CN105366050B - A kind of piezoelectric type imitates dragonfly micro flapping wing air vehicle - Google Patents
A kind of piezoelectric type imitates dragonfly micro flapping wing air vehicle Download PDFInfo
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- CN105366050B CN105366050B CN201510824649.XA CN201510824649A CN105366050B CN 105366050 B CN105366050 B CN 105366050B CN 201510824649 A CN201510824649 A CN 201510824649A CN 105366050 B CN105366050 B CN 105366050B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
- B64C33/025—Wings; Actuating mechanisms therefor the entire wing moving either up or down
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/028—Micro-sized aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/40—Ornithopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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Abstract
The invention discloses a kind of piezoelectric type to imitate dragonfly micro flapping wing air vehicle, including aircraft trunk, wing fixed plate, imitative dragonfly formula wing and four bi-morph piezo-electric drivers；Aircraft trunk includes a fixed bin, and wing fixed plate is fixed in the cavity of the fixed bin, and the side wall of two opposition of the fixed bin sets fixing hole, imitative dragonfly formula wing to be fixed on after passing through the fixing hole in wing fixed plate；Imitative dragonfly formula wing includes preceding wing and rear wing, bi-morph piezo-electric driver one end is fixed through fixing hole and with the fin root of wing, remainder is hanging, beam type structure is formed, each bi-morph piezo-electric driver controls a wing to produce and pats motion or regulation yawing moment respectively under voltage drive.Wing of the present invention can bear high-frequency alternate stress, the different loads under various postures such as can bear to pat, glide, spiral, can obtain excellent stability of equilibrium, gesture stability diversity, more wings obtain bigger bearing capacity.
Description
Technical field
Embodiments of the present invention are related to minute vehicle technical field, more specifically, embodiments of the present invention are related to
A kind of piezoelectric type imitates dragonfly micro flapping wing air vehicle.
Background technology
The concept of minute vehicle (MAV) is proposed most earlier than 1992 by beforehand research office of U.S. Department of Defense (DARPA).Carried at that time
The MAV gone out dimensional standard is no more than 0.15m for the length of body, and maximum weight is 0.1kg or so, and payload is
0.056kg or so, speed are 10~20m/s, and the U.S. considers that general size is less than 0.33m from service load demand.Often it is divided into solid
Determine the wing, rotor, three kinds of flapping wing.
A kind of course of new aircraft for imitating birds or insect flying of micro flapping wing air vehicle, it is real using the compound movement of wing
The minute vehicle now to fly.Compared with fixed-wing and rotor, flapping flight mode has bigger lift-drag ratio, stronger anti-interference
Kinetic force and more flexible mobility, there is VTOL and hovering function, advantage is had more in small space.It is fluttered and birds
Or insects is very similar, there is very strong disguise, there is very wide application prospect at dual-use aspect.
Micro flapping wing air vehicle studies more, more typical to have University of California to develop " MicroBat ", Stamford abroad
" Mentor " that research center and University of Toronto develop jointly, and a new generation " hummingbird " of American R ＆ D.Domestic northwest
Polytechnical university, Shanghai Communications University, Nanjing Aero-Space University etc. are all carrying out the research of minute vehicle.
Piezoelectric actuator structure has the spies such as simple, flexible design, small volume, precision height, the small, High power output of driving power
Point, suitable for micro flapping wing air vehicle.
Publication number 103708033A, application number 201310719532.6 Chinese patent, there is provided one kind is based on flexible hinge
Double driving type piezoelectric actuator micro flapping wing air vehicles of chain.The patent uses enlarger of the hinge as piezoelectric patches, structural response frequency
Rate is limited；The patent is only with double-vane, it is more difficult to realizes the motion control of complexity.
The vibration frequency 30-50Hz of dragonfly wing, wing is light, can but bear high-frequency alternate stress, can bear to clap
The different loads beaten, glide, spiraling etc. under various postures, have superpower stability and bearing capacity, also with automatically cleaning, shoulder
The functions such as fatigue, weakening noise reduction, it is the native template of the research of micro flapping wing air vehicle, but is flown currently without mini-sized flap wings
Device can utilize the advantage of dragonfly wing.
The content of the invention
Instant invention overcomes the deficiencies in the prior art, there is provided a kind of piezoelectric type imitates dragonfly micro flapping wing air vehicle, it is expected
The advantage that can be flown by using dragonfly wing, which solves existing aircraft, can not bear high-frequency alternate stress, flight attitude
Limited, the problems such as stability difference and bearing capacity is weak.
To solve above-mentioned technical problem, one embodiment of the present invention uses following technical scheme：
A kind of piezoelectric type imitates dragonfly micro flapping wing air vehicle, including aircraft trunk, wing fixed plate, imitative dragonfly formula wing
With four bi-morph piezo-electric drivers；The aircraft trunk includes a fixed bin, and wing fixed plate is fixed on the fixed bin
Cavity in, the side walls of two of fixed bin opposition set fixing holes, and the imitative dragonfly formula wing passes through solid after the fixing hole
It is scheduled in wing fixed plate；The imitative dragonfly formula wing includes a pair of preceding wings and a pair of rear wings totally four wings, described double
Chip piezoelectric actuator one end is fixed through fixing hole and with the fin root of wing, and remainder is hanging, forms beam type structure,
Each bi-morph piezo-electric driver controls a wing to produce and pats motion or regulation deflection side respectively under voltage drive
To.
The aircraft trunk also includes a fuselage head and an empennage, and the profile of the fuselage head is streamline
Type, the empennage are pole shape.Fuselage head is streamlined or tip is streamlined frequently with round end, but can also use other energy
Enough reduce the shape of air drag.
The aircraft trunk is made of carbon fiber material.
The vein of the imitative dragonfly formula wing is made of carbon fibre material, and its parachute is made of polyester film.
There is the costa for imitating dragonfly wing and pressure costa on the parachute.
The wing fixed plate includes former and later two, before a pair of preceding wings are symmetrically fixed in wing fixed plate, after a pair
Wing is symmetrically fixed in rear wing fixed plate.
The bi-morph piezo-electric driver includes the rectangle piezoelectric ceramic piece of two layers of active movement, the fin root of the wing
It is fixed between the rectangle piezoelectric ceramic piece of two layers of active movement and forms passive movement structure sheaf.
Four bi-morph piezo-electric drivers are controlled respectively by four power supplys, the vibration of any bi-morph piezo-electric driver
Frequency can be adjusted individually.
The fixing hole is 4, is symmetrically distributed in two-by-two in the side wall of two opposition of fixed bin, each fixing hole limitation
The wing and the relative position of a bi-morph piezo-electric driver to interfix.
The imitative dragonfly formula wing is interfixed with wing fixed plate by bonding agent, the bi-morph piezo-electric driver with
The fin root of wing is interfixed by bonding agent.
Compared with prior art, one of beneficial effects of the present invention are：It is of the invention compared with existing flapping wing aircraft, wing
Using imitative dragonfly wing structure.Tendon and vessel mechanics layout is presented in such a biomimetic features, can bear high-frequency alternate stress, can hold
The different loads under various postures such as patted, glided, being spiraled；Such a biomimetic features use four wings, can obtain excellent put down
Weigh stability, gesture stability diversity；Meanwhile more wings obtain bigger bearing capacity.
Brief description of the drawings
Fig. 1 is the aircraft trunk structural representation that piezoelectric type of the present invention imitates dragonfly micro flapping wing air vehicle.
Fig. 2 is the overall structure diagram that piezoelectric type of the present invention imitates dragonfly micro flapping wing air vehicle.
Fig. 3 is the fore wing wing structure schematic diagram that piezoelectric type of the present invention imitates dragonfly micro flapping wing air vehicle.
Fig. 4 is the hind wing wing structure schematic diagram that piezoelectric type of the present invention imitates dragonfly micro flapping wing air vehicle.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The primary structure that the piezoelectric type of the present invention imitates dragonfly micro flapping wing air vehicle is aircraft trunk, wing fixed plate,
Imitative dragonfly formula wing and four bi-morph piezo-electric drivers, as depicted in figs. 1 and 2, aircraft trunk 1 use light material such as carbon
Cellulose fiber material is made, and has a fixed bin 101, fuselage head 102 and empennage 103.The main function of fuselage head 102 is
Air drag is reduced, and fuselage head 102 and empennage 103 can also play a part of balancing fuselage, the fuselage head 102 is taken turns
Exterior feature is streamlined, and as round end is streamlined, for structure close to badminton head, the empennage 103 is pole shape.Fixed bin 101 can be with
It is the internal rectangular parallelepiped structure with cavity, the effect of fixed bin 101 is the other structures of carrying and fixed aircraft or held
Some micromodule equipments are carried, are integrally fixed at if wing fixed plate 104 in the cavity of fixed bin 101, its position will consider fuselage
Balance, should be in the centre of fixed bin 101.The symmetrical side wall of two of fixed bin 101 sets fixing hole 105, imitates dragonfly formula
Wing 2 is fixed in wing fixed plate 104 after passing through the fixing hole 105.Imitative dragonfly formula wing 2 includes a pair of preceding Hes of wing 201
A pair of rear wings 202 totally four wings, as shown in Figure 3 and Figure 4, imitative dragonfly formula wing 2 be divided to for vein and parachute two it is different
Part, vein are made of carbon fibre material, and parachute is made of polyester film, and both materials are all light materials, and
There is the costa 2012,2022 and pressure costa 2013,2023 on dragonfly wing on parachute.Bi-morph piezo-electric driver 3 one
Hold through fixing hole 105 and fixed with the fin root 2011,2021 of wing, remainder is hanging, forms beam type structure, each
Individual bi-morph piezo-electric driver 3 controls a wing to produce and pats motion or regulation yawing moment respectively under voltage drive.
The driving frequency of bi-morph piezo-electric driver is adjusted, wing is directly acted on, can produce and significantly flutter.
Wing fixed plate 104 has two, is divided into preceding wing fixed plate and rear wing fixed plate, preceding wing fixed plate is by a pair
Preceding wing 201 is symmetrically fixed on aircraft trunk 1, and a pair of rear wings 202 are symmetrically fixed on aircraft by rear wing fixed plate
On trunk 1.
Bi-morph piezo-electric driver 3 includes the rectangle piezoelectric ceramic piece of two layers of active movement, the fin root of the wing
2011st, 2021 it is fixed on formation passive movement structure sheaf between the rectangle piezoelectric ceramic piece of two layers of active movement.Driven during use
One end of dynamic device and the fin root of wing are fixed, and remaining structure is hanging, forms beam type structure, upper strata piezoelectric ceramics is due to inverse pressure
Electrical effect produces strain, extends along its length, and lower floor's piezoelectric ceramics is produced and stretched, so that piezoelectric cantilever generation is curved
Song, the output of displacement is realized in beam end.
The wing that piezoelectric type imitates dragonfly micro flapping wing air vehicle uses light material using the structure of the imitative dragonfly wing, vein,
Parachute uses light thin film material.The train of thoughts such as costa in dragonfly wing, auxilairs are remained in wing, fully imitate dragonfly
Wing structure, make wing light and handy and high-frequency alternate stress can be born, there is superpower stability and bearing capacity.The flight
Device is more complicated using the structure of two pairs of wings, flying method equally as dragonfly.
The wing of dragonfly is mainly made up of vein and parachute, and vein plays a part of to support wing, and parachute is that wing is main
Aerodynamic structure.The leading edge and trailing edge of wing are streamlined, add his flexibility, and wing spanwise is sharp cone distal,
It can reduce the moment of inertia, reduce energy required when fluttering its wings up and down, and alleviate the stress in the apex of the wing, meanwhile, it make the apex of the wing by
When big inertia force and burst shock loading, it can fly and deform for greater flexibility.The unique geometry of dragonfly wing, is allowed to
The energy and stress of itself can be adjusted with the change of flight environment of vehicle.The imitative dragonfly formula wing of the present invention has above-mentioned dragonfly
The similar structure of wing, it can equally play and reduce the moment of inertia, alleviate the effect such as stress, and four bi-morph piezo-electric drivers 3
Controlled respectively by four power supplys, the vibration frequency of any bi-morph piezo-electric driver can be adjusted individually.Each wing by
One bi-morph piezo-electric driver control, aircraft change of flight mode are more flexible.
Fixing hole 105 has 4, is symmetrically distributed in two-by-two in the side wall of two opposition of fixed bin 101, each fixing hole limit
Make the relative position of the wing to interfix and a bi-morph piezo-electric driver.
Imitative dragonfly formula wing is adhesively fixed with wing fixed plate by bonding agent, the bi-morph piezo-electric driver with
The fin root of wing is adhesively fixed by bonding agent.Bonding agent can use such as epoxide-resin glue.
The imitative dragonfly micro flapping wing air vehicle of the piezoelectric type of the present invention is simple in construction, and four drivers control two pairs of wings respectively
The wing, realize the basic flight of aircraft；Wing then uses cantilever piezoelectric twin crystal using the structure for imitating dragonfly wing, driver
Piece driver.
The present invention operation principle be：After being powered up, upper and lower two panels piezoelectric ceramics is outside for bi-morph piezo-electric driver
Different elongations occurs respectively under making alive effect, causes the bending of whole beam type structure, displacement is realized in beam end
Output, directly acts on wing, causes and flap, realize the basic flight of aircraft.Bi-morph piezo-electric driver controls wing respectively
The wing, when the vibration frequency to wherein a certain or certain multiple wing bi-morph piezo-electric drivers is adjusted, wing can be realized
Wing yawing moment, so that aircraft can use a variety of postures to fly, and when posture converts, more flexibly.
Although reference be made herein to invention has been described for explanatory embodiment of the invention, however, it is to be understood that ability
Field technique personnel can be designed that a lot of other modifications and embodiment, and these modifications and embodiment will fall in the application public affairs
Within the spirit and spirit opened.More specifically, can be to the group of theme combination layout in the range of disclosure
A variety of variations and modifications are carried out into part and/or layout.In addition to the variations and modifications carried out to building block and/or layout,
To those skilled in the art, other improve also will be apparent.
Claims (8)
1. a kind of piezoelectric type imitates dragonfly micro flapping wing air vehicle, it is characterised in that including aircraft trunk (1), wing fixed plate
(104) dragonfly formula wing (2) and four bi-morph piezo-electric drivers (3), are imitated；The aircraft trunk includes a fixed bin
(101), wing fixed plate (104) is fixed in the cavity of the fixed bin, and the side wall of two opposition of the fixed bin, which is set, fixes
Hole (105), the imitative dragonfly formula wing (2) are fixed in wing fixed plate (104) after passing through the fixing hole (105)；It is described imitative
Dragonfly formula wing (2) includes a pair of preceding wings (201) and a pair of rear wings (202) totally four wings, the imitative dragonfly formula wing
Vein be made of carbon fibre material, its parachute is made of polyester film, is had on the parachute and is imitated dragonfly wing
Tendon and vessel mechanics layout is presented in costa (2012,2022) and auxilairs (2013,2023), costa and auxilairs, described
Bi-morph piezo-electric driver (3) one end is through fixing hole (105) and fixed with the fin root (2011,2021) of wing, remainder
Vacantly, beam type structure is formed, each bi-morph piezo-electric driver (3) controls a wing production respectively under voltage drive
It is raw to pat motion or regulation yawing moment.
2. piezoelectric type according to claim 1 imitates dragonfly micro flapping wing air vehicle, it is characterised in that the aircraft trunk
Also include a fuselage head (102) and an empennage (103), the fuselage head is streamlined, and the empennage is pole shape.
3. piezoelectric type according to claim 2 imitates dragonfly micro flapping wing air vehicle, it is characterised in that the aircraft trunk
It is made of carbon fiber material.
4. piezoelectric type according to claim 1 imitates dragonfly micro flapping wing air vehicle, it is characterised in that the wing fixed plate
Including former and later two, before a pair of preceding wings are symmetrically fixed in wing fixed plate, a pair of rear wings are symmetrically fixed on rear wing and consolidated
On fixed board.
5. piezoelectric type according to claim 1 imitates dragonfly micro flapping wing air vehicle, it is characterised in that the bi-morph piezo-electric
Driver includes the rectangle piezoelectric ceramic piece of two layers of active movement, and the fin root of the wing is fixed on the length of two layers of active movement
Passive movement structure sheaf is formed between square piezoelectric ceramic piece.
6. piezoelectric type according to claim 5 imitates dragonfly micro flapping wing air vehicle, it is characterised in that four twin lamellas
Piezoelectric actuator is controlled respectively by four power supplys, and the vibration frequency of any bi-morph piezo-electric driver can be adjusted individually.
7. piezoelectric type according to claim 1 imitates dragonfly micro flapping wing air vehicle, it is characterised in that the fixing hole is 4
It is individual, be symmetrically distributed in two-by-two in the side walls of two of fixed bin opposition, a wing that each fixing hole limitation interfixes and
The relative position of one bi-morph piezo-electric driver.
8. piezoelectric type according to claim 1 imitates dragonfly micro flapping wing air vehicle, it is characterised in that the imitative dragonfly formula machine
The wing is interfixed with wing fixed plate by bonding agent, and the fin root of the bi-morph piezo-electric driver and wing passes through bonding agent phase
It is mutually fixed.
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| CN201510824649.XA CN105366050B (en) | 2015-11-24 | 2015-11-24 | A kind of piezoelectric type imitates dragonfly micro flapping wing air vehicle |
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| CN201510824649.XA CN105366050B (en) | 2015-11-24 | 2015-11-24 | A kind of piezoelectric type imitates dragonfly micro flapping wing air vehicle |
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| CN105366050B true CN105366050B (en) | 2017-12-26 |
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