CN104875884A - Vibrating actuator and ornithopter - Google Patents
Vibrating actuator and ornithopter Download PDFInfo
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- CN104875884A CN104875884A CN201510268878.8A CN201510268878A CN104875884A CN 104875884 A CN104875884 A CN 104875884A CN 201510268878 A CN201510268878 A CN 201510268878A CN 104875884 A CN104875884 A CN 104875884A
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- aerotron
- vibration
- flexible hinge
- type actuator
- vibrating
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Abstract
The invention provides a vibrating actuator and an ornithopter. The vibrating actuator is applied to the ornithopter, and comprises an electric loop, magnets and a vibrating component, wherein the electric loop is arranged on an ornithopter body, and used for generating forward and reverse driving current; the magnets are mounted at the oxter pats of two aerofoils in opposite polarities, and used for forming a ferromagnetic field in the area of the vibrating part; the vibrating component is connected with a flexible hinge, and used for vibrating under the action of the forward and reverse driving current generated in the electric loop and the ferromagnetic field, and dragging the flexible hinge and the two aerofoils connected with the flexible hinge to move. According to the invention, through the current driving manner, the action of the ferromagnetic field and the alternating current is utilized to generate impetus with upper and lower reciprocating changes; the vibrating actuator is simple in structure and tiny in size, and improves the energy conversion efficiency.
Description
Technical field
The present invention relates to vehicle technology field, particularly relate to a kind of vibration-type actuator and flapping wing aircraft.
Background technology
Flapping wing aircraft, as the term suggests, be exactly use flapping wing mode as the aircraft of power.The most original form of flapping wing aircraft is birds.Birds wing when flight is by patting thrust that moving handle air produces forward downwardly towards rear promotion and lift upwards up and down.
Current flapping wing aircraft mainly uses motor as power system, is the flapping wing action of dipteron by transmission device by converting rotary motion.But any transmission device all can have certain conversion efficiency.That is the elastic energy of electric energy is become rotation function by transmission device, then rotation function is converted into up-and-down movement again, and up-and-down movement finally transfers flapping wing action to, and Conversion of Energy multi-level like this makes the efficiency of whole power system become lower.Meanwhile, use the transmission device based on based on gear cluster also very unfavorable to the microminiaturization of power system.Obviously, this power system not only efficiency is low, and structure is not suitable for the flapping wing aircraft of below 10cm.
Summary of the invention
The invention provides a kind of vibration-type actuator and flapping wing aircraft, use the mode that electric current drives, by utilizing the effect of high-intensity magnetic field and exchange current to produce the propelling thrust up and down reciprocatingly changed, structure is simple, and volume is small, and improves energy conversion efficiency.
The invention provides a kind of flapping wing aircraft, be applied in flapping wing aircraft, described flapping wing aircraft comprises body, two wings, and drives the flexible hinge of described wing up-down vibration; Wherein, described vibration-type actuator comprises:
Electricity loop, is arranged on described body, for generation of forward and reverse drive current;
Magnet, the opposite polarity underarm region being arranged on described two wings, for forming high-intensity magnetic field in the region of vibrating mass;
Described vibrating mass, is connected with described flexible hinge, for vibrating under the effect at high-intensity magnetic field of forward and reverse drive current of producing at described electric loop, and described two wing motion dragging described flexible hinge and be connected with described flexible hinge.
The present invention also provides a kind of flapping wing aircraft, comprises body, two wings, drives the flexible hinge of described wing up-down vibration, and described vibration-type actuator.
Vibration-type actuator provided by the invention and flapping wing aircraft, wherein vibration-type actuator is applied in flapping wing aircraft, and flapping wing aircraft comprises body, two wings, and drives the flexible hinge of described wing up-down vibration; Wherein, described vibration-type actuator is by electric loop, and magnet and vibrating mass drive the up-down vibration of wing, and wherein, electric loop, is arranged on described body, for generation of forward and reverse drive current; Magnet, the opposite polarity underarm region being arranged on described two wings, for forming high-intensity magnetic field in the region of vibrating mass; Described vibrating mass, is connected with described flexible hinge, for vibrating under the effect at high-intensity magnetic field of forward and reverse drive current of producing at described electric loop, and described two wing motion dragging described flexible hinge and be connected with described flexible hinge.The present invention, uses the mode that electric current drives, and by utilizing the effect of high-intensity magnetic field and exchange current to produce the propelling thrust up and down reciprocatingly changed, structure is simple, and volume is small, and improves energy conversion efficiency.
Accompanying drawing explanation
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the invention of this reality, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Fig. 1 is the structural representation of flapping wing aircraft of the present invention;
Fig. 2 is the schematic diagram of oscillating circuit of the present invention;
Fig. 3 is the schematic diagram of full-bridge circuit of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Fig. 1 is the structural representation of flapping wing aircraft of the present invention; As shown in Figure 1, the vibration-type actuator of the present embodiment, is applied in flapping wing aircraft, and flapping wing aircraft comprises body 11, two wings 12, and drives the flexible hinge 13 of wing up-down vibration; Wherein, vibration-type actuator comprises: electric loop 20, is arranged on body 11, for generation of forward and reverse drive current; Magnet 30, the opposite polarity underarm region being arranged on two wings 12, for forming high-intensity magnetic field in the region of vibrating mass 40; Vibrating mass 40, is connected with flexible hinge 13, for vibrating under the effect at high-intensity magnetic field of forward and reverse drive current of producing at electric loop 20, and drags flexible hinge 13 and two wings 12 being connected with flexible hinge 13 move.
In the present embodiment, body 11 can be carbon fiber skeleton, and better mechanical property, structural strength is high.
Optionally, flexible hinge 13 can be the film of metallizing, can alleviate the weight of rotor aircraft.
Alternatively, vibrating mass can be plastic sheeting or fiber, can alleviate the weight of this vibration-type actuator.
Vibration-type actuator provided by the invention is applied in flapping wing aircraft, and flapping wing aircraft comprises body, two wings, and drives the flexible hinge of wing up-down vibration; Wherein, vibration-type actuator is by electric loop, and magnet and vibrating mass drive the up-down vibration of wing, and wherein, electric loop, is arranged on body, for generation of forward and reverse drive current; Magnet, the opposite polarity underarm region being arranged on two wings, for forming high-intensity magnetic field in the region of vibrating mass; Vibrating mass, is connected with flexible hinge, for vibrating under the effect at high-intensity magnetic field of forward and reverse drive current of producing at electric loop, and two wing motion dragging flexible hinge and be connected with flexible hinge.The present invention, uses the mode that electric current drives, and by utilizing the effect of high-intensity magnetic field and exchange current to produce the propelling thrust up and down reciprocatingly changed, structure is simple, and volume is small, and improves energy conversion efficiency.
Further, as shown in Figure 1, in another embodiment of the invention, electric loop 20 comprises: power supply and driving circuit 21, is arranged on body 11; Wire coil 22, is vertically set in the middle of body 11, and is realized the connection of body 11 and wire coil 22 by conductive strips 23.
Wherein, power supply and driving circuit 21 can be arranged on any position of body 11, and the material of wire coil 22 can be copper, also can be other material, the position of wire coil 22 can be arranged on any position in the middle of body, this is not done to further restriction in the present embodiment.
In addition, the quantity of conductive strips 23 is two, can, for being similar to the soft metal conductive strips that mobile phone or notebook PC use, can also be other flexible connecting member, in the present embodiment and be not specifically limited.
Further, Fig. 2 is the schematic diagram of oscillating circuit of the present invention; Fig. 3 is the schematic diagram of full-bridge circuit of the present invention, and power supply and driving circuit 21 comprise: oscillating circuit, and the full-bridge circuit be electrically connected with oscillating circuit.
Full-bridge circuit, comprising: the first aerotron 211, second aerotron 212, the 3rd aerotron 213, the 4th aerotron 214, power supply 215, first control window 216 and second and control window 217, power supply 215 is connected with the first aerotron 211 and the second aerotron 212 respectively, first aerotron 211 and the 3rd aerotron 213 connected in series, second aerotron 212 and the 4th aerotron 214 connected in series, 3rd aerotron 213 and the 4th aerotron 214 ground connection GND, first controls window 216 is connected with the first aerotron 211 and the 3rd aerotron 213 respectively, second controls window 217 is connected with the second aerotron 212 and the 4th aerotron 214 respectively, one end of wire coil 22 and the Node connectedness of the first aerotron 211 and the 3rd aerotron 213, and the Node connectedness of the other end of wire coil 22 and the second aerotron 212 and the 4th aerotron 214, the mouth VOUT and first of oscillating circuit controls window 216 and is connected, and controls window 217 by phase inverter and second and be connected.
Concrete, first aerotron 211, second aerotron 212, the 3rd aerotron 213 and the 4th aerotron 214 can be PMOS (positive metal oxide semiconductor) pipe or NMOSnegative metal oxide semiconductor) pipe, because the efficiency of MOS (metal oxide semiconductor) pipe is higher than the efficiency of aerotron, therefore, the full-bridge circuit power consumption in this driver train is very low.
Oscillating circuit in the present embodiment can adopt simple phase inverter to form, the quantity of phase inverter can be multiple, oscillation frequency can be regulated by regulating the quantity of phase inverter, also can be as shown in Figure 2, electric capacity is added in oscillating circuit, be used for reducing the quantity of phase inverter, by increasing the quantity of phase inverter, electric capacity C and resistance R can be changed and regulate oscillation frequency.
Alternatively, the first aerotron 211 and the 3rd aerotron 213 can be PMOS, and the second aerotron 212 and the 4th aerotron 214 can be NMOS tube.
Alternatively, the first aerotron 211 and the 3rd aerotron 213 can be NMOS tube, and the second aerotron 212 and the 4th aerotron 214 can be PMOS.
Utilize the full-bridge circuit that PMOS and NMOS tube all use, do not need extra gate voltage to promote circuit, realize simple.
Concrete, the principle of work of driving circuit is: produce periodic square wave by oscillating circuit, the simultaneously output of oscillating circuit controls window 216 and second by first and controls window 217 and control the first aerotron 211, second aerotron 212, the conducting state of the 3rd aerotron 213 and the 4th aerotron 214, control the conducting situation of full-bridge circuit, such as, square wave can control the first aerotron 211 and the 3rd aerotron 213 conducting, corresponding, second aerotron 212 and the 4th aerotron 214 not conducting, now, drive current direction in wire coil 22 is from left to right, otherwise, due to the change of square-wave cycle, the square wave of change can control the second aerotron 212 and the 4th aerotron 214 conducting, corresponding, first aerotron 211 and the 3rd aerotron 213 not conducting, now, drive current direction in wire coil 22 from right to left, achieve on the basis producing square wave, full-bridge circuit can provide forward and reverse drive current.
In the present embodiment, the principle of work of vibration-type actuator is: when starting to start, oscillating circuit produces periodic square wave, oscillating circuit utilizes the periodic square wave generated, the first aerotron of full-bridge circuit is controlled by controlling window, second aerotron, conducting situation between 3rd aerotron and the 4th aerotron, thus control the current direction of motor, because square wave is periodic, therefore, full-bridge circuit provides forward and reverse drive current, electric current passes through vibrating mass, in high-intensity magnetic field, vibrating mass can under the effect of Lorentz force, to the direction up-and-down movement vertical with vibrating mass, now, vibrating mass drives wing up-and-down movement by flexible hinge, thus realize the flight of flapping wing aircraft.
Further, full-bridge circuit, also comprises: with the first diode 201 of the first aerotron 211 parallel join, with the second diode 202 of the second aerotron 202 parallel join, with the 3rd diode 203 of the 3rd aerotron 203 parallel join and the 4th diode 204 with the 4th aerotron 204 parallel join.
In the present embodiment, the first diode 204, second diode 202, the 3rd diode 203 and the 4th diode 204, be respectively used to the aerotron protecting its correspondence.
Alternatively, the light-duty direct supply of power acquisition type, such as 3.7V lithium cell or little fuel cell.
The present invention also provides a kind of flapping wing aircraft, comprises body, two wings, drives the flexible hinge of wing up-down vibration, and the vibration-type actuator that above-described embodiment is arbitrary.
Further, flexible hinge 13 takes the shape of the letter U, and it should be noted that, the application, not as limit, tries hard to, and flexible hinge can also be circular.
Vibration-type actuator in this flapping wing aircraft and the vibration-type actuator in above-described embodiment realize principle and technique effect is similar, do not repeat them here.
Last it is noted that above each embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to foregoing embodiments to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (8)
1. a vibration-type actuator, is characterized in that, is applied in flapping wing aircraft, and described flapping wing aircraft comprises body, two wings, and drives the flexible hinge of described wing up-down vibration; Wherein, described vibration-type actuator comprises:
Electricity loop, is arranged on described body, for generation of forward and reverse drive current;
Magnet, the opposite polarity underarm region being arranged on described two wings, for forming high-intensity magnetic field in the region of vibrating mass;
Described vibrating mass, is connected with described flexible hinge, for vibrating under the effect at high-intensity magnetic field of forward and reverse drive current of producing at described electric loop, and described two wing motion dragging described flexible hinge and be connected with described flexible hinge.
2. vibration-type actuator according to claim 1, is characterized in that, described electric loop comprises:
Power supply and driving circuit, be arranged on described body;
Wire coil, is vertically set in the middle of described body, and realizes the connection of described body and described wire coil by conductive strips.
3. vibration-type actuator according to claim 2, is characterized in that, described power supply and driving circuit comprise: oscillating circuit, and the full-bridge circuit be electrically connected with described oscillating circuit.
4. vibration-type actuator according to claim 3, is characterized in that, described full-bridge circuit comprises: the first aerotron, the second aerotron, the 3rd aerotron, the 4th aerotron, power supply, first control window, and second controls window;
Wherein, described power supply is connected with described first aerotron and described second aerotron respectively, described first aerotron and described 3rd aerotron connected in series, described second aerotron and described 4th aerotron connected in series, described 3rd aerotron and described 4th aerotron ground connection;
First controls window is connected with described first aerotron and the 3rd aerotron respectively, and described second controls window is connected with described second aerotron and described 4th aerotron respectively;
The Node connectedness of one end of described wire coil and described first aerotron and described 3rd aerotron, and the Node connectedness of the other end of described wire coil and described second aerotron and described 4th aerotron;
The mouth and described first of described oscillating circuit controls window and is connected, and controls window by phase inverter and described second and be connected.
5. vibration-type actuator according to claim 4, is characterized in that, described full-bridge circuit also comprises:
With the first diode of described first aerotron parallel join, with the second diode of described second aerotron parallel join, with the 3rd diode of described 3rd aerotron parallel join and the 4th diode with described 4th aerotron parallel join.
6. vibration-type actuator according to claim 1, is characterized in that, described vibrating mass is plastic sheeting or fiber.
7. a flapping wing aircraft, is characterized in that, comprises body, two wings, drives the flexible hinge of described wing up-down vibration, and as arbitrary in claim 1-6 as described in vibration-type actuator.
8. flapping wing aircraft according to claim 7, is characterized in that, described flexible hinge takes the shape of the letter U.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510268878.8A CN104875884B (en) | 2015-05-22 | 2015-05-22 | Vibrating actuator and ornithopter |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510268878.8A CN104875884B (en) | 2015-05-22 | 2015-05-22 | Vibrating actuator and ornithopter |
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| Publication Number | Publication Date |
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| CN104875884A true CN104875884A (en) | 2015-09-02 |
| CN104875884B CN104875884B (en) | 2017-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510268878.8A Active CN104875884B (en) | 2015-05-22 | 2015-05-22 | Vibrating actuator and ornithopter |
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| CN (1) | CN104875884B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105217031A (en) * | 2015-10-29 | 2016-01-06 | 西北工业大学 | A kind of micro air vehicle with flapping-wing based on fans drive |
| CN106081103A (en) * | 2016-08-04 | 2016-11-09 | 北京航空航天大学 | A kind of based on the power-actuated micro flapping wing air vehicle of Lorentz |
| CN107200127A (en) * | 2017-05-27 | 2017-09-26 | 南京航空航天大学 | Many flapping wing aircrafts and its flight control method |
| CN107834802A (en) * | 2017-12-11 | 2018-03-23 | 王梓力 | A kind of resonant motor for flapping wing aircraft |
| CN111874228A (en) * | 2020-07-14 | 2020-11-03 | 广西大学 | Flapping wing aircraft |
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| KR100615556B1 (en) * | 2005-04-08 | 2006-08-25 | 전상락 | Small-sized flying object |
| CN101948008A (en) * | 2010-09-22 | 2011-01-19 | 上海交通大学 | Anti-insect micro flapping wing aircraft |
| CN102328744A (en) * | 2011-08-05 | 2012-01-25 | 上海交通大学 | Electromagnetically-driven flapping wing type micro aircraft based on flexible hinges |
| CN103274049A (en) * | 2013-05-08 | 2013-09-04 | 上海交通大学 | Electromagnetic drive insect-like flapping-wing micro air vehicle |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR100615556B1 (en) * | 2005-04-08 | 2006-08-25 | 전상락 | Small-sized flying object |
| CN101948008A (en) * | 2010-09-22 | 2011-01-19 | 上海交通大学 | Anti-insect micro flapping wing aircraft |
| CN102328744A (en) * | 2011-08-05 | 2012-01-25 | 上海交通大学 | Electromagnetically-driven flapping wing type micro aircraft based on flexible hinges |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105217031A (en) * | 2015-10-29 | 2016-01-06 | 西北工业大学 | A kind of micro air vehicle with flapping-wing based on fans drive |
| CN105217031B (en) * | 2015-10-29 | 2017-07-14 | 西北工业大学 | A kind of micro air vehicle with flapping-wing based on fans drive |
| CN106081103A (en) * | 2016-08-04 | 2016-11-09 | 北京航空航天大学 | A kind of based on the power-actuated micro flapping wing air vehicle of Lorentz |
| 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 |
| CN107200127A (en) * | 2017-05-27 | 2017-09-26 | 南京航空航天大学 | Many flapping wing aircrafts and its flight control method |
| CN107200127B (en) * | 2017-05-27 | 2019-10-11 | 南京航空航天大学 | More flapping wing aircrafts and its flight control method |
| CN107834802A (en) * | 2017-12-11 | 2018-03-23 | 王梓力 | A kind of resonant motor for flapping wing aircraft |
| CN111874228A (en) * | 2020-07-14 | 2020-11-03 | 广西大学 | Flapping wing aircraft |
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| Publication number | Publication date |
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| CN104875884B (en) | 2017-04-12 |
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