Ionic wind aircraft manufactured in paper folding mode

Abstract

The invention discloses an ion wind aircraft manufactured in a paper folding mode, an ion propulsion flying micro-robot is designed and manufactured by innovatively applying the paper folding mode, the assembling time is greatly shortened, a middle layer of the structure adopts a pre-impregnated unidirectional carbon fiber plate, and the pre-impregnated unidirectional carbon fiber plate can be converted into an extremely light and extremely hard substance after being thermally cured; and a PI film is used as a connecting material, so that the paper folding ionic wind aircraft which is flexible, high in strength, light in weight, low in cost and high in pushing ratio is constructed.

Description

Technical Field

[0001] The invention belongs to the technical field of micro flying robots, and in particular relates to a micro flying robot based on an origami method and an ion wind principle. Background Art

[0002] With the continuous advancement of precision manufacturing and intelligent control technology, micro flying robots have gained considerable attention. They have made significant progress in various fields such as disaster relief, surveillance, infrastructure monitoring and planetary exploration. These micro flying robots present unique application scenarios compared with large and medium-sized aircraft. However, they also face many challenges, such as miniaturization of propulsion systems, onboard power limitations, manufacturing and assembly complexity, and complex control requirements. Among them, ion-propelled flying micro robots have attracted people's interest due to their unique characteristics, such as their ability to generate thrust using electric fields without the need for moving parts. This feature greatly alleviates the limitations of space occupancy and payload, and promotes more compact and streamlined designs. In addition, it allows silent operation, thereby circumventing the noise problems associated with high-speed moving components. Therefore, ion-propelled flying micro robots show great application potential in both military and civilian fields, and have become a research hotspot in the field of micro robots.

[0003] The core principle of the ion wind propulsion mechanism is the electrohydrodynamic (EHD) effect, which triggers the ionization of the surrounding air molecules by applying a voltage difference between the emitter and the collector. Subsequently, the charged ions exchange momentum with the neutral air molecules, generating a macroscopic ion wind effect. The power required for aircraft propulsion is generated by this effect. This innovative design can precisely control the intensity of the ion wind by adjusting the power supply voltage. This adaptability enables the aircraft to stably adjust and accurately navigate the flight state, thereby improving the reliability and directionality of the mission.

[0004] Current ion-propelled flying microrobots face many challenges, including improving manufacturing and assembly efficiency, significantly improving thrust-to-weight ratio, and enhancing durability. Currently, the large-scale manufacturing process of these robots requires a lot of manufacturing and assembly time, rising costs, and the use of specialized high-end equipment. Most advanced ion-propelled flying microrobots are mainly composed of silicon wafers on insulators microfabricated in clean room facilities, or various metal-coated films manufactured by precision lasers. In addition, a major factor limiting their performance is the relatively small effective thrust, which is mainly due to insufficient structural optimization and insufficient utilization of ion wind. Summary of the invention

[0005] To solve the above problems, the present invention discloses an ionic wind aircraft manufactured by means of origami. Innovatively, the origami method is adopted to greatly reduce the assembly time. The emitter and collector materials use carbon fiber composite films, taking advantage of their characteristics of high temperature resistance and long service life. The connecting material uses polyimide (PI) film, taking advantage of its characteristics of light weight and good conformability, achieving a good combination of light weight, high strength and high thrust ratio.

[0006] To achieve the above object, the technical solution of the present invention is as follows: An ionic wind aircraft manufactured by means of origami, comprising an emitter, a collector, support columns and buckles. The emitter is arranged above the collector. Multiple support columns are vertically arranged between the emitter and the collector. The support columns are respectively foldably connected to the emitter and the collector. The emitter is formed by splicing multiple long strip-shaped crossbeams, and the splicing parts are connected by buckles. The lower half of the emitter is a vertically arranged needle tip; the collector has a grid structure, and there are additional parallel symmetric strip-shaped grids on the outside.

[0007] Further, the emitter is composed of three layers of films to form a sandwich structure, which are a PI film, a prepreg carbon fiber film (Carbon Fiber, abbreviated as CF) and a PI film from the inside to the outside. The emitter includes the long strip-shaped crossbeam in the upper half and the needle tip in the lower half.

[0008] Further, the collector is also composed of three layers of films to form a sandwich structure, which are a PI film, a CF carbon fiber film and a PI film from the inside to the outside.

[0009] Further, the ionic wind aircraft has a square or triangular cube structure. If it is a square structure, the emitter is a square structure formed by splicing four long strip-shaped crossbeams, and the middle part of the collector is a "field"-shaped grid structure. If it is a triangular structure, both its emitter and collector are triangular structures.

[0010] Further, the buckles are integrated with the emitter, and multiple buckles are connected to each other to form a three-dimensional structure from the planar structure of the ionic wind aircraft.

[0011] Further, the support columns are only made of a thicker PI film, which is responsible for supporting the cube structure and isolating the emitter and the collector.

[0012] The preparation method of the ionic wind aircraft of the present invention includes the following steps: Align the CF and PI films with appropriate sizes and consistent shapes up and down, and heat them at 130°C to 150°C for 5 to 10 minutes, and form a double-layer composite film with CF and PI tightly combined after curing; The formed double-layer composite film is precisely cut by a laser cutting machine using the positioning pins of a collimating tool to form a planar unfolded pattern of the emitter and collector of the ion wind aircraft, and then taken out; wherein the emitter includes the needle tip at the bottom, and the collector includes the parallel symmetrical strip grid at the outside; Take another new PI film and cut it into a pattern with the same shape as the previous step, and then use the positioning pin of the alignment tool to position it to ensure that it is consistent with the reference position of the double-layer composite film in the previous step; then continue to use the laser cutting machine to cut the pattern to form the buckle and support column of the ion wind aircraft; The double-layer composite film with CF and PI tightly combined and the newly cut PI film are aligned with the positioning pins of the alignment tool and taken out together for lamination; the lamination process requires high temperature and high pressure, the temperature is 130℃~150℃, the pressure is 4kPa~6kPa, and the duration is 50~70 minutes; After lamination is completed and cooled to room temperature, the three-layer composite film is aligned using the positioning pins of the alignment tool, and the laser cutting machine is used to release the film to form an unfolded ion wind aircraft; Fold the support column upwards, and use the clips that have been cut to be integrated with the ion wind aircraft to splice multiple long beams into a closed loop structure, so that the unfolded ion wind aircraft forms a three-dimensional posture; After removing the enameling at both ends of a 0.03~0.1mm diameter enameled wire, one end is connected to the emitter of the ion wind aircraft with silver conductive glue, and the other end is wrapped with copper conductive tape; take another 0.03~0.1mm diameter enameled wire, remove the enameling at both ends, one end is connected to the collector of the ion wind aircraft with silver conductive glue, and the other end is wrapped with copper conductive glue; connect the power supply lines to the positive and negative poles of the high-voltage power supply respectively, and you get a carbon fiber ion wind aircraft.

[0013] Furthermore, the CF has a thickness of 100 μm.

[0014] Furthermore, the thickness of the PI film of the double-layer composite film with CF is 10 μm.

[0015] Furthermore, the thickness of the PI film used to prepare the support column is 25 μm.

[0016] Furthermore, the laser cutting machine uses ultraviolet laser as a cold light source to perform precise cutting.

[0017] Furthermore, the square carbon fiber ion wind aircraft weighs 72.0 mg.

[0018] Furthermore, the distance from the emitter tip to the collector of the square carbon fiber ion wind aircraft is d It is 18mm.

[0019] Furthermore, the single-side emitter length of the square carbon fiber ion wind aircraft is l 1 It is 29mm.

[0020] Furthermore, the tip length of the square carbon fiber ion wind aircraft is k It is 3.7mm.

[0021] Furthermore, the distance between the emitter and collector of the square carbon fiber ion wind aircraft is h It is 21.7mm.

[0022] Furthermore, the square carbon fiber ion wind aircraft collects the width of the parallel symmetrical strip grid on the outer side. w It is 8mm.

[0023] Furthermore, the square carbon fiber ion wind aircraft collects the length of the parallel symmetrical strip grid on the outer side. y It is 17.6mm.

[0024] Furthermore, the angle of the tip of the square carbon fiber ion wind aircraft emitter needle tip is β is 10°.

[0025] Furthermore, the angle between the tip of the square carbon fiber ion wind aircraft emitter needle tip and the outermost side of the additional grid is 45°.

[0026] Another object of the present invention is to provide an ion wind aircraft made by origami method for application in the field of micro flying robot technology.

[0027] Beneficial effects of the present invention: (1) High thrust ratio: The ion wind aircraft of the present invention can successfully complete vertical take-off and landing with a payload of 154.4 mg excluding its own weight when its own weight is 72.0 mg, and the thrust ratio is as high as 3.14.

[0028] (2) Using carbon fiber, a new type of material: The middle layer of the ion wind aircraft of the present invention uses a pre-impregnated unidirectional carbon fiber board, which will be transformed into a material that is both extremely light and extremely hard after thermal curing; it also has good electrical conductivity and high temperature resistance, which can greatly improve the service life of the ion wind aircraft.

[0029] (3) Origami: The ion wind aircraft of the present invention innovatively uses origami to design and manufacture two types of triangular and square ion-propelled flying micro-robots, constructing a flexible, high-strength, lightweight, and low-cost origami ion wind aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1This is a schematic structural plan view of a square carbon fiber ion wind aircraft prepared in Example 1 of the present invention.

[0031] Figure 2 This is a diagram of the assembly process of the square carbon fiber ion wind aircraft prepared in Example 1 of the present invention.

[0032] Figure 3 This is a schematic three-dimensional structural diagram of a square carbon fiber ion wind aircraft prepared in Example 1 of the present invention.

[0033] Figure 4 This is a schematic diagram of the buckle of the square carbon fiber ion wind aircraft prepared in Example 1 of the present invention.

[0034] Figure 5 It is a three-dimensional schematic diagram of the structure of a triangular carbon fiber ion wind aircraft.

[0035] List of Figure Symbols: Emitter 100 , collector 101 , buckle 102 , support column 103 . DETAILED DESCRIPTION

[0036] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. Example

[0037] The manufacturing process of an ion wind aircraft made by origami according to the present invention comprises the following steps: 1) Film pretreatment: A 100 μm thick CF carbon fiber film and a 10 μm thick PI film cut to the right size and shape were aligned up and down and heated at 140°C for 5 minutes. After curing, a double-layer composite film with CF and PI tightly bonded was formed.

[0038] 2) Film pre-cutting: The formed double-layer composite film is precisely cut by a laser cutting machine using the positioning pins of the alignment tool to form a planar unfolded pattern of the ion wind aircraft emitter 100 and the collector 101, and the excess part is peeled off and taken out, wherein the emitter needle tip angle is 10°.

[0039] 3) Preparation of the outermost support layer: Take another new 25μm thick PI film and cut it into a pattern with the same shape as the previous step, and use the positioning pins of the alignment tool to position it to ensure that it is consistent with the reference position of the double-layer composite film in the previous step; then continue to use the laser cutting machine to cut the pattern, peel off the excess part to form the buckle 102 and support column 103 of the ion wind aircraft.

[0040] 4) High temperature lamination: The double-layer composite film with CF and PI tightly combined and the newly cut PI film are aligned with the positioning pins of the alignment tool and taken out together for lamination; the lamination process requires high temperature and high pressure, the temperature is 140°C, the pressure is 5kPa, and the duration is 1 hour.

[0041] 5) Cutting release: After the lamination is completed and cooled to room temperature, the three-layer composite film is aligned using the positioning pins of the alignment tool, and the laser cutting machine is used to release the film to form an unfolded ion wind aircraft, such as Figure 1 shown.

[0042] 6) Bayonet assembly: like Figure 2 As shown, the support column 103 is folded upward, and the buckles 102 that have been cut and integrated with the ion wind aircraft are used to elastically install each buckle 102 using tweezers, so that the unfolded ion wind aircraft forms a three-dimensional posture, as shown in FIG. Figure 3 shown.

[0043] 7) Electrode connection: After removing the enameling at both ends of a 0.03mm diameter enameled wire, one end is connected to the emitter 100 of the ion wind aircraft with silver conductive glue, and the other end is wrapped with copper conductive glue; take another 0.03mm diameter enameled wire, remove the enameling at both ends, one end is connected to the collector 101 of the ion wind aircraft with silver conductive glue, and the other end is wrapped with copper conductive tape.

[0044] 8) Power connection: Connect the wire connected to the emitter to the positive electrode of the high-voltage power supply, and then connect the wire connected to the collector to the negative electrode of the high-voltage power supply to obtain a square carbon fiber ion wind aircraft.

[0045] The structural parameters of the square carbon fiber ion wind aircraft are shown in Table 1.

[0046] Table 1

[0047] The square carbon fiber ion wind aircraft prepared with reference to this embodiment has the characteristics of excellent thrust ratio, low take-off voltage, small discharge damage, easy manufacturing and assembly, stable flight, flexibility, high strength, light weight, low cost, etc.

[0048] The difference between Comparative Example 1 and Example 1 is that emitter needle tips with different angles are used to obtain the carbon fiber ion wind aircraft of this comparative example.

[0049] Under the same test environment, an open-loop test was carried out on the carbon fiber ion wind aircraft. Five groups of experimental data were read and the average value was taken. The results are shown in Table 2.

[0050] Table 2

[0051] It can be seen from Table 2 that the average overall push ratio of the carbon fiber ion wind aircraft with an emitter tip angle of 10° in Example 1 of the present application is 3.14, while the average overall push ratio of the carbon fiber ion wind aircraft with an emitter tip angle of 20° is 2.89. Obviously, the emitter tip angle cannot be too large, which is conducive to the discharge of the emitter tip to generate ion wind and to improve the push ratio.

[0052] The average overall thrust ratio of the carbon fiber ion wind aircraft with an emitter tip angle of 10° in Example 1 of the present application is 3.14, while the average overall thrust ratio of the carbon fiber ion wind aircraft with an emitter tip angle of 20° is 2.89. Obviously, the emitter tip angle of 10° is better for the carbon fiber ion wind aircraft to generate ion wind, and the ion wind generated during ionization is larger, which is beneficial to improve the propulsion force of the carbon fiber ion wind aircraft and the thrust ratio of the carbon fiber ion wind aircraft. Example

[0053] The difference between this embodiment and embodiment 1 is that: Adjust the curing temperature to 130°C and the curing time to 10 minutes; The temperature during high temperature lamination was 130°C, the pressure was 4 kPa, and the time was 70 minutes; The diameter of the enameled wire is 0.05mm.

[0054] The remaining steps and processes are all referred to Example 1 to obtain the carbon fiber ion wind aircraft of this embodiment, and an open-loop test is performed on it. The result is equivalent to that of Example 1. Example

[0055] The difference between this embodiment and embodiment 1 is that: Adjust the curing temperature to 150°C and the curing time to 8 minutes; The temperature during high temperature lamination is 150°C, the pressure is 6 kPa, and the time is 50 minutes; The diameter of the enameled wire is 0.1 mm.

[0056] The remaining steps and processes are all referred to Example 1 to obtain the carbon fiber ion wind aircraft of this embodiment, and an open-loop test is performed on it. The result is equivalent to that of Example 1.

[0057] The difference between Comparative Example 2 and Example 1 is that the distance from the emitter needle tip to the collector is 14 mm, and the carbon fiber ion wind aircraft of this comparative example is obtained.

[0058] Under the same test environment, an open-loop test was carried out on the carbon fiber ion wind aircraft. Five groups of experimental data were read and the average value was taken. The results are shown in Table 3.

[0059] Table 3

[0060] It can be seen from Table 3 that the average overall push ratio of the carbon fiber ion wind aircraft with a distance of 18 mm from the emitter tip to the collector in Example 1 of the present application is 3.14, while the average overall push ratio of the carbon fiber ion wind aircraft with a distance of 14 mm from the emitter tip to the collector is 2.54. Obviously, the distance from the emitter tip to the collector cannot be too small, which is conducive to increasing the take-off voltage to ionize more ions and to improving the push ratio.

[0061] The average overall push ratio of the carbon fiber ion wind aircraft with a distance of 18 mm from the emitter tip to the collector in Example 1 of the present application is 3.14, while the average overall push ratio of the carbon fiber ion wind aircraft with a distance of 14 mm from the emitter tip to the collector is 2.54. Obviously, the distance of 18 mm from the emitter tip to the collector is better for the carbon fiber ion wind aircraft to generate ion wind, and the take-off voltage is larger, which is beneficial for the carbon fiber ion wind aircraft to ionize more ions and is beneficial to improving the push ratio of the carbon fiber ion wind aircraft.

[0062] The difference between Comparative Example 3 and Example 1 is that a collecting electrode without additional grid bars is used to obtain the carbon fiber ion wind aircraft of this comparative example.

[0063] Under the same test environment, an open-loop test was carried out on the carbon fiber ion wind aircraft. Five groups of experimental data were read and the average value was taken. The results are shown in Table 4.

[0064] Table 4

[0065] It can be seen from Table 4 that the overall push ratio of the carbon fiber ion wind aircraft with the collector of Example 1 of the present application with additional grid bars is 3.14, while the overall push ratio of the carbon fiber ion wind aircraft without the collector of additional grid bars is 2.95. Obviously, the collector needs additional grid bars, which is beneficial for the collector to collect ions ionized by the emitter tip and is beneficial to improve the push ratio.

[0066] The overall push ratio of the carbon fiber ion wind aircraft with the collector of the embodiment 1 of the present application with additional grid bars is 3.14, while the overall push ratio of the carbon fiber ion wind aircraft without the collector of the additional grid bars is 2.95. Obviously, the collector needs additional grid bars to better collect ionized ions for the carbon fiber ion wind aircraft, and the ion wind energy generated during ionization can be better collected, which is beneficial for the carbon fiber ion wind aircraft to collect ionized ions and is beneficial for improving the push ratio of the carbon fiber ion wind aircraft.

[0067] In summary, the present invention uses a new type of material, carbon fiber, and the middle layer of the ion wind aircraft uses a prepreg carbon fiber plate, which will be transformed into a lighter material with higher strength and stiffness after thermal curing; it also has good electrical conductivity and high temperature resistance, which can greatly improve the service life of the ion wind aircraft. In addition, the present invention innovatively uses origami to design and manufacture two types of triangular and square ion propulsion flying micro robots ( Figure 5 For the triangular ion wind aircraft, a flexible, high-strength, lightweight, and low-cost origami ion wind aircraft was constructed. The above optimizations are all conducive to improving the performance of the ion wind aircraft.

[0068] In addition to the above optimization measures, the manufacturing method of the present invention can also be appropriately adjusted to adapt to different application scenarios and requirements. For example, a camera can be hung under the ion wind aircraft for shooting and detection according to actual needs, and films of different thicknesses and sizes can be used to prepare the ion wind aircraft according to different needs.

[0069] It can be seen that the manufacturing method of the square carbon fiber ion wind aircraft of the present invention has the characteristics of flexibility and adjustability, and can be optimized and adjusted according to actual needs to meet different application scenarios and needs. The ion wind aircraft prepared by the manufacturing method of the present invention has performance characteristics such as high thrust ratio and good stability, and can be widely used in the field of micro-flying robot technology, providing strong support for research and development in related fields.

[0070] It should be noted that the above content only illustrates the technical idea of ​​the present invention and cannot be used to limit the protection scope of the present invention. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications all fall within the protection scope of the claims of the present invention.

Claims

1. An ion wind aircraft made by origami, characterized in that: The device comprises an emitter (100), a collector (101), a support column (103) and a buckle (102); the emitter (100) is arranged above the collector (101); a plurality of support columns (103) are vertically arranged between the emitter (100) and the collector (101); the support columns (103) are respectively connected to the emitter (100) and the collector (101) in a foldable manner; the emitter (100) is formed by splicing a plurality of long strip-shaped cross beams, the splicing portions of which are connected by the buckle (102); the lower half of the emitter (100) is a vertically arranged needle tip; the collector (101) is a grid structure, and an additional parallel symmetrical strip grid is provided on the outer side.

2. The ion wind aircraft made by origami according to claim 1, characterized in that: The ion wind aircraft is a square or triangular cubic structure.

3. The ion wind aircraft made by origami according to claim 2, characterized in that: The emitter (100) is composed of three layers of thin films forming a sandwich structure, which from the inside to the outside are a PI film, a CF carbon fiber film and a PI film, and the collector (101) is also composed of three layers of thin films forming a sandwich structure, which from the inside to the outside are a PI film, a CF carbon fiber film and a PI film.

4. The ion wind aircraft made by origami according to claim 2, characterized in that: The support column (103) is made of only one layer of PI film and is responsible for supporting the cubic structure and isolating the emitter (100) and the collector (101).

5. A method for preparing a square ion wind aircraft, characterized in that: The following steps are involved: Align the CF carbon fiber film and PI film of appropriate size and shape up and down, heat them at 130℃~150℃ for 5~10 minutes, and after curing, form a double-layer composite film with CF and PI tightly bonded; The formed double-layer composite film is precisely cut using a laser cutting machine and a positioning pin of a collimating tool to form a planar unfolded pattern of an ion wind aircraft emitter (100) and a collector (101), and then taken out; wherein the emitter (100) includes a needle tip at the bottom, and the collector (101) includes a parallel symmetrical strip grid at the outside; Another new PI film is cut into a pattern with the same shape as in the previous step, and then positioned using the positioning pins of the alignment tool to ensure that it is consistent with the reference position of the double-layer composite film in the previous step; then the laser cutting machine is continued to cut the pattern to form the buckle (102) and support column (103) of the ion wind aircraft; The double-layer composite film with CF and PI tightly combined and the newly cut PI film are aligned with the positioning pins of the alignment tool and taken out together for lamination; the lamination process requires high temperature and high pressure, the temperature is 130℃~150℃, the pressure is 4kPa~6 kPa, and the duration is 50~70 minutes; After lamination is completed and cooled to room temperature, the three-layer composite film is aligned using the positioning pins of the alignment tool, and the laser cutting machine is used to release the film to form an unfolded ion wind aircraft; The support column (103) is folded upwards, and the plurality of long strip beams are spliced ​​into a closed loop structure using the clips (102) that have been cut and integrated with the ion wind aircraft, so that the unfolded ion wind aircraft forms a three-dimensional posture; After removing the enameling coating at both ends of an enameled wire with a diameter of 0.03~0.1mm, one end is connected to the emitter (100) of the ion wind aircraft using silver conductive glue, and the other end is wrapped with copper conductive tape; take another enameled wire with a diameter of 0.03~0.1mm, remove the enameling coating at both ends, one end is connected to the collector (101) of the ion wind aircraft using silver conductive glue, and the other end is wrapped with copper conductive glue; the power supply line is connected to the positive and negative electrodes of the high-voltage power supply respectively, and a carbon fiber ion wind aircraft is obtained.

6. The method for manufacturing an ion wind aircraft according to claim 5, characterized in that: The thickness of the CF carbon fiber film is 100 μm, the thickness of the PI film of the double-layer composite film with the CF is 10 μm, and the thickness of the PI film used to prepare the support column (103) is 25 μm.

7. The method for manufacturing an ion wind aircraft according to claim 6, characterized in that: The square ion wind aircraft weighs 72.0 mg.

8. The method for manufacturing an ion wind aircraft according to claim 5, characterized in that: The distance from the tip of the emitter (100) to the collector (101) of the square ion wind aircraft is d 18mm, single-sided emitter (100) length l 1 is 29mm, needle tip length k The distance between the emitter (100) and the collector (101) is 3.7 mm. h The width of the parallel and symmetrical strip grid on the outside of the collector (101) is 21.7 mm. w The length of the parallel symmetrical strip grid on the outside of the collector (101) is 8 mm. y It is 17.6mm.

9. The method for manufacturing an ion wind aircraft according to claim 5, characterized in that: The angle of the tip of the square carbon fiber ion wind aircraft emitter (100) is β is 10°.

10. The method for manufacturing an ion wind aircraft according to claim 5, characterized in that: The angle between the tip of the square carbon fiber ion wind aircraft emitter (100) and the outermost side of the additional grid is 45 degrees.

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