CN103639918A - Three-freedom-degree platform of piezoelectric driving flapping wing mini-aircraft - Google Patents
Three-freedom-degree platform of piezoelectric driving flapping wing mini-aircraft Download PDFInfo
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- CN103639918A CN103639918A CN201310542834.0A CN201310542834A CN103639918A CN 103639918 A CN103639918 A CN 103639918A CN 201310542834 A CN201310542834 A CN 201310542834A CN 103639918 A CN103639918 A CN 103639918A
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- slide block
- guide rail
- piezoelectric driving
- direction guide
- base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
Abstract
The invention provides a three-freedom-degree platform of a piezoelectric driving flapping wing mini-aircraft. The three-freedom-degree platform of the piezoelectric driving flapping wing mini-aircraft comprises a base, an X-direction convex sliding block, a Z-direction concentric-square-shaped sliding block and a Y-direction concave sliding block. The base is fixed to the mini-aircraft through threaded holes. The X-direction convex sliding block is matched with an X-direction guide rail on the base. The relative position of the X-direction convex sliding block on the X-direction guide rail is adjusted and fixed through a screw in a threaded hole in the X-direction convex sliding block. The Y-direction concave sliding block is matched with a Y-direction guide rail on the X-direction convex sliding block. The relative position of the Y-direction concave sliding block on the Y-direction guide rail is adjusted and fixed through a screw in a threaded hole in the Y-direction concave sliding block. The Z-direction concentric-square-shaped sliding block is matched with a Z-direction guide rail on the base. The relative position of the Z-direction concentric-square-shaped sliding block on the Z-direction guide rail is adjusted and fixed through a screw in a threaded hole in the Z-direction concentric-square-shaped sliding block. According to the three-freedom-degree platform of the piezoelectric driving flapping wing mini-aircraft, the purpose of complete machine assembly of the flapping wing mini-aircraft is achieved, an aircraft body can be replaced, an experimental test can be conducted, locating is accurate, and adjustment is convenient.
Description
Technical field
The present invention relates to minute vehicle technical field, particularly, relate to a kind of Piezoelectric Driving flapping-wing MAV 3-dimensional freedom platform.
Background technology
In recent years, along with the development of micro electro mechanical system (MEMS) technology, micro-aircraft has become study hotspot, particularly flapping-wing MAV.Flapping-wing MAV is a kind of micro-aircraft that imitates birds or insect flying.The advantages such as compare with general aviation aircraft, flapping-wing MAV has good mobility and aeroperformance, and it has under little space, and volume is little, quality light, disguised strong have very wide application prospect aspect military, civilian.Therefore flapping-wing MAV has become the focus of scientific and technological circle's research.Aspect the research of Flapping-wing MAV, producing certain achievement abroad.
Through the retrieval of prior art is found, the people such as the Benjamin M.Finio of Harvard University have delivered the article of autograph " Body torque modulation for a microrobotic fly " at 2009IEEE International Conference on Robotics and Automation, wherein adopt acryhic material to utilize the platform of rapid shaping technique manufacture to test, this platform can not move.Retrieval is found again, the article that the autograph that the people such as the P.S.Sreetharan of Harvard University delivered at Journal of Mechanical Design in 2010 is " Passive Aerodynamic Drag Balancing in a Flapping-Wing Robotic Insect ", what wherein adopt is the test platform of single-degree-of-freedom.Two kinds of platforms have the effect that replaces fuselage, but can not guarantee that the installation site of driver is accurate while testing, and can not assemble.Device aspect micro-flapping wing aircraft assembling, does not also retrieve at present.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of Piezoelectric Driving flapping-wing MAV 3-dimensional freedom platform, can carry out according to the design size adjustment of each mechanism of flapping-wing MAV the assembling of complete machine, realize accurately location, overcome the problem of the type flapping-wing MAV final assembly when carrying out experiment test, can also replace fuselage to carry out experiment test, accurate positioning, convenient adjusting simultaneously.
For realizing above object, the invention provides a kind of Piezoelectric Driving flapping-wing MAV 3-dimensional freedom platform, comprise a base, an X-direction convex slide block, a back-shaped slide block of Z-direction and two Y-direction spill slide blocks, wherein: on described base, be provided with X-direction guide rail and Z-direction guide rail, X-direction guide rail is mutually vertical with Z-direction guide rail; On described X-direction convex slide block, be provided with X-direction chute and Y-direction guide rail, X-direction chute coordinates with the X-direction guide rail on described base; On described Y-direction spill slide block, be provided with Y-direction chute, Y-direction chute coordinates with the Y-direction guide rail on described X-direction convex slide block; On the back-shaped slide block of described Z-direction, be provided with Z-direction chute, Z-direction chute coordinates with the Z-direction guide rail on described base.
Preferably, the X-direction chute on described X-direction convex slide block coordinates with the X-direction guide clearance on base by tolerance, and X-direction convex slide block is slided on X-direction guide rail.
Preferably, the Y-direction chute on described Y-direction spill slide block coordinates with the Y-direction guide clearance on X-direction convex slide block by tolerance, and Y-direction spill slide block is slided on Y-direction guide rail.
Preferably, the Z-direction chute on the back-shaped slide block of described Z-direction coordinates with the Z-direction guide clearance on base by tolerance, and the back-shaped slide block of Z-direction is slided on Z-direction guide rail.
Preferably, on described base, be also provided with screwed hole for being connected and fixed with flapping-wing MAV fuselage.
Preferably, two of the left and right of the X-direction chute of described X-direction convex slide block side correspondence position is provided with a screwed hole, and described screwed hole is adjusted by screw and the fixing relative position of X-direction convex slide block on the X-direction guide rail of base.
Preferably, two of the left and right of the Y-direction chute of described Y-direction spill slide block side correspondence position all arranges a screwed hole, and described screwed hole is adjusted by screw and the fixing relative position of Y-direction spill slide block on the Y-direction guide rail of X-direction convex slide block.
Preferably, four side correspondence positions of the back-shaped slide block of described Z-direction are provided with a screwed hole, and described screwed hole is adjusted by screw and the fixing relative position of the back-shaped slide block of Z-direction on the Z-direction guide rail of base.
Preferably, the length of described base is no more than 10cm, the wide 3cm that is no more than, and height is no more than 5cm.
Preferably, described base, X-direction convex slide block, the back-shaped slide block of Z-direction and two Y-direction spill slide blocks adopt general machining technique, select metal material as aluminum alloy materials.Described X-direction convex slide block, the back-shaped slide block of Z-direction and Y-direction spill slide block are and removably connect, and select according to actual needs the slide block of different directions.
Compared with prior art, the present invention has following beneficial effect:
Handling ease of the present invention; Can realize the movement in tri-directions of X, Y and Z, the back-shaped slide block of Z-direction is back-shaped structure, can on four direction, test cantilever type piezoelectric driver, and it is more accurate, easy to operate to locate; The present invention adopts screw to regulate relative position and fixing, and convenient disassembly can be selected the slide block of different directions according to actual needs, during as test beam type piezoelectric actuator, only needs Z-direction slide block to regulate; Not only can test, can also assemble micro-flapping wing aircraft, can according to the design size adjustment of each mechanism of flapping-wing MAV, carry out the assembling of complete machine, meet assembly precision requirement.
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 the isometric drawing of integrated model of the present invention;
Fig. 2 is the isometric drawing of base of the present invention;
Fig. 3 is the isometric drawing of X-direction convex slide block of the present invention;
Fig. 4 is the isometric drawing of Y-direction spill slide block of the present invention;
Fig. 5 is the isometric drawing of the back-shaped slide block of Z-direction of the present invention;
In figure:
1 is screwed hole, and 2 is X-direction guide rail, and 3 is Z-direction guide rail, and 4 is screwed hole, and 5 is Y-direction guide rail, 6 is X-direction chute, and 7 is screwed hole, and 8 is Y-direction chute, and 9 is screwed hole, and 10 is Z-direction chute, 11 is base, and 12 is X-direction convex slide block, and 13 is Y-direction spill slide block, and 14 is the back-shaped slide block of Z-direction.
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 Fig. 1,2,3,4,5, the present embodiment provides a kind of Piezoelectric Driving flapping-wing MAV 3-dimensional freedom platform, comprise: base 11, X-direction convex slide block 12, two Y-direction spill slide blocks 13 and the back-shaped slide blocks 14 of Z-direction, above-mentioned each parts, all by general machining technique, be take aluminium alloy as material manufacture acquisition; Wherein: X-direction convex slide block 12, the back-shaped slide block 14 of Z-direction coordinate 11 with base, and Y-direction spill slide block 13 coordinates with X-direction convex slide block 12.
As shown in Figure 2, on described base 11, be provided with screwed hole 1, X-direction guide rail 2 and Z-direction guide rail 3, wherein: a screwed hole 1 is set, for firm banking 11 on base 11; X-direction guide rail 2 is 7 font structures with Z-direction guide rail 3, and X-direction guide rail 2 is connected and fixed with Z-direction guide rail 3 is vertical, and X-direction guide rail 2 coordinates with X-direction convex slide block 12, and Z-direction guide rail 3 coordinates with the back-shaped slide block 14 of Z-direction.
As shown in Figure 3, on described X-direction convex slide block 12, be provided with two screwed holes 4, Y-direction guide rail 5 and X-direction chute 6, wherein: the left and right sides correspondence position of X-direction chute 6 arranges respectively a screwed hole 4, screwed hole 4 is adjusted by screw and the fixing relative position of X-direction convex slide block 12 on X-direction guide rail 2; Y-direction guide rail 5 coordinates with Y-direction spill slide block 13; X-direction chute 6, by X-direction guide rail 2 matched in clearance on tolerance and base 11, can make X-direction convex slide block 12 slide on X-direction guide rail 2.
As shown in Figure 4, on described Y-direction spill slide block 13, be provided with two screwed holes 7 and Y-direction chute 8, wherein: two of the left and right side correspondence position of Y-direction chute 8 runs through respectively a screwed hole 7 is set, screwed hole 7 is adjusted by screw and the fixing relative position of Y-direction spill slide block 13 on Y-direction guide rail 5; Y-direction chute 8, by Y-direction guide rail 5 matched in clearance on tolerance and X-direction convex slide block, can make Y-direction spill slide block 13 slide on Y-direction guide rail 5.
As shown in Figure 5, the back-shaped slide block 14 of described Z-direction is provided with four screwed holes 9 and Z-direction chute 10, wherein: four screwed holes 9 are respectively through four sides of the back-shaped slide block 14 of Z-direction, by screw, adjust and the fixing relative position of the back-shaped slide block 14 of Z-direction on Z-direction guide rail 3; The Z-direction chute 10 of back-shaped slide block 14 hollows of Z-direction, by Z-direction guide rail 3 matched in clearance on tolerance and base 11, can make the back-shaped slide block 14 of Z-direction slide on Z-direction guide rail 3.
The present embodiment course of work is as follows:
Cantilever type piezoelectric driver near-end on flapping-wing MAV is adhesively fixed on the back-shaped slide block 14 of Z-direction by cyanopropionic acid ester, by the back-shaped slide block 14 of Z-direction, regulates its Z-direction position; The left and right sides, flapping-wing MAV thoracic cavity is separately fixed on two Y-direction spill slide blocks 13, can regulate its Y-direction position by two Y-direction spill slide blocks 13.
While carrying out micro-assembling and experiment test, regulate two Y-direction spill slide blocks 13 symmetrical along driver longitudinal centre line, flapping-wing MAV thoracic cavity longitudinal centre line is alignd with driver longitudinal centre line; According to the X-direction length adjustment X-direction convex slide block 12 of driver, driver far-end is alignd with thoracic cavity cross member cross central line simultaneously, carry out the bonding assembling in driver and thoracic cavity, finally according to the height of thoracic cavity cross member, regulate the back-shaped slide block 14 of Z-direction.
The present invention can realize the movement in X, Y and tri-directions of Z, and the back-shaped slide block of Z-direction is back-shaped structure, can on four direction, test cantilever type piezoelectric driver, and it is more accurate, easy to operate to locate; The present invention adopts screw to regulate relative position and fixing, and convenient disassembly can be selected the slide block of different directions according to actual needs, during as test beam type piezoelectric actuator, only needs Z-direction slide block to regulate; Not only can test, can also assemble micro-flapping wing aircraft, according to the design size adjustment of each mechanism of flapping-wing MAV, carry out the assembling of complete machine, meet assembly precision requirement.
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 (10)
1. a Piezoelectric Driving flapping-wing MAV 3-dimensional freedom platform, it is characterized in that, comprise a base, an X-direction convex slide block, a back-shaped slide block of Z-direction and two Y-direction spill slide blocks, wherein: on described base, be provided with X-direction guide rail and Z-direction guide rail, X-direction guide rail is mutually vertical with Z-direction guide rail; On described X-direction convex slide block, be provided with X-direction chute and Y-direction guide rail, X-direction chute coordinates with the X-direction guide rail on described base; On described Y-direction spill slide block, be provided with Y-direction chute, Y-direction chute coordinates with the Y-direction guide rail on described X-direction convex slide block; On the back-shaped slide block of described Z-direction, be provided with Z-direction chute, Z-direction chute coordinates with the Z-direction guide rail on described base.
2. a kind of Piezoelectric Driving flapping-wing MAV 3-dimensional freedom platform according to claim 1, is characterized in that, the X-direction chute on described X-direction convex slide block coordinates with the X-direction guide clearance on base by tolerance, and X-direction convex slide block is slided on X-direction guide rail.
3. a kind of Piezoelectric Driving flapping-wing MAV 3-dimensional freedom platform according to claim 1, it is characterized in that, Y-direction chute on described Y-direction spill slide block coordinates with the Y-direction guide clearance on X-direction convex slide block by tolerance, and Y-direction spill slide block is slided on Y-direction guide rail.
4. a kind of Piezoelectric Driving flapping-wing MAV 3-dimensional freedom platform according to claim 1, is characterized in that, the Z-direction chute on the back-shaped slide block of described Z-direction coordinates with the Z-direction guide clearance on base by tolerance, and the back-shaped slide block of Z-direction is slided on Z-direction guide rail.
5. a kind of Piezoelectric Driving flapping-wing MAV 3-dimensional freedom platform according to claim 1, is characterized in that, is also provided with screwed hole for being connected and fixed with flapping-wing MAV fuselage on described base.
6. according to a kind of Piezoelectric Driving flapping-wing MAV 3-dimensional freedom platform described in claim 1-5 any one, it is characterized in that, two of the left and right side correspondence position of the X-direction chute of described X-direction convex slide block is provided with a screwed hole, and described screwed hole is adjusted by screw and the fixing relative position of X-direction convex slide block on the X-direction guide rail of base.
7. according to a kind of Piezoelectric Driving flapping-wing MAV 3-dimensional freedom platform described in claim 1-5 any one, it is characterized in that, two of the left and right side correspondence position of the Y-direction chute of described Y-direction spill slide block all arranges a screwed hole, and described screwed hole is adjusted by screw and the fixing relative position of Y-direction spill slide block on the Y-direction guide rail of X-direction convex slide block.
8. according to a kind of Piezoelectric Driving flapping-wing MAV 3-dimensional freedom platform described in claim 1-5 any one, it is characterized in that, four side correspondence positions of the back-shaped slide block of described Z-direction are provided with a screwed hole, and described screwed hole is adjusted by screw and the fixing relative position of the back-shaped slide block of Z-direction on the Z-direction guide rail of base.
9. according to a kind of Piezoelectric Driving flapping-wing MAV 3-dimensional freedom platform described in claim 1-5 any one, it is characterized in that, the length of described base is no more than 10cm, the wide 3cm that is no more than, and height is no more than 5cm.
10. according to a kind of Piezoelectric Driving flapping-wing MAV 3-dimensional freedom platform described in claim 1-5 any one, it is characterized in that, described X-direction convex slide block, the back-shaped slide block of Z-direction and Y-direction spill slide block are and removably connect, and select according to actual needs the slide block of different directions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310542834.0A CN103639918B (en) | 2013-11-05 | 2013-11-05 | Piezoelectric Driving flapping-wing MAV 3-dimensional freedom platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310542834.0A CN103639918B (en) | 2013-11-05 | 2013-11-05 | Piezoelectric Driving flapping-wing MAV 3-dimensional freedom platform |
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| Publication Number | Publication Date |
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| CN103639918A true CN103639918A (en) | 2014-03-19 |
| CN103639918B CN103639918B (en) | 2015-08-19 |
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| CN201310542834.0A Expired - Fee Related CN103639918B (en) | 2013-11-05 | 2013-11-05 | Piezoelectric Driving flapping-wing MAV 3-dimensional freedom platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104960673A (en) * | 2015-06-08 | 2015-10-07 | 上海交通大学 | Multi-functional extensible test platform applicable to biomimetic flapping-wing micro air vehicle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001015971A2 (en) * | 1999-08-30 | 2001-03-08 | Smith Michael J C | Wing-drive mechanism and vehicle employing same |
| CN102180270A (en) * | 2011-03-10 | 2011-09-14 | 北京航空航天大学 | Microminiature rotorcraft experiment platform and application thereof |
| WO2011142864A2 (en) * | 2010-02-11 | 2011-11-17 | President And Fellows Of Harvard College | Passive torque balancing in a high-frequency oscillating system |
| CN102338690A (en) * | 2011-05-20 | 2012-02-01 | 西北工业大学 | Three-freedom-degree flapping-wing comprehensive experiment platform |
-
2013
- 2013-11-05 CN CN201310542834.0A patent/CN103639918B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001015971A2 (en) * | 1999-08-30 | 2001-03-08 | Smith Michael J C | Wing-drive mechanism and vehicle employing same |
| WO2011142864A2 (en) * | 2010-02-11 | 2011-11-17 | President And Fellows Of Harvard College | Passive torque balancing in a high-frequency oscillating system |
| CN102180270A (en) * | 2011-03-10 | 2011-09-14 | 北京航空航天大学 | Microminiature rotorcraft experiment platform and application thereof |
| CN102338690A (en) * | 2011-05-20 | 2012-02-01 | 西北工业大学 | Three-freedom-degree flapping-wing comprehensive experiment platform |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104960673A (en) * | 2015-06-08 | 2015-10-07 | 上海交通大学 | Multi-functional extensible test platform applicable to biomimetic flapping-wing micro air vehicle |
| CN104960673B (en) * | 2015-06-08 | 2017-06-13 | 上海交通大学 | Suitable for the multi-functional expansible test platform of bionic flapping-wing microreactor technology |
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| CN103639918B (en) | 2015-08-19 |
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