CN109398696B - Angle-adjustable micro aircraft based on piezoelectric bimorph wings and machining and assembling method thereof - Google Patents
Angle-adjustable micro aircraft based on piezoelectric bimorph wings and machining and assembling method thereof Download PDFInfo
- Publication number
- CN109398696B CN109398696B CN201811208944.2A CN201811208944A CN109398696B CN 109398696 B CN109398696 B CN 109398696B CN 201811208944 A CN201811208944 A CN 201811208944A CN 109398696 B CN109398696 B CN 109398696B
- Authority
- CN
- China
- Prior art keywords
- fuselage
- wing
- piece
- machine body
- piezoelectric bimorph
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/40—Ornithopters
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses an angle-adjustable micro aircraft based on piezoelectric bimorph wings and a processing and assembling method thereof, wherein the aircraft comprises a pair of piezoelectric bimorph wings, an upper fuselage cover, a lower fuselage cover, 4 pairs of inner fuselages, 4 pairs of outer fuselages and 3 supporting legs, wing slots with the same inclination angle and position are arranged on the opposite inner fuselages and the outer fuselages, one piezoelectric bimorph wing is fixed on the inner and the outer fuselages with the same inclination angle and position of the pair of slots, and the other piezoelectric bimorph wing is fixed on the inner and the outer fuselages which are symmetrical to the piezoelectric bimorph wing; the upper machine body cover is used for fixing the inner machine body and the outer machine body, and the lower machine body cover is used for fixing the inner machine body and the outer machine body and installing the supporting legs; wherein, the upper and lower body covers and the inner and outer body are provided with wire passing holes for controlling the piezoelectric bimorph wing leads. The wing fixing device is simple in structure, low in processing difficulty, low in cost, capable of selecting a plurality of schemes for wing fixing positions and angles and suitable for data acquisition and flight measurement experiments.
Description
Technical Field
The invention relates to the field of micro flapping wing aircrafts, in particular to an angle-adjustable micro aircraft based on piezoelectric bimorph wings and a processing and assembling method thereof.
Background
The miniature flapping wing aircraft is used for analyzing the complex bird flight mode, so that the obtained efficient flight mode and the flapping wing flight mode have the advantages of a fixed wing flight mode and a rotor wing flight mode, can realize lifting, flat flying, hovering and the like through one set of flapping wing actions, and can also finish a series of very complex high-difficulty actions. However, the change of many forces in the flapping wing flight mode cannot be analyzed by using the traditional fluid mechanics, the flapping wings are soft, and the situation of the flapping wings in the hand is very complicated when the flapping wings flap up and down, which are needed to be solved.
In 2012, a new type of micro flapping-wing robot, called "mechanical butterfly", was successfully developed by an airline industry company in israel, and it is in the form of a simulated butterfly, and has four wings, the robot has a total length of 20cm, a total weight of only 12g, and a control system is sound, and can complete a series of complex movements.
At present, the miniature flapping wing robot researched by Harvard university is updated all the time, although the structure of the mechanical insect is simple, the whole design process is not very complicated, and researchers design the mechanical insect according to the fly flying mode by utilizing the bionics principle.
Disclosure of Invention
The purpose of the invention is as follows: in order to solve the defects of the prior art, the angle-adjustable micro aircraft based on the piezoelectric bimorph wing and the processing and assembling method thereof are provided.
The technical scheme is as follows: in order to realize the purpose of the invention, the following technical scheme is adopted:
an angle-adjustable micro aircraft based on piezoelectric bimorph wings comprises a pair of piezoelectric bimorph wings, an upper fuselage cover, a lower fuselage cover, 4 pairs of inner fuselages, 4 pairs of outer fuselages and 3 supporting legs, wherein wing slots with the same inclination angle and position are arranged on the opposite inner fuselage and outer fuselage; the upper machine body cover is used for fixing the inner machine body and the outer machine body, and the lower machine body cover is used for fixing the inner machine body and the outer machine body and installing the supporting legs; wherein, the upper and lower body covers and the inner and outer body are provided with wire passing holes for controlling the piezoelectric bimorph wing leads.
Preferably, the piezoelectric bimorph wing comprises a wing framework and a wing membrane, the wing framework comprises a copper segment, a piezoelectric ceramic vibration segment and a carbon fiber wing pulse segment from a wing root to a wing pulse, the wing membrane is adhered to the carbon fiber wing pulse segment, the copper sheet segment comprises an upper copper sheet layer and a lower copper sheet layer, and the carbon fiber is arranged between the upper copper sheet layer and the lower copper sheet layer; the piezoelectric ceramic vibration section comprises an upper layer of piezoelectric ceramic and a lower layer of piezoelectric ceramic, and carbon fibers are arranged between the upper layer of piezoelectric ceramic and the lower layer of piezoelectric ceramic; the carbon fiber wing vein section, the copper section and the carbon fiber of the piezoelectric ceramic vibration section are of an integral structure; the upper and lower layers of piezoelectric ceramics are grounded, and the upper and lower layers of copper sheets are connected and connected with alternating current.
Preferably, the upper and lower body covers have the same structure and are octagonal, eight grooves for fixing the outer body gear shaping are reserved at the edge of the outer ring of the upper and lower body covers, eight rectangular through holes for fixing the inner body gear shaping are reserved on the inner ring, four small round holes are uniformly arranged on the periphery of the rectangular through holes of the inner ring to serve as fixed freedom degree wire passing holes, three small square holes are uniformly arranged on the periphery of the wire passing holes to serve as supporting leg sockets, and a large round hole is arranged in the center of the wire passing holes to serve as a wing driving wire leading-out hole.
Preferably, the number of the 4 pairs of inner side bodies is 8, three slots for fixing piezoelectric bimorph wing copper sheets are arranged in each vertical direction, the inclination angles of the four pairs of inner side body wing slots are respectively 0 degrees, 10 degrees, 20 degrees and 30 degrees, the upper end surface and the lower end surface of each inner side body are respectively provided with a gear shaping for fixing an upper body cover and a lower body cover, the upper end and the lower end of each inner side body are respectively provided with a wire passing hole, the side surfaces of two adjacent inner side bodies are provided with a convex tooth and a groove which are mutually matched, and the 8 pairs of inner side bodies are sequentially provided with the convex tooth and the concave groove according to the sequence of the convex tooth and the side surface and are sequentially arranged.
Preferably, the number of the 4 pairs of outer side bodies is 8, three slots for fixing piezoelectric bimorph wing piezoelectric ceramic vibration sections are arranged in each vertical direction, the inclination angles of the wing slots on the four pairs of outer side bodies are respectively 0 degree, 10 degrees, 20 degrees and 30 degrees, the upper end face and the lower end face of each outer side body are respectively provided with a gear shaping for fixing an upper body cover and a lower body cover, the upper end and the lower end of each outer side body are respectively provided with a wire passing hole, the side faces of the adjacent two outer side bodies are provided with a convex tooth and a groove which are mutually matched, and the 8 pairs of inner side bodies are sequentially provided with the convex teeth and the grooves on the side faces according to the sequence that one side face is provided with the convex.
Preferably, the three support legs are spaced by 120 degrees from each other, so that the balance of the machine body can be kept when the machine body is placed.
In another embodiment, the angle-adjustable micro aircraft based on the piezoelectric bimorph wings comprises a pair of piezoelectric bimorph wings, an upper body cover, a lower body cover, an inner side fuselage, an outer side fuselage and three supporting legs, wherein the inner side fuselage is of a cylindrical structure formed by eight pieces of inner side fuselage, the outer side fuselage is of a cylindrical structure formed by eight pieces of outer side fuselage, the inner side fuselage is sleeved inside the outer side fuselage, and a gap is formed between the inner side fuselage and the outer side fuselage; a plurality of groups of wing slots with the same inclination angle and position are arranged on the inner fuselage piece and the outer fuselage piece which are opposite; the inclination angles of wing slots on adjacent inner side fuselage pieces are different; one piezoelectric bimorph wing is fixed on the slots of the inner and outer machine bodies with the same inclination angle and the same position, and the other piezoelectric bimorph wing is fixed on the slot symmetrical to the piezoelectric bimorph wing; the upper machine body cover is used for fixing the inner machine body and the outer machine body, and the lower machine body cover is used for fixing the inner machine body and the outer machine body and installing the supporting legs; wherein the upper and lower body covers and the inner and outer body are all provided with wire passing holes for controlling the piezoelectric bimorph wing leads.
Preferably, the inner fuselage comprises two groups of identical inner fuselage pieces, and each group of inner fuselage pieces comprises a first inner fuselage piece, a second inner fuselage piece, a third inner fuselage piece and a fourth inner fuselage piece; three slots for fixing piezoelectric bimorph wing copper segments are formed in each inner side body piece in the vertical direction, the inclination angles of the wing slots on the first, second, third and fourth inner side body pieces are different, the upper end surface and the lower end surface of each inner side body piece are respectively provided with gear shaping for fixing an upper body cover and a lower body cover, the upper end and the lower end of each inner side body piece are respectively provided with a wire passing hole, convex teeth are arranged on the two side surfaces of the first inner side body piece and the third inner side body piece, grooves matched with the convex teeth on the side surfaces of the first inner side body piece and the third inner side body piece are arranged on the two side surfaces of the second inner side body piece and the fourth inner side body piece, the first inner side body piece, the second inner side body piece, the third inner side body piece and the fourth inner side body piece are assembled in sequence to form a semi-cylindrical inner.
Preferably, the outer fuselage comprises two groups of identical outer fuselage pieces, and each group of outer fuselage pieces comprises a first outer fuselage piece, a second outer fuselage piece, a third outer fuselage piece and a fourth outer fuselage piece; the vertical direction of each outer fuselage piece is provided with three slots for fixing piezoelectric bimorph wing copper segments, the inclination angles of the wing slots on the first outer fuselage piece, the second outer fuselage piece, the third outer fuselage piece and the fourth outer fuselage piece are different, the upper end surface and the lower end surface of each outer fuselage piece are respectively provided with gear shaping for fixing an upper fuselage cover and a lower fuselage cover, the upper end and the lower end of each outer fuselage piece are respectively provided with a wire passing hole, the two side surfaces of the first outer fuselage piece and the third outer fuselage piece are respectively provided with convex teeth, the two side surfaces of the second outer fuselage piece and the fourth outer fuselage piece are respectively provided with a groove matched with the convex teeth on the side surfaces of the first outer fuselage piece and the third outer fuselage piece, the assembly is carried out according to the sequence of the first outer fuselage piece, the second outer fuselage piece, the third outer fuselage piece and the fourth outer fuselage piece to form a.
In another embodiment, the method for processing and assembling the angle-adjustable micro air vehicle based on the piezoelectric bimorph wing includes the following steps:
1) processing an upper machine body cover, a lower machine body cover, an inner machine body and an outer machine body:
selecting high-strength and high-modulus carbon fiber materials, wherein the thickness of a sheet is 120-180 mu m so as to ensure the strength of a machine body and the light weight of the aircraft, and then cutting upper and lower machine body covers and inner and outer machine bodies on the carbon fiber sheet by using low-power laser;
2) processing the piezoelectric bimorph wing framework:
processing a required wing skeleton shape on the piezoelectric bimorph according to a pre-designed structure;
3) processing wings:
selecting a PI film as a wing film material, firstly pasting the PI film on a wing framework, then cutting out a designed wing film outline, and processing the wing film outline into wings;
4) fixing and assembling:
arranging the inner fuselage and the outer fuselage in the step 1) according to the sequence of the slot angles of 0 degree, 10 degrees, 20 degrees, 30 degrees, 0 degree, 10 degrees, 20 degrees and 30 degrees on the fuselage, then selecting a group of inner fuselage and outer fuselage with the same angle, enabling the piezoelectric ceramic segments and the copper segments of the piezoelectric bimorph wings processed and formed in the step 2) and the step 3) to firstly penetrate through the outer fuselage and then penetrate through the inner fuselage, then welding a piece of enameled wire with two ends being depainted on the copper sheet of the piezoelectric bimorph wings and the upper and lower piezoelectric ceramics respectively, selecting the symmetrical slot angles for the other wings to finish the welding of the outgoing lines according to the same mode, and then assembling according to the sequence of firstly installing the inner fuselage and then installing the outer fuselage.
Has the advantages that: compared with the prior art, the angle-adjustable micro aircraft based on the piezoelectric bimorph wing selects the piezoelectric bimorph wing to directly control the aircraft wing, has the advantages of simple structure, low processing difficulty and low cost, has multiple selectable schemes of wing fixing positions and angles, and is suitable for data acquisition and flight measurement experiments.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an exploded view of the overall structure of the present invention;
FIG. 3 is a schematic diagram of a piezoelectric bimorph wing structure according to the present invention;
FIG. 4 is a side view of a piezoelectric bimorph wing of the present invention;
FIG. 5 is a schematic view of the fuselage and fuselage cover deployment of the present invention;
FIG. 6 is a schematic diagram of a piezoelectric bimorph wafer;
FIG. 7 is a schematic view of a piezoelectric bimorph wing shear;
FIG. 8 is a schematic view of a wing skeleton according to the present invention;
FIG. 9 is a schematic view of wing mounting according to the present invention;
wherein, 1 is an upper body cover, 2 is a lower body cover, 3 is an outer body, 4 is an inner body, 5 is a piezoelectric bimorph wing, and 6 is a supporting leg; 301 is an enameled wire threading hole, 302 is a piezoelectric bimorph wing socket groove, 303 is a side fuselage gear shaping, 304 is a rectangular through hole for fixing the inner fuselage gear shaping, and 305 is a groove for fixing the outer fuselage gear shaping; 801 is a copper segment, 802 is a piezoelectric ceramic vibration segment, and 803 is a carbon fiber wing segment.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 and 2, the piezoelectric bimorph wing-based angle-adjustable micro air vehicle includes a pair of piezoelectric bimorph wings, an upper body cover, a lower body cover, 4 pairs of inner bodies, 4 pairs of outer bodies, and 3 support legs. The inner machine body is of a cylindrical structure consisting of eight inner machine body pieces, the outer machine body is of a cylindrical structure consisting of eight outer machine body pieces, the inner machine body is sleeved in the outer machine body, and a gap is formed between the inner machine body and the outer machine body; wing slots with the same inclination angle and position are arranged on the opposite inner side machine body and the outer side machine body, one piezoelectric bimorph wing is fixed on the inner side machine body and the outer side machine body which have the same inclination angle and position of the slots, and the other piezoelectric bimorph wing is fixed on the inner side machine body and the outer side machine body which are symmetrical to the piezoelectric bimorph wing; the other 3 pairs of inner bodies and 3 pairs of outer bodies serve as other alternatives for fixing wings; the upper machine body cover and the lower machine body cover play roles in fixing the inner machine body and the outer machine body and installing the supporting legs; wherein the upper and lower body covers and the round holes opened at the inner and outer sides are used as wire passing holes for controlling the leads of the piezoelectric bimorph wings.
As shown in fig. 3 and 4, the piezoelectric bimorph wing includes a wing skeleton and a wing membrane, wherein the wing skeleton is divided into 3 sections, and the section from the wing root to the wing vein is: the carbon fiber wing membrane comprises a copper segment, a piezoelectric ceramic vibration segment and a carbon fiber wing vein segment, wherein a wing membrane is adhered to the carbon fiber wing vein segment, the copper sheet segment comprises an upper copper sheet layer and a lower copper sheet layer, and carbon fibers are arranged between the upper copper sheet layer and the lower copper sheet layer; the piezoelectric ceramic vibration section comprises an upper layer of piezoelectric ceramic and a lower layer of piezoelectric ceramic, and carbon fibers are arranged between the upper layer of piezoelectric ceramic and the lower layer of piezoelectric ceramic; the carbon fiber wing vein section, the copper section and the carbon fiber of the piezoelectric ceramic vibration section are of an integral structure; the upper and lower layers of piezoelectric ceramics are grounded, and the upper and lower layers of copper sheets are connected and connected with alternating current.
As shown in fig. 5, the upper and lower body covers have the same structure and are octagonal, eight grooves for fixing the outer body gear shaping are reserved at the edge of the outer ring, eight rectangular through holes for fixing the inner body gear shaping are reserved on the inner ring, four small round holes are uniformly arranged at the periphery of the rectangular through hole of the inner ring to serve as fixed freedom wire passing holes, three small square holes are uniformly arranged at the periphery of the wire passing holes to serve as support leg sockets, and a large round hole is arranged at the center of the wire passing hole to serve as a wing driving wire leading-out hole.
As shown in fig. 5, there are 8 pairs of inner side bodies, each of the three slots in the vertical direction can be used as a copper sheet fixing slot for the piezoelectric bimorph wing, the inclination angles of the wing slots on the four pairs of inner side bodies are respectively 0 °, 10 °, 20 ° and 30 °, different inclination angles can be selected according to the needs, the upper and lower end surfaces of each inner side body are respectively provided with a gear shaping for fixing the upper and lower body covers, the upper and lower ends of each inner side body are provided with a wire passing hole, the side surfaces of two adjacent inner side bodies are provided with a convex tooth and a groove which are mutually matched, and the 8 inner side bodies are sequentially arranged according to the sequence of one convex tooth and one groove and the angles to form a cylindrical structure.
4 pairs of outer side fuselage, totally 8, be equipped with the slot of three fixed piezoelectricity bimorph wing piezoceramics vibration section on every vertical direction, the inclination of four pairs of outer side fuselage wing slots is 0 respectively, 10 °, 20 and 30, can select different inclinations according to the needs of oneself, the upper and lower terminal surface of every outer side fuselage is equipped with the gear shaping of fixed upper and lower fuselage lid respectively, the lower extreme all is equipped with the line hole on every outer side fuselage, two adjacent outer fuselage sides are equipped with mutually supporting dogtooth and recess, 8 piece inner side fuselage have the order of dogtooth a slice side recess according to a slice side, and arrange in proper order according to above-mentioned angle and form cylindrical structure.
The three supporting legs are spaced by 120 degrees, so that the machine body can be kept balanced when being placed.
When the inner side body and the outer side body are installed, the inner side body and the outer side body need to be in one-to-one correspondence according to the inclination angles of the slots.
In another embodiment, the angle-adjustable micro aircraft based on the piezoelectric bimorph wings comprises a pair of piezoelectric bimorph wings, an upper body cover, a lower body cover, an inner side fuselage, an outer side fuselage and three supporting legs, wherein the inner side fuselage is of a cylindrical structure formed by eight pieces of inner side fuselage, the outer side fuselage is of a cylindrical structure formed by eight pieces of outer side fuselage, the inner side fuselage is sleeved inside the outer side fuselage, and a gap is formed between the inner side fuselage and the outer side fuselage; a plurality of groups of wing slots with the same inclination angle and position are arranged on the inner fuselage piece and the outer fuselage piece which are opposite; the inclination angles of the wing slots on the adjacent inner fuselage piece and the adjacent outer fuselage piece are different; one piezoelectric bimorph wing is fixed on the slots of the inner and outer machine bodies with the same inclination angle and the same position, and the other piezoelectric bimorph wing is fixed on the slot symmetrical to the piezoelectric bimorph wing; the upper machine body cover is used for fixing the inner machine body and the outer machine body, and the lower machine body cover is used for fixing the inner machine body and the outer machine body and installing the supporting legs; wherein the upper and lower body covers and the inner and outer body are all provided with wire passing holes for controlling the piezoelectric bimorph wing leads.
The inner side fuselage comprises two groups of identical inner side fuselage pieces, and each group of inner side fuselage pieces comprises a first inner side fuselage piece, a second inner side fuselage piece, a third inner side fuselage piece and a fourth inner side fuselage piece; three slots for fixing piezoelectric bimorph wing copper segments are formed in each inner side body piece in the vertical direction, the inclination angles of the wing slots on the first, second, third and fourth inner side body pieces are different, the upper end surface and the lower end surface of each inner side body piece are respectively provided with gear shaping for fixing an upper body cover and a lower body cover, the upper end and the lower end of each inner side body piece are respectively provided with a wire passing hole, convex teeth are arranged on the two side surfaces of the first inner side body piece and the third inner side body piece, grooves matched with the convex teeth on the side surfaces of the first inner side body piece and the third inner side body piece are arranged on the two side surfaces of the second inner side body piece and the fourth inner side body piece, the first inner side body piece, the second inner side body piece, the third inner side body piece and the fourth inner side body piece are assembled in sequence to form a semi-cylindrical inner.
The outer fuselage comprises two groups of identical outer fuselage pieces, and each group of outer fuselage pieces comprises a first outer fuselage piece, a second outer fuselage piece, a third outer fuselage piece and a fourth outer fuselage piece; the vertical direction of each outer fuselage piece is provided with three slots for fixing piezoelectric bimorph wing copper segments, the inclination angles of the wing slots on the first outer fuselage piece, the second outer fuselage piece, the third outer fuselage piece and the fourth outer fuselage piece are different, the upper end surface and the lower end surface of each outer fuselage piece are respectively provided with gear shaping for fixing an upper fuselage cover and a lower fuselage cover, the upper end and the lower end of each outer fuselage piece are respectively provided with a wire passing hole, the two side surfaces of the first outer fuselage piece and the third outer fuselage piece are respectively provided with convex teeth, the two side surfaces of the second outer fuselage piece and the fourth outer fuselage piece are respectively provided with a groove matched with the convex teeth on the side surfaces of the first outer fuselage piece and the third outer fuselage piece, the assembly is carried out according to the sequence of the first outer fuselage piece, the second outer fuselage piece, the third outer fuselage piece and the fourth outer fuselage piece to form a.
A processing and assembling method of an angle-adjustable micro aircraft based on piezoelectric bimorph wings comprises the following steps:
1) fuselage lid, inside and outside fuselage and supporting leg about processing:
drawing and processing two-dimensional structures of the upper and lower fuselage covers, the inner and outer fuselages and the supporting legs, selecting high-strength and high-modulus carbon fiber materials, ensuring the strength of the fuselage and the light weight of the aircraft, and then cutting and processing the upper and lower fuselage covers, the inner and outer fuselages and the supporting legs on the carbon fiber sheets by using low-power laser according to the drawn two-dimensional structures;
2) processing the piezoelectric bimorph wing framework:
as shown in fig. 6 to 8, firstly, drawing a two-dimensional figure of the wing skeleton according to the design size; then, selecting a starting point on the piezoelectric bimorph material shown in fig. 6, wherein the wing framework is divided into three sections, so that the accuracy and the consistency of the starting point are ensured before processing in order to ensure the consistency of two wings; finally, cutting for multiple times by using low-power laser until the wing skeleton structure shown in the figure 8 is finally cut on the piezoelectric bimorph;
3) processing a wing film:
selecting a PI film as a wing film material, drawing a wing film two-dimensional graph structure matched with a wing framework, cutting by using low-power laser, and then pasting the wing film on the wing framework to finish the wing part of the aircraft;
4) fixing and assembling:
arranging the inner fuselage and the outer fuselage in the step 1) according to the sequence of the slot angles of 0 degree, 10 degrees, 20 degrees, 30 degrees, 0 degrees, 10 degrees, 20 degrees and 30 degrees on the fuselage, then selecting a group of inner fuselage and outer fuselage with the same angle as shown in figure 9, enabling the piezoelectric ceramic segments and the copper segments of the piezoelectric bimorph wings completed in the step 2) and the step 3) to firstly pass through the outer fuselage and then pass through the inner fuselage, then welding an enameled wire with two ends being depainted on the copper sheet of the piezoelectric bimorph wings and the piezoelectric ceramic on the upper part and the lower part respectively, selecting the symmetrical slot angles for the other wings to complete the welding of the leading-out wires according to the same mode, and then assembling according to the sequence of firstly installing the inner fuselage and then installing the outer fuselage.
The upper and lower round holes on the inner side machine body can be used for penetrating the enameled wire on the piezoelectric ceramic, and the round hole in the middle of the lower machine body cover can be used for leading the enameled wire out of the aircraft and connecting the enameled wire with an external control circuit.
The angle-adjustable micro aircraft based on the piezoelectric bimorph wings selects the piezoelectric bimorph wings to directly control the aircraft wings, has the advantages of simple structure, low processing difficulty and low cost, has multiple selectable schemes of wing fixing positions and angles, and is suitable for data acquisition and flight measurement experiments.
The prior art is not mentioned in the invention.
Claims (7)
1. The utility model provides an angle adjustable micro aircraft based on piezoelectricity bimorph wing which characterized in that: the device comprises a pair of piezoelectric bimorph wings, an upper body cover, a lower body cover, 4 pairs of inner side bodies, 4 pairs of outer side bodies and 3 supporting legs, wherein wing slots with the same inclination angle and position are arranged on the opposite inner side bodies and the opposite outer side bodies; the upper machine body cover is used for fixing the inner machine body and the outer machine body, and the lower machine body cover is used for fixing the inner machine body and the outer machine body and installing the supporting legs; wherein the upper and lower body covers and the inner and outer body are provided with wire passing holes for controlling the piezoelectric bimorph wing leads;
the piezoelectric bimorph wing comprises a wing framework and a wing membrane, the wing framework comprises a copper segment, a piezoelectric ceramic vibration segment and a carbon fiber wing pulse segment from a wing root to a wing pulse, and the wing membrane is adhered to the carbon fiber wing pulse segment; the copper sheet section comprises an upper copper sheet layer and a lower copper sheet layer, and carbon fibers are arranged between the upper copper sheet layer and the lower copper sheet layer; the piezoelectric ceramic vibration section comprises an upper layer of piezoelectric ceramic and a lower layer of piezoelectric ceramic, and carbon fibers are arranged between the upper layer of piezoelectric ceramic and the lower layer of piezoelectric ceramic; the carbon fiber wing vein section, the copper section and the carbon fiber of the piezoelectric ceramic vibration section are of an integral structure; the upper and lower layers of piezoelectric ceramics are grounded, and the upper and lower layers of copper sheets are connected and connected with alternating current;
the number of the 4 pairs of inner side machine bodies is 8, three slots for fixing piezoelectric bicrystal wing copper sheets are arranged in each vertical direction, the inclination angles of the four pairs of inner side machine body wing slots are respectively 0 degrees, 10 degrees, 20 degrees and 30 degrees, the upper end surface and the lower end surface of each inner side machine body are respectively provided with a gear shaping for fixing an upper machine body cover and a lower machine body cover, the upper end and the lower end of each inner side machine body are respectively provided with a wire passing hole, the side surfaces of two adjacent inner side machine bodies are provided with a convex tooth and a groove which are mutually matched, and the 8 pairs of inner side machine bodies are sequentially arranged according to the sequence that the convex tooth is arranged on one side surface and;
4 to the outside fuselage, totally 8, be equipped with the slot of three fixed piezoelectricity bimorph wing piezoceramics vibration section on every vertical direction, the inclination of four pairs of outside fuselage wing slots is 0 respectively, 10 °, 20 and 30, the upper and lower terminal surface of every outside fuselage is equipped with the gear shaping of fixed upper and lower fuselage lid respectively, every outside fuselage upper and lower end all is equipped with the line hole, two adjacent outside fuselage sides are equipped with mutually supported dogtooth and recess, 8 piece inside fuselages have the order of dogtooth a slice side recess according to a slice side to arrange in proper order according to above-mentioned angle and form cylindric structure.
2. The piezoelectric bimorph-wing-based angularly adjustable micro-aircraft according to claim 1, characterized in that: the upper machine body cover and the lower machine body cover are of the same structure and are of an octagonal structure, eight grooves for fixing outer machine body gear shaping are reserved at the edge of the outer ring of the upper machine body cover, eight rectangular through holes for fixing inner machine body gear shaping are reserved in the inner ring, four small round holes are uniformly arranged on the periphery of the rectangular through holes in the inner ring and serve as fixed freedom degree line passing holes, three small square holes are uniformly arranged on the periphery of the line passing holes and serve as supporting leg sockets, and a large round hole is arranged in the center of the line passing holes and serves as a wing.
3. The piezoelectric bimorph-wing-based angularly adjustable micro-aircraft according to claim 1, characterized in that: the three supporting legs are spaced by 120 degrees, so that the balance of the machine body can be kept when the machine body is placed.
4. The utility model provides an angle adjustable micro aircraft based on piezoelectricity bimorph wing which characterized in that: the piezoelectric double-wafer wing aircraft comprises a pair of piezoelectric double-wafer wings, an upper fuselage cover, a lower fuselage cover, an inner fuselage, an outer fuselage and three supporting legs, wherein the inner fuselage is of a cylindrical structure formed by eight pieces of inner fuselage pieces, the outer fuselage is of a cylindrical structure formed by eight pieces of outer fuselage pieces, the inner fuselage is sleeved inside the outer fuselage, and a gap is formed between the inner fuselage and the outer fuselage; a plurality of groups of wing slots with the same inclination angle and position are arranged on the inner fuselage piece and the outer fuselage piece which are opposite; the inclination angles of wing slots on adjacent inner side fuselage pieces are different; one piezoelectric bimorph wing is fixed on the slots of the inner and outer machine bodies with the same inclination angle and the same position, and the other piezoelectric bimorph wing is fixed on the slot symmetrical to the piezoelectric bimorph wing; the upper machine body cover is used for fixing the inner machine body and the outer machine body, and the lower machine body cover is used for fixing the inner machine body and the outer machine body and installing the supporting legs; wherein the upper and lower body covers and the inner and outer body are all provided with wire passing holes for controlling the piezoelectric bimorph wing leads.
5. The piezoelectric bimorph-wing-based angularly adjustable micro-aircraft according to claim 4, characterized in that: the inner fuselage comprises two groups of identical inner fuselage pieces, and each group of inner fuselage pieces comprises a first inner fuselage piece, a second inner fuselage piece, a third inner fuselage piece and a fourth inner fuselage piece; three slots for fixing piezoelectric bimorph wing copper segments are formed in each inner side body piece in the vertical direction, the inclination angles of the wing slots on the first, second, third and fourth inner side body pieces are different, the upper end surface and the lower end surface of each inner side body piece are respectively provided with gear shaping for fixing an upper body cover and a lower body cover, the upper end and the lower end of each inner side body piece are respectively provided with a wire passing hole, convex teeth are arranged on the two side surfaces of the first inner side body piece and the third inner side body piece, grooves matched with the convex teeth on the side surfaces of the first inner side body piece and the third inner side body piece are arranged on the two side surfaces of the second inner side body piece and the fourth inner side body piece, the first inner side body piece, the second inner side body piece, the third inner side body piece and the fourth inner side body piece are assembled in sequence to form a semi-cylindrical inner.
6. The piezoelectric bimorph-wing-based angularly adjustable micro-aircraft according to claim 4, characterized in that: the outer fuselage comprises two groups of identical outer fuselage pieces, and each group of outer fuselage pieces comprises a first outer fuselage piece, a second outer fuselage piece, a third outer fuselage piece and a fourth outer fuselage piece; the vertical direction of each outer fuselage piece is provided with three slots for fixing piezoelectric bimorph wing copper segments, the inclination angles of the wing slots on the first outer fuselage piece, the second outer fuselage piece, the third outer fuselage piece and the fourth outer fuselage piece are different, the upper end surface and the lower end surface of each outer fuselage piece are respectively provided with gear shaping for fixing an upper fuselage cover and a lower fuselage cover, the upper end and the lower end of each outer fuselage piece are respectively provided with a wire passing hole, the two side surfaces of the first outer fuselage piece and the third outer fuselage piece are respectively provided with convex teeth, the two side surfaces of the second outer fuselage piece and the fourth outer fuselage piece are respectively provided with a groove matched with the convex teeth on the side surfaces of the first outer fuselage piece and the third outer fuselage piece, the assembly is carried out according to the sequence of the first outer fuselage piece, the second outer fuselage piece, the third outer fuselage piece and the fourth outer fuselage piece to form a.
7. The method for manufacturing and assembling the piezoelectric bimorph-wing-based angularly adjustable micro air vehicle as claimed in any one of claims 1 to 3, comprising the steps of:
1) processing an upper machine body cover, a lower machine body cover, an inner machine body and an outer machine body:
selecting high-strength and high-modulus carbon fiber materials, wherein the thickness of a sheet is 120-180 mu m so as to ensure the strength of a machine body and the light weight of the aircraft, and then cutting upper and lower machine body covers and inner and outer machine bodies on the carbon fiber sheet by using low-power laser;
2) processing the piezoelectric bimorph wing framework:
processing a required wing skeleton shape on the piezoelectric bimorph according to a pre-designed structure;
3) processing wings:
selecting a PI film as a wing film material, firstly pasting the PI film on a wing framework, then cutting out a designed wing film outline, and processing the wing film outline into wings;
4) fixing and assembling:
arranging the inner fuselage and the outer fuselage in the step 1) according to the sequence of the slot angles of 0 degree, 10 degrees, 20 degrees, 30 degrees, 0 degree, 10 degrees, 20 degrees and 30 degrees on the fuselage, then selecting a group of inner fuselage and outer fuselage with the same angle, enabling the piezoelectric ceramic vibration section and the copper section of the piezoelectric bimorph wing processed and formed in the step 2) and the step 3) to firstly penetrate through the outer fuselage and then penetrate through the inner fuselage, then respectively welding a piece of enameled wire with two ends being depainted on the copper sheet of the piezoelectric bimorph wing and the upper and lower piezoelectric ceramics, enabling the other wing to adopt the symmetrical slot angles to complete the welding of the outgoing lines according to the same mode, and then assembling according to the sequence of firstly installing the inner fuselage and then installing the outer fuselage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811208944.2A CN109398696B (en) | 2018-10-17 | 2018-10-17 | Angle-adjustable micro aircraft based on piezoelectric bimorph wings and machining and assembling method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811208944.2A CN109398696B (en) | 2018-10-17 | 2018-10-17 | Angle-adjustable micro aircraft based on piezoelectric bimorph wings and machining and assembling method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109398696A CN109398696A (en) | 2019-03-01 |
| CN109398696B true CN109398696B (en) | 2020-03-31 |
Family
ID=65468337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811208944.2A Active CN109398696B (en) | 2018-10-17 | 2018-10-17 | Angle-adjustable micro aircraft based on piezoelectric bimorph wings and machining and assembling method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109398696B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103395493A (en) * | 2013-07-19 | 2013-11-20 | 北京理工大学 | Piezoelectric ceramic flapping-wing-type robot |
| CN103708033A (en) * | 2013-12-23 | 2014-04-09 | 上海交通大学 | Double piezoelectric actuators type micro flapping wing aircraft based on soft hinges |
| US8700233B1 (en) * | 2010-07-29 | 2014-04-15 | The United States Of America As Represented By The Secretary Of The Air Force | Method for shaping wing velocity profiles for control of flapping wing micro air vehicles |
| CN106081104A (en) * | 2016-07-20 | 2016-11-09 | 上海交通大学 | A kind of insecticide yardstick Piezoelectric Driving flapping-wing MAV |
| CN107902086A (en) * | 2017-10-25 | 2018-04-13 | 西安交通大学 | It is a kind of that rotor craft and driving method are flutterred based on Piezoelectric Driving |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100534019B1 (en) * | 2003-07-08 | 2005-12-07 | 한국과학기술연구원 | Wing Actuating Apparatus Using Piezoelectric Actuator |
-
2018
- 2018-10-17 CN CN201811208944.2A patent/CN109398696B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8700233B1 (en) * | 2010-07-29 | 2014-04-15 | The United States Of America As Represented By The Secretary Of The Air Force | Method for shaping wing velocity profiles for control of flapping wing micro air vehicles |
| CN103395493A (en) * | 2013-07-19 | 2013-11-20 | 北京理工大学 | Piezoelectric ceramic flapping-wing-type robot |
| CN103708033A (en) * | 2013-12-23 | 2014-04-09 | 上海交通大学 | Double piezoelectric actuators type micro flapping wing aircraft based on soft hinges |
| CN106081104A (en) * | 2016-07-20 | 2016-11-09 | 上海交通大学 | A kind of insecticide yardstick Piezoelectric Driving flapping-wing MAV |
| CN107902086A (en) * | 2017-10-25 | 2018-04-13 | 西安交通大学 | It is a kind of that rotor craft and driving method are flutterred based on Piezoelectric Driving |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109398696A (en) | 2019-03-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102328744B (en) | Electromagnetically-driven flapping wing type micro aircraft based on flexible hinges | |
| Keennon et al. | Development of the nano hummingbird: A tailless flapping wing micro air vehicle | |
| CN106184746B (en) | A kind of bionical butterfly flapping wing aircraft of fructus forsythiae | |
| US20110278391A1 (en) | Dragonfly unmanned aerial vehicle | |
| Nguyen et al. | Hybrid design and performance tests of a hovering insect-inspired flapping-wing micro aerial vehicle | |
| US6938853B2 (en) | Biomimetic mechanism for micro aircraft | |
| EP3683446A1 (en) | Ducted fan assembly with curved stators | |
| Bohorquez | Rotor hover performance and system design of an efficient coaxial rotary wing micro air vehicle | |
| CN102083687A (en) | Bottom blade type trefoil flight vehicle | |
| Nguyen et al. | Design, fabrication, and performance test of a hovering-based flapping-wing micro air vehicle capable of sustained and controlled flight | |
| Nguyen et al. | Performance tests of a hovering flapping wing micro air vehicle with double wing clap-and-fling mechanism | |
| Pan et al. | A kind of large-sized flapping wing robotic bird: Design and experiments | |
| CN109398696B (en) | Angle-adjustable micro aircraft based on piezoelectric bimorph wings and machining and assembling method thereof | |
| Bhushan et al. | Milligram-scale micro aerial vehicle design for low-voltage operation | |
| US11591084B2 (en) | Cycloidal rotor micro-air vehicle | |
| Ratti et al. | Fixed frequency, variable amplitude (FiFVA) actuation systems for micro aerial vehicles | |
| JP6993948B2 (en) | Flying device | |
| CN109050911B (en) | Multi-degree-of-freedom piezoelectric driving type micro flapping wing aircraft and machining method of transmission mechanism thereof | |
| Feszty et al. | Review of active rotor control research in Canada | |
| Malolan et al. | Design and development of flapping wing micro air vehicle | |
| IT202100023033A1 (en) | Aircraft equipped with lift wings for cruising flight | |
| İşbitirici et al. | Design of a flapping-wing aerial vehicle based on four-bar mechanism | |
| Regulski et al. | Design and Characterization of a Dual Piezo-bimorph Micro Flapping Wing | |
| Chiang et al. | Development of micro ultrasonic actuator and micro rotor blade for micro aerial vehicle | |
| Ma et al. | Structural Design and Analysis of Small Flapping Wing Aircraft Based on the Crank Slider Mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |