CN116021500A - Multi-motion mode cm-level micro-robot adopting ionic wind power - Google Patents
Multi-motion mode cm-level micro-robot adopting ionic wind power Download PDFInfo
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- CN116021500A CN116021500A CN202310082194.3A CN202310082194A CN116021500A CN 116021500 A CN116021500 A CN 116021500A CN 202310082194 A CN202310082194 A CN 202310082194A CN 116021500 A CN116021500 A CN 116021500A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention provides a multi-motion mode cm-level micro-robot adopting ionic wind power, which comprises a main propeller and an auxiliary propeller, wherein the main propeller and the auxiliary propeller are formed by 9 rows of main body anodes and 9 rows of main body cathodes which are parallelly fixed on the upper layer and the lower layer of a main body frame, and the two propellers are respectively connected with a circuit and can be controlled respectively. When high-voltage direct current is applied, corona discharge occurs at the tip of the tungsten needle on the positive electrode of the main body, air molecules in the discharge area are ionized, a large amount of generated positive ions drift towards the negative electrode of the main body in an electric field, collide with neutral air molecules in the movement process, and partial momentum is transferred to the air molecules, so that some neutral air molecules move towards the negative electrode of the main body and pass through the negative electrode of the main body, and ion wind is generated to provide net thrust for the robot. The thrust of the main propeller and the auxiliary propeller can be adjusted by changing the input voltage, so that the robot is controlled to perform three motions of ground movement, take-off and jump.
Description
Technical Field
The invention relates to the field of micro robots, in particular to a centimeter-level micro robot with multiple motion modes.
Background
With the rapid development of technologies in the fields of micromachining, microelectronics and the like, centimeter-level micro-robots are becoming a reality. In order to reach a target location in a narrow or dangerous environment to perform tasks such as reconnaissance, search and rescue, and communication, cm-sized micro-robots have developed different movement patterns such as flying, crawling, rolling, and jumping. The centimeter-sized micro-robot is driven by a power system, so that the motion mode is closely related to the power system. The existing power system is generally complex in structure, high in processing difficulty and difficult to support multiple movement forms, and only one movement can be output under the centimeter-level scale. Therefore, the existing centimeter-level micro-robot generally has only a single motion mode and cannot be used in complex and changeable application environments.
Cm-sized micro robots typically rely on micro motors, piezo-electric ceramics, electromagnetic drives (e.g., chinese patent CN 109398528) or electrostatic drives (e.g., chinese patent CN 106143671) to drive wheels or bionic feet for ground movement. The friction coefficient of the wheels is small, the driving force required for realizing ground movement is small, and the mechanical structure and the processing technology are simpler. The bionic foot simulates the gait of the insects in nature to perform ground movement, and has extremely high flexibility, but because the gait track of the bionic foot is complex and a plurality of bionic feet are involved to work cooperatively, the mechanical structure and the processing technology of the micro-robot based on the bionic foot are generally complex.
The existing centimeter-level robot mainly relies on rotor wings or flapping wings to propel to generate thrust/lift required by flight. Rotor propulsion uses a motor to drive the propeller to rotate at high speed to generate thrust/lift, but the mechanical efficiency of the motor and propeller decreases with decreasing size, limiting the application to centimeter-scale sizes. The flapping wing propulsion is developed by inspiring biological flight, and the bionic wing is driven to regularly flap by a motor or a driver such as piezoelectric ceramics, so as to generate lifting force. Flapping wing propulsion relies on complex wing structures and flapping trajectories, and mechanical design, machining, and flight control are all extremely difficult.
In the centimeter-level scale range, most power systems of jumping robots use elastic elements such as springs to store mechanical energy, and then release the springs to generate power so as to enable the robots to realize jumping motion. In addition, some micro-robots produce chemical energy by combustion or power required for jumping using the thermodynamic response of shape memory alloy phase changes. The power system needs a certain time to accumulate energy in advance, continuous jumping cannot be realized, and the application of jumping movement is limited.
In summary, the prior art has developed a centimeter-sized micro-robot with a plurality of different motion modes, but such a robot usually has only one motion mode due to the complex structure of the power system and the great processing difficulty.
Disclosure of Invention
Aiming at the technical short plate of the existing centimeter-level micro-robot, the invention provides the centimeter-level micro-robot which has high thrust-weight ratio and simple structure and can realize three movement modes of ground movement, take-off and jump.
The invention adopts the technical scheme that: a multi-motion mode cm-level micro-robot adopting ion wind power comprises a main body frame, a main body cathode, a main body anode support, a tungsten needle and a wheel part.
Wherein, the main body positive electrode support and the main body negative electrode are arranged in parallel and fixed on the main body frame; a tungsten needle is fixed on the main body positive electrode support, so that a main body positive electrode is formed; the main body positive electrode and the main body negative electrode are respectively provided with 9 rows, the middle 7 rows of the main body positive electrode and the middle 7 rows of the main body negative electrode form a main propeller, the 2 rows at two ends of the main body positive electrode and the 2 rows at two ends of the main body negative electrode form auxiliary propellers, the propellers are inclined relative to the ground, the middle 7 rows of the main body negative electrode are connected in parallel, and the main body positive electrode supports the rows in parallel. The lower end of the main body frame is connected with the wheel part.
When the circuit is on, high-voltage direct current is applied to the tungsten needle, corona discharge occurs near the tip of the tungsten needle, and air molecules in a discharge area are ionized to generate a large amount of positive ions. Positive ions drift towards the main body negative electrode in an electric field and collide with neutral air molecules in the movement process, and partial momentum of the positive ions is transferred to the air molecules, so that some neutral air molecules move towards the main body negative electrode and pass through the main body negative electrode to generate ion wind, and the robot obtains net thrust.
The main body cathode is inclined relative to the ground, and in the ground movement mode, only the main propeller generates thrust, wherein the component force of the thrust in the vertical direction is smaller than the gravity of the robot, and the component force in the horizontal direction is larger than the friction force in the horizontal direction, so that the driving wheel part rolls forwards; in the take-off mode, the main propeller and the auxiliary propeller work simultaneously, the generated thrust in the vertical direction is larger than the gravity, and the resultant force born by the robot has a certain inclination angle relative to the horizontal ground, so that take-off is realized; when the robot reaches the required height in the jumping process, the output of all the propellers is stopped, the jumping is realized, the wheel part can effectively buffer the impact with the ground, and the robot is prevented from toppling over.
Furthermore, the robot further comprises a negative electrode connection and a connecting shaft, wherein 7 rows in the middle of the negative electrode of the main body are connected in parallel through the negative electrode connection, and the positive electrode of the main body supports are connected in parallel through the connecting shaft.
Further, 3 or 4 groups of wheel parts can be arranged, each group of wheel part comprises a wheel, an axle and a glass tube, the lower end of the main body frame is fixed on the glass tube, the glass tube is sleeved on the axle with a gap, and the axle is connected with the wheel.
Further, the main body positive electrode support and the main body negative electrode are both made of carbon fiber materials; the main body frame, the wheels, the glass tube, the blocking piece and the gasket are all made of glass fiber; the wheel axle is made of stainless steel.
Furthermore, the fixing mode of all connecting parts of the robot can be realized by gluing, and the conductive part is coated with conductive silver paste.
Further, the tungsten needle is fixed on the positive electrode support of the main body in a tenon-and-mortise connection mode.
Further, the circuit is electrified with direct current, and the maximum working voltage is 10kV.
Compared with the prior art, the invention has the following three advantages.
(1) Simple structure and high flexibility. The invention is composed of a propeller, wheels and a main body frame, and can realize three modes of ground movement, flight and jump of the centimeter-level micro-robot. Compared with the existing centimeter-level micro-robot, the mechanical structure is simple, and the movement modes are various.
(2) The direct current power supply supplies energy, and the circuit is simple. The robot is powered by a high-voltage direct-current power supply, the main propeller and the auxiliary propeller can be controlled respectively by taking ion wind as power, the thrust of the main propeller and the auxiliary propeller can be regulated by changing input power, so that the movement of different modes of the robot is realized, a complex alternating control circuit is not needed, and the circuit is simple.
(3) High pushing weight ratio and low noise. The invention adopts ion wind power, the maximum thrust is 3.33mN, the thrust-weight ratio can reach 2.4, and compared with the existing centimeter-level micro-robot, the thrust-weight ratio is high and is mute.
Drawings
FIG. 1 is a schematic view of the overall structure of a robot according to the present invention;
FIG. 2 is a front view of the robot of the present invention;
FIG. 3 is a partial schematic view of the wheel of the present invention, wherein FIG. 3 (a) is an exploded view of the wheel and FIG. 3 (b) is a partial schematic view of the wheel assembly;
FIG. 4 is a plan view of the body anode support and tungsten needle connection structure of the present invention;
FIG. 5 is a plan view of the negative electrode structure of the body of the present invention;
FIG. 6 is a plan view of the body frame structure of the present invention;
FIG. 7 is a schematic diagram of the principle of generating ionic wind power by the propeller of the present invention;
FIG. 8 is a schematic view of the force applied by the ground movement mode of the robot according to the present invention;
FIG. 9 is a schematic view of the force applied by the present invention in a takeoff mode of the robot;
fig. 10 is a schematic diagram of a robot jump mode force according to the present invention.
Reference numerals meaning: 1. a main body frame; 2. a main body negative electrode; 3. the negative electrode is connected; 4. a main body positive electrode support; 5. a connecting shaft; 6 tungsten needle; 7. a wheel section; 701. a wheel; 702. a wheel axle; 703. a glass tube; 704. a barrier sheet; 705. a gasket.
Detailed Description
The invention is further described below with reference to the drawings and specific examples.
The invention provides a multi-motion mode cm-level micro-robot adopting ionic wind power, as shown in fig. 1 and 2, a main body positive electrode support 4 and a main body negative electrode 2 are fixed on an upper layer and a lower layer of a main body frame 1 in parallel, 7 tungsten needles 6 are uniformly distributed on each row of the main body positive electrode support 4, and each row of the main body positive electrode support 4 and the tungsten needles 6 arranged on the main body positive electrode support form a row of main body positive electrodes together. The main body anode and the main body cathode 2 are respectively provided with 9 rows, and the middle 7 rows of the main body cathode 2 are glued with the cathode connection 3, so that the middle 7 rows of the main body cathode are connected in parallel; each row of the main body positive electrode supports 4 is glued with the connecting shaft 5, so that each row of the main body positive electrodes is connected in parallel. The middle 7 rows of the main body anode and the middle 7 rows of the main body cathode 2 form a main propeller, the 2 rows at two ends of the main body anode and the 2 rows at two ends of the main body cathode 2 form an auxiliary propeller, the main propeller and the auxiliary propeller jointly form the propeller of the robot, and the whole propeller is inclined by 20 degrees relative to the ground.
The propeller of the robot of the present invention is connected to the wheel 7 through the main body frame 1, and in this embodiment, the wheel 7 is provided with 4 sets. The specific structure of the wheel 7 is shown in fig. 3, and is composed of a wheel 701, an axle 702, a glass tube 703, a blocking piece 704 and a gasket 705. The lower end of the main body frame 1 is provided with a semicircular claw which is matched with the outer circular surface of the glass tube 703 and is fixed in a glue joint way, the glass tube 703 is sleeved on the wheel shaft 702 in a clearance way, the wheel shaft 702 is fixed in a glue joint way after being in interference fit with a round hole in the center of the wheel 701, the end part of the wheel shaft 702 is provided with a blocking sheet 704 and 2 gaskets 705, the blocking sheet 704 and the gaskets 705 can limit the glass tube 703, the concentricity of assembly can be improved, and the wheel shaft 702 is ensured to be perpendicular to the wheel 701.
Preferably, the main body positive electrode support 4, the main body negative electrode 2 and the main body frame 1 can all adopt a plug-in connection mode with simple structure, plug structures are arranged at two ends of the main body positive electrode support 4 (see fig. 4 for details), plug structures are arranged at two ends of the main body negative electrode 2 (see fig. 5 for details), correspondingly, 9 slots are uniformly distributed in the middle sections of the upper layer and the lower layer of the main body frame 1 (see fig. 6 for details), the main body positive electrode support 4 is fixedly connected with the main body frame 1 through plug-slot matching, and the main body negative electrode 2 is fixedly connected with the main body frame 1 through plug-slot matching.
Preferably, the tungsten needle 6 and the main body positive electrode support 4 are connected in a mortise-tenon fit and adhesive fixation mode, so that the assembly is simple and convenient, and the connection is firm. In this embodiment, the main body positive electrode support 4 and the main body negative electrode 2 are both made of carbon fiber material, the distance between adjacent rows is 5.7mm, and the cross section of the main body negative electrode 2 is rectangular with a width of 0.3mm and a height of 0.13 mm. The main body frame 1, the wheels 701, the barrier sheet 704, the gasket 705 are all made of glass fiber; the diameter of the wheel 701 is 20mm; glass tube 703 and axle 702 have diameters of 0.4mm and 0.27mm, respectively, and are made of glass fiber and stainless steel, respectively; the thickness of the tungsten needle 6 is 0.5mm, the tip angle is 8 degrees, the tip interval of the adjacent tungsten needle 6 arranged on each row of main body positive electrodes is 6mm, and the vertical distance between the tip of the tungsten needle 6 and the main body negative electrode 2 is 10mm.
Fig. 7 shows the working principle of the propeller of the present invention: when the circuit is on, high-voltage direct current is applied to the tungsten needle 6, a discharge area is formed near the tip of the tungsten needle 6, corona discharge occurs, air molecules are ionized, a large amount of positive ions are generated, the positive ions drift towards the main negative electrode 2 through the ion drift area under the action of an electric field, collide with neutral air molecules in the movement process, and partial momentum of the positive ions is transferred to the air molecules, so that some neutral air molecules move towards the main negative electrode 2 and pass through the main negative electrode 2, and ion wind is generated. The propeller pushes air to flow according to the acting force and reaction force principle, so that the net thrust is obtained.
The robot realizes control of different movement modes by means of parallel connection of two circuits, wherein one circuit is connected with the cathode connection 3 to control the main propeller; the other circuit is connected with 2 rows at two ends of the cathode 2 of the main body and controls the auxiliary propellers at two sides. The two circuits are connected in parallel and then connected with the negative electrode and the grounding electrode of the high-voltage direct-current power supply, the positive electrode of the high-voltage direct-current power supply is connected with the connecting shaft 5, and the thrust of the main propeller and the auxiliary propeller is changed by changing the input voltage, so that the movement mode of the robot is controlled.
The principle of three motion modes of the robot is as follows:
ground movement pattern as shown in fig. 8, the propeller is inclined at an angle (20 ° in the present embodiment) with respect to the ground, and only the main propeller generates thrust, which is T atThe component force in the vertical direction is smaller than the gravity mg of the robot, and the component force in the horizontal direction is larger than the friction force F in the horizontal direction f The resultant force F is directed horizontally forward, thus driving the wheel 701 to roll forward.
In the take-off mode, as shown in fig. 9, the main propeller and the auxiliary propeller work simultaneously, the component force of the generated thrust T in the vertical direction is larger than the gravity mg, and the combined force F is inclined by an angle θ relative to the horizontal ground, so that take-off is realized and the front obstacle is cleared.
As shown in fig. 10, when the robot starts jumping, the robot receives thrust T and gravity mg generated by the main propeller and the auxiliary propeller, the robot receives resultant force F inclined by an angle θ with respect to the horizontal ground, and when the robot rises to a maximum jumping height capable of crossing an obstacle, the output of all the propellers is stopped, and the robot descends, thereby completing the jumping process, and the wheels 701 effectively buffer the impact with the ground, preventing the robot from tipping over.
Furthermore, it will be appreciated that the above description is only a preferred embodiment of the present invention, and that other embodiments exist, such as the main body positive electrode support 4 and the main body negative electrode 2 may be replaced by other thin steel sheets, thin aluminum sheets, etc. having similar properties; the connection of the main positive electrode support 4 and the tungsten needle 6 can also be directly in a cementing mode; the material of the glass tube 9 can be polyimide material; the parameter values of the size, the spacing, the inclination angle of the propeller and the like of the parts can be adjusted according to the needs.
The invention, in part, is not disclosed in detail and is well known in the art.
While the basic principles and embodiments of the present invention have been described above to facilitate understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited by the above examples, but is well within the spirit and scope of the present invention as defined and defined by the appended claims as it will be apparent to those skilled in the art that all the inventions which make use of the inventive concept are protected.
Claims (10)
1. A multi-motion mode cm-level micro-robot powered by ion wind comprises a main body frame (1), a main body negative electrode (2), a main body positive electrode support (4), a tungsten needle (6) and a wheel part (7); it is characterized in that the method comprises the steps of,
the main body anode support (4) and the main body cathode (2) are arranged in parallel and fixed on an upper layer and a lower layer of the main body frame (1); tungsten needles (6) are fixed on the main body positive electrode supports (4), and each row of main body positive electrode supports (4) and the tungsten needles (6) arranged on the main body positive electrode supports form a row of main body positive electrodes together; the main body anode and the main body cathode (2) are respectively provided with 9 rows, the middle 7 rows of the main body anode and the middle 7 rows of the main body cathode (2) form a main propeller, the 2 rows at two ends of the main body anode and the 2 rows at two ends of the main body cathode (2) form auxiliary propellers, the propellers are inclined relative to the ground, the middle 7 rows of the main body cathode (2) are connected in parallel, and the rows of main body anode supports (4) are connected in parallel; the lower end of the main body frame (1) is connected with a wheel part (7);
when the circuit is switched on, high-voltage direct current is applied to the tungsten needle (6), corona discharge is generated near the tip of the tungsten needle (6), and air molecules in a discharge area are ionized to generate a large amount of positive ions; positive ions drift towards the main body negative electrode (2) in an electric field, collide with neutral air molecules in the movement process, and transfer partial momentum of the positive ions to the air molecules, so that some neutral air molecules pass through gaps of the main body negative electrode (2) to generate ion wind and net thrust; by controlling the main propeller and the auxiliary propeller, the robot can realize three movement modes of ground movement, take-off and jump.
2. The multi-motion mode cm-level micro-robot employing ionic wind power according to claim 1, further comprising a cathode connection (3) and a connection shaft (5), wherein 7 rows in the middle of the main body cathode (2) are connected in parallel through the cathode connection (3), and each row of the main body anode supports (4) is connected in parallel through the connection shaft (5).
3. The multi-motion mode cm-sized micro-robot using ion wind power according to claim 1, wherein the wheel part (7) comprises a wheel (701), an axle (702) and a glass tube (703), the lower end of the main body frame (1) is fixed on the glass tube (703), the glass tube (703) is sleeved on the axle (702) with a gap, and the axle (702) is connected with the wheel (701).
4. A multi-motion mode cm-sized micro-robot using ion wind power according to claim 3, wherein the lower end of the main body frame (1) is provided with a semicircular claw, and the semicircular claw is matched with the outer circular surface of the glass tube (703) and is fixed by gluing.
5. A multi-motion mode cm-sized micro-robot employing ion wind power according to claim 3, wherein the wheel (7) further comprises a blocking piece (704) and a gasket (705), and the blocking piece (704) and the gasket (705) are mounted at the end of the wheel shaft (702) for limiting the glass tube (703) and improving the concentricity of the assembly.
6. The multi-motion mode cm-sized micro-robot employing ionic wind power according to any one of claims 3 to 5, wherein the main body positive electrode support (4) and the main body negative electrode (2) are both made of carbon fiber material; the main body frame (1) and the wheels (701) are made of glass fiber; the glass tube (703) is made of glass fiber or polyimide.
7. The multi-motion mode cm-sized micro-robot using ionic wind power according to claim 1, wherein all the connection parts of the robot are fixed by gluing, and the conductive parts are coated with conductive silver paste.
8. The multi-motion mode cm-level micro-robot adopting ionic wind power according to claim 1, wherein the tungsten needle (6) is fixed on the positive electrode support (4) of the main body in a mortise-tenon connection mode.
9. The multi-motion mode cm-level micro-robot using ionic wind power according to claim 8, wherein the tungsten needle (6) is connected to the positive electrode support (4) of the main body through mortise and tenon joint, and further glued and reinforced.
10. The multi-motion mode cm-sized micro-robot employing ionic wind power according to claim 1, wherein the main body positive electrode support (4) is fixedly connected with the main body frame (1) through plug-slot matching, and the main body negative electrode (2) is fixedly connected with the main body frame (1) through plug-slot matching.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310082194.3A CN116021500B (en) | 2023-02-08 | 2023-02-08 | Multi-motion mode cm-level micro-robot adopting ionic wind power |
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| CN202310082194.3A CN116021500B (en) | 2023-02-08 | 2023-02-08 | Multi-motion mode cm-level micro-robot adopting ionic wind power |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1836974A (en) * | 2005-03-23 | 2006-09-27 | 夏烆光 | Ion-wind aviation aircraft |
| CN109850025A (en) * | 2019-02-26 | 2019-06-07 | 浙江大学 | A kind of single leg robot mechanism and control method of metope jump |
| KR102023898B1 (en) * | 2019-05-09 | 2019-09-23 | 김철 | Flight vehicle for electric dust collector using thrust force and ionic wind |
| CN113401343A (en) * | 2021-06-18 | 2021-09-17 | 中国石油大学(华东) | Vital sign sniffs miniature aircraft based on ionic wind drive |
-
2023
- 2023-02-08 CN CN202310082194.3A patent/CN116021500B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1836974A (en) * | 2005-03-23 | 2006-09-27 | 夏烆光 | Ion-wind aviation aircraft |
| CN109850025A (en) * | 2019-02-26 | 2019-06-07 | 浙江大学 | A kind of single leg robot mechanism and control method of metope jump |
| KR102023898B1 (en) * | 2019-05-09 | 2019-09-23 | 김철 | Flight vehicle for electric dust collector using thrust force and ionic wind |
| CN113401343A (en) * | 2021-06-18 | 2021-09-17 | 中国石油大学(华东) | Vital sign sniffs miniature aircraft based on ionic wind drive |
Non-Patent Citations (1)
| Title |
|---|
| 刘宇曦等: "基于电晕放电的离子风推进装置推力性能", 《南昌大学学报（理科版）》, vol. 46, no. 2, 30 April 2022 (2022-04-30) * |
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