Piezoelectric-driven miniature butterfly-imitating robot and motion control method thereof
By designing a piezoelectrically driven micro butterfly-like robot, employing flexible wings and a displacement amplification mechanism, the problems of large size and heavy weight of existing butterfly-like robots have been solved, achieving lightweight, low-noise flight and efficient aerodynamic effects, making it suitable for mass production.
Patent Information
- Application Number
- CN202511219739.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-28
- Publication Date
- 2025-11-21
AI Technical Summary
Existing butterfly-inspired robots are large, heavy, and noisy during flight, lacking the characteristics of microrobots and making it difficult to conduct research on insect-scale micro flapping-wing robots.
Design a piezoelectric-driven micro butterfly-like robot. It adopts a flexible wing structure and a displacement amplification mechanism. The piezoelectric actuator simulates the wing movement of a butterfly. By combining the phase delay angle of the flexible main wing and flexible aileron, the aerodynamic force during flapping is maximized. The robot's flight attitude is adjusted by controlling the voltage amplitude and phase of the piezoelectric actuator.
It has achieved lightweight, low-noise flight of miniature butterfly-like robots, with the appearance and flight posture of real butterflies, reducing manufacturing costs and improving aerodynamic and flight efficiency, making it suitable for mass production.
Smart Images
Figure CN120986711A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of micro bionic robot technology, specifically a piezoelectrically driven micro butterfly-like robot and its motion control method. Background Technology
[0002] With the continuous advancements in computer integration technology, materials science, aerodynamics, micro-nano manufacturing, and artificial intelligence, robot research is moving towards miniaturization and intelligence. Microrobots are an emerging field aiming to develop wireless microrobots weighing only a few grams and with a scale at the micrometer level for tasks such as disaster search and rescue, infrastructure inspection, and Martian surface exploration, thereby driving the development of disruptive technologies. Micro-flying robots are one of the most promising directions in micro-nano robotics. Currently, there are mature technologies and widely used technologies such as quadcopter drones and micro fixed-wing drones, but these suffer from drawbacks such as high noise levels, high energy consumption, and a lack of biomimetic characteristics. Research on flapping-wing microrobots is still in its early stages, and current research primarily focuses on bird-like flapping-wing robots, which are relatively large. Insect-scale micro flapping-wing robots represent the most technically challenging and difficult type of microrobot research to achieve. Existing butterfly-like robots are mainly driven by motors or servos, are large and heavy, and generate significant noise during flight, lacking the characteristics of microrobots. Summary of the Invention
[0003] To address the shortcomings of the existing technology, this invention provides a piezoelectrically driven micro butterfly-like robot and its motion control method, which is not only small in size and light in weight, but also has the appearance and flight posture of a real butterfly, and is easy to mass-produce.
[0004] To achieve the above objectives, the present invention provides a piezoelectric-driven micro butterfly-like robot, comprising a body frame, and piezoelectric actuators and flexible wings disposed on both sides of the body frame. The flexible wing includes a flexible main wing and a flexible aileron. The first end of the piezoelectric actuator is connected to the fuselage frame, and the wing root of the flexible main wing is connected to the second end of the piezoelectric actuator through a displacement amplification mechanism. The root of the flexible aileron is connected to the root of the flexible main wing, so that there is a phase delay angle between the flexible main wing and the flexible aileron during the upward flapping of the flexible wing.
[0005] In one embodiment, the displacement amplification mechanism includes a first rigid plate and flexible connecting rod assemblies disposed on both sides of the first rigid plate; The flexible linkage assembly includes a second rigid plate and a third rigid plate with a flat plate structure, and a fourth rigid plate with a U-shaped plate structure. The second rigid plate, the third rigid plate, the fourth rigid plate, and the first rigid plate are connected in sequence by a flexible hinge. The second rigid plate is connected to the second end of the piezoelectric actuator on the corresponding side, and the wing root of the flexible aileron is connected to the fourth rigid plate on the corresponding side.
[0006] In one embodiment, the first rigid plate has a V-shaped cross-section, such that the flexible wing connected to the third rigid plate has an upward dihedral angle.
[0007] In one embodiment, the fuselage frame includes a bottom plate, a front side plate, and a rear side plate. The bottom plate and the first rigid plate are both connected between the front side plate and the rear side plate, and the first rigid plate is located above the bottom plate. The first end of the piezoelectric actuator is connected to the rear side plate, and the piezoelectric actuator covers part of the gap between the bottom plate and the two sides of the first rigid plate, so that the piezoelectric actuator can simulate the abdominal movement of a butterfly during its movement.
[0008] In one embodiment, the fuselage frame further includes an intermediate support plate, one end of which is connected to the base plate and the other end of which is connected to the first rigid plate.
[0009] In one embodiment, the first rigid plate, the second rigid plate, the third rigid plate, and the fourth rigid plate are all five-layer composite structures, wherein the first and fifth layers are single-phase carbon fiber plates, the second and fourth layers are thermosetting FPC adhesives, and the third layer is a polyimide film. The first rigid plate, the second rigid plate, the third rigid plate, and the fourth rigid plate are integrally formed with a third layer of polyimide film.
[0010] In one embodiment, the piezoelectric actuator includes a carbon fiber prepreg intermediate layer and piezoelectric ceramic sheets covering the upper and lower surfaces of the carbon fiber prepreg intermediate layer. The piezoelectric actuator has rigid connection parts at both ends, which are used to connect the frame and the displacement amplification mechanism respectively.
[0011] In one embodiment, the flexible main wing and the flexible aileron are both thermosetting and pressed together with carbon fiber prepreg and polyimide film, wherein the carbon fiber prepreg, after curing, serves as the wing veins and the polyimide film serves as the wing membrane.
[0012] To achieve the above objectives, the present invention also provides a motion control method for the aforementioned micro butterfly-like robot, characterized in that, after the piezoelectric actuator is excited, the end of the piezoelectric actuator generates displacement, and then the displacement amplification mechanism converts the small displacement of the piezoelectric actuator into a large-angle rotation, causing the flexible wings to flap. The pitch, yaw and roll motions of the micro butterfly-like robot can be controlled by adjusting the voltage amplitude and phase of the piezoelectric actuators on both sides.
[0013] In one embodiment, the pitch, yaw, and roll motions of the micro butterfly-like robot can be controlled by adjusting the voltage amplitude and phase of the piezoelectric actuators on both sides, specifically as follows: When a miniature butterfly-like robot is required to fly in a horizontal straight line, the same high-voltage sinusoidal AC signal is applied to the left and right piezoelectric actuators, while keeping the lift equal to the weight of the butterfly-like robot. When the miniature butterfly-like robot needs to turn to the right, the same high-voltage sinusoidal AC signal is applied to both piezoelectric actuators, and the amplitude of the high-voltage sinusoidal AC signal applied to the left piezoelectric actuator is kept greater than that of the right piezoelectric actuator. When the miniature butterfly-like robot needs to turn to the left, the same high-voltage sinusoidal AC signal is applied to both piezoelectric actuators, and the amplitude of the high-voltage sinusoidal AC signal applied to the right piezoelectric actuator is kept greater than that of the left piezoelectric actuator. When the miniature butterfly-like robot needs to roll to the left around its body axis, a high-voltage sinusoidal AC signal with a positive offset is applied to the right piezoelectric actuator, and a high-voltage sinusoidal signal with a negative offset is applied to the left piezoelectric actuator, while keeping the amplitude of the sinusoidal signals on both sides consistent. When the miniature butterfly-like robot needs to roll to the right around its body axis, a high-voltage sinusoidal AC signal with a negative offset is applied to the right piezoelectric actuator, and a high-voltage sinusoidal signal with a positive offset is applied to the left piezoelectric actuator, while keeping the amplitude of the sinusoidal signals on both sides consistent. When the miniature butterfly-like robot needs to tilt upwards, increase the positive DC offset of the high-voltage sinusoidal AC signal of the piezoelectric actuators on both sides. When the miniature butterfly-like robot needs to tilt downwards, the negative DC offset of the high-voltage sinusoidal AC signal of the piezoelectric actuators on both the left and right sides is increased simultaneously.
[0014] Compared with the prior art, the present invention has the following beneficial technical effects: 1. This invention configures the flexible wings of a miniature butterfly-like robot as a flexible main wing and flexible ailerons. During the upward flapping motion, there is a phase delay angle between the flexible main wing and the flexible ailerons, thus reducing the frontal area. During the downward flapping motion, the overlapping portion of the flexible main wing and flexible ailerons drives the entire flexible wing to flap downwards synchronously, maximizing the frontal area. The aerodynamic force during the downward flapping motion is greater than that during the upward flapping motion, thereby generating lift. Furthermore, because the flexible main wing and flexible ailerons separate at this time, the aerodynamic force on the front of the butterfly robot is greater than that on the rear, causing the butterfly robot to produce a pitching motion synchronized with the flapping wing movement during flight, thus achieving optimal aerodynamic effects and maximizing lift. 2. The overall weight of the miniature butterfly-like robot in this invention can be controlled within 500mg and the wingspan can be controlled within 8cm. It is not only small in size and light in weight, but also has the appearance and flight posture of a real butterfly. The main components can be cut by femtosecond laser, the required material cost is low, the manufacturing and assembly are simple, and mass production and low cost can be achieved. 3. In a preferred embodiment of the present invention, the cross-section of the first rigid plate is set to a V-shaped structure, so that the flexible wing has an upward dihedral angle of about 10° to 20°, thereby making the lower limit angle of the flexible wing on the fuselage plane smaller than the upper limit angle, and the ratio of the upper and lower limit angles of the flapping wing is about 1:2, thereby improving lift efficiency. 4. In a preferred embodiment of the present invention, the piezoelectric actuator covers the gap between the bottom plate and the two sides of the first rigid plate, thereby simulating the contraction and relaxation of the thoracic muscles of a butterfly during the movement of the piezoelectric actuator. Furthermore, the piezoelectric actuator is horizontally positioned so that the body is arranged perpendicular to the flapping wing direction, which can make the weight of the micro-butterfly robot evenly distributed along the body axis, which is beneficial to the pitching motion of the body during flight and improves flight efficiency. Attached Figure Description
[0015] 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 or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.
[0016] Figure 1 This is an isometric view of the miniature butterfly-like robot in an embodiment of the present invention; Figure 2 This is a top view of the miniature butterfly-like robot in an embodiment of the present invention; Figure 3 This is a schematic diagram of the displacement amplification mechanism in an embodiment of the present invention; Figure 4 This is a schematic diagram of the fuselage frame structure in an embodiment of the present invention; Figure 5 This is a schematic diagram of the assembly of the fuselage frame, displacement amplification mechanism, and piezoelectric actuator in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the piezoelectric ceramic sheet in an embodiment of the present invention; Figure 7 This is a schematic diagram of the flexible main wing structure in an embodiment of the present invention; Figure 8 This is a schematic diagram of the flexible aileron in an embodiment of the present invention.
[0017] Reference numerals: fuselage frame 1, base plate 101, front side plate 102, rear side plate 103, intermediate support plate 104, piezoelectric actuator 2, carbon fiber prepreg intermediate layer 201, piezoelectric ceramic sheet 202, rigid connection part 203, flexible wing 3, flexible main wing 301, flexible aileron 302, wing vein 303, wing membrane 304, displacement amplification mechanism 4, first rigid plate 401, second rigid plate 402, third rigid plate 403, fourth rigid plate 404, flexible hinge 405.
[0018] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0019] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.
[0020] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.
[0021] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0022] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two elements or the interaction between two elements, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0023] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.
[0024] like Figure 1 , Figure 2 The illustration shows a piezoelectrically driven micro butterfly-like robot disclosed in this embodiment. It mainly includes a frame 1, piezoelectric actuators 2 and flexible wings 3 disposed on both sides of the frame 1. The flexible wings 3 include a flexible main wing 301 and flexible ailerons 302. The first end of the piezoelectric actuator 2 is connected to the frame 1. The wing root of the flexible main wing 301 is connected to the second end of the piezoelectric actuator 2 through a displacement amplification mechanism 4. The wing root of the flexible aileron 302 is connected to the wing root of the flexible main wing 301. The piezoelectric actuator 2 is a cantilever beam type dual-crystal piezoelectric actuator. When a sinusoidal high-voltage signal is applied to the piezoelectric actuator 2, the linear displacement generated at its second end is converted into an axial flapping motion of the flexible wings 3 via the displacement amplification mechanism 4. By controlling the amplitude and phase of the driving voltage of the two piezoelectric actuators 2, the flight attitude of the micro butterfly-like robot can be controlled. During the flight of the miniature butterfly-like robot, because the flexible main wing 301 and the flexible aileron 302 are connected only at the wing root, there is a phase delay angle between the flexible aileron 302 and the flexible main wing 301 during the upward flapping of the flexible wing 3, thus reducing the frontal area. During the downward flapping, the overlapping part of the flexible main wing 301 and the flexible aileron 302 drives the entire flexible wing 3 to flap downward synchronously, maximizing the frontal area. At this time, the aerodynamic force during the downward flapping is greater than that during the upward flapping, thereby generating lift. Furthermore, because the flexible main wing 301 and the flexible aileron 302 separate at this time, the aerodynamic force on the front side of the butterfly robot is greater than that on the rear side, which causes the butterfly robot to produce a pitching motion synchronized with the flapping wing movement during flight, thus achieving optimal aerodynamic effect and maximizing lift.
[0025] refer to Figure 3In this embodiment, the displacement amplification mechanism 4 includes a first rigid plate 401 and flexible linkage assemblies symmetrically arranged on both sides of the first rigid plate 401. The flexible linkage assemblies include a second rigid plate 402 and a third rigid plate 403 with a flat plate structure, and a fourth rigid plate 404 with a U-shaped plate structure. The second rigid plate 402, the third rigid plate 403, the fourth rigid plate 404, and the first rigid plate 401 are connected in sequence by flexible hinges 405. The second rigid plate 402 is fixedly connected to the second end of the corresponding piezoelectric actuator 2 by a plug-in engagement. The wing root of the flexible aileron 302 is connected to the corresponding fourth rigid plate 404 by adhesive bonding or thermosetting. In this embodiment, the displacement amplification mechanism 4 is essentially a rigid-flexible composite spherical four-bar displacement amplification mechanism, which can convert the small linear displacement of the second end of the piezoelectric actuator 2 into a large-angle rotational motion of the fourth rigid plate 404, thereby driving the flexible wing 3 on the fourth rigid plate 404 to produce flapping motion.
[0026] In the specific implementation process, the first rigid plate 401, the second rigid plate 402, the third rigid plate 403, and the fourth rigid plate 404 are all five-layer composite structures. The first and fifth layers are unidirectional carbon fiber plates, the second and fourth layers are thermosetting FPC adhesives, and the third layer is a polyimide film. Under vacuum and high temperature conditions, the thermosetting FPC adhesive tightly bonds the unidirectional carbon fiber plates to the polyimide film. The polyimide film of the third layer on the first rigid plate 401, the second rigid plate 402, the third rigid plate 403, and the fourth rigid plate 404 is integrally formed, that is, the part of the polyimide film located between two adjacent rigid plates acts as a flexible hinge 405 between the two rigid plates.
[0027] In a preferred embodiment, the cross-section of the first rigid plate 401 is V-shaped, and the fourth rigid plates 404 on both sides of the first rigid plate 401 are located at the ends of the V-shaped structure, so that the flexible wing 3 connected to the third rigid plate 403 has a certain upward dihedral angle, about 10°~20°, which makes the lower limit angle of the fuselage plane of the flexible wing 3 smaller than the upper limit angle, and the ratio of the upper and lower limit angles of the flapping wing is about 1:2, thereby improving lift efficiency.
[0028] refer to Figure 4 , Figure 5In this embodiment, the fuselage frame 1 includes a base plate 101, a front side plate 102, and a rear side plate 103. The front side plate 102 and the rear side plate 103 are parallel to each other and perpendicular to the base plate 101. The base plate 101 and the first rigid plate 401 are fixedly connected between the front side plate 102 and the rear side plate 103 by a plug-in connection, and the first rigid plate 401 is located above the base plate 101. The first end of the piezoelectric actuator 2 is fixedly connected to the rear side plate 103 by a plug-in connection, and the piezoelectric actuator 2 covers part of the gap between the base plate 101 and the two sides of the first rigid plate 401, so that the piezoelectric actuator 2 can simulate the contraction and relaxation of the thoracic muscles of a butterfly during its movement. The piezoelectric actuator 2 is horizontally positioned so that the fuselage is arranged perpendicular to the flapping wing direction, which can make the weight of the micro-butterfly robot evenly distributed along the fuselage axis, which is beneficial to the pitch movement of the fuselage during flight and improves flight efficiency. Preferably, the fuselage frame 1 further includes an intermediate support plate 104, one end of which is fixedly connected to the base plate 101 by a plug-in engagement, and the other end is fixedly connected to the first rigid plate 401 by a plug-in engagement, thereby effectively improving the overall stability of the fuselage frame 1.
[0029] In practical applications, the fuselage frame 1 can be made of bidirectional cross carbon fiber plates using femtosecond laser ultra-precision machining and assembled using a micro-manipulation platform.
[0030] refer to Figure 6 In this embodiment, the piezoelectric actuator 2 has a sandwich structure, including a carbon fiber prepreg intermediate layer 201 and piezoelectric ceramic sheets 202 covering the upper and lower surfaces of the carbon fiber prepreg intermediate layer 201. The piezoelectric ceramic sheets 202 and the carbon fiber prepreg intermediate layer 201 are bonded together with FPC epoxy conductive adhesive. Rigid connecting portions 203 are provided at both ends of the piezoelectric actuator 2. The rigid connecting portions 203 are formed by hot pressing glass fiber and carbon fiber, and are used to connect the frame 1 and the displacement amplification mechanism 4 respectively. The piezoelectric ceramic sheet 202 on the piezoelectric actuator 2 has a trapezoidal structure, and the carbon fiber prepreg intermediate layer 201 is unidirectional carbon fiber impregnated with epoxy resin. Under vacuum and high temperature conditions, the epoxy resin in the carbon fiber prepreg intermediate layer 201 tightly bonds the piezoelectric ceramic sheet 202 to the carbon fiber prepreg intermediate layer 201. In the specific application stage, after applying a sinusoidal electrical signal with a phase difference of 180° to the upper and lower piezoelectric ceramic plates 202 of the piezoelectric actuators 2 on both sides of the fuselage frame 1, the rigid connection part 203 at its second end will generate a small linear displacement.
[0031] refer to Figure 7 , Figure 8In this embodiment, the flexible main wing 301 and flexible aileron 302 are both thermosetting and pressed together with carbon fiber prepreg and polyimide film. The carbon fiber prepreg is cured and serves as wing vein 303, and the polyimide film serves as wing membrane 304. This makes the flexible main wing 301 and flexible aileron 302 have moderate stiffness while also having a certain degree of flexibility, so as to simulate the shape and aerodynamic characteristics of real butterfly creatures.
[0032] Example 2 This embodiment discloses a motion control method for a micro butterfly-like robot in Embodiment 1. The pitch, yaw and roll motion of the micro butterfly-like robot can be controlled by adjusting the voltage amplitude and phase of the piezoelectric actuators 2 on both sides.
[0033] When the upper and lower piezoelectric ceramic sheets 202 of the piezoelectric actuator 2 are energized, the rigid connection 203 at its second end generates a linear displacement, which in turn drives the second rigid plate 402 to move. After passing through the flexible hinge 405 and the third rigid plate 403, the slight linear motion of the second rigid plate 402 is converted into the rotational motion of the fourth rigid plate 404. Since the wing root of the flexible aileron 302 is fixed to the fourth rigid plate 404, the rotational motion of the fourth rigid plate 404 is converted into the flapping motion of the flexible wing 3 around the fuselage frame 1. By adjusting the amplitude and offset of the high-voltage sinusoidal signal of the left and right piezoelectric actuators 2, the lift and thrust of the flexible wings on the left and right sides are controlled, thereby controlling the attitude of the micro butterfly-like robot. Specifically, when the same high-voltage sinusoidal AC signal is applied to the left and right piezoelectric actuators 2, and the lift just overcomes its own weight, the micro butterfly-like robot will fly in a horizontal straight line in the horizontal direction. When the amplitude of the high-voltage sinusoidal AC signal applied by the left piezoelectric actuator 2 is greater than that of the right piezoelectric actuator 2, the flapping angle of the left flexible wing 3 will be greater than that of the right flexible wing 3, and thus the thrust generated by the left flexible wing 3 will be greater than that of the right. At this time, the micro butterfly-like robot turns to the right. When the amplitude of the high-voltage sinusoidal AC signal applied by the right piezoelectric actuator 2 is greater than that of the left piezoelectric actuator 2, the flapping angle of the right flexible wing 3 will be greater than that of the left flexible wing 3, and thus the thrust generated by the right flexible wing 3 will be greater than that of the left side. At this time, the micro butterfly-like robot will turn to the left.
[0034] When a high-voltage sinusoidal AC signal with a positive offset is applied to the right piezoelectric actuator and a high-voltage sinusoidal signal with a negative offset is applied to the left piezoelectric actuator, the ratio of the upper and lower limit angles of the flapping wings on both sides changes. Since the amplitudes of the sinusoidal signals on both sides are the same, the thrust on both sides is the same, but the lift on the right side is greater than that on the left side. At this time, the miniature butterfly-like robot will roll to the left around the axis of its body.
[0035] When a high-voltage sinusoidal AC signal with a negative offset is applied to the right piezoelectric actuator and a high-voltage sinusoidal signal with a positive offset is applied to the left piezoelectric actuator, the ratio of the upper and lower limit angles of the flapping wings on both sides changes. Since the amplitudes of the sinusoidal signals on both sides are the same, the thrust on both sides is the same, but the lift on the left side is greater than that on the right side. At this time, the miniature butterfly-like robot will roll to the right around the axis of its body.
[0036] When the positive DC offset of the high-voltage sinusoidal AC signal of the piezoelectric actuators on both sides is increased simultaneously, the lift on both sides increases at the same time. At this time, the total lift is greater than the weight of the micro butterfly robot, and the micro butterfly robot will tilt upward, increasing the robot's height.
[0037] When the negative DC offset of the high-voltage sinusoidal AC signal of the piezoelectric actuators on both sides is increased simultaneously, the lift on both sides decreases at the same time. At this time, the total lift is less than the weight of the micro butterfly robot, and the micro butterfly robot will tilt downwards, causing the robot's height to decrease.
[0038] The above description is only a preferred embodiment of the present invention and does not limit the scope of protection of the present invention. All equivalent structural transformations made under the inventive concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.
Claims
1. A piezoelectrically driven micro butterfly-like robot, characterized in that, It includes a fuselage frame, as well as piezoelectric actuators and flexible wings located on both sides of the fuselage frame; The flexible wing includes a flexible main wing and a flexible aileron. The first end of the piezoelectric actuator is connected to the fuselage frame, and the wing root of the flexible main wing is connected to the second end of the piezoelectric actuator through a displacement amplification mechanism. The root of the flexible aileron is connected to the root of the flexible main wing, so that there is a phase delay angle between the flexible main wing and the flexible aileron during the upward flapping of the flexible wing.
2. The piezoelectrically driven micro butterfly-like robot according to claim 1, characterized in that, The displacement amplification mechanism includes a first rigid plate and flexible connecting rod assemblies disposed on both sides of the first rigid plate; The flexible linkage assembly includes a second rigid plate and a third rigid plate with a flat plate structure, and a fourth rigid plate with a U-shaped plate structure. The second rigid plate, the third rigid plate, the fourth rigid plate, and the first rigid plate are connected in sequence by a flexible hinge. The second rigid plate is connected to the second end of the piezoelectric actuator on the corresponding side, and the wing root of the flexible aileron is connected to the fourth rigid plate on the corresponding side.
3. The piezoelectrically driven micro butterfly-like robot according to claim 2, characterized in that, The first rigid plate has a V-shaped cross-section, so that the flexible wing connected to the third rigid plate has an upward dihedral angle.
4. The piezoelectrically driven micro butterfly-like robot according to claim 2, characterized in that, The fuselage frame includes a bottom plate, a front side plate, and a rear side plate. The bottom plate and the first rigid plate are both connected between the front side plate and the rear side plate, and the first rigid plate is located above the bottom plate. The first end of the piezoelectric actuator is connected to the rear side plate, and the piezoelectric actuator covers part of the gap between the bottom plate and the two sides of the first rigid plate, so that the piezoelectric actuator can simulate the abdominal movement of a butterfly during its movement.
5. The piezoelectrically driven micro butterfly-like robot according to claim 2, characterized in that, The fuselage frame also includes an intermediate support plate, one end of which is connected to the base plate and the other end of which is connected to the first rigid plate.
6. The piezoelectrically driven micro butterfly-like robot according to any one of claims 2 to 5, characterized in that, The first rigid plate, the second rigid plate, the third rigid plate, and the fourth rigid plate are all five-layer composite structures, wherein the first and fifth layers are single-phase carbon fiber plates, the second and fourth layers are thermosetting FPC adhesives, and the third layer is a polyimide film. The first rigid plate, the second rigid plate, the third rigid plate, and the fourth rigid plate are integrally formed with a third layer of polyimide film.
7. The piezoelectrically driven micro butterfly-like robot according to any one of claims 1 to 5, characterized in that, The piezoelectric actuator includes a carbon fiber prepreg intermediate layer and piezoelectric ceramic sheets covering the upper and lower surfaces of the carbon fiber prepreg intermediate layer. The piezoelectric actuator has rigid connection parts at both ends, which are used to connect the frame and the displacement amplification mechanism respectively.
8. The piezoelectrically driven micro butterfly-like robot according to any one of claims 1 to 5, characterized in that, Both the flexible main wing and the flexible aileron are thermosetting and pressing together with carbon fiber prepreg and polyimide film, wherein the carbon fiber prepreg, after curing, serves as the wing veins and the polyimide film serves as the wing membrane.
9. A motion control method for a micro butterfly-like robot according to any one of claims 1 to 8, characterized in that, After the piezoelectric actuator is excited, the end of the piezoelectric actuator is displaced. Then, the displacement amplification mechanism converts the small displacement of the piezoelectric actuator into a large-angle rotation, causing the flexible wing to flap. The pitch, yaw and roll motion of the micro butterfly-like robot can be controlled by adjusting the voltage amplitude and phase of the piezoelectric actuators on both sides.
10. The motion control method according to claim 9, characterized in that, The pitch, yaw, and roll movements of the miniature butterfly-like robot can be controlled by adjusting the voltage amplitude and phase of the piezoelectric actuators on both sides, specifically as follows: When a miniature butterfly-like robot is required to fly in a horizontal straight line, the same high-voltage sinusoidal AC signal is applied to the left and right piezoelectric actuators, while keeping the lift equal to the weight of the butterfly-like robot. When the miniature butterfly-like robot needs to turn to the right, the same high-voltage sinusoidal AC signal is applied to both piezoelectric actuators, and the amplitude of the high-voltage sinusoidal AC signal applied to the left piezoelectric actuator is kept greater than that of the right piezoelectric actuator. When the miniature butterfly-like robot needs to turn to the left, the same high-voltage sinusoidal AC signal is applied to both piezoelectric actuators, and the amplitude of the high-voltage sinusoidal AC signal applied to the right piezoelectric actuator is kept greater than that of the left piezoelectric actuator. When the miniature butterfly-like robot needs to roll to the left around its body axis, a high-voltage sinusoidal AC signal with a positive offset is applied to the right piezoelectric actuator, and a high-voltage sinusoidal signal with a negative offset is applied to the left piezoelectric actuator, while keeping the amplitude of the sinusoidal signals on both sides consistent. When the miniature butterfly-like robot needs to roll to the right around its body axis, a high-voltage sinusoidal AC signal with a negative offset is applied to the right piezoelectric actuator, and a high-voltage sinusoidal signal with a positive offset is applied to the left piezoelectric actuator, while keeping the amplitude of the sinusoidal signals on both sides consistent. When the miniature butterfly-like robot needs to tilt upwards, increase the positive DC offset of the high-voltage sinusoidal AC signal of the piezoelectric actuators on both sides. When the miniature butterfly-like robot needs to tilt downwards, the negative DC offset of the high-voltage sinusoidal AC signal of the piezoelectric actuators on both the left and right sides is increased simultaneously.