CN106081104B - A kind of insect scale Piezoelectric Driving flapping-wing MAV - Google Patents
A kind of insect scale Piezoelectric Driving flapping-wing MAV Download PDFInfo
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- CN106081104B CN106081104B CN201610574891.0A CN201610574891A CN106081104B CN 106081104 B CN106081104 B CN 106081104B CN 201610574891 A CN201610574891 A CN 201610574891A CN 106081104 B CN106081104 B CN 106081104B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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Abstract
The present invention provides a kind of insect scale Piezoelectric Driving flapping-wing MAVs, comprising: a piezoelectric actuator, integrally formed fuselage and transmission mechanism, two wings, two passive torsion hinges and supplementary structure；Piezoelectric actuator generates the of reciprocating vibration of period in the case where energization；Transmission mechanism amplifies the microvibration of piezoelectric actuator, is converted into the beating campaign of two wings；The root of two wings is connect with a passive torsion hinge respectively, and under the action of aerodynamic force and inertia force, two wings twist, to generate lift required for flight.Microreactor technology volume and weight of the present invention reaches insect scale；Between piezoelectric actuator and wing, a kind of transmission mechanism of flexible hinge amplification is devised, the high-frequency that wing may be implemented with piezoelectric actuator cooperation, which is significantly back and forth patted, to be moved；It is integral by designing transmission mechanism and fuselage, the assembly between transmission mechanism and fuselage is avoided, assembly precision is substantially increased.
Description
Technical field
The present invention relates to micro-processing technology fields, and in particular, to a kind of insect scale Piezoelectric Driving flapping-wing MAV.
Background technique
Flapping-wing MAV is a kind of minute vehicle that flight is realized by wing compound movement.Under large scale, one
As wing using rigid link or gear-box as transmission device converted for the rotary motion of motor using motor driven
Reciprocating beating movement.But with the diminution of scale, the influence of surface force can become more significant relative to body force, electricity
Machine driving method seems very heavy and inefficient, and the kinds of drive low efficiency such as " axis " and " gear " in traditional mechanical structure adds
Work difficulty is big.In insect scale, the size and weight for passing function motor are difficult to further reduce and realize " insect truly
Scale ".
The country generates certain achievement in terms of the research of flapping-wing MAV.Publication No. 102815399A, application number
For 201210282453.9 Chinese patent, a kind of imitative hummingbird flapping-wing MAV is provided.Publication No. 101934861A, Shen
Please number be 201010289254.1 Chinese patent, provide a kind of piezoelectric biomimetic micro flapping flight device.
But current flapping-wing MAV, such as aircraft of aforementioned Publication No. 102815399A patent, use motor
Gear set is driven, realizes the beating campaign of a pair of of wing.The volume and weight of this aircraft is all very big, is unfavorable for overcoming itself
Gravity takes off, and the adjustment of flight attitude is also inflexible.And the wing of this aircraft cannot generate effective twist motion,
It is unfavorable for the generation of lift.Such as the aircraft of aforementioned Publication No. 101934861A patent, the wing made using piezoelectric ceramics,
In the case where energization, piezoelectric ceramics deformation is to realize the beating campaign of piezoelectricity wing.Although this design method can be real
Existing insect scale, but the deflection very little of piezoelectric ceramics, under the premise of no enlarger helps, the beating campaign of wing
Meeting very little, is unfavorable for the generation of lift；As the aircraft of Publication No. 102815399A patent, the wing of this aircraft
Effective twist motion can not be generated, the generation of lift is unfavorable for.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of micro- flights of insect scale Piezoelectric Driving flapping wing
Device, all very close true flying insect of the aircraft volume and weight (span is less than 5cm, and main screw lift is less than 1g)；Pressure
Electric drive work is in resonance state, so that aircraft can be used lesser energy and realize the longer cruise time；Aircraft
Wing high-frequency may be implemented significantly back and forth pat movement, while twist motion is also able to achieve, to increase substantially
Aerodynamic lift.
In order to achieve the above object, the present invention provides a kind of insect scale Piezoelectric Driving flapping-wing MAV, comprising: a pressure
Electric drive, the transmission mechanism comprising fuselage, two wings, two passive torsion hinges and supplementary structure；Wherein:
The transmission mechanism and the fuselage integrated molding, the tail end of the piezoelectric actuator are fixed on the fuselage
On, the head of the piezoelectric actuator is connected with the transmission mechanism, one end of two passive torsion hinges respectively with institute
The root consolidation of wing is stated, the other end and the transmission mechanism of two passive torsion hinges consolidate；The supplementary structure
For fixing fuselage, support is provided for entire microreactor technology；
Using the piezoelectric actuator as power device, the piezoelectric actuator back and forth vibrates up and down the microreactor technology,
The microvibration displacement equations of the piezoelectric actuator are converted the reciprocal beating movement of two wings by the transmission mechanism；
By controlling the driving voltage and frequency of the piezoelectric actuator, adjusting the beating amplitude of two wings and patting frequency, and two
A wing is controlled by a piezoelectric actuator, realizes symmetrical beating movement；Microreactor technology work under system resonance frequency
Make, realization overcomes self gravity to take off.
Preferably, the piezoelectric actuator uses bi-morph piezo-electric driver；Piezoelectric actuator is with two panels piezoelectric ceramics
As deformation layer, one layer of carbon fiber as electrode layer, four-layer glass fiber as structure sheaf and insulating layer, in which: deformation layer point
The upper and lower layer being distributed in the middle part of piezoelectric actuator；Electrode layer is distributed in the middle layer of piezoelectric actuator；Structure sheaf and insulating layer distribution
Head and tail end in piezoelectric actuator, for carrying and insulating with fuselage；And electrode layer, structure sheaf and insulating layer contain in itself
There is epoxide-resin glue, is realized under high temperature and pressure effect and be bonded seven layer materials of deformation layer, electrode layer, structure sheaf and insulating layer
Together.
Preferably, the tail portion of the piezoelectric actuator is set there are two location hole, for assembling with fuselage；The piezoelectricity
The head of driver is very thin, for being inserted into the square groove being arranged on transmission mechanism.
It is highly preferred that the tail portion of the piezoelectric actuator and the head of piezoelectric actuator are all made of glass fiber material,
Play the role of support and electric isolution；The centre of the piezoelectric actuator is the conductive layer using carbon fibre material.
Preferably, the transmission mechanism uses plane four-bar linkage structure, and plane four-bar linkage structure includes connecting rod and hinge,
Wherein: connecting rod is made of carbon fibre material；Hinge uses flexible hinge, and flexible hinge is by " carbon fiber-fexible film-carbon fiber "
Sandwich structure composition, small in size, light weight, easy processing, transmission efficiency are high, and very big advantage is presented under small scale.
Preferably, the root of the wing is connected by passive torsion hinge with transmission mechanism；In aerodynamic force and inertia
Under the action of power, two wings realize twist motion with the help of two passive torsion hinges, to generate required for flight
Lift.
Preferably, the wing is a kind of artificial wing of imitative insect, by three wing leading edge, vein and parachute parts
Composition, parachute are pasted on wing leading edge and vein；Wherein:
The wing leading edge and vein are all made of the carbon fibre material of high-modulus, for improve the wing intensity and just
Degree；The parachute uses ultra-thin polymeric membrane, to reduce the weight of the wing.
It is highly preferred that the wing leading edge and vein are arranged along the machine direction of carbon fiber, to greatly improve
The stiffness and strength of the wing in all directions.
Preferably, the passive torsion hinge uses flexible hinge, by the three of " carbon fiber-fexible film-carbon fiber "
Mingzhi's structure composition.
Preferably, the microreactor technology size belongs to insect scale, and the span of microreactor technology is less than 5cm, microreactor technology
Main screw lift be less than 1g.
Compared with prior art, the present invention have it is following the utility model has the advantages that
The present invention uses bi-morph piezo-electric driver as driving device, and microreactor technology volume and weight reaches insect ruler
Degree；Between bi-morph piezo-electric driver and wing, transmission mechanism (being a kind of flexible hinge enlarger) is devised, with twin crystal
The high-frequency that wing may be implemented in the cooperation of piece piezoelectric actuator significantly back and forth pats movement；Transmission mechanism and fuselage are designed to one
The structure of body avoids the assembly between minute yardstick lower transmission mechanism and fuselage, reduces rigging error, ensure that driver
The accuracy of structure characteristic size；The root of wing devises passive torsion hinge, under the action of aerodynamic force and inertia force, wing
Twist motion may be implemented, to be conducive to generate the required lift that flies.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the integrally-built isometric drawing of one embodiment of the invention；
Fig. 2 is the isometric drawing of aircraft tail portion in one embodiment of the invention；
Fig. 3 is the isometric drawing of Vehicle nose in one embodiment of the invention；
Fig. 4 is the isometric drawing of piezoelectric actuator in one embodiment of the invention；
Fig. 5 is the cross-sectional view of flexible hinge in one embodiment of the invention；
Fig. 6 is the main view of right wing in one embodiment of the invention；
In figure:
1 is piezoelectric actuator, and 2 be transmission mechanism, and 3 be fuselage, and 4,5 be wing, and 6,7 be passive torsion hinge, 8,9,10,
11 be supplementary structure, and 12 be piezoelectric actuator tail end, and 13 be piezoelectric actuator head, and 14 be square hole, and 15 be plane double leval jib knot
Structure, 16,17,18 be flexible hinge, and 19,20 be piezoelectric ceramics, and 21 be carbon fiber, and 22,23,24,25 be glass fibre, and 26 be fixed
Position hole, 27 be carbon fiber, and 28 be fexible film, and 29 be carbon fiber, and 30 be wing leading edge, and 31,32 be vein, and 33 be parachute, 34
For wing root.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
As shown in Figure 1, Figure 2, Figure 3 shows, a kind of insect scale Piezoelectric Driving flapping-wing MAV a, comprising: Piezoelectric Driving
Device 1, a transmission mechanism 2, fuselage 3, two wings 4,5, two passive torsion hinges 6,7 and supplementary structure 8,9,10,11,
Wherein:
The transmission mechanism 2 and 3 integrated molding of fuselage, so as to avoid minute yardstick lower transmission mechanism 2 and fuselage 3
Between assembly, reduce rigging error, ensure that the accuracy of 2 characteristic size of transmission mechanism；The piezoelectric actuator 1 passes through
Piezoelectric actuator tail end 12 is fixed on fuselage 3, and piezoelectric actuator 1 on piezoelectric actuator head 13 and transmission mechanism 2 by setting
The square hole 14 set is connected；One end of passive torsion hinge 6,7 is consolidated with wing 4,5 respectively, the other end of passive torsion hinge 6,7
It is consolidated in transmission mechanism 2；Supplementary structure 8,9,10,11 is used to fix on fuselage 3, to provide branch for the entire microreactor technology
Support.
The microreactor technology is using the piezoelectric actuator 1 as power device, the reciprocal vibration up and down of piezoelectric actuator 1
Dynamic, the microvibration displacement equations of the piezoelectric actuator 1 are converted the reciprocal bat of two wings 4,5 by the transmission mechanism 2
Play movement；By controlling the driving voltage and frequency of the piezoelectric actuator 1, the beating amplitude and bat of two wings 4,5 are adjusted
Frequency is beaten, and two wings 4,5 are controlled by a piezoelectric actuator 1, realizes symmetrical beating movement；Microreactor technology is being
It altogether works under vibration frequency, realization overcomes self gravity to take off.
As a preferred embodiment, the transmission mechanism 2 uses plane four-bar linkage structure 15, plane four-bar linkage structure 15
Hinge use flexible hinge 16.
As a preferred embodiment, flexible hinge 17,18 is respectively adopted in the passive torsion hinge 6,7.
As shown in figure 4, being the isometric drawing of the piezoelectric actuator 1.The piezoelectric actuator 1 is bi-morph piezo-electric drive
Dynamic device, using two panels piezoelectric ceramics 19,20 as deformation layer, one layer of carbon fiber 21 as electrode layer, four-layer glass fiber 22,23,
24,25 structure sheaf and insulating layer are used as, in which: the deformation layer is distributed in the upper and lower level at 1 middle part of piezoelectric actuator；The electrode
Layer is distributed in the middle layer of piezoelectric actuator 1；The structure sheaf and insulating layer are distributed in head and the tail end of piezoelectric actuator 1,
For carrying and insulating with fuselage 3.Since carbon fiber 21 and glass fibre 22,23,24,25 contain epoxide-resin glue in itself,
High temperature and pressure effect it is lower can by 19,20, one layers of carbon fiber 21 of two panels piezoelectric ceramics, four-layer glass fiber 22,23,24,25 seven
Layer material bonds together.
Piezoelectric actuator tail end 12 is set there are two location hole 26, for assembling with fuselage 3；Compare on piezoelectric actuator head 13
Very thin, piezoelectric actuator head 13 is inserted into the square hole 14 of transmission mechanism 2, to realize the connection with transmission mechanism 2；It is described
Piezoelectric actuator tail end 12 and piezoelectric actuator head 13 are all made of glass fiber material, play the role of support and electric isolution.
As a preferred embodiment, in the piezoelectric actuator 1:
The piezoelectric ceramics 19,20, i.e. deformation layer use PZT-5H (PbZrTiO3) material；
The carbon fiber 21, i.e. electrode layer use 40 microns of thick high modulus carbon fiber prepregs；
The glass fibre 22,23,24,25, i.e. structure sheaf and insulating layer use 120 microns of thick high-modulus glass fibers
Prepreg.
As shown in figure 5, for the cross-sectional view of flexible hinge described in the present embodiment.The flexible hinge 16,17,18 is by " carbon
The sandwich structure of fiber 27- fexible film 28- carbon fiber 29 " forms, in which:
Carbon fiber 27,29 is used as rigid structural layer, and fexible film 28 is used as plastic deformation layer.
As a preferred embodiment, the carbon fiber 27,29 uses 60 microns or 80 microns thick high-modulus carbon fibers
Tie up prepreg；The fexible film 28 uses 7.5 microns of thick polyimide films.
As shown in fig. 6, for the main view (left wing 4 and right 5 symmetrical configuration of wing) of right wing described in the present embodiment.It is described
Wing 4,5 is made of 33 3 wing leading edge 30, vein 31,32 and parachute parts, and the parachute 33 is pasted onto the wing
On leading edge 30 and the vein 31,32；Wherein:
The wing leading edge 30 and the vein 31,32 are all made of the carbon fibre material of high-modulus, and move towards along carbon fiber
The machine direction of dimension；The parachute 33 uses ultra-thin polymeric membrane.
As a preferred embodiment, in the wing 4,5:
Wing leading edge 30 and vein 31,32 are all made of 60 microns of thick high modulus carbon fiber prepregs；
Parachute 33 uses 1.5 microns of thick polyester film materials.
The weight of the wing 4,5 is respectively less than 1 milligram.
In the present embodiment, the wing 4,5 is connect with passive torsion hinge 6,7 respectively by wing root 34.
When system operation, the sinusoidal offset signal of certain frequency and amplitude is accessed, by binary channels drive power supply for piezoelectric ceramics
Power amplification is carried out to signal, so that piezoelectric actuator 1 generates mechanical oscillation；By adjusting the range-adjusting wing 4,5 of signal
Beating amplitude, the resonant frequency point of system is found by adjusting the frequency of signal, system resonates at this time, wing 4,5 clap
Beating amplitude can reach maximum value；While 4,5 high speed of wing is patted, under the action of passive torsion hinge 6,7, wing 4,5 is sent out
Raw twist motion, generates lift required for flying.
The volume and weight of microreactor technology described in the present embodiment all very close true flying insects (span is less than 5cm,
Main screw lift is less than 1g)；Piezoelectric actuator 1 works in resonance state, so that lesser energy can be used in the microreactor technology
Realize the longer cruise time；The wing 4,5 of the microreactor technology may be implemented high-frequency and significantly back and forth pat movement, together
When be also able to achieve twist motion, to increase substantially aerodynamic lift.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (8)
1. a kind of insect scale Piezoelectric Driving flapping-wing MAV characterized by comprising a piezoelectric actuator includes machine
The transmission mechanism of body, two wings, two passive torsion hinges and supplementary structure；Wherein:
The transmission mechanism and the fuselage integrated molding, the tail end of the piezoelectric actuator are fixed on the fuselage, institute
The head for stating piezoelectric actuator is connected with the transmission mechanism, one end of two passive torsion hinges respectively with the wing
Root consolidation, the other ends of two passive torsion hinges and the transmission mechanism consolidate；The supplementary structure is used for will
Fuselage is fixed, and provides support for entire microreactor technology；
Using the piezoelectric actuator as power device, the piezoelectric actuator back and forth vibrates up and down the microreactor technology, described
The microvibration displacement equations of the piezoelectric actuator are converted the reciprocal beating movement of two wings by transmission mechanism；Pass through
The driving voltage and frequency for controlling the piezoelectric actuator adjust the beating amplitude of two wings and pat frequency, and two wings
Wing is controlled by a piezoelectric actuator, realizes symmetrical beating movement；Microreactor technology works under system resonance frequency, real
Now self gravity is overcome to take off；
The piezoelectric actuator uses bi-morph piezo-electric driver；Piezoelectric actuator using two panels piezoelectric ceramics as deformation layer,
One layer of carbon fiber is as electrode layer, four-layer glass fiber as structure sheaf and insulating layer, in which: deformation layer is distributed in Piezoelectric Driving
Upper and lower layer in the middle part of device；Electrode layer is distributed in the middle layer of piezoelectric actuator；Structure sheaf and insulating layer are distributed in piezoelectric actuator
Head and tail end, for carry and with fuselage insulate；And electrode layer, structure sheaf and insulating layer contain epoxy resin in itself
Glue is realized under high temperature and pressure effect and seven layer materials of deformation layer, electrode layer, structure sheaf and insulating layer bonds together；
The transmission mechanism use plane four-bar linkage structure, plane four-bar linkage structure includes connecting rod and hinge, in which: connecting rod by
Carbon fibre material is constituted；Hinge use flexible hinge, flexible hinge by " carbon fiber-fexible film-carbon fiber " sandwich knot
Structure composition.
2. a kind of insect scale Piezoelectric Driving flapping-wing MAV according to claim 1, which is characterized in that the pressure
The tail portion of electric drive is set there are two location hole, for assembling with fuselage；The head of the piezoelectric actuator is very thin, for inserting
Enter into the square groove being arranged on transmission mechanism.
3. a kind of insect scale Piezoelectric Driving flapping-wing MAV according to claim 2, which is characterized in that the pressure
The tail portion of electric drive and the head of piezoelectric actuator are all made of glass fiber material, play the role of support and electric isolution；Institute
The centre for the piezoelectric actuator stated is the conductive layer using carbon fibre material.
4. a kind of insect scale Piezoelectric Driving flapping-wing MAV according to claim 1, which is characterized in that access one is just
String offset signal carries out power amplification to signal by binary channels drive power supply for piezoelectric ceramics, so that piezoelectric actuator generates machinery
Vibration；By adjusting the beating amplitude of the range-adjusting wing of signal, the resonance frequency of system is found by adjusting the frequency of signal
Rate point, system resonates at this time, and wing pats amplitude and reaches maximum value；While wing high speed is patted, the wing
Root is connected by passive torsion hinge with transmission mechanism, and under the action of aerodynamic force and inertia force, two wings are in two quilts
Twist motion is realized with the help of dynamic torsion hinge, to generate lift required for flight.
5. a kind of insect scale Piezoelectric Driving flapping-wing MAV according to claim 4, which is characterized in that the wing
Wing is a kind of artificial wing of imitative insect, is made of three wing leading edge, vein and parachute parts, parachute is pasted onto wing leading edge
On vein；Wherein: the wing leading edge and vein are all made of the carbon fibre material of high-modulus, for improving the strong of the wing
Degree and rigidity；The parachute uses ultra-thin polymeric membrane, to reduce the weight of the wing.
6. a kind of insect scale Piezoelectric Driving flapping-wing MAV according to claim 5, which is characterized in that the wing
The arrangement of wing leading edge and vein along the machine direction of carbon fiber, thus greatly improve the rigidity of the wing in all directions and
Intensity.
7. a kind of insect scale Piezoelectric Driving flapping-wing MAV according to claim 1-6, which is characterized in that
The passive torsion hinge uses flexible hinge, is made of the sandwich structure of " carbon fiber-fexible film-carbon fiber ".
8. a kind of insect scale Piezoelectric Driving flapping-wing MAV according to claim 1-6, which is characterized in that
The microreactor technology size belongs to insect scale, and the span of microreactor technology is less than 5 cm, and the main screw lift of microreactor technology is less than 1
g。
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| CN106160565A (en) * | 2016-08-17 | 2016-11-23 | 上海交通大学 | High-precision micro linear electric motors based on Piezoelectric Driving |
| CN106230310A (en) * | 2016-08-17 | 2016-12-14 | 上海交通大学 | High-precision micro electric rotating machine based on Piezoelectric Driving |
| CN107902086B (en) * | 2017-10-25 | 2018-10-23 | 西安交通大学 | It is a kind of that rotor craft and driving method are flutterred based on Piezoelectric Driving |
| CN108163194B (en) * | 2017-12-25 | 2021-05-11 | 南京航空航天大学 | Microminiature piezoelectric bionic flapping wing aircraft |
| CN108674649B (en) * | 2018-04-19 | 2021-11-26 | 东南大学 | Piezoelectric type micro flapping wing aircraft and transmission mechanism processing method thereof |
| CN109050911B (en) * | 2018-07-24 | 2020-03-31 | 东南大学 | Multi-degree-of-freedom piezoelectric driving type micro flapping wing aircraft and machining method of transmission mechanism thereof |
| CN110143278B (en) * | 2018-10-09 | 2022-03-15 | 宁波大学 | Bionic flapping wing robot driven by flexible piezoelectric fibers |
| CN109398696B (en) * | 2018-10-17 | 2020-03-31 | 东南大学 | Angle-adjustable micro aircraft based on piezoelectric bimorph wings and machining and assembling method thereof |
| CN112635696B (en) * | 2020-12-22 | 2023-05-02 | 合肥维信诺科技有限公司 | Packaging device and packaging method thereof |
| CN113328651B (en) * | 2021-07-14 | 2022-06-07 | 中国人民解放军国防科技大学 | Deformation scale based on piezoelectric drive and deformation method |
| CN113799981B (en) * | 2021-09-16 | 2023-07-18 | 西北工业大学太仓长三角研究院 | Flapping wing device for dragonfly-imitating flapping wing aircraft |
| CN114180055A (en) * | 2021-12-17 | 2022-03-15 | 北京航天测控技术有限公司 | Piezoelectric driving type micro flapping wing aircraft and flight control method |
| CN115649437B (en) * | 2022-11-16 | 2024-05-03 | 西北工业大学 | Design method of distributed flexibility type flapping wing aircraft and flapping wing driving mechanism |
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