CN109774917B - Miniature double-rotor aircraft - Google Patents

Abstract

The present invention discloses a micro dual-rotor aircraft, which belongs to the field of piezoelectric actuators. It uses a piezoelectric dual-chip as a posture adjustment drive device to achieve further miniaturization and lightness of the micro-aircraft in posture adjustment. The present invention provides lift through a pair of reversely installed propellers and hollow cup motors, while overcoming and offsetting reverse torque. Three dual-chips are simply supported on the lower base through a rotating shaft, and pre-pressure is applied to the dual-chips through an elastic element. The buckle is installed in the middle of the dual-chips and is connected to the upper base through three push-pull rings. The upper base and the lower base are connected through a ball bearing structure. The present invention uses the maximum deflection (middle deflection) of the axially pre-compressed simply supported dual-chip to push and pull the upper base, thereby driving the angle between the upper rotor and the lower rotor to achieve arbitrary posture adjustment.

Description

A micro dual-rotor aircraft

Technical Field

The invention belongs to the field of piezoelectric actuators, and in particular relates to a micro dual-rotor aircraft.

Background technique

Small twin-rotor aircraft have the ability to take off and land vertically, hover in the air, fly forward and backward, left and right, and can achieve fixed-point landing without the need for a dedicated airport. They can be used for a variety of tasks, such as forest fire prevention, traffic monitoring, farmland protection, aerial photography and surveying, and other military and civilian applications. Beijing University of Aeronautics and Astronautics has developed a coaxial twin-rotor unmanned aerial vehicle without a tail rotor based on the Seagull. Its control mechanism is the same as that of a helicopter, with a spherical body. Its control mechanism is relatively complex and the spherical body reduces the flexibility of the aircraft (Chen Ming, Hu Jizhong. Design features of the M22 small unmanned helicopter [J]. Aircraft Design, 2005, (01): 71-74.). At present, small twin-rotor aircraft are less in variety and less mature than other types of aircraft. The structural design and attitude control technology are not mature enough, and the application range is relatively narrow.

Summary of the invention

The present invention provides a micro dual-rotor aircraft, wherein the aircraft utilizes a piezoelectric dual-chip as a posture adjustment driving device, thereby achieving further miniaturization and lightness of the micro aircraft in posture adjustment.

To achieve the above objectives, the present invention adopts the following technical solutions:

A micro-rotor aircraft, comprising: a base part, a flight part and an attitude adjustment part; the base part comprises a lower base 6 and an upper base 7, the lower base 6 and the upper base 7 are connected through corresponding ball bearings 61 and 72 on the two bases, the lower base 6 comprises a lower base ball bearing 61, three lower base flexible beams 62, and six lower base support frames 64, the lower base ball bearing 61 is located at the top center of the lower base 6, the three lower base flexible beams 62 are respectively located on the side of the lower base 6 and the angles formed between the two are equal, and the lower base The lower base flexible beam 62 is forked from the middle to the end, and grooves 65 are respectively provided at the forks at the ends of the lower base flexible beam 62. Six lower base support frames 64 are respectively located at the forks in the middle of the lower base flexible beam 62 in groups of two, and each lower base support frame 64 is respectively provided with a rotating shaft mounting hole 63 on both sides; the upper base 7 includes three upper base bosses 71 and an upper base ball bearing 72. The upper base ball bearing 72 is located at the bottom center of the upper base 7. The three upper base bosses 71 are respectively located on the sides of the upper base 7 and the angles formed between the two are the same;

The flight unit includes a motor 9 and a propeller 1. The motor 9 has two motor mounting holes 66 at the bottom of the lower base 6 and a motor mounting hole 73 at the top of the upper base 7. The propeller 1 is in two groups, which are respectively mounted on the output shafts 10 of the two motors 9 and have opposite rotation directions.

The posture adjustment part includes a rotating shaft 2, a buckle 3, a push-pull ring 4, a piezoelectric dual chip 5, and an elastic element 8; there are six rotating shafts 2, which are respectively installed on the lower base support frame 64 through the rotating shaft mounting holes 63; there are three piezoelectric dual chips 5, and the two sides of each piezoelectric dual chip 5 are respectively installed in the slots in the middle of the two rotating shafts 2; there are three buckles 3, and each buckle 3 is respectively installed in the middle of the piezoelectric dual chip 5; there are three push-pull rings 4, one end of each push-pull ring 4 is installed in the mounting hole on the inner side of the buckle 3, and the other end is installed in the mounting hole of the upper base boss 71; there are three elastic elements 8, and the two ends of each elastic element 8 are respectively installed in the groove 65 at the end of the lower base flexible beam 62.

In the above structure, the piezoelectric bimorph 5 is composed of a piezoelectric ceramic layer 51 and a substrate layer 52. The piezoelectric ceramic layer 51 is two layers, and the substrate layer 52 is located in the middle of the two piezoelectric ceramic layers 51. The output shafts 10 of the two motors 9 rotate in opposite directions.

Beneficial effects of the present invention: The present invention provides a micro dual-rotor aircraft, which uses a piezoelectric dual-chip as an actuating mechanism for adjusting the attitude of the micro aircraft, so that the aircraft is smaller in size and lighter in weight. The dual-chip size can be designed according to the relevant parameters of the aircraft, so that the aircraft is further miniaturized, and the whole machine can be made by 3D printing technology, and the overall weight of the aircraft can be controlled within 30g; the piezoelectric material itself has the characteristic of fast response. The present invention applies the dual-chip made of piezoelectric material to the actuating mechanism for adjusting the attitude of the micro aircraft, which can achieve millisecond-level response, thereby enhancing the controllability of the whole machine during flight; the present invention uses three dual-chips through three push-pull rings to enable the upper base to change to any position, and locks after being in place under the synergistic action of the three dual-chips, so that the attitude angle can be changed in any direction, that is, the flight trajectory of the aircraft can be carried out in any direction at any time. In addition, the aircraft of the present invention also has the advantages of being insensitive to magnetic fields and not generating magnetic fields; good speed and position control performance, high precision; high control bandwidth; relatively small power consumption; the appearance can be arbitrarily designed according to user requirements; low vibration and noise, and stable operation.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the piezoelectric bimorph structure.

FIG. 2 is a schematic diagram of the force and displacement output of the axially pre-compressed simply supported dual crystal.

FIG. 3 is a schematic structural diagram of the present invention.

FIG. 4 is an external structural view of the lower base of the present invention.

FIG. 5 is a half-section view of the lower base of the present invention.

FIG. 6 is a view showing the external structure of the upper base of the present invention.

FIG. 7 is a half-section view of the upper base of the present invention.

FIG8 is a schematic diagram of a method for applying pre-pressure to the axially pre-compressed simply-supported dual crystal plate of the present invention.

In the figure, 1 is a propeller, 2 is a rotating shaft, 3 is a buckle, 4 is a push-pull ring, 5 is a piezoelectric dual chip, 6 is a lower base, 7 is an upper base, 8 is an elastic element, 9 is a motor, 10 is a motor output shaft, 51 is a piezoelectric ceramic layer, 52 is a substrate layer, 61 is a lower base ball bearing, 62 is a lower base flexible beam, 63 is a rotating shaft mounting hole, 64 is a lower base support frame, 65 is a lower base flexible beam groove, 66 is a lower base motor mounting hole, 71 is an upper base boss, 72 is an upper base ball bearing, and 73 is an upper base motor mounting hole.

Detailed ways

The present invention is described in detail below with reference to the accompanying drawings and specific embodiments:

As shown in FIG3 , a micro twin-rotor aircraft comprises: a base portion, a flight portion and an attitude adjustment portion; the base portion comprises a lower base 6 and an upper base 7, and the lower base 6 and the upper base 7 are connected through corresponding ball bearings 61 and 72 on the two bases. As shown in FIG4 and FIG5 , the lower base 6 comprises a lower base ball bearing 61, three lower base flexible beams 62, and six lower base support frames 64. The lower base ball bearing 61 is located at the top center of the lower base 6, and the three lower base flexible beams 62 are respectively located on the sides of the lower base 6 and the angles formed between the two beams are equal. The lower base flexible beam 62 is forked from the middle to the end, and grooves 65 are respectively provided at the forked ends of the lower base flexible beam 62. Six lower base support frames 64 are respectively located at the fork in the middle of the lower base flexible beam 62 in groups of two, and each lower base support frame 64 is respectively provided with a rotating shaft mounting hole 63 on both sides; as shown in Figures 6 and 7, the upper base 7 includes three upper base bosses 71 and an upper base ball bearing 72. The upper base ball bearing 72 is located at the bottom center of the upper base 7, and the three upper base bosses 71 are respectively located on the sides of the upper base 7 and the angles formed between the two are the same.

The flight unit includes a motor 9 and a propeller 1. The motor 9 has two motor mounting holes 66 installed at the bottom of the lower base 6 and the motor mounting hole 73 installed at the top of the upper base 7. The output shafts 10 of the two motors 9 rotate in opposite directions to offset the reverse torque on the base. A pair of reverse propellers 1 are respectively installed on the output shafts of a pair of hollow cup motors 9 to provide upward lift together. There are two sets of propellers 1, which are respectively installed on the output shafts 10 of the two motors 9 and rotate in opposite directions. The reverse propellers 1 and the motors 9 provide upward lift together.

The posture adjustment part includes a rotating shaft 2, a buckle 3, a push-pull ring 4, a piezoelectric dual chip 5, and an elastic element 8; there are six rotating shafts 2, which are respectively installed on the lower base support frame 64 through the rotating shaft mounting holes 63; there are three piezoelectric dual chips 5, and the two sides of each piezoelectric dual chip 5 are respectively installed in the slots in the middle of the two rotating shafts 2; there are three buckles 3, and each buckle 3 is respectively installed in the middle of the piezoelectric dual chip 5; there are three push-pull rings 4, one end of each push-pull ring 4 is installed in the mounting hole on the inner side of the buckle 3, and the other end is installed in the mounting hole of the upper base boss 71; there are three elastic elements 8, and the two ends of each elastic element 8 are respectively installed at the end of the lower base flexible beam 62 The groove 65 at the end; three dual chips 5 are simply supported and installed on the lower base 6 through the rotating shaft 2, and pre-pressure is applied to the dual chips 5 through the elastic element 8, so as to improve the force and displacement output capacity of the dual chips. As shown in FIG1, the piezoelectric dual chip 5 is composed of two upper and lower piezoelectric ceramic layers 51 and a middle substrate layer 52. When one end of the piezoelectric dual chip 5 is hinged and the other end is slidably supported, and axial pre-pressure is applied to the sliding end, it will produce a deformation mode of a middle bulge as shown in FIG2, and the output displacement in the middle reaches the maximum. Due to the application of pre-pressure, the electromechanical conversion efficiency of the piezoelectric dual chip 5 is improved, so the output force and output displacement can be further amplified.

The buckle 3 is installed in the middle of the double chip 5 and is connected to the upper base 7 through three push-pull rings 4; the upper base 7 and the lower base 6 are connected through a ball bearing structure. Under the action of the three push-pull rings 4, the upper base 7 is pushed and pulled by utilizing the maximum deflection (middle deflection) of the axially pre-compressed simply supported double chip, thereby driving the angle between the upper rotor and the lower rotor to achieve attitude adjustment, thereby achieving adjustment of the attitude of the aircraft at any angle.

The above are only preferred embodiments of the present invention, which will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be pointed out that for those skilled in the art, without departing from the concept of the present invention, several modifications and improvements made belong to the protection scope of the present invention.

Claims (1)

1. A micro-rotor aircraft, characterized in that it comprises: a base part, a flight part and an attitude adjustment part; the base part comprises a lower base (6) and an upper base (7), the lower base (6) and the upper base (7) are connected to the upper base ball bearing (72) through the corresponding lower base ball bearings (61) on the two bases, the lower base (6) comprises a lower base ball bearing (61), three lower base flexible beams (62), and six lower base support frames (64), the lower base ball bearing (61) is located at the top center of the lower base (6), the three lower base flexible beams (62) are respectively located on the side of the lower base (6) and form a yoke between two of them. The lower base flexible beam (62) is bifurcated from the middle to the end, and grooves (65) are respectively provided at the bifurcated ends of the lower base flexible beam (62). Six lower base support frames (64) are respectively located at the bifurcated middle of the lower base flexible beam (62) in groups of two, and a rotating shaft mounting hole (63) is respectively provided on both sides of each lower base support frame (64); the upper base (7) includes three upper base bosses (71) and an upper base ball bearing (72), and the upper base ball bearing (72) is located at the bottom center of the upper base (7). The three upper base bosses (71) are respectively located on the side of the upper base (7) and the angles formed between the two bosses are the same; The flight unit comprises a motor (9) and a propeller (1), wherein the motor (9) has two lower base motor mounting holes (66) respectively mounted at the bottom of the lower base (6) and an upper base motor mounting hole (73) at the top of the upper base (7), and the propeller (1) is in two groups, respectively mounted on the output shafts (10) of the two motors (9) and rotating in opposite directions; the output shafts (10) of the two motors (9) rotate in opposite directions; The posture adjustment part comprises a rotating shaft (2), a buckle (3), a push-pull ring (4), a piezoelectric dual chip (5), and an elastic element (8); there are six rotating shafts (2), which are respectively mounted on the lower base support frame (64) through the rotating shaft mounting holes (63); there are three piezoelectric dual chips (5), and the two sides of each piezoelectric dual chip (5) are respectively mounted in the slots in the middle of the two rotating shafts (2); there are three buckles (3), and each buckle (3) is respectively mounted in the middle of the piezoelectric dual chip (5); the push-pull ring (4 ) are three, one end of each push-pull ring (4) is installed in the installation hole on the inner side of the buckle (3), and the other end is installed in the installation hole of the upper base boss (71); there are three elastic elements (8), and the two ends of each elastic element (8) are respectively installed in the groove (65) at the end of the lower base flexible beam (62); the piezoelectric dual chip (5) is composed of a piezoelectric ceramic layer (51) and a substrate layer (52), the piezoelectric ceramic layer (51) is two layers, and the substrate layer (52) is located in the middle of the two piezoelectric ceramic layers (51).