CN104875884B - Vibrating actuator and ornithopter - Google Patents
Vibrating actuator and ornithopter Download PDFInfo
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- CN104875884B CN104875884B CN201510268878.8A CN201510268878A CN104875884B CN 104875884 B CN104875884 B CN 104875884B CN 201510268878 A CN201510268878 A CN 201510268878A CN 104875884 B CN104875884 B CN 104875884B
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- audion
- vibration
- flexible hinge
- type actuator
- flapping wing
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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, more particularly to a kind of vibration-type actuator and flapping wing aircraft.
Background technology
Flapping wing aircraft, as the term suggests, it is exactly the aircraft using flapping wing mode as power.Flapping wing aircraft it is most former
Beginning form is birds.Birds wing when flight be produced by patting moving handle air up and down and promoting rearward to
Front thrust and lift upwards.
Current flapping wing aircraft mainly uses motor as dynamical system, is changed into rotary motion by drive mechanism
The flapping wing action of dipteron.However, any drive mechanism can all have certain transformation efficiency.That is drive mechanism is by electric energy
Elastic energy become rotation function, then rotation function is converted into up and down motion again, up and down motion finally switchs to flapping wing and moves
Make, so multi-level energy converts and the efficiency of whole dynamical system is become than relatively low.Meanwhile, it is using based on gear train
Microminaturization of the drive mechanism on basis to dynamical system is also very unfavorable.It will be apparent that this dynamical system not only efficiency is low, and
And structure is not suitable for the flapping wing aircraft of below 10cm.
The content of the invention
The present invention provides a kind of vibration-type actuator and flapping wing aircraft, the mode driven using electric current, by using strong
Magnetic field produces the motive force for up and down reciprocatingly changing with the effect of alternating current, and simple structure, volume is small, and improves energy turn
Change efficiency.
The present invention provides a kind of flapping wing aircraft, in being applied to flapping wing aircraft, the flapping wing aircraft include body, two
Individual wing, and drive the flexible hinge of the wing up-down vibration；Wherein, the vibration-type actuator includes：
Electric loop, is arranged on the body, for producing forward and reverse driving current；
Magnet, the opposite polarity underarm region installed in described two wings, forms for the region in vibrating mass
High-intensity magnetic field；
The vibrating mass, is connected with the flexible hinge, for the forward and reverse driving electricity produced in the electric loop
Stream vibrates in the presence of high-intensity magnetic field, and the described two wings for dragging the flexible hinge and being connected with the flexible hinge
Motion.
The present invention also provides a kind of flapping wing aircraft, including body, two wings, drives the soft of the wing up-down vibration
Property hinge, and the vibration-type actuator.
Vibration-type actuator and flapping wing aircraft that the present invention is provided, wherein vibration-type actuator is applied in flapping wing aircraft
In, flapping wing aircraft includes body, two wings, and the flexible hinge for driving the wing up-down vibration；Wherein, it is described to shake
The up-down vibration that ejector half actuator passes through electric loop, Magnet and vibrating mass drive wing, wherein, electric loop is arranged on described
On body, for producing forward and reverse driving current；Magnet, the opposite polarity underarm region installed in described two wings is used
In in the region of vibrating mass formation high-intensity magnetic field；The vibrating mass, is connected with the flexible hinge, in the electric ring
Road produce forward and reverse driving current vibrate in the presence of high-intensity magnetic field, and drag the flexible hinge and with the flexible hinge
Described two wing motions of chain connection.The present invention, the mode driven using electric current, by using high-intensity magnetic field and alternating current
Effect produces the motive force for up and down reciprocatingly changing, and simple structure, volume is small, and improves energy conversion efficiency.
Description of the drawings
To make purpose, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention, rather than the embodiment of whole.Based on the embodiment in this real invention, ordinary skill people
The every other embodiment that member is obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Fig. 1 is the structural representation of the flapping wing aircraft of the present invention；
Fig. 2 is the schematic diagram of the oscillating circuit of the present invention；
Fig. 3 is the schematic diagram of the full-bridge circuit of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1 is the structural representation of the flapping wing aircraft of the present invention；As shown in figure 1, the vibration-type actuator of the present embodiment,
In being applied to flapping wing aircraft, flapping wing aircraft includes 11, two wings 12 of body, and the flexibility for driving wing up-down vibration
Hinge 13；Wherein, vibration-type actuator includes：Electric loop 20, is arranged on body 11, for producing forward and reverse driving current；
Magnet 30, the opposite polarity underarm region for 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 forward and reverse driving current for producing in electric loop 20 high-intensity magnetic field work
Use lower vibration, and drag flexible hinge 13 and two wings 12 being connected with flexible hinge 13 are moved.
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 thin film of gold-plated category, can mitigate the weight of rotor aircraft.
Alternatively, vibrating mass can be plastic sheeting or fiber, can mitigate the weight of the vibration-type actuator.
The vibration-type actuator that the present invention is provided is applied in flapping wing aircraft, and flapping wing aircraft includes body, two machines
The wing, and drive the flexible hinge of wing up-down vibration；Wherein, vibration-type actuator is by electric loop, Magnet and vibrating mass
The up-down vibration of wing is driven, wherein, electric loop is arranged on body, for producing forward and reverse driving current；Magnet, polarity
The contrary underarm region installed in two wings, for forming high-intensity magnetic field in the region of vibrating mass；Vibrating mass, with flexibility
Hinge is connected, and the forward and reverse driving current for producing in electric loop is vibrated in the presence of high-intensity magnetic field, and drags flexible hinge
Chain and two wing motions being connected with flexible hinge.The present invention, using electric current drive mode, by using high-intensity magnetic field with
The effect of alternating current produces the motive force for up and down reciprocatingly changing, and simple structure, volume is small, and improves energy conversion effect
Rate.
Further, as shown in figure 1, in another embodiment of the invention, electric loop 20 includes：Power supply and drive circuit
21, on body 11；Wire coil 22, is vertically set in the middle of body 11, and realizes the He of body 11 by conductive strips 23
The connection of wire coil 22.
Wherein, power supply and drive circuit 21 may be mounted at any position of body 11, and the material of wire coil 22 can be with
For copper, or other materials, the position of wire coil 22 can be arranged on any position in the middle of body, in this enforcement
Further restriction is not done in example to this.
In addition, the quantity of conductive strips 23 is two, can be the soft metal used similar to mobile phone or notebook computer
Conductive strips, can also be other flexible connecting members, in the present embodiment and be not specifically limited.
Further, Fig. 2 is the schematic diagram of the oscillating circuit of the present invention；Fig. 3 is the schematic diagram of the full-bridge circuit of the present invention,
Power supply and drive circuit 21 include：Oscillating circuit, and the full-bridge circuit electrically connected with oscillating circuit.
Full-bridge circuit, including：First audion 211, the second audion 212, the 3rd audion 213, the 4th audion
214th, the control of power supply 215, first window 216 and second control window 217；Power supply 215 respectively with the first audion 211 and the 2nd 3
Pole pipe 212 connects, and the first audion 211 is connected in series with the 3rd audion 213, the second audion 212 and the 4th audion 214
Serial connection, the 3rd audion 213 and the 4th audion 214 are grounded GND, first control window 216 respectively with the first audion 211
Connect with the 3rd audion 213, the second control window 217 is connected respectively with the second audion 212 and the 4th audion 214, metal
The Node connectedness of one end of coil 22 and the first audion 211 and the 3rd audion 213, and the other end of wire coil 22 and the
The Node connectedness of two audions 212 and the 4th audion 214；The outfan VOUT of oscillating circuit is connected with the first control window 216,
And be connected with the second control window 217 by phase inverter.
Specifically, the first audion 211, the second audion 212, the 3rd audion 213 and the 4th audion 214 can be
PMOS (positive metal oxide semiconductor) is managed or NMOS negative metal oxide
Semiconductor) manage, due to MOS (metal oxide semiconductor) pipe efficiency than audion efficiency
Height, therefore, the full-bridge circuit power consumption in the drive mechanism is very low.
Oscillating circuit in the present embodiment can be constituted using simple phase inverter, and the quantity of phase inverter can be many
It is individual, frequency of oscillation can be adjusted by adjusting the quantity of phase inverter, it is also possible to as shown in Fig. 2 plus electricity in oscillating circuit
Hold, for reducing the quantity of phase inverter, the quantity for increasing phase inverter can be passed through, change electric capacity C and resistance R to adjust oscillation frequency
Rate.
Alternatively, the first audion 211 and the 3rd audion 213 can be PMOS, the second audion 212 and the 4th 3
Pole pipe 214 can be NMOS tube.
Alternatively, the first audion 211 and the 3rd audion 213 can be NMOS tube, the second audion 212 and the 4th 3
Pole pipe 214 can be PMOS.
The full-bridge circuit all used using PMOS and NMOS tube, it is not necessary to which extra gate voltage lifts circuit, is realized
Simply.
Specifically, the operation principle of drive circuit is：Periodic square wave is produced by oscillating circuit, while oscillating circuit
Output controls window 217 and controls the first audion 211, the second audion 212, the three or three pole by the first control window 216 and second
The conducting state of the audion 214 of pipe 213 and the 4th controlling the conducting situation of full-bridge circuit, for example, square wave the controllable 1st
Pole pipe 211 is turned on the 3rd audion 213, corresponding, and the second audion 212 is not turned on the 4th audion 214, now, gold
Driving current direction in category coil 22 is for from left to right, conversely, as the change of square-wave cycle, the square wave of change can control
Second audion 212 is turned on the 4th audion 214, corresponding, and the first audion 211 is not turned on the 3rd audion 213, this
When, the driving current direction in wire coil 22 from right to left, is realized on the basis of square wave is produced, and full-bridge circuit can be provided
Forward and reverse driving current.
In the present embodiment, the operation principle of vibration-type actuator is：When starting to start, oscillating circuit produces periodicity side
Ripple, oscillating circuit controls the first audion, the two or three pole of full-bridge circuit using the periodic square wave for generating by controlling window
Pipe, the conducting situation between the 3rd audion and the 4th audion, so as to the current direction of controlled motor, because square wave is the cycle
Property, therefore, full-bridge circuit provides forward and reverse driving current, and electric current is by vibrating mass, in high-intensity magnetic field, vibration section
Part can move up and down in the presence of Lorentz force to the direction vertical with vibrating mass, and now, vibrating mass can be by flexibility
The knuckle-joint band motivation wing moves up and down, so as to realize the flight of flapping wing aircraft.
Further, full-bridge circuit, also includes：With first diode 201 and the of the parallel connection of the first audion 211
Two audion 202 parallel connection the second diode 202 and the 3rd audion 203 parallel connection the 3rd diode 203 and
With the 4th diode 204 of the parallel connection of the 4th audion 204.
In the present embodiment, the first diode 201, the second diode 202, the 3rd diode 203 and the 4th diode
204, it is respectively used to protect its corresponding audion.
Alternatively, power supply adopts the light-duty DC source of type, such as 3.7V lithium batteries or little fuel cell.
The present invention also provides a kind of flapping wing aircraft, including body, two wings, the flexible hinges of drive wing up-down vibration
Chain, and the vibration-type actuator that above-described embodiment is arbitrary.
Further, flexible hinge 13 takes the shape of the letter U, it should be noted that the application is not limited thereto, tries hard to, flexible hinge
Chain can also be circle.
Vibration-type actuator in vibration-type actuator in the flapping wing aircraft and above-described embodiment realize principle and
Technique effect is similar to, and will not be described here.
Finally it should be noted that：Various embodiments above only to illustrate technical scheme, rather than a limitation；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that：Its according to
So the technical scheme described in foregoing embodiments can be modified, either which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, do not make the essence disengaging various embodiments of the present invention technology of appropriate technical solution
The scope of scheme.
Claims (5)
1. a kind of vibration-type actuator, it is characterised in that in being applied to flapping wing aircraft, the flapping wing aircraft include body,
Two wings, and drive the flexible hinge of the wing up-down vibration；Wherein, the vibration-type actuator includes：
Electric loop, is arranged on the body, for producing forward and reverse driving current；
Magnet, the opposite polarity underarm region installed in described two wings, for forming strong magnetic in the region of vibrating mass
；
The vibrating mass, is connected with the flexible hinge, and the forward and reverse driving current for producing in the electric loop exists
Vibrate in the presence of high-intensity magnetic field, and the described two wings fortune for dragging the flexible hinge and being connected with the flexible hinge
It is dynamic；
Wherein, the electric loop includes：
Power supply and drive circuit, on the body；
Wire coil, is vertically set in the middle of the body, and realizes the body and the wire coil by conductive strips
Connection；
The power supply and drive circuit include：Oscillating circuit, and the full-bridge circuit electrically connected with the oscillating circuit；
The full-bridge circuit includes：First audion, the second audion, the 3rd audion, the 4th audion, power supply, the first control
Window processed, and the second control window；
Wherein, the power supply is connected respectively with first audion and second audion, first audion and institute
State the serial connection of the 3rd audion, second audion be connected in series with the 4th audion, the 3rd audion and
The 4th audion ground connection；
First control window be connected respectively with first audion and the 3rd audion, and described second controls window respectively with described the
Two audions and the 4th audion connect；
One end of the wire coil and first audion and the Node connectedness of the 3rd audion, and the metal wire
The other end of circle and second audion and the Node connectedness of the 4th audion；
The outfan of the oscillating circuit is connected with the described first control window, and is connected with the described second control window by phase inverter
Connect.
2. vibration-type actuator according to claim 1, it is characterised in that the full-bridge circuit also includes：
The first diode and the two or two pole of second audion parallel connection with first audion parallel connection
3rd diode and the four or two pole with the 4th audion parallel connection of pipe and the 3rd audion parallel connection
Pipe.
3. vibration-type actuator according to claim 1, it is characterised in that the vibrating mass is plastic sheeting or fibre
Dimension.
4. a kind of flapping wing aircraft, it is characterised in that including body, two wings, drive the flexibility of the wing up-down vibration
Hinge, and the vibration-type actuator as described in claim 1-3 is arbitrary.
5. flapping wing aircraft according to claim 4, it is characterised in that the 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510268878.8A CN104875884B (en) | 2015-05-22 | 2015-05-22 | Vibrating actuator and ornithopter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104875884A CN104875884A (en) | 2015-09-02 |
| CN104875884B true CN104875884B (en) | 2017-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510268878.8A Active CN104875884B (en) | 2015-05-22 | 2015-05-22 | Vibrating actuator and ornithopter |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| 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 | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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2015
- 2015-05-22 CN CN201510268878.8A patent/CN104875884B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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| Publication number | Publication date |
|---|---|
| CN104875884A (en) | 2015-09-02 |
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