CN104260887B - Variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing - Google Patents
Variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing Download PDFInfo
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- CN104260887B CN104260887B CN201410513964.6A CN201410513964A CN104260887B CN 104260887 B CN104260887 B CN 104260887B CN 201410513964 A CN201410513964 A CN 201410513964A CN 104260887 B CN104260887 B CN 104260887B
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Abstract
The invention provides a kind of variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing, comprising: two direct current generators, two electric currents become torsion material, direct current generator fixture, two wing fixtures, and two wings comprising passive torsion hinge.During direct current generator drives wing to pat, electric current becomes torsion material and shows different torsional rigidities under the subsidiary electric charge of difference or electromotive force, and then obtains different resonant frequencies.Aircraft controllability of the present invention is high, and making aircraft pat acquisition maximum beating angle of can resonating with different frequency becomes possibility, and two direct current generators independently control a wing simultaneously, make flight attitude variation, adapt to different environment.
Description
Technical field
The present invention relates to the device of a kind of minute vehicle technical field, pat in particular it relates to one can change wing
Resonant frequency, and the electromagnetic drive type micro air vehicle with flapping-wing that two wings independently drive.
Background technology
Flapping-wing type aircraft is the minute vehicle that a kind of compound movement using wing realizes flight.Due to scale effect,
The power that electromagnetic driver is provided that under little yardstick is extremely limited, and due to inertia when wing is patted, changes velocity attitude
Needs do a large amount of work(.A kind of method commonly using at present is will to add spring between the wing of flapping wing aircraft and driver
Mechanism makes it have certain rigidity, and being sized to of rigidity makes aircraft resonant frequency and required resonant frequency
Just consistent, and then pat with this frequency, aircraft can be made to resonate, it is not necessary to overcome inertia force to do work.In addition, one
As microreactor technology try one's best for structure and simplify, generally use two wings of a driver control, make two wings can only
Perform same beating rule.
The domestic achievement that generation is certain in terms of the research of micro-flapping-wing type aircraft.Publication No. 102328744A, application
It number is the Chinese patent of 201110223769.6, provide the micro-flight of a kind of electromagnetic drive type flapping wing based on flexible hinge
Device.
But current aircraft, such as the aircraft of aforementioned Publication No. 102328744A patent, due to the too little shadow of yardstick
Ringing, flight optimum efficiency all can only realize in the case of wing resonant frequency.Manually adjust wing position to obtain
Ideal resonant frequency is only feasible in experimentation, and due to destabilizing factors such as processing, this scheme is raw at batch
Can not use during product, and be difficult to be accurately controlled resonant frequency.When patting with other frequency, aircraft will
Patting amplitude because beating frequency is different from resonant frequency too small, causing cannot normal flight.On the other hand, owing to flying
Two wings of row device are only by a driver control, and therefore the beating rule of two wings is identical, at flight course
In only have a kind of state of flight so that the adaptation ability extreme difference of microreactor technology.
Content of the invention
For defect of the prior art, it is an object of the invention to provide a kind of variable resonance frequency electromagnetic drive-type pair and drive
Dynamic micro air vehicle with flapping-wing, this aircraft controllability is high, makes aircraft pat the acquisition maximum that can resonate with different frequency and pats
Angle becomes possibility, and two motors independently control a wing simultaneously, makes flight attitude variation, adapts to difference
Environment.
For realizing object above, the present invention provides a kind of micro-flapping flight of variable resonance frequency electromagnetic drive-type Dual Drive
Device, comprising: two direct current generators, two set electric currents become reverse materials, two comprise the wing of passive torsion hinge, one
Direct current generator fixture and two wing fixtures, wherein: two direct current generators are placed side by side and fixed by direct current generator
Part connects fixing；Two direct current generators and two wings are connected fixing respectively by a wing fixture；Two electric currents become
The one end reversing material consolidates with two wing fixtures respectively with direct current generator fixture consolidation, the other end respectively.
The present invention uses direct current generator as driver, and direct current generator directly drives wing to pat, wing and direct current generator it
Between in parallel mechanism of reversing, thus square being inversely proportional to system equivalent stiffness of the resonant frequency of system.In this system,
The rigidity that equivalent stiffness becomes torsion material with electric current is relevant.Become the quantity of electric charge that torsion material contains, electric current by adjusting electric current
Become torsion material and will show different torsional rigidities, thus play the effect changing resonant frequency.Change motor reciprocating rotary
Dynamic frequency is identical with resonant frequency, can pat angle with maximum and pat wing under this frequency.Two wings are straight by two
Stream motor independently controls, and by inputting the difference of the signal of telecommunication of motor, can complete two different beatings of wing and move
Make.
Preferably, described direct current generator fixture includes base, top and for connecting the vertical round bar of base and top,
The arranged on left and right sides face of base is spill, and two direct current generators consolidate with at the arranged on left and right sides spill of base respectively；Vertically
One end of round bar is fixed on that the center of base upper surface, the other end are vertical with the center at top to be connected；Top left and right
Elongated end end is semicircle, and semicircle is coaxial with direct current generator and in the surface of direct current generator.
Preferably, the machine of the radius of the base arranged on left and right sides spill of described direct current generator fixture and described direct current generator
Body radius is identical, and the elongated end end at the top of described direct current generator fixture is positioned at directly over described direct current generator and institute
State direct current generator coaxial.
Preferably, described wing fixture is made up of top half and the latter half, and the latter half is a cylinder, is justifying
The lower surface of cylindricality is provided with a circular groove along the center of circle, and this circular groove matches with the rotating shaft of direct current generator；Top half
Being a triangular structure, its upper surface with the latter half has the oblique angle of one 45 °, this face, 45 ° of oblique angles for and wing consolidation.
Described electric current becomes torsion material and reverses material, the top of cylindrical upper surface and direct current generator fixture into cylinder
The lower surface consolidation of elongated end, cylindrical lower surface consolidates with the upper surface of the latter half of wing fixture.
The described wing comprising passive torsion hinge includes by passive torsion structure, and described passive torsion structure is by two squares
Gap between shape block and two rectangular blocks is constituted, and the gap between two rectangular blocks provides wing quilt as flexible hinge
The dynamic free degree reversed, is similar to the rotation around x-axis of insect under the interaction with air, forms wing
The angle of attack during fluttering.
Preferably, described aircraft uses direct current generator as driver, and direct current generator directly drives wing to pat, wing
And parallel-current becomes and reverses material between direct current generator, thus the resonant frequency of system square become anti-with system equivalent stiffness
Ratio；Within the system, equivalent stiffness is relevant with the rigidity that electric current becomes torsion material, is contained by adjusting electric current change torsion material
Some quantities of electric charge or electromotive force, electric current becomes torsion material will show different torsional rigidities, thus play change resonant frequency
Effect；The frequency changing direct current generator reciprocating rotation is identical with resonant frequency, can pat angle with maximum under this frequency
Pat wing；Two wings are independently controlled by two direct current generators, by the difference of the signal of telecommunication of input direct-current motor,
Two different beating actions of wing can be completed.
Preferably, the described wing comprising passive torsion hinge also includes brace, vein and parachute, wherein: parachute glues
Being attached on vein, the fixing passive torsion of brace is on the rectangular block above hinge, and its position does not interfere wing around x
Axle rotates 45 °, and vein shape imitates insect vein.
It is highly preferred that described vein is carbon fiber or metal material, described parachute is polyester film or polyimide film.
It is highly preferred that the described wing center of gravity vertical position comprising passive torsion hinge is before described direct current generator at 1/3,
Required precision error is within 1mm.
Compared with prior art, the present invention has a following beneficial effect:
The present invention, compared with existing flapping wing aircraft, has and can change the advantage that wing pats resonant frequency, it may have can
Perform the advantage of two incomplete same beating actions of wing.With general uncontrollable resonant frequency, two wings are patted
The identical flapping wing aircraft of action is compared, and this advantage necessarily can realize more complicated motion, also adapts to more multiple
Miscellaneous flight environment of vehicle.
Brief description
By reading the detailed description made non-limiting example with reference to the following drawings, other of the present invention are special
Levy, objects and advantages will become more apparent upon:
Fig. 1 is the overall structure isometric drawing of one embodiment of the invention；
Fig. 2 is direct current generator and wing fixture connection diagram in one embodiment of the invention；
Fig. 3 is the isometric drawing of direct current generator in one embodiment of the invention；
Fig. 4 is the isometric drawing of wing fixture in one embodiment of the invention；
Fig. 5 is the isometric drawing of motor fixture in one embodiment of the invention；
Fig. 6 is that in one embodiment of the invention, electric current becomes the isometric drawing reversing material；
Fig. 7 is the rearview of left wing in one embodiment of the invention；
Fig. 8 is the wing position of centre of gravity schematic diagram of one embodiment of the invention；
In figure: the 1st, 2 is direct current generator, the 3rd, 4 is wing, and 5 is direct current generator fixture, and the 6th, 7 is wing fixture,
8th, 9 become torsion material for electric current, and 10 is direct current generator top half, and 11 is wing fixture the latter half, and 12 is wing
Wing fixture top half, the 13rd, 14 is left and right both sides bottom motor fixture, and 15 is round bar, and the 16th, 17 is top
Elongated end, the 18th, 19 become the torsion upper and lower surface of material for electric current, and the 20th, 21 is passive torsion structure, and 22 is brace,
23 is vein, and 24 is parachute, and 25 is wing center of gravity.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following example will assist in those skilled in the art
Member is further appreciated by the present invention, but does not limit the present invention in any form.It should be pointed out that, the common skill to this area
For art personnel, without departing from the inventive concept of the premise, some deformation can also be made and improve.These broadly fall into
Protection scope of the present invention.
As shown in Figure 1, 2, the present embodiment provides a kind of micro-flapping flight of variable resonance frequency electromagnetic drive-type Dual Drive
Device, comprising: two speed reducing ratio are the direct current generator the 1st, 2 of 1:26, two wings the 3rd, 4, a direct current generator fixture
5, two wing fixtures the 6th, 7, two electric currents become and reverse material the 8th, 9；Wherein: two described direct current generators the 1st, 2
Place side by side and connected by described direct current generator fixture 5 fixing；Pass through institute with wing 3 described in described direct current generator 1
Stating wing fixture 6 and connecting fixing, described direct current generator 2 is connected solid with described wing 4 by described wing fixture 7
Fixed；Described electric current becomes the one end reversing material 8 and consolidates with the top elongated end left distal end of direct current generator fixture 5, separately
One end consolidates with the upper surface of wing fixture 6, and described electric current becomes the one end reversing material 9 and direct current generator fixture 5
Top elongated end right end consolidation, the upper surface consolidation of the other end and wing fixture 7.
As it is shown on figure 3, be the DC motor structure schematic diagram of speed reducing ratio 1:26, turning of described direct current generator top half
Axle 10 is a cylindrical structural.This kind of motor can be bought by general micro machine company.
As shown in Figure 4, for the structural representation of described wing fixture, described wing fixture (wing fixture 7 with
Wing fixture 6 structure is identical) include wing fixture the latter half 11 and wing fixture top half 12, wherein:
Described wing fixture the latter half 11 is a cylindrical structural, is provided with one vertically square at the bottom centre of cylindrical structural
To circular trough, the size of circular trough matches with described direct current generator top half 10；Described wing fixture upper half
Part 12 is a triangular structure of right angle, its triangle inclined-plane and horizontal plane angle 45 °.Described aircraft span is less than
14cm。
As it is shown in figure 5, for the structural representation of direct current generator fixture, described direct current generator fixture 5 include bottom,
Top and vertical round bar 15 with top bottom connecting, wherein: bottom motor fixture, the 13rd, left and right both sides 14 are recessed
Shape, the radius of curvature of spill be equal to direct current generator the 1st, 2 fuselage radius, direct current generator the 1st, 2 respectively with motor fixture
Left and right both sides, bottom the 13rd, consolidation at 14；The bottom centre of direct current generator fixture 5 be provided with a vertical round bar 15 for
Connect, prop up support；Top is vertical with vertical round bar 15 plane, and the 16th, the top elongated end of the top left and right sides 17 is
Semicircle, semicircle and direct current generator are the 1st, 2 coaxial, and direct current generator the 1st, 2 surface.
As shown in Figure 6, become the structural representation of torsion material for electric current, described electric current becomes torsion material, and (electric current change is reversed
Material 9 and electric current become that to reverse material 8 structure identical) into a cylindrical structure, its torsional rigidity meets resonant frequency formula:
Wherein: f is resonant frequency, m is the rotary inertia that wing pats phase countershaft, and k is that electric current becomes torsion material
Torsional rigidity.
In the present embodiment, two identical described electric currents become reverse material the 8th, 9 upper surface 18 solid with direct current generator respectively
The top elongated end of locking member 5 the 16th, 17 lower surface consolidation, two described electric currents become reverse material the 8th, 9 lower surface 19
Respectively with wing fixture the 6th, 7 upper surface consolidation.During use, described electric current becomes torsion material and the 8th, 9 can use not
Congener er material, if material properties is relevant with the quantity of electric charge, then needs an external polygon control survey quantity of electric charge；If material
Material attribute is relevant with current strength, then need external two polygon control survey electric currents to become the electromotive force reversing material the 8th, 9 liang of terminals
Difference.
As it is shown in fig. 7, for the structural representation of described wing 3, described wing 3 is by passive torsion structure the 20th, 21, tiltedly
Bar 22, vein 23 and parachute 24 form, wherein: passive torsion structure is the 20th, 21 by two rectangular blocks and two squares
Gap between shape block is formed, and the gap of formation provides, as flexible hinge, the free degree that wing 3 passively reverses, with sky
The lower rotation around x-axis in Fig. 7 being similar to insect that interacts of gas, forms attacking during wing 3 is fluttered
Angle；Brace 22 sticks at passive torsion on rectangular block, and edge aligns with the top of rectangular block；Parachute 24 is pasted onto wing
On arteries and veins 23, parachute 24 is polyester film or polyimide film shapes under laser cutting；The material of vein 23 is permissible
Being metal material, being pasted onto on passive torsion structure 21 as in Fig. 7, vein 23 also can use carbon fibre material,
Thus consistent with the material of passive torsion structure 21, can the structure of being made of one.
Be illustrated in figure 8 the position of wing center of gravity 25, its vertical position before direct current generator the 1st, 2 at 1/3, precision
Within requiring error 1mm.
During System Operation, two direct current generators access certain frequency, the sinusoidal signal of assignment, are connected to electric current by adjusting
Become the electromotive force reversing material the 8th, 9 upper conductors, adjust electric current and become the torsional rigidity reversing material 8,9, make the resonance frequency of system
Rate is identical with the frequency of input direct-current motor sinusoidal signal, and now system can resonate, and wing is patted frequency and be can reach
Big value.
Based on above method, left and right two direct current generator can input different signals, if two motor incoming frequencies are identical, and assignment
Different sinusoidal signals, then can make two wings produce different lift, thus fly to the little direction of lift.Also can be defeated
Enter two identical signals, signal dormitory class sinusoidal signal, when wing seesaws, the cycle with rearward movement forward
Difference, thus foe and aft force can be produced, make aircraft fly forward or backward.Also above-mentioned two methods can be combined,
Produce more complicated motion.
Aircraft controllability of the present invention is high, makes aircraft pat acquisition maximum beating angle of can resonating with different frequency and becomes
For possibility, two direct current generators independently control a wing simultaneously, make flight attitude variation, adapt to difference
Environment.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in
Stating particular implementation, those skilled in the art can make various deformation or modification within the scope of the claims,
This has no effect on the flesh and blood of the present invention.
Claims (9)
1. a variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing, it is characterised in that include: two
Direct current generator, two set electric currents become reverse materials, two comprise the wing of passive torsion hinge, a direct current generator fixture
With two wing fixtures, wherein: two direct current generators are placed side by side and passed through direct current generator fixture and connect fixing；Two
Individual direct current generator, two wings are connected fixing respectively by a wing fixture；Two electric currents become the one end reversing material
Consolidate with two wing fixtures respectively with direct current generator fixture consolidation, the other end respectively；
Described aircraft uses direct current generator as driver, and direct current generator directly drives wing to pat, wing and direct current
Between machine, parallel-current becomes and reverses material, thus square being inversely proportional to system equivalent stiffness of the resonant frequency of system；At this
In system, the rigidity that equivalent stiffness becomes torsion material with electric current is relevant, becomes, by adjusting electric current, the electric charge that torsion material contains
Amount or electromotive force, electric current becomes torsion material will show different torsional rigidities, thus play the effect changing resonant frequency；
The frequency changing direct current generator reciprocating rotation is identical with resonant frequency, can pat angle with maximum and pat wing under this frequency
Wing；Two wings are independently controlled by two direct current generators, by the difference of the signal of telecommunication of input direct-current motor, and can
Complete two different beating actions of wing.
2. a kind of variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing according to claim 1, its
Being characterised by, described direct current generator fixture includes base, top and for connecting the vertical round bar of base and top, the end
The arranged on left and right sides face of seat is spill, and two direct current generators consolidate with at the arranged on left and right sides spill of base respectively；Vertically circle
One end of bar is fixed on that the center of base upper surface, the other end are vertical with the center at top to be connected；Top left and right all
Being provided with elongated end, the end of this elongated end is semicircle, and semicircle is coaxial with direct current generator and in the surface of direct current generator.
3. a kind of variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing according to claim 2, its
It is characterised by, the radius of the base arranged on left and right sides spill of described direct current generator fixture and the fuselage of described direct current generator
Radius is identical, the elongated end end at the top of described direct current generator fixture be positioned at directly over described direct current generator with described
Direct current generator is coaxial.
4. a kind of variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing according to claim 2, its
Being characterised by, described wing fixture is made up of top half and the latter half, and the latter half is a cylinder, at cylinder
The lower surface of shape is provided with a circular groove along the center of circle, and this circular groove matches with the rotating shaft of direct current generator；Top half is
One triangular structure, its upper surface with the latter half has the oblique angle of one 45 °, this face, 45 ° of oblique angles for and wing consolidation.
5. a kind of variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing according to claim 4, its
Being characterised by, described electric current becomes torsion material and reverses material, cylindrical upper surface and direct current generator fixture into cylinder
The lower surface consolidation of top elongated end, the upper surface consolidation of the latter half of cylindrical lower surface and wing fixture.
6. a kind of variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing according to claim 1, its
Being characterised by, the described wing comprising passive torsion hinge includes by passive torsion structure, described passive torsion structure by
Gap between two rectangular blocks and two rectangular blocks is constituted, and the gap between two rectangular blocks provides as flexible hinge
The free degree that wing passively reverses, is similar to the rotation around x-axis of insect, shape under the interaction with air
The angle of attack during becoming wing to flutter.
7. a kind of variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing according to claim 6, its
Being characterised by, the described wing comprising passive torsion hinge also includes brace, vein and parachute, wherein: parachute is pasted onto
On vein, the fixing passive torsion of brace is on the rectangular block above hinge, and its position does not interfere wing to revolve around x-axis
Turning 45 °, vein shape imitates insect vein.
8. a kind of variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing according to claim 7, its
Being characterised by, described vein is carbon fiber or metal material, and described parachute is polyester film or polyimide film.
9. the micro-flapping wing of a kind of variable resonance frequency electromagnetic drive-type Dual Drive according to any one of claim 1-7 flies
Row device, it is characterised in that the described wing center of gravity vertical position comprising passive torsion hinge is before described direct current generator 1/3
Place, required precision error is within 1mm.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410513964.6A CN104260887B (en) | 2014-09-29 | 2014-09-29 | Variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing |
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| CN201410513964.6A CN104260887B (en) | 2014-09-29 | 2014-09-29 | Variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing |
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| CN104260887B true CN104260887B (en) | 2016-11-23 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104760697B (en) * | 2015-04-07 | 2017-05-10 | 广西壮族自治区科学技术馆 | Electromagnetic driven micro ornithopter |
| WO2016177336A1 (en) * | 2015-05-06 | 2016-11-10 | 李维农 | Flapping wing machine and solution for improving efficiency of flapping wing aircraft |
| CN104828246A (en) * | 2015-05-06 | 2015-08-12 | 李维农 | Scheme for improving efficiency of flapping-wing aircraft |
| RU2615605C1 (en) * | 2015-11-02 | 2017-04-05 | Российская Федерация, от имени которой выступает Министерство промышленности и торговли Российской Федерации (Минпромторг России) | Aircraft with adaptive all-moving stabilizer |
| CN106043692B (en) * | 2016-06-08 | 2018-04-03 | 中国民航大学 | A kind of multiple degrees of freedom imitates bird flapping wing aircraft |
| CN109080829A (en) * | 2018-10-15 | 2018-12-25 | 南京航空航天大学 | A kind of micro flapping wing air vehicle based on flexible hinge |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6206324B1 (en) * | 1999-08-30 | 2001-03-27 | Michael J. C. Smith | Wing-drive mechanism, vehicle employing same, and method for controlling the wing-drive mechanism and vehicle employing same |
| JP4142034B2 (en) * | 2004-06-24 | 2008-08-27 | シャープ株式会社 | Mobile device |
| EP2675708A4 (en) * | 2011-02-17 | 2014-09-10 | Georgia Tech Res Inst | Hovering and gliding multi-wing flapping micro aerial vehicle |
| CN102328744B (en) * | 2011-08-05 | 2014-04-30 | 上海交通大学 | Electromagnetically-driven flapping wing type micro aircraft based on flexible hinges |
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Inventor after: Zhang Weiping Inventor after: Chen Wenyuan Inventor after: Ye Yinan Inventor after: Li Yifan Inventor after: Lou Xingliang Inventor after: Zou Yang Inventor after: Ke Xijun Inventor after: Zhang Zheng Inventor after: Chai Shuangshuang Inventor after: Wu Fan Inventor after: Hu Nan Inventor after: Zhang Wei Inventor before: Zhang Weiping Inventor before: Chen Wenyuan Inventor before: Ye Yinan Inventor before: Li Yifan Inventor before: Lou Xingliang Inventor before: Zou Yang Inventor before: Ke Xijun Inventor before: Zhang Zheng Inventor before: Chai Shuangshuang Inventor before: Wu Fan Inventor before: Hu Nan Inventor before: Zhang Wei |
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