CN103708033A - Double piezoelectric actuators type micro flapping wing aircraft based on soft hinges - Google Patents
Double piezoelectric actuators type micro flapping wing aircraft based on soft hinges Download PDFInfo
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Abstract
The invention discloses a double piezoelectric actuators type micro flapping wing aircraft based on soft hinges. The double piezoelectric actuators type micro flapping wing aircraft comprises two bent beam type twin-lamella piezoelectric actuators, two transmission mechanisms in central symmetry distribution, an outer frame surrounding the periphery of the aircraft, and two wing structures containing driven torsion hinges. The bent beam type twin-lamella piezoelectric actuators are bent under the excitation of voltage, the wings are driven to move by the transmission mechanisms, so that a force needed by the motion of the aircraft is generated. By adopting the structure and using the laser micro-cutting technology and soft hinge connection style, the processing and manufacturing of the micro flapping wing aircraft with wingspan of 3 centimeters are achieved. The mechanism is simple and compact in structure; two actuators are respectively used for controlling the two wings so that the aircraft can achieve other motions besides hovering and straight-line flight.
Description
Technical field
What the present invention relates to is a kind of device of minute vehicle technical field, specifically a kind of two Piezoelectric Driving based on flexible hinge flapping wing aircraft that declines.
Background technology
Micro-flapping-wing type aircraft is a kind of fixed-wing and rotor craft of being different from, then imitates birds or insect, adopts the compound movement of wing to realize the minute vehicle flying.Along with scientific and technical development, micro-aircraft (MAV) is becoming the study hotspot of scientific and technological circle in recent years.Especially the processing and manufacturing that develops into minute sized aircraft of MEMS technology provides possibility.U.S. national defense advanced research projects agency proposes micro-aircraft basic index: the size of aircraft is less than 15cm, and weight is at 10g between 100g, and the flight time is 20-60min, and flying speed is 25-70km/h.Micro-flapping-wing type aircraft has the incomparable motor-driven and aeroperformance of general aircraft, its volume is little, quality is light, under little space, have more advantage, small size also provides self well disguised, aspect military, civilian, has very wide application prospect.Therefore micro-aircraft has become the focus of scientific and technological circle's research.
Aspect the research of micro-flapping-wing type aircraft, producing certain achievement abroad, some flapping-wing MAVs have been realized flight.
The flapping wing aircraft of Purdue University, only 11.4 centimetres of the spanes, adopt micro motor formula actuator, and heavy 2.61g has realized the upwards flight along wire.
Publication number is the Chinese patent that 102328744A, application number are 201110223769.6, and a kind of electromagnetic drive type flapping wing micro-aircraft based on flexible hinge is provided.
And for the imitative elder brother's formula aircraft under span 3cm yardstick, or as aforementioned publication number is that 102328744A patent adopts electromagnetic type type of drive, impact due to scale effect, cannot provide very large power output to reach flight performance, and certain distortion of the type of drive Structure of need wherein adopting, can reduce horsepower output by storage of potential energy; Or as Purdue University adopts traditional type of drive, the impact of small scale lower surface power strengthens, and cannot realize normal transmission, can only make yardstick larger aircraft; Or only have one degree of freedom, cannot tackle complicated air-flow environment, carry out changeable flight attitude and control.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of two Piezoelectric Driving based on flexible hinge flapping wing aircraft that declines, this Flight Vehicle Structure concision and compact, two actuators control respectively two wings make aircraft realize except outstanding fly with one direction flight other motions become possibility.The present invention utilizes laser microdissection to cut processing and manufacture that technology and flexible hinge connection mode realize micro-flapping wing aircraft of span 3cm.
The present invention is achieved by the following technical solutions, the present invention includes: two crooked beam type twin lamella piezoelectric actuators, the transmission device that two cover Central Symmetries distribute, fuselage outside frame and two wings; Wherein: described transmission device is one or four jointed gear units, the fixed end of transmission device is connected with fuselage outside frame; The two ends of described crooked beam type twin lamella piezoelectric actuator are respectively a broadside and a narrow limit, and wherein said narrow limit is connected with transmission device and as the input connecting rod of transmission device, described broadside is connected with fuselage outside frame; Two wings are connected with the mouth of transmission device by the passive torsion hinge of wing root; Outside frame circumaviate device is peripheral, and the cross bar in transmission device and two crooked beam type twin lamella piezoelectric actuator roots are linked together, and forms the stationary links in four-bar linkage; Two crooked beam type twin lamella piezoelectric actuators produce bending under voltage-drive, drive transmission device motion, and transmission device will pass to the wing that is connected to mouth after motion amplification, produce to pat and move; Wing is under interacting with air, by the rotation of passive torsion hinge generation wing; Two kinds of motions of this of wing combine and produce required lift and the forward thrust of aircraft movements.
Described twin lamella beam type piezoelectric actuator, the piezoceramics layer that comprises two-layer active movement (being piezoelectric ceramic piece) and the allokinetic carbon fiber layer of one deck, and a rigidity extension of adding in order to increase output displacement.This actuator is upper and lower two-layer is the piezoelectric ceramic piece of isosceles-trapezium-shaped, and interlayer is carbon fiber.Along trapezoidal high direction, be connected and extend the elongated end of glass fibre with trapezoidal narrow limit.During use, the broadside of actuator and fuselage outside frame are fixed, all the other structures are unsettled, form beam type structure, and not identical elongation occurs respectively upper and lower two piezoelectric ceramic pieces under external voltage effect, cause the bending of whole beam type structure, at beam end, realize the output of displacement.
Principle of work of the present invention is: the actuator of use is twin lamella beam type piezoelectric actuator, under external voltage effect, there is respectively not identical elongation in upper and lower two piezoceramics, cause the bending of whole beam type structure, at beam end, realize the output of displacement.In the structure of aircraft, adopt common four-bar linkage structure, but the present invention replaces with twin lamella beam type piezoelectric actuator by the connecting rod of input end, realize four jointed gear units that flexible beam (being twin lamella beam type piezoelectric actuator) participates in.And adhering to wing structure at the mouth of four jointed gear units, whole four jointed gear units transmit and have amplified the corner of twin lamella beam type piezoelectric actuator, realize fluttering of wing wide-angle.The hard and soft mixed drive mechanism being comprised of such two cover piezoelectric actuators and connecting rod mechanism in aircraft controls respectively the motion of two wings.Corner size, center and frequency by regulating both wings to flutter, can realize complicated space motion.The junction of wing and transmission device also has a passive torsion hinge, makes wing in the process of fluttering, under aerodynamic torque effect, realize passive torsion, forms and produces the required angle of attack of lift.
Compared with prior art, the present invention has following beneficial effect:
The present invention compares with existing flapping wing aircraft, and not only structure is small and exquisite, and the span only has 3cm; And compare with small span flapping wing aircraft both domestic and external, be also with the obvious advantage: the structure of two actuators is compared with the aircraft of an external actuator, the driving degree of freedom having more must be realized more complicated motion; Even compare with the structure that is equally a plurality of actuators abroad, in type of drive, also there is advantage---the part using actuator itself in transmission device, compact conformation, alleviated and transmission device has been connected to the quality of required additional structure with actuator, also reduced the loss of energy in intermediate structure.
Accompanying drawing explanation
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:
Fig. 1 is integral structure isometric drawing of the present invention.
Fig. 2 is activation configuration isometric drawing of the present invention.
Fig. 3 is the isometric drawing of transmission device of the present invention.
Fig. 4 is transmission device birds-eye view of the present invention.
Fig. 5 is transmission principle figure of the present invention.
Fig. 6 is the back view of the left wing of the present invention.
The specific embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art further to understand the present invention, but not limit in any form the present invention.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement.These all belong to protection scope of the present invention.
As shown in Figure 1, this example comprises: front twin lamella beam type piezoelectric actuator 1, rear twin lamella beam type piezoelectric actuator 2, transmission device 3, right wing 4, left wing 5, outside frame 6.Front twin lamella beam type piezoelectric actuator 1, rear twin lamella beam type piezoelectric actuator 2 are symmetrical centered by criss-cross connecting rod 17; Transmission device 3 is four jointed gear units; Described front twin lamella beam type piezoelectric actuator 1 is connected with connecting rod 14 with the connecting rod 11 of transmission structure 3 respectively with front twin lamella beam type piezoelectric actuator 2; Right wing 4 is connected with connecting rod 16 with the connecting rod 13 of transmission device respectively with left wing 5; Outside frame 6, around all mechanisms, is connected with the broadside of rear twin lamella beam type piezoelectric actuator 2 with described front twin lamella beam type piezoelectric actuator 1, is connected with the criss-cross connecting rod 17 of transmission device simultaneously.
As shown in Figure 2, described front twin lamella beam type piezoelectric actuator 1 and front twin lamella beam type piezoelectric actuator 2 are the three stacked girder constructions of closing: wherein interlayer 9 is carbon fiber layer; Upper and lower double-layer structure is identical, all by glass fibre extension 7 and trapezoidal piezoelectric ceramics sheet 8, is bonded in carbon fiber layer two sides and forms.Articulamentum 10 links together separated glass fibre extension 7 and trapezoidal piezoelectric ceramics sheet 8.Upper and lower two trapezoidal piezoelectric ceramics sheets 8 under external voltage effect, produce Fig. 2 in x direction differently strained, thereby causing that actuator is whole produces around the axial bending of y, for driving external loading.Activation configuration has been realized the once amplification that the micro-displacement of piezoelectric patches is converted to composite beam large rotation angle.Described front twin lamella beam type piezoelectric actuator 1 and front twin lamella beam type piezoelectric actuator 2 are controlled respectively two wings in left and right, and two actuators conllinear when balance position distributes, balance center-of-gravity position, make fuselage be difficult for occurring undesired upset.
As shown in Figure 3, described transmission device 3 forms (as previously mentioned, piezoelectric actuator using as four-bar linkage structure is supplemented to complete key structure) by the incomplete four-bar linkage of two covers, shares criss-cross connecting rod 17 as fixed end.Wherein connecting rod 11, connecting rod 12, and U-shaped connecting rod 13 is the moving shaft portion of a set of four connecting rods; Connecting rod 14, connecting rod 15, U-shaped connecting rod 16 is the moving shaft portion of another set of four connecting rods.And criss-cross connecting rod 17 is along two projections of the direction of y shown in Fig. 3 and outside frame 6 is bonding is connected.
As shown in Figure 4, described transmission device 3, in fact by folding rear formation of a plane three-decker.Wherein central core is flexible material Kapton, is whole piece film; Levels is patterned carbon fiber layer.The figure of carbon fiber is that tiling is that a figure after three layer planes determines according to required three-dimensional structure (as Fig. 3).Wherein need to there be carbon fiber the position of connecting rod, and as crooked flexible structure place, carbon fibre material need to be excised in flexible hinge, vacates specific width (width is determined with the fatigue stress that prevents inefficacy by the hinge torsional stiffness of design).
Described U-shaped connecting rod 13, forms by the folding rear locked right angle of the instant drying adhesive part of using by three adjacent, to be connected by flexible hinge connecting rods with 16.
Described transmission device integral body is rendered as " s " type, and two sets of transmission mechanism are integrated on the same criss-cross connecting rod 17 as fixed end.
As shown in Figure 5, transmission principle of the present invention is two non-interfering lanar four rod mechanisms, drives respectively two wings of aircraft.Because principle is identical, the part in bilinear left side in Main Analysis Fig. 5 here.Glued joint mutually with fuselage outside frame 6 at actuator tail point A place, is equivalent to the ground terminal in connecting rod.Point D place U-shaped connecting rod is connected with criss-cross connecting rod, is also equivalent to ground terminal.Compare with common four-bar linkage structure, difference is only the connecting rod AB of input end: first, this connecting rod be one can be crooked flexible beam, against flexibility rather than the revolute pair of beam self, realize rotational freedom; Secondly, this connecting rod itself is exactly actuator, as the four-bar linkage structure of transmission device and the actuator unit of input power naturally with for one, this is also to save space under microscale, the demand of expendable weight makes so.BC bar afterwards, CD bar is all to be made by the carbon fibre material of high-modulus, is equivalent to rigidity bar linkage structure, between by flexible membrane, be connected to form revolute pair.Two bar structures not only realize gearing, also the Small-angle Rotation of actuator are enlarged into the large rotation angle of wing.
As shown in Figure 6, described wing (being right wing 4, left wing 5) is by passive torsion structure 18, and vein 19 and parachute 20 form.Passive torsion structure 18 is formed by the gap between a trapezoid block, rectangular block and trapezoid block and rectangular block, the gap forming provides the degree of freedom of the passive torsion of wing as flexible hinge, under the interaction with air, be similar to insect around Fig. 6 in the rotation of x axle, form the angle of attack that wing is fluttered in process.Parachute sticks on vein, by polyimide film, under laser beam cutting, is shaped.Vein material can be metallic material, sticks on the rectangular block of passive torsion structure 18 as in Fig. 6.Vein also can adopt carbon fibre material, so just consistent with the material of passive torsion structure 18, structure that can being made of one.According to the insect wing pattern statistical law of foreign literature, the outline of parachute is obeyed the relevant compound function of beta function:
In formula (1)
for normalized wing chord length (based on mean chord length),
for normalized wing expanse is to length (based on wing overall length), B (p, q) is beta function:
P in formula (2), q is respectively:
In formula
be respectively single order moment of area and the dual terrace surface product moment of wing.
Described outside frame 6 is to be formed by stacking by three-decker, and intermediate flexible layer material is polyimide, and both sides rigid material is patterned carbon fiber, forms required rigid construction and flexible hinge.Afterwards that superimposed good planar structure is crooked fixing along flexible hinge, form outside frame structure (as the label 6 indication structures in Fig. 1).
The vein of described wing structure is carbon fiber or metallic material, and parachute is mylar or polyimide film.
Described front twin lamella beam type piezoelectric actuator 1 and front twin lamella beam type piezoelectric actuator 2 are the three-decker of " PZT piezoceramic-carbon fiber-PZT piezoceramic ", and elongated end is that glass fibre clips carbon fibre material.
Described outside frame 6 surrounds aircraft one week, as rigidity supporting structure, can also arrange the sensor that aircraft auto-flare system is required, signal control circuit, the structures such as portable power in the above.
Described fuselage outside frame, four jointed gear units, wing are by laser beam cutting carbon fiber and polyimide material moulding, then are built up desired structure by the vacuum bag technique of multilayer material.
Described twin lamella beam type piezoelectric actuator is that carbon fiber and the piezoceramic by laser beam cutting moulding is formed by stacking through vacuum bag technique.
Above specific embodiments of the invention are described.It will be appreciated that, the present invention is not limited to above-mentioned specific implementations, and those skilled in the art can make various distortion or modification within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (9)
1. the flapping wing aircraft that declines of the two piezoelectric actuators based on flexible hinge, is characterized in that, comprising: two crooked beam type twin lamella piezoelectric actuators, the transmission device that two cover Central Symmetries distribute, fuselage outside frame and two wings; Wherein: described transmission device is one or four jointed gear units, the fixed end of transmission device is connected with fuselage outside frame; The two ends of described crooked beam type twin lamella piezoelectric actuator are respectively a broadside and a narrow limit, and wherein said narrow limit is connected with transmission device and as the input connecting rod of transmission device, described broadside is connected with fuselage outside frame; Two wings are connected with the mouth of transmission device by the passive torsion hinge of wing root; Outside frame circumaviate device is peripheral, and the cross bar in transmission device and two crooked beam type twin lamella piezoelectric actuator roots are linked together, and forms the stationary links in four-bar linkage; Two crooked beam type twin lamella piezoelectric actuators produce bending under voltage-drive, drive transmission device motion, and transmission device will pass to the wing that is connected to mouth after motion amplification, produce to pat and move; Wing is under interacting with air, by the rotation of passive torsion hinge generation wing; Two kinds of motions of this of wing combine and produce required lift and the forward thrust of aircraft movements.
2. the two piezoelectric actuators based on the flexible hinge according to claim 1 flapping wing aircraft that declines, it is characterized in that: described twin lamella beam type piezoelectric actuator, the allokinetic carbon fiber layer of the piezoceramics layer that comprises two-layer active movement and one deck, an and rigidity extension of adding in order to increase output displacement, this actuator is upper and lower two-layer is the piezoelectric ceramic piece of isosceles-trapezium-shaped, interlayer is carbon fiber, along trapezoidal high direction, is connected and extends the elongated end of glass fibre with trapezoidal narrow limit; During use, the broadside of actuator and fuselage outside frame are fixed, all the other structures are unsettled, form beam type structure, and not identical elongation occurs respectively upper and lower two piezoelectric ceramic pieces under external voltage effect, cause the bending of whole beam type structure, at beam end, realize the output of displacement.
3. the two piezoelectric actuators based on the flexible hinge according to claim 2 flapping wing aircraft that declines, is characterized in that: described transmission device is " s " type, and two sets of transmission mechanism are integrated on the same criss-cross connecting rod as fixed end.
4. according to the flapping wing aircraft that declines of the two piezoelectric actuators based on flexible hinge described in claim 1-3 any one, it is characterized in that: two described crooked beam type twin lamella piezoelectric actuators are controlled respectively two wings in left and right, two crooked beam type twin lamella piezoelectric actuators conllinear when balance position distributes.
5. according to the flapping wing aircraft that declines of the two piezoelectric actuators based on flexible hinge described in claim 1-3 any one, it is characterized in that: described outside frame, transmission device is to be all formed by stacking by three-decker, and intermediate flexible layer material is polyimide, and both sides rigid material is carbon fiber.
6. the two piezoelectric actuators based on the flexible hinge according to claim 5 flapping wing aircraft that declines, it is characterized in that: described outside frame surrounds aircraft one week as rigidity supporting structure, above it, arrange the sensor that aircraft auto-flare system is required, signal control circuit, portable power structure.
7. the two piezoelectric actuators based on the flexible hinge according to claim 1 flapping wing aircraft that declines, is characterized in that: the vein of described wing is carbon fiber or metallic material, and parachute is mylar or polyimide film.
8. the two piezoelectric actuators based on the flexible hinge according to claim 7 flapping wing aircraft that declines, it is characterized in that: the parachute outline on described wing is obeyed the relevant compound function of beta function, and the flexible hinge of wing root provides the degree of freedom of the passive torsion of wing.
9. the two piezoelectric actuators based on the flexible hinge according to claim 1 flapping wing aircraft that declines, is characterized in that: described aircraft span is less than 3cm.
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| CN105151299A (en) * | 2015-09-28 | 2015-12-16 | 北京航空航天大学 | Wing torsion mechanism increasing flapping flight lift force |
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