromagnetic Drive miniature ornithopter as claimed in claim 1, is characterized in that: described left wing's skeleton (20), right flank skeleton (21) is also separately installed with left wing's pipe link (16), right flank pipe link (17), left wing's No. 1 magnet coil (10), right flank No. 1 magnet coil (13), left wing's permanent magnet (11), right flank permanent magnet (14), the right-hand member of its left-wing pipe link (16), the left end of right flank pipe link (17) is separately installed with left wing's permanent magnet (11), right flank permanent magnet (14), left wing's No. 1 magnet coil (10), right flank No. 1 magnet coil (13) is arranged on the right-hand member of left wing's skeleton (20) respectively, the left end of right flank skeleton (21), respectively with left wing's permanent magnet (11), right flank permanent magnet (14) is relative, the left end of left wing's pipe link (16), the right-hand member of right flank pipe link (17) respectively with left wing wing page (18) right-hand member edge, right flank wing page (19) left end edge flexible hinge connects, left wing's No. 1 magnet coil (10), right flank No. 1 magnet coil (13) is connected with source of AC (101).
3. Electromagnetic Drive miniature ornithopter as claimed in claim 1, it is characterized in that: also comprise left wing's No. 2 magnet coils (1001), right flank No. 2 magnet coils (1301), left wing's No. 2 magnet coils (1001), right flank No. 2 magnet coils (1301) are arranged on the right-hand member of left wing's skeleton (20) respectively, the left end of right flank skeleton (21), respectively with left wing's permanent magnet (11), right flank permanent magnet (14) is relative, left wing's permanent magnet (11) is positioned between left wing's No. 2 magnet coils (1001) and left wing No. 1 magnet coil (10), right flank permanent magnet (14) is positioned between right flank No. 2 magnet coils (1301) and right flank No. 1 magnet coil (13), left wing's No. 2 magnet coils (1001), right flank No. 2 magnet coils (1301) are connected with source of AC (101).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510159754.6A CN104760697B (en) | 2015-04-07 | 2015-04-07 | Electromagnetic driven micro ornithopter |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510159754.6A CN104760697B (en) | 2015-04-07 | 2015-04-07 | Electromagnetic driven micro ornithopter |
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| CN104760697A true CN104760697A (en) | 2015-07-08 |
| CN104760697B CN104760697B (en) | 2017-05-10 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105151300A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Flapping wing mechanism capable of realizing spread flutter and flapping wing machine |
| CN106628171A (en) * | 2016-12-01 | 2017-05-10 | 向仲宇 | Split type flapping wing air vehicle with variable flapping wing area |
| CN107521689A (en) * | 2017-08-17 | 2017-12-29 | 赵祎 | A kind of aircraft, ship, fluid generator and its part folding oar |
| CN108275269A (en) * | 2018-01-24 | 2018-07-13 | 浙江工业职业技术学院 | A kind of imitative bird flapping flight device of line wheel amplitude modulation wound membrane formula |
| WO2018195724A3 (en) * | 2017-04-24 | 2018-12-06 | 胡建坤 | Aircraft |
| WO2019042238A1 (en) * | 2017-08-30 | 2019-03-07 | 上海未玩电子科技有限公司 | Flapping-wing flying blimp |
| CN109823533A (en) * | 2019-02-26 | 2019-05-31 | 南开大学 | A kind of mini-sized flap wings mechanism based on electromagnetic actuators driving |
| CN109835481A (en) * | 2017-11-29 | 2019-06-04 | 中国科学院沈阳自动化研究所 | A kind of flapping wing aircraft to be flown by aerofoil Deformation control |
| CN110937107A (en) * | 2019-11-21 | 2020-03-31 | 东莞理工学院 | Machine bird with anti external interference |
| WO2021104397A1 (en) * | 2019-11-26 | 2021-06-03 | 赵小清 | Array-type wing flight device and application thereof |
| WO2023197836A1 (en) * | 2022-04-13 | 2023-10-19 | 邓辉平 | Transverse-flapping-type flapping wing |
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| CN204548504U (en) * | 2015-04-07 | 2015-08-12 | 广西壮族自治区科学技术馆 | A kind of miniature ornithopter of Electromagnetic Drive |
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| CN2617681Y (en) * | 2003-04-29 | 2004-05-26 | 魏顶启 | Ornithopter wing with holes and loosen leaves |
| CN1541893A (en) * | 2003-04-29 | 2004-11-03 | 魏顶启 | Airfoil having holes and flaps for ornithopter |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105151300B (en) * | 2015-09-28 | 2017-06-20 | 哈尔滨工业大学深圳研究生院 | Flapping wing mechanism and flapping-wing aircraft that a kind of achievable spread is fluttered |
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| CN106628171A (en) * | 2016-12-01 | 2017-05-10 | 向仲宇 | Split type flapping wing air vehicle with variable flapping wing area |
| WO2018195724A3 (en) * | 2017-04-24 | 2018-12-06 | 胡建坤 | Aircraft |
| CN107521689A (en) * | 2017-08-17 | 2017-12-29 | 赵祎 | A kind of aircraft, ship, fluid generator and its part folding oar |
| WO2019042238A1 (en) * | 2017-08-30 | 2019-03-07 | 上海未玩电子科技有限公司 | Flapping-wing flying blimp |
| CN109835481A (en) * | 2017-11-29 | 2019-06-04 | 中国科学院沈阳自动化研究所 | A kind of flapping wing aircraft to be flown by aerofoil Deformation control |
| CN109835481B (en) * | 2017-11-29 | 2021-09-28 | 中国科学院沈阳自动化研究所 | Flapping wing aircraft capable of controlling flight through wing surface deformation |
| CN108275269A (en) * | 2018-01-24 | 2018-07-13 | 浙江工业职业技术学院 | A kind of imitative bird flapping flight device of line wheel amplitude modulation wound membrane formula |
| CN108275269B (en) * | 2018-01-24 | 2021-08-06 | 浙江工业职业技术学院 | Reel amplitude-adjusting film-rolling type bird-flapping-wing-imitating flying device |
| CN109823533A (en) * | 2019-02-26 | 2019-05-31 | 南开大学 | A kind of mini-sized flap wings mechanism based on electromagnetic actuators driving |
| CN110937107A (en) * | 2019-11-21 | 2020-03-31 | 东莞理工学院 | Machine bird with anti external interference |
| WO2021104397A1 (en) * | 2019-11-26 | 2021-06-03 | 赵小清 | Array-type wing flight device and application thereof |
| WO2023197836A1 (en) * | 2022-04-13 | 2023-10-19 | 邓辉平 | Transverse-flapping-type flapping wing |
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