CN201415756Y - Flapping-wing type fly-imitating robot - Google Patents
Flapping-wing type fly-imitating robot Download PDFInfo
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- CN201415756Y CN201415756Y CN2009200150287U CN200920015028U CN201415756Y CN 201415756 Y CN201415756 Y CN 201415756Y CN 2009200150287 U CN2009200150287 U CN 2009200150287U CN 200920015028 U CN200920015028 U CN 200920015028U CN 201415756 Y CN201415756 Y CN 201415756Y
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- 238000005859 coupling reaction Methods 0.000 claims description 42
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Abstract
A flapping-wing type fly-imitating robot belongs to the technical field of micro-robots. The IPMC power steering system comprises an electromagnetic driver, two IPMC steering drivers, a first flexible transmission mechanism, a first support and two first wings, wherein a main body end of the electromagnetic driver is fixed on the first support, an output end of the electromagnetic driver is connected with the first flexible transmission mechanism arranged on the first support, the two connecting plates of the first flexible transmission mechanism are respectively provided with the steering drivers, the first flexible transmission mechanism and the steering drivers are respectively connected with the first wings, and the electromagnetic driver and the steering drivers are respectively connected with a power supply. The utility model discloses a hybrid drive's mode realizes the vibration of two wings and the adjustment of corner separately respectively for the aircraft has the steering function, realizes the flapping wing micro robot of the high mobility that has three degrees of freedom flight functions. The driving voltage is low, the control is simple, and large output displacement is easy to realize.
Description
Technical field
The utility model belongs to the microrobot technical field, particularly relates to the imitative fly robot of a kind of flapping wings type.
Background technology
Miniature flying robot (MAV) has characteristics such as volume is little, in light weight, cost is low, flight is flexible, and is huge in national defence and civil area application potential.Bionics and aerodynamic current research show, when the span during less than 15cm, flapping flight has more advantage than fixed-wing and rotor flight.Flapping wing MAV has bionical flying method, can littleization degree height, good concealment, the flight maneuver height, its sized flap wings system collection lifting, hover and propulsion functions in one, can carry out the flight of longer distance with littler energy, be highly suitable under the additional and remote relatively condition of long-time energy free and execute the task, be considered to the most promising minute vehicle, but along with dwindling of MAV size, conventional type of drive and transmission device no longer are suitable for the miniature flying robot of existing employing Piezoelectric Ceramic and have obtained initial success, but there is the driving voltage height in it, shortcomings such as the displacement that produces is little have restricted its further application on miniature flying robot.
The utility model content
At the technical matters of above-mentioned existence, the utility model provides a kind of flapping wings type to imitate the fly robot.It is to adopt IPMC directional drive, electromagnetic driver combination drive and compliant mechanism transmission, has realized the flight of robot and has turned to function.
The technical solution of the utility model is as follows:
The utility model adopts two kinds of schemes: a kind of is that shared one group of electromagnetic driver of two wings and flexible transmission device comprise electromagnetic driver, two IPMC directional drives, the first flexible transmission device, first support and two first wings, the bulk end of electromagnetic driver is fixed on first support, mouth is connected with the first flexible transmission device on being installed in first support, be separately installed with directional drive on two connecting panels of the first flexible transmission device, the first flexible transmission device and directional drive are connected with first wing respectively, and electromagnetic driver is connected with power supply respectively with directional drive.
Described IPMC directional drive one end has first open slot, and the other end is the column type structure.
The described first flexible transmission device comprises the symmetrical bonded assembly side plate of base plate and base plate two ends, connecting panel, back plate, described side plate is made of the connection joint that has two first flexible hinges, its with base plate and connecting panel between for captiveing joint, below connecting panel, be fixed with back plate with one second flexible hinge, have second open slot on the connecting panel, the width of second open slot is connected with first, second contiguous block that is used to connect wing greater than the width of directional drive respectively at the second open slot open end by the 3rd flexible hinge.Described first support comprises framework and is installed in angle staff on the framework, on the end face that is parallel to framework and relative framework on the angle staff, have the groove that matches with the electromagnetic driver main body, symmetry has slotted eye on the framework parallel with angle staff two frames, and this slotted eye size matches with the first flexible transmission device back plate.Described first wing is to be provided with the 3rd, the 4th contiguous block that is connected with first, second contiguous block of the first flexible transmission device at the wing coupling end, connect by turning cylinder between described the 3rd, the 4th contiguous block, this turning cylinder matches with directional drive first open slot.
Another kind is that each wing all has one group of electromagnetic driver and flexible transmission device, comprise second support and be symmetricly set on electromagnetic driver, IPMC directional drive, the second flexible transmission device and second wing of support both sides, electromagnetic driver links to each other with second flexible transmission device one side, be set up in parallel on second support, connect the electromagnetic driver and second wing respectively at the second flexible transmission device opposite side.
The described second flexible transmission device comprises pillar, snap ring and the coupling end that links to each other with each several part, its pillar is " L " type structure, be provided with the snap ring that matches with electromagnetic driver at its short column end, with first coupling end of the perpendicular short column side of short column end for matching with support, on the long column of pillar, be provided with the 4th coupling end that matches with rotary driver first open slot, be connected with the 3rd coupling end that matches with wing at its long column end, on the 3rd coupling end, be connected with second coupling end of captiveing joint, at the pillar short column and first coupling end with the electromagnetic driver mouth by joint pin, long column and the 3rd coupling end and joint pin and second, be flexible hinge between the 3rd coupling end.Described second support is " worker " font structure, and its notch matches with the post ends of directional drive and first coupling end of the second flexible transmission device.The wing coupling end of described second wing is a contiguous block.
The beneficial effects of the utility model are:
1, the utility model adopts the mode of electromagnetic driver and artificial-muscle (IPMC directional drive) combination drive, realize the vibration of two wings and the adjustment of each angle of rotation respectively, drive the flight of two wing high-frequency vibrationes with electromagnetic driver, drive the rotation of wing with IPMC, make aircraft have the function of turning to, having solved the single intellectual material of present application drives, voltage and oscillation frequency can not satisfy imitative fly robot simultaneously and drive a difficult problem that requires, and realization has the flapping wing microrobot of the high maneuverability of three degree of freedom flight function.
2, the utility model has adopted linear electromagnetic actuator and IPMC directional drive, makes aircraft both have the insect size, can realize imitative fly flight again and turns to, and driving voltage is low, and control is simple.And electromagnetic drive mode is compared with respect to piezoceramic, driving voltage low (can reach 1V), and realize bigger output displacement easily.
3, the utility model adopts two kinds of schemes: a kind of is shared one group of electromagnetic driver of two wings and flexible transmission device; A kind of is that each wing all has one group of electromagnetic driver and flexible transmission device.Two kinds of schemes all can realize flying robot's flight and turn to function.
Description of drawings
Fig. 1 is the integral structure scheme drawing of the utility model embodiment 1.
Fig. 2 is Fig. 1 working state schematic representation, (a) scheme drawing when agitating for wing wherein, the scheme drawing when (b) rotating for wing.
Fig. 3 is the utility model electromagnetic driver perspective view.
Fig. 4 is the cross-sectional schematic of Fig. 3.
Fig. 5 is the utility model IPMC directional drive perspective view.
Schematic cross-section when Fig. 6 is Fig. 5 bending.
Fig. 7 is a flexible transmission device schematic perspective view among Fig. 1.
Fig. 8 is Fig. 1 medium-height trestle perspective view.
Fig. 9 is the planar structure scheme drawing of Fig. 8.
Figure 10 is a wing perspective view among Fig. 1.
Figure 11 is the integral structure scheme drawing of the utility model embodiment 2.
Figure 12 is Figure 11 working state schematic representation, (c) scheme drawing when agitating for wing wherein, the scheme drawing when (d) rotating for wing.
Figure 13 is the support perspective view among Figure 11.
Figure 14 is the flexible transmission device schematic perspective view among Figure 11.
Figure 15 is the wing perspective view among Figure 11.
The specific embodiment
Describe the utility model in detail below in conjunction with embodiment and accompanying drawing.
Embodiment 1: as shown in Figure 1, the utility model comprises electromagnetic driver 3, two directional drive 2, the first flexible transmission devices 5, first support 4 and two first wings 1, the bulk end of electromagnetic driver 3 is fixed on first support 4, mouth 13 is connected with the first flexible transmission device 5 on being installed in first support 4, be separately installed with directional drive 2 on two connecting panels 38 of the first flexible transmission device 5, the first flexible transmission device 5 and directional drive 2 are connected with first wing 1 respectively, and electromagnetic driver 3 is connected with power supply respectively with directional drive 2.
As shown in Figure 3, Figure 4, in the utility model electromagnetic driver to adopt number of patent application be a kind of micro electromagnetic actuator of 200910012266.7.For directly exporting the linear electromagnetic actuator of straight-line displacement.Its structure comprises bulk end magnetizer 12, mouth support 13, coil 35 and two magnet rings 34, described magnetizer 12 has the cylindrical shell in hole for both ends of the surface, two magnet rings, 34 homopolarities are opposite to two ends in the magnetizer 12 mutually, form air gap 36 as the work area 34 of two magnet rings, described mouth support 34 is wheel hub to be installed constitute on hollow cylinder, hub end places between two magnet rings 34, is wound with coil 35 on the periphery of wheel hub, and coil 35 is connected with external power supply.During installation, its open circles styletable stretches out outside the magnetizer 12, is formed for connecting the mouth of load.
As Fig. 5, shown in Figure 6, turn to actuator 2 one ends to have first open slot 11 in the utility model, the other end is column type 9 structures.Its material is ion-exchange polymer metal composite (IPMC)--a duolite metallic composite.
As shown in Figure 7, this example described first flexible transmission device 5 comprises base plate 21 and base plate 21 two ends symmetry bonded assembly side plate 37, connecting panel 38, back plate 20, described side plate 37 is made of the connection joint that has two first flexible hinges 19, its with 38 of base plate 21 and connecting panels for captiveing joint, below connecting panel 38, be fixed with back plate 21 with second flexible hinge 10, have second open slot 18 on the connecting panel 38, the width of second open slot 18 is connected with first contiguous block 16 that is used to connect wing greater than the width W of directional drive 2 respectively at second open slot, 18 open ends by the 3rd flexible hinge 17, second contiguous block 16 '.
As Fig. 8, shown in Figure 9, described first support 4 of this example comprises framework 39 and is installed in angle staff 40 on the framework 39, on the end face that is parallel to framework 39 and relative framework 39 on the angle staff 40, have the groove 15 that matches with the electromagnetic driver main body, symmetry has slotted eye 14 on 39 liang of frames 41 of the framework parallel with angle staff, and these slotted eye 14 sizes match with the first flexible transmission device back plate 20.
As shown in figure 10, described first wing 1 of this example is to be provided with and first contiguous block 16 of the first flexible transmission device 5, the 3rd contiguous block 6, the 4th contiguous block 6 ' that second contiguous block 16 ' is connected at wing 8 coupling ends, connect by turning cylinder 7 between described the 3rd, the 4th contiguous block, this turning cylinder 7 matches with directional drive 2 first open slots 11, and promptly the external diameter of turning cylinder 7 equates with the height H of directional drive 2 first open slots 11.
This example specifically is connected to: it is interior also fixing that the back plate 20 of the first flexible transmission device, 5 both sides is installed in the slotted eye 14 of first support 4, the bulk end 12 of electromagnetic driver 3 is fixed in the groove 15 of angle staff 40 in first support 4, mouth 13 is connected with the base plate 21 of the first flexible transmission device 5, directional drive 2 is bonded near the styletable of first open slots 11 on the closed end of connecting panel 38 second open slots 18 of the first flexible transmission device 5, make directional drive 2 when rotating, column type 9 ends can place in second open slot 18 of first flexible transmission device 5 connecting panels 8, the turning cylinder 7 that wing 1 is installed in first open slot 11 of directional drive 2 connects, and turning cylinder 7 can axially be rotated freely along it.The 3rd contiguous block 6 on the wing 1, the 4th contiguous block 6 ' are connected with first contiguous block 16, second contiguous block 16 ' of the first flexible transmission device 5 respectively.
The working process that this is routine:
When the electric current input is arranged in the electromagnetic driver 3, to produce electromagnetic force in the electromagnetic driver 3, drive mouth 13 elongations or shortening, the base plate 21 that drives the first flexible transmission device 5 pumps, the connecting panel 38 of the first flexible transmission device 5 is back and forth rotated around second flexible hinge 10 of back plate 20, drive first wing 1 by first, second contiguous block 16 on the directional drive 2 and the first flexible transmission device 5 and 16 ' and agitate up and down, shown in Fig. 2 (a).Size and frequency by control electromagnetic driver 3 driving voltages are controlled its vibration amplitude and frequency, and then the vibration of control flying robot first wing 1.Realize the flight of robot.
When the IPMC directional drive has been executed voltage, will under electric field action, produce deflection, shown in Fig. 3 (b), when adding rightabout voltage, the deflecting direction of IPMC is opposite.Drive first wing 1 and swing up and down around the 3rd flexible hinge 17, realize the function that turns to of robot with first wing, 1 bonded assembly contiguous block.Shown in Fig. 2 (b), two wings wherein show the situation when upwards rotating and rotating respectively.
Embodiment 2: this routine integral structure as shown in figure 11, comprise second support 22 and be symmetricly set on electromagnetic driver 3, IPMC directional drive 2, the second flexible transmission device 25 and second wing 26 of second support, 22 both sides, electromagnetic driver 3 links to each other with second flexible transmission device 25 1 sides, be set up in parallel on second support 22, connect the electromagnetic driver 3 and second wing 26 respectively at second flexible transmission device 25 opposite sides.
Described second support 22 is " worker " font structure, and its notch 44 matches with the post ends 9 of directional drive 2 and first coupling end 27 of the second flexible transmission device 25.The wing coupling end of this example second wing 26 is one the 5th contiguous block 33.
The electromagnetic driver that this example is installed by two groups of symmetries, directional drive and flexible transmission device drive the flight of two wings respectively and turn to, its flight and steering principle are identical with embodiment 1: when the electric current input is arranged in the electromagnetic driver 3, to produce electromagnetic force in the electromagnetic driver 3, drive mouth 13 elongations or shortening, the 3rd coupling end 32 that drives the second flexible transmission device 25 pumps, the 3rd coupling end 32 drive joint pins 24 and second coupling end 31 of the second flexible transmission device 25 are up and down reciprocatingly rotated around the 6th flexible hinge 43, agitate up and down thereby drive second wing 26.Realize the flight of robot, establish the 5th curved flexible hinge 42 respectively at joint pin 24 two ends, shown in Figure 14 and Figure 12 (c).
With deflection, as shown in Figure 6, when adding rightabout voltage, the deflecting direction of IPMC rotary driver is opposite when IPMC directional drive 2 applies voltage.IPMC directional drive 2 drives the second flexible transmission device 25 around its 4th flexural deformation joint 30 swings, and second wing 26 is rotated, and realizes the function that turns to of robot.Shown in Figure 12 (d), two wings wherein show the situation when upwards rotating and rotating respectively.
Claims (9)
1, the imitative fly robot of a kind of flapping wings type, it is characterized in that: comprise electromagnetic driver, two IPMC directional drives, the first flexible transmission device, first support and two first wings, the bulk end of electromagnetic driver is fixed on first support, mouth is connected with the first flexible transmission device on being installed in first support, be separately installed with directional drive on two connecting panels of the first flexible transmission device, the first flexible transmission device and directional drive are connected with first wing respectively, and electromagnetic driver is connected with power supply respectively with directional drive.
2, the imitative fly robot of flapping wings type according to claim 1, it is characterized in that: described IPMC directional drive one end has first open slot, and the other end is the column type structure.
3, flapping wings type according to claim 1 is imitated the fly robot, it is characterized in that: the described first flexible transmission device comprises base plate and base plate two ends symmetry bonded assembly side plate, connecting panel, back plate, described side plate is made of the connection joint that has two first flexible hinges, its with base plate and connecting panel between for captiveing joint, below connecting panel, be fixed with back plate with one second flexible hinge, have second open slot on the connecting panel, the width of second open slot is greater than the width of directional drive, is connected with respectively by the 3rd flexible hinge at the second open slot open end to be used to connect first of wing, second contiguous block.
4, the imitative fly robot of flapping wings type according to claim 1, it is characterized in that: described first support comprises framework and is installed in angle staff on the framework, on the end face that is parallel to framework and relative framework on the angle staff, have the groove that matches with the electromagnetic driver main body, symmetry has slotted eye on the framework parallel with angle staff two frames, and this slotted eye size matches with the first flexible transmission device back plate.
5, the imitative fly robot of flapping wings type according to claim 1, it is characterized in that: described first wing is to be provided with the 3rd, the 4th contiguous block that is connected with first, second contiguous block of the first flexible transmission device at the wing coupling end, connect by turning cylinder between described the 3rd, the 4th contiguous block, this turning cylinder matches with directional drive first open slot.
6, the imitative fly robot of a kind of flapping wings type, it is characterized in that: comprise second support and be symmetricly set on electromagnetic driver, IPMC directional drive, the second flexible transmission device and second wing of support both sides, electromagnetic driver links to each other with second flexible transmission device one side, be set up in parallel on second support, connect the electromagnetic driver and second wing respectively at the second flexible transmission device opposite side.
7, flapping wings type according to claim 6 is imitated the fly robot, it is characterized in that: the described second flexible transmission device comprises pillar, snap ring and the coupling end that links to each other with each several part, its pillar is " L " type structure, be provided with the snap ring that matches with electromagnetic driver at its short column end, with first coupling end of the perpendicular short column side of short column end for matching with support, on the long column of pillar, be provided with the 4th coupling end that matches with rotary driver first open slot, be connected with the 3rd coupling end that matches with wing at its long column end, on the 3rd coupling end, be connected with second coupling end of captiveing joint, at the pillar short column and first coupling end with the electromagnetic driver mouth by joint pin, long column and the 3rd coupling end and joint pin and second, be flexible hinge between the 3rd coupling end.
8, the imitative fly robot of flapping wings type according to claim 6, it is characterized in that: described second support is " worker " font structure, its notch matches with the post ends of directional drive and first coupling end of the second flexible transmission device.
9, the imitative fly robot of flapping wings type according to claim 6, it is characterized in that: the wing coupling end of described second wing is a contiguous block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200150287U CN201415756Y (en) | 2009-07-02 | 2009-07-02 | Flapping-wing type fly-imitating robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200150287U CN201415756Y (en) | 2009-07-02 | 2009-07-02 | Flapping-wing type fly-imitating robot |
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| CN201415756Y true CN201415756Y (en) | 2010-03-03 |
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| CN2009200150287U Expired - Fee Related CN201415756Y (en) | 2009-07-02 | 2009-07-02 | Flapping-wing type fly-imitating robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103274049A (en) * | 2013-05-08 | 2013-09-04 | 上海交通大学 | Electromagnetic drive insect-like flapping-wing micro air vehicle |
| CN103708032A (en) * | 2013-12-23 | 2014-04-09 | 上海交通大学 | Double electromagnet driving micro flapping wing aircraft |
| CN104129501A (en) * | 2014-08-05 | 2014-11-05 | 王志成 | Micro-ornithopter |
| CN104842341A (en) * | 2015-05-25 | 2015-08-19 | 哈尔滨工业大学 | Robot with resonant flapping wings |
| CN105797387A (en) * | 2016-04-11 | 2016-07-27 | 曹晓旭 | Shooting balloon |
| 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 |
| RU170947U1 (en) * | 2016-11-21 | 2017-05-16 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Юго-Западный государственный университет" (ЮЗГУ) | Ornithopter |
| WO2018195724A3 (en) * | 2017-04-24 | 2018-12-06 | 胡建坤 | Aircraft |
| CN110562454A (en) * | 2019-08-29 | 2019-12-13 | 南京理工大学 | Bionic flapping wing aircraft |
| CN113247247A (en) * | 2021-06-30 | 2021-08-13 | 浙江工业大学 | Control structure of imitative bird feather muscle |
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2009
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103274049A (en) * | 2013-05-08 | 2013-09-04 | 上海交通大学 | Electromagnetic drive insect-like flapping-wing micro air vehicle |
| CN103274049B (en) * | 2013-05-08 | 2016-04-13 | 上海交通大学 | Electromagnetic drive type imitates insect flapping-wing MAV |
| CN103708032A (en) * | 2013-12-23 | 2014-04-09 | 上海交通大学 | Double electromagnet driving micro flapping wing aircraft |
| CN103708032B (en) * | 2013-12-23 | 2016-03-02 | 上海交通大学 | Two electromagnetic drive type micro air vehicle with flapping-wing |
| CN104129501B (en) * | 2014-08-05 | 2016-06-29 | 佛山市神风航空科技有限公司 | A kind of miniature ornithopter |
| CN104129501A (en) * | 2014-08-05 | 2014-11-05 | 王志成 | Micro-ornithopter |
| CN104842341B (en) * | 2015-05-25 | 2016-08-31 | 哈尔滨工业大学 | A kind of resonant wing robot of flapping |
| CN104842341A (en) * | 2015-05-25 | 2015-08-19 | 哈尔滨工业大学 | Robot with resonant flapping wings |
| CN105797387A (en) * | 2016-04-11 | 2016-07-27 | 曹晓旭 | Shooting balloon |
| CN105797387B (en) * | 2016-04-11 | 2018-05-15 | 曹晓旭 | One kind shooting balloon |
| 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 |
| RU170947U1 (en) * | 2016-11-21 | 2017-05-16 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Юго-Западный государственный университет" (ЮЗГУ) | Ornithopter |
| WO2018195724A3 (en) * | 2017-04-24 | 2018-12-06 | 胡建坤 | Aircraft |
| CN110562454A (en) * | 2019-08-29 | 2019-12-13 | 南京理工大学 | Bionic flapping wing aircraft |
| CN110562454B (en) * | 2019-08-29 | 2021-05-04 | 南京理工大学 | Bionic flapping wing aircraft |
| CN113247247A (en) * | 2021-06-30 | 2021-08-13 | 浙江工业大学 | Control structure of imitative bird feather muscle |
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|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100303 Termination date: 20140702 |
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| EXPY | Termination of patent right or utility model |