A high-frequency isothermal actuator and flapping wing device based on magnetic shape memory alloy

Abstract

This application discloses a high-frequency isothermal actuator and flapping wing device based on magnetic shape memory alloy, including a drive box, a fixed hinge, a movable hinge, and a bionic wing. In this application, two pairs of electromagnets are installed in four directions on the magnetic shape memory alloy rod. Compared to using springs in a magnetic shape memory alloy actuator, this achieves rapid extension and retraction of the magnetic shape memory alloy rod, resulting in higher drive precision and speed. The design is simple, avoiding the impact of excessive heat generation on the drive effect in traditional actuators or flapping wing devices, and also avoiding the complex structural design of traditional flapping wing aircraft.

Description

Technical Field

[0001] This application relates to actuator control and flapping wing control technology, specifically to a high-frequency isothermal actuator and flapping wing device based on magnetic shape memory alloy. Background Technology

[0002] Ornithopter aircraft have a wide range of applications in the modern environment, with great potential for environmental surveying and topographic exploration. For aircraft to perform long-term missions, they must meet good heat dissipation requirements. However, traditional bionic robots mainly rely on electricity for control, which generates a lot of heat after long-term operation, affecting the continued operation of the bionic robot. For the long-term operation requirements of modern ornithopter aircraft, the above-mentioned reliance on electricity control can no longer meet the practical application needs.

[0003] Magnetic shape memory alloys (MSMA) have developed rapidly in recent years. They are smart materials with a fast change rate and strain energy of up to 10% in a magnetic field. The shape memory effect of MSMA is reversible and can deform in a magnetic environment, which provides conditions for the application of MSMA in flapping wing devices.

[0004] Based on modern requirements, flapping-wing aircraft are widely used in production and daily life. For example, CN 116176834A proposes a dragonfly-like flapping-wing flying robot. This invention is based on an electric motor system to provide flight energy, but the aircraft structure design is complex, and after working for a long time, it will generate a lot of heat, affecting its continued operation. Another example is CN 219008103U, which proposes to use shape memory alloys to change the shape of the wings to improve flight efficiency. However, none of the above inventions involve directly using magnetic shape memory alloys as actuators in flapping-wing devices. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides a magnetic shape memory alloy high-frequency thermostatic actuator and flapping wing device with a simple structure that can simultaneously adjust the driving amplitude and operating temperature.

[0006] In a first aspect, this application provides a high-frequency thermostatic actuator based on a magnetic shape memory alloy, including a drive box, wherein the drive box is provided with a thermostatic gas supply shell, two type I electromagnets and two type II electromagnets.

[0007] The constant temperature gas delivery shell is equipped with a magnetic shape memory alloy rod, two Type I electromagnets are located on the left and right sides of the magnetic shape memory alloy rod, and two Type II electromagnets are located at the top and bottom ends of the magnetic shape memory alloy rod.

[0008] The output end of the magnetic shape memory alloy rod is fixedly connected to a driving end, which is movably connected to the driving box, and the driving end can move up and down on the driving box under the drive of the magnetic shape memory alloy rod.

[0009] In conjunction with the first aspect, in one possible implementation, the constant temperature gas delivery housing is provided with an air inlet and an air outlet, which are located at the bottom of the drive box.

[0010] In conjunction with the first aspect, in one possible implementation, a support shell is provided at the bottom of the constant temperature gas delivery shell, and the bottom of the magnetic shape memory alloy rod is placed at the top of the support shell.

[0011] In conjunction with the first aspect, in one possible implementation, two of the Type II electromagnets are fixed to the inner wall of the drive housing, with one of the Type II electromagnets located inside the drive end and the other Type II electromagnet located inside the support shell.

[0012] In conjunction with the first aspect, in one possible implementation, the driving end includes an O-shaped rod and a push rod, the push rod being fixedly connected to the top end of the O-shaped rod; the top end of the O-shaped rod extends out of the driving housing, the bottom end of the O-shaped rod extends into the constant temperature gas supply shell and is fixedly connected to the top end of the magnetic shape memory alloy, and the O-shaped rod is slidably connected to the driving housing.

[0013] Secondly, this application provides a flapping wing device that is movably connected to a high-frequency thermostatic actuator based on a magnetic shape memory alloy.

[0014] In conjunction with the second aspect, one possible implementation includes a fixed hinge, a movable hinge, and a bionic wing; the movable hinge is movably connected to the output end of the drive end; and the movable hinge is rotatably connected to the fixed hinge, and the bionic wing is rotatably connected to the connection end of the movable hinge and the fixed hinge; the movable hinge, driven by the drive end, drives the bionic wing at the end of the fixed hinge to flap.

[0015] In conjunction with the second aspect, in one possible implementation, the movable hinge includes a pin and a hinge; the pin is movably connected to the hinge and is fixedly connected to the output end of the push rod;

[0016] The fixed hinge includes a shaft and a fixed block, and the shaft is fixedly connected to the fixed block;

[0017] The hinge is rotatably connected to the shaft;

[0018] The bionic wing is movably connected to the connecting end of the hinge and the shaft; the movable hinge, driven by the push rod, can drive the bionic wing at the end of the fixed hinge to flap.

[0019] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0020] This invention relates to a high-frequency isothermal actuator and flapping wing device based on magnetic shape memory alloy. The magnetic shape memory alloy is directly used as an actuator in the flapping wing device. The design is simple and avoids the problem of generating a lot of heat in traditional actuators or flapping wing devices, which affects the driving effect. It also avoids the complex structural design of traditional flapping wing aircraft.

[0021] This invention relates to a high-frequency thermostatic actuator and flapping wing device based on a magnetic shape memory alloy. Two pairs of electromagnets are installed in four directions of the magnetic shape memory alloy rod, and through cooperation with the thermostatic gas supply shell, the magnetic shape memory alloy rod can be rapidly extended and retracted compared to the magnetic shape memory alloy actuator using springs, achieving higher driving accuracy and speed. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments of the present invention or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0024] Figure 2 This is a cross-sectional view of the driver of the present invention;

[0025] Figure 3 This is a schematic diagram of the Type I electromagnet of the present invention;

[0026] Figure 4 This is a schematic diagram of the Type II electromagnet of the present invention.

[0027] Reference numerals in the attached drawings: drive box 1, constant temperature air supply shell 1-7, type I electromagnet 1-5, type II electromagnet (1-3, 1-4), magnetic shape memory alloy rod 1-6, drive end b, air inlet 1-8, air outlet 1-9, O-ring 1-2, push rod 1-1, fixed hinge 2, movable hinge 3, bionic wing 4, pin 3-1, hinge 3-2, shaft 2-1, fixing block 2-2, support shell 5. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] In the description of the embodiments of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the embodiments of the present invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention according to the specific circumstances.

[0030] The following are specific embodiments of this application.

[0031] For details, please refer to the following: Figure 2 , Figure 3 , Figure 4 As shown, this application relates to a high-frequency thermostatic actuator based on magnetic shape memory alloy, comprising a drive housing 1, a thermostatic gas supply shell 1-7, two type I electromagnets 1-5 and two type II electromagnets (1-3, 1-4) inside the drive housing 1-7; a magnetic shape memory alloy rod 1-6 is assembled in the thermostatic gas supply shell 1-7, the two type I electromagnets 1-5 are located on the left and right sides of the magnetic shape memory alloy rod 1-6, and the two type II electromagnets (1-3, 1-4) are located at the upper and lower ends of the magnetic shape memory alloy rod 1-6; a drive end b is fixedly connected to the output end of the magnetic shape memory alloy rod 1-6, the drive end b is movably connected to the drive housing 1, and the drive end b can move up and down on the drive housing 1 under the drive of the magnetic shape memory alloy rod 1-6.

[0032] In the above, the two Type I electromagnets 1-5 are made of the same material, both consisting of the same iron core wound with the same number of turns of copper wire, and then an alternating current is applied to ensure that the electromagnet can generate a cyclically changing magnetic field.

[0033] In the above, the two Type II electromagnets (1-3, 1-4) are made of the same material, both consisting of the same iron core wound with the same number of turns of copper wire, and then an alternating current is applied to ensure that the electromagnet can generate a cyclically changing magnetic field.

[0034] In the above description, when alternating current is applied to the Type I electromagnets 1-5 on both sides of the magnetic shape memory alloy rod 1-6, a cyclically changing magnetic field is generated. At this time, the magnetic shape memory alloy rod 1-6 undergoes martensitic reorientation and elongates. Simultaneously, when alternating current is applied to the Type II electromagnets (1-3, 1-4) at the top and bottom ends of the magnetic shape memory alloy rod 1-6, under the same conditions, the magnetic shape memory alloy rod 1-6 will contract. Therefore, under the combined action of the two pairs of electromagnets, the magnetic shape memory alloy rod 1-6 will... The magnetic shape memory alloy rod 1-6 undergoes high-frequency expansion and contraction, generating a large amount of heat. As the temperature rises, the magnetic shape memory alloy material transforms into austenite. Since austenite is not affected by low magnetic field strength, the magnetic shape memory alloy rod 1-6 stops expanding and contracting. When a constant temperature gas with different flow rates is introduced into the constant temperature gas supply shell 1-7, the temperature of the magnetic shape memory alloy rod 1-6 is reduced. At this time, some austenite material can transform into martensite, so the magnetic shape memory alloy rod 1-6 returns to its original state and continues to expand and contract. Furthermore, the driving amplitude of the driving part can change with the rate of constant temperature gas flow.

[0035] Further reference Figure 2 As shown, a high-frequency isothermal actuator based on magnetic shape memory alloy has an air inlet 1-8 and an air outlet 1-9 on an isothermal gas supply shell 1-7, which are located at the bottom of the drive box 1. Isothermal gases of different flow rates enter the isothermal gas supply shell 1-7 through the air inlet 1-8 and then exit through the air outlet 1-9, carrying away the heat generated by the high-frequency expansion and contraction of the magnetic shape memory alloy rod 1-6, ensuring that the magnetic shape memory alloy rod 1-6 is in an isothermal state, allowing some austenitic material to transform into the martensite phase, so that the magnetic shape memory alloy rod 1-6 returns to its original state and continues to expand and contract.

[0036] Further reference Figure 2 As shown, in a high-frequency thermostatic actuator based on magnetic shape memory alloy, the bottom of the thermostatic gas supply shell 1-7 is provided with a support shell 5, and the bottom of the magnetic shape memory alloy rod 1-6 is placed on the top of the support shell 5.

[0037] Further reference Figure 2 As shown, in a high-frequency thermostatic actuator based on magnetic shape memory alloy, two type II electromagnets 1-3 and 1-4 are fixed to the inner wall of the drive box 1, and one type II electromagnet 1-3 is located inside the drive end b, while the other type II electromagnet 1-4 is located inside the support shell 5.

[0038] Further reference Figure 2 As shown, the driving end b of a high-frequency thermostatic actuator based on magnetic shape memory alloy includes an O-shaped rod 1-2 and a push rod 1-1. The push rod 1-1 is fixedly connected to the output end of the O-shaped rod 1-2. The top end of the O-shaped rod 1-2 passes through the driving box 1, and the bottom end of the O-shaped rod 1-2 extends into the thermostatic gas supply shell 1-7 and is fixedly connected to the top end of the magnetic shape memory alloy 1-6. The O-shaped rod 1-2 is slidably connected to the driving box 1.

[0039] For details, please refer to the following: Figure 1 As shown, this application relates to a flapping wing device, which is movably connected to the aforementioned high-frequency thermostatic actuator based on a magnetic shape memory alloy; the flapping wing device includes a fixed hinge 2, a movable hinge 3, and a bionic wing 4; the movable hinge 3 is movably connected to the output end of the drive end b; and the movable hinge 3 is rotatably connected to the fixed hinge 2.

[0040] In the above configuration, the movable hinge 3 includes a pin 3-1 and a hinge 3-2; the pin 3-1 and the hinge 3-2 are movably connected and the pin 3-1 is fixedly connected to the output end of the push rod 1-1; the fixed hinge 2 includes a shaft 2-1 and a fixing block 2-2, the shaft 2-1 and the fixing block 2-2 are fixedly connected; the hinge 3-2 is rotatably connected to the shaft 2-1; the bionic wing 4 is movably connected to the connection end of the hinge 3-2 and the shaft 2-1; the movable hinge 3, driven by the push rod 1-1, can drive the bionic wing 4 at the end of the fixed hinge 2 to flap.

[0041] In the above, type I electromagnets 1-5 are located to the left and right of magnetic shape memory alloy rod 1-6, and type II electromagnets (1-3, 1-4) are located above and below magnetic shape memory alloy rod 1-6. When alternating current is applied to type I electromagnet 1-5, magnetic shape memory alloy rod 1-6 elongates in the length direction. Then, alternating current is applied to type II electromagnets (1-3, 1-4) to cause magnetic shape memory alloy rod 1-6 to contract. Under the combined action of the two pairs of electromagnets, magnetic shape memory alloy rod 1-6 will undergo cyclic expansion and contraction deformation. Since the upper end of magnetic shape memory alloy rod 1-6 is connected to O-shaped rod 1-2, the push rod 1-1 is driven by O-shaped rod 1-2. The upper end of push rod 1-1 is connected to movable hinge 3. The continuous movement of movable hinge 3 achieves the effect of the flapping of biomimetic wings 4.

[0042] The movable hinge, fixed hinge, and bionic wings mentioned above are all products in the prior art, and the structures involved are also connection structures disclosed in the prior art, which will not be elaborated here.

[0043] In the above embodiment, the two pairs of electromagnets generate magnetic fields with different cyclic changes after being energized by alternating current. The two pairs of magnetic fields jointly drive the magnetic shape memory alloy rod 1-6 to undergo martensitic reorientation, resulting in cyclic expansion and contraction deformation. The high-frequency expansion and contraction of the magnetic shape memory alloy rod 1-6 generates a large amount of heat, causing its temperature to rise. When the material temperature exceeds the martensite-austenite phase transformation temperature, the magnetic shape memory alloy material will transform into the austenite phase. The austenite phase magnetic shape memory alloy cannot be driven to deform by a weak magnetic field, and at this point, the driving effect is significantly reduced. When constant-temperature gas with different flow rates passes through the gas delivery shell, it changes the heat exchange efficiency between the magnetic shape memory alloy rod 1-6 and the environment, thereby reducing the temperature of the magnetic shape memory alloy rod 1-6. When the temperature is within the austenite-martensite phase transformation temperature range... When the temperature decreases within the range, some austenitic material can transform into martensite, thus increasing the driving amplitude of the magnetic shape memory alloy rod 1-6 and continuing to achieve the driving effect. The isothermal gas supply shell 1-7 supplies gas through the inlet 1-8, which passes through the magnetic shape memory alloy and is then discharged through the outlet 1-9. The entire device uses gas with different flow rates to significantly adjust the driving amplitude of the magnetic shape memory alloy rod 1-6 (0-6%), and its temperature is maintained within the martensite-austenite phase transformation temperature range (temperature change is about 1℃, approximately isothermal). As the magnetic shape memory alloy continuously expands and contracts, it achieves the effect of driving and controlling the continuous flapping of the flapping wings. This allows for precise control of the driving amplitude in an almost isothermal state (temperature change does not exceed 1℃), and when applied to biomimetic machines, it can also avoid detection by infrared detection technology.

[0044] In the prior art, springs are usually set at both ends of the magnetic shape memory alloy rod 1-6. When the type I electromagnets 1-5 on both sides of the magnetic shape memory alloy rod 1-6 are energized, the magnetic shape memory alloy rod 1-6 will elongate. During the elongation process, since the springs are always present, they will exert a vertical force on the magnetic shape memory alloy rod 1-6, which will affect the stability of the speed when the magnetic shape memory alloy rod 1-6 is driven. In this application, type II electromagnets (1-3, 1-4) are set at both ends of the magnetic shape memory alloy rod 1-6. The type I electromagnet 1-5 is energized first, and then the type II electromagnets (1-3, 1-4) are energized to generate an electromagnetic field, which reduces the inherent vertical force on the magnetic shape memory alloy rod 1-6. With the help of the constant temperature gas supply shell 1-7 to cool the magnetic shape memory alloy rod 1-6, the magnetic shape memory alloy rod 1-6 can achieve high-frequency extension and retraction output.

[0045] In the above embodiment, ventilation is achieved at the air inlet 1-8 of the constant temperature air supply shell 1-7 by a ventilation device in the prior art. The ventilation device can use a fan to supply air into the constant temperature air supply shell 1-7 and cool down the magnetic shape memory alloy rod 1-6.

[0046] In the above embodiments, the movable hinge 3 and the fixed hinge 2 are both products of the prior art, and will not be described in detail here.

[0047] The various embodiments in this specification are described in a progressive manner. For the same or similar parts between the various embodiments, please refer to each other. Each embodiment focuses on describing the differences from other embodiments.

[0048] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of this application.

Claims

1. A high-frequency isothermal actuator based on a magnetic shape memory alloy, characterized in that, Includes a drive box (1), which is equipped with a constant temperature gas supply shell (1-7), two type I electromagnets (1-5) and two type II electromagnets (1-3, 1-4). The constant temperature gas supply shell (1-7) is equipped with a magnetic shape memory alloy rod (1-6), two type I electromagnets (1-5) are located on the left and right sides of the magnetic shape memory alloy rod (1-6), and two type II electromagnets (1-3, 1-4) are located at the upper and lower ends of the magnetic shape memory alloy rod (1-6). The output end of the magnetic shape memory alloy rod (1-6) is fixedly connected to a driving end (b), the driving end (b) is movably connected to the driving box (1), and the driving end (b) can move up and down on the driving box (1) under the drive of the magnetic shape memory alloy rod (1-6). The constant temperature gas supply shell (1-7) is provided with an air inlet (1-8) and an air outlet (1-9), and the air inlet (1-8) and the air outlet (1-9) are located at the bottom of the drive box (1); The constant temperature gas supply shell (1-7) supplies gas through the air inlet (1-8), which passes through the magnetic shape memory alloy rod (1-6) and then is discharged through the air outlet (1-9). The entire device uses gas with different flow rates to greatly adjust the driving amplitude of the magnetic shape memory alloy rod (1-6). The driving amplitude is 0-6%, and its temperature is maintained in the range of martensite and austenite phase transformation temperature. The temperature change does not exceed 1°C, and it is approximately constant temperature. The type I electromagnet (1-5) is energized first, followed by the type II electromagnets (1-3, 1-4), generating an electromagnetic field. This reduces the inherent force in the vertical direction of the magnetic shape memory alloy rod (1-6). Furthermore, the constant temperature gas supply shell (1-7) cools the magnetic shape memory alloy rod (1-6), enabling it to achieve high-frequency extension and retraction without spring drive.

2. The high-frequency isothermal actuator based on magnetic shape memory alloy according to claim 1, characterized in that, The bottom of the constant temperature gas supply shell (1-7) is provided with a support shell (5), and the bottom of the magnetic shape memory alloy rod (1-6) is placed on the top of the support shell (5).

3. A high-frequency isothermal actuator based on magnetic shape memory alloy according to claim 2, characterized in that, Two type II electromagnets (1-3, 1-4) are fixed to the inner wall of the drive box (1), and one of the type II electromagnets (1-3) is located inside the drive end (b), while the other type II electromagnet (1-4) is located inside the support shell (5).

4. A high-frequency isothermal actuator based on magnetic shape memory alloy according to claim 3, characterized in that, The drive end (b) includes an O-shaped rod (1-2) and a push rod (1-1). The push rod (1-1) is fixedly connected to the top end of the O-shaped rod (1-2). The top end of the O-shaped rod (1-2) passes through the drive box (1), and the bottom end of the O-shaped rod (1-2) extends into the constant temperature gas supply shell (1-7) and is fixedly connected to the top end of the magnetic shape memory alloy rod (1-6). The O-shaped rod (1-2) is slidably connected to the drive box (1).

5. A flapping wing device, characterized in that, The flapping wing device is movably connected to the high-frequency thermostatic actuator based on magnetic shape memory alloy as described in claim 4.

6. A flapping-wing device according to claim 5, characterized in that, It includes a fixed hinge (2), a movable hinge (3), and a bionic wing (4); The movable hinge (3) is movably connected to the output end of the drive end (b); and the movable hinge (3) is rotatably connected to the fixed hinge (2), and the bionic wing (4) is rotatably connected to the connection end of the movable hinge (3) and the fixed hinge (2); the movable hinge (3) drives the bionic wing (4) at the end of the fixed hinge (2) to flap under the drive end (b).

7. A flapping-wing device according to claim 6, characterized in that, The movable hinge (3) includes a pin (3-1) and a hinge (3-2); the pin (3-1) is movably connected to the hinge (3-2) and the pin (3-1) is fixedly connected to the output end of the push rod (1-1); The fixed hinge (2) includes a shaft (2-1) and a fixing block (2-2), wherein the shaft (2-1) is fixedly connected to the fixing block (2-2); The hinge (3-2) is rotatably connected to the shaft (2-1); The bionic wing (4) is movably connected to the connecting end of the hinge (3-2) and the shaft (2-1); The movable hinge (3) can drive the bionic wing (4) at the end of the fixed hinge (2) to flap under the drive of the push rod (1-1).

Images