CN207267531U - A kind of patch type piezoelectric drives quadrotor flight instruments - Google Patents
A kind of patch type piezoelectric drives quadrotor flight instruments Download PDFInfo
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- CN207267531U CN207267531U CN201720463976.1U CN201720463976U CN207267531U CN 207267531 U CN207267531 U CN 207267531U CN 201720463976 U CN201720463976 U CN 201720463976U CN 207267531 U CN207267531 U CN 207267531U
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- patch type
- type piezoelectric
- annular construction
- construction member
- piezoelectric transducer
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Abstract
The utility model discloses a kind of patch type piezoelectric driving quadrotor flight instruments, including four propellers, four rotor mechanisms, four annular construction members and four patch type piezoelectric transducers.Simultaneously an entirety is made in four annular construction members and the square arrangement of four patch type piezoelectric transducers.Annular construction member is located at four vertex, and patch type piezoelectric transducer is located on four edges, and the central axes of patch type piezoelectric transducer pass through the center of circle of two neighboring annular construction member.The front and rear surfaces that patch type piezoelectric transducer is arranged on a non-uniform beam by two panels piezoelectric ceramic piece are formed.Rotor mechanism is contacted with certain precompression with the inner ring of annular construction member.The utility model is moved by encouraging PZT (piezoelectric transducer) each annulus is produced overall similar round, and drives rotor mechanism and propeller rotational by rubbing action.Circular motion track on two diagonal is respectively clockwise and anticlockwise, so as to fulfill counter balance torque and to provide the purpose of lift.
Description
Technical field：
A kind of patch type piezoelectric driving quadrotor flight instruments is the utility model is related to, belongs to piezoelectric actuating technical field.
Background technology：
Quadrotor is a kind of aircraft for being capable of VTOL, compared with conventional rotary aircraft, its structure
It is more compact, the lift of bigger can be produced, and 4 rotors can cancel out each other anti-twisted torque, without special anti-twisted
Square paddle.When performing the monitoring of environment near the ground (such as indoor, city and jungle), scouting when task, quadrotor has
Its distinctive advantage.Piezoelectric Driving is rapid, compact-sized, good without electromagnetic interference etc. with small, light weight, response in itself
The characteristics of, meet requirement of the microminiature quadrotor for actuator in MEMS (MEMS) well.By two
The structure that person combines rear quadrotor can be simplified, and response speed is accelerated, and can obtain the theoretical lift of bigger, cruising ability
Also can have been lifted, it is easier to reach efficient power output state, being provided for quadrotor completion aerial mission with a greater variety can
Energy.
Utility model content：
The utility model is in order to solve problem of the prior art, there is provided a kind of patch type piezoelectric driving quadrotor flight dress
Put, have the advantages that compact-sized, structure type simple and flexible, lift weight ratio are big, maneuverability is good.
The utility model adopts the following technical solution：A kind of patch type piezoelectric drives quadrotor flight instruments, including spiral
Paddle, rotor mechanism, annular construction member and patch type piezoelectric transducer, the annular construction member are rigid annulus, the rotor mechanism by
The thread spindle for being provided with round platform, the circular cone, spring and the nut that are provided with through hole are formed, and thread spindle passes through annular construction member and circular cone
On through hole, make round platform contact annular construction member inner ring top, circular cone contact annular construction member inner ring lower part, the spring is arranged at
Below circular cone, the lower part of the propeller is provided with blind screw hole, the upper end that propeller passes through blind screw hole and thread spindle
It is connected by screw thread, the patch type piezoelectric transducer is by non-uniform beam and the piezoelectricity being arranged in the front and rear surfaces of non-uniform beam
Potsherd forms.
Further, the propeller is self-tightening paddle.
Further, the number of the propeller, rotor mechanism, annular construction member and patch type piezoelectric transducer is respectively four
It is a, four annular construction members and four patch type piezoelectric transducers are square arranges and be made an entirety, the annular construction member
Positioned at four vertex, patch type piezoelectric transducer is located on four edges, and the central axes of the patch type piezoelectric transducer pass through phase
The center of circle of adjacent two annular construction members.
Further, the non-uniform beam and annular construction member junction sectional area are minimum.
The utility model also adopts the following technical scheme that：A kind of work side of patch type piezoelectric driving quadrotor flight instruments
Method, includes the following steps：
(1) applies two-phase respectively to two patch type piezoelectric transducers being connected with same annular construction member has pi/2 phase
The electric signal of potential difference, makes the two patch type piezoelectric transducers produce the same order extensional vibration in time with 90 ° of phase differences,
The particle of the annular construction member inner ring does class circular motion a little, and the rotor mechanism being in contact with it by rubbing action driving rotates；
(2) the two neighboring annular construction members of and the contact position of shared patch type piezoelectric transducer spatially have
180 ° of phase differences, the circular motion of the class a little track of two neighboring annular construction member is on the contrary, annular construction member inverse time on one group of diagonal
Pin small motion, sets positive paddle propeller on the rotor mechanism contacted with the two annular construction members；Ring on another group of diagonal
Shape component small motion clockwise, sets anti-paddle propeller on the rotor mechanism contacted with the two annular construction members, flat to realize
Weighing apparatus moment of torsion simultaneously provides lift.
The utility model has the advantages that：The patch type piezoelectric driving quadrotor flight dress of the utility model design
Put that compact-sized, to be easy to clamping, noise small, wherein patch type piezoelectric transducer architecture form simple and flexible, simplify overall structure,
Miniaturization easy to implement.There is good symmetry in itself as a kind of quadrotor flight instruments, balanced and turned round by self structure
Square, is easy to implement the control of rotor.
Brief description of the drawings：
Fig. 1 is the structure diagram of the utility model patch type piezoelectric driving quadrotor flight instruments.
Fig. 2 is rotor mechanism structure diagram.
Fig. 3 (a) is patch type piezoelectric transducer architecture top view.
Fig. 3 (b) is patch type piezoelectric transducer architecture front view.
Fig. 4 is the polarized structure diagram of piezoelectric ceramic piece.
Fig. 5 is the mode of oscillation schematic diagram of two extensional vibration superpositions on single annular construction member.
Fig. 6 is the movement locus schematic diagram of annular construction member inner surface particle.
Fig. 7 is the working state schematic representation of patch type piezoelectric driving quadrotor flight instruments.
Wherein：
1：Propeller；2：Rotor mechanism；2-1：Thread spindle；2-2：Circular cone；2-3：Spring；2-4：Nut；3：Annular structure
Part；4：Patch type piezoelectric transducer；4-1：Non-uniform beam；4-2：Piezoelectric ceramic piece.
Embodiment：
The utility model will be further described below with reference to the accompanying drawings.
Patch type piezoelectric driving quadrotor flight instruments provided by the utility model includes four propellers, 1, four rotor
2, four annular construction members 3 of mechanism and four patch type piezoelectric transducers 4, propeller 1 are self-tightening paddle, and lower part is provided with an internal thread
Blind hole, propeller 1 are connected by blind screw hole with the upper end of thread spindle 2-1 by screw thread.Patch type piezoelectric transducer 4 is by one
Root non-uniform beam 4-1 and two panels piezoelectric ceramic piece 4-2 is formed, and two panels piezoelectric ceramic piece 4-2 is separately positioned on non-uniform beam 4-1's
In front and rear surfaces, as shown in Figure 1.Annular construction member 3 is rigid annulus, four annular construction members 3 and four patch type piezoelectric transducers
Simultaneously an entirety is made in 4 square arrangements.Annular construction member 3 is located at four vertex, and patch type piezoelectric transducer 4 is located at four edges
On, and the central axes of patch type piezoelectric transducer 4 pass through the center of circle of two neighboring annular construction member 3.Non-uniform beam 4-1 and annular structure
3 junction sectional area of part is minimum, for amplifying amplitude.
Rotor mechanism 2 is by the thread spindle 2-1, the circular cone 2-2, spring 2-3 and the nut 2-4 that are provided with through hole that are provided with round platform
Form, thread spindle 2-1 makes 3 inner ring top of round platform contact annular construction member, cone through the through hole on annular construction member 3 and circular cone 2-2
3 inner ring lower part of shape block 2-2 contact annular construction members；Spring 2-3 is arranged at below circular cone 2-2, by adjusting below spring 2-3
Nut 2-4 can adjust the precompression between rotor mechanism 2 and annular construction member 3, as shown in Figure 2.
Under installment state, gapless between annular construction member 3 and rotor mechanism 2.When annular construction member 3 vibrates, it acts on taper
The power of block 2-2 makes spring 2-3 further compress in axial component, and annular construction member 3 and circular cone 2-2 go out between vertical direction
Existing gap.In 2 course of work of rotor mechanism, still holding contacts annular construction member inner ring in the horizontal direction with circular cone 2-2, interior
The actual contact of circle and circular cone is still a circle, i.e. contact circle, contacts round radius and is shaken by the elliptic motion of annular construction member
The rigidity of width and spring 2-3 determine.
The main body of patch type piezoelectric transducer 4 is a non-uniform beam 4-1, is led in the front and rear surfaces of cross-sectional area maximum
Cross epoxide-resin glue and symmetrically paste a pair of of longitudinal vibration piezoelectric ceramic piece 4-2, every non-uniform beam 4-1 or so connects with annular construction member 3
It is minimum to connect the sectional area at place, amplifies the principle of amplitude and vibration velocity according to ultrasonic transformer, this is designed for two annular construction member portions of amplification
The amplitude divided, as shown in Fig. 3 (a), 3 (b).The polarization direction of all piezoelectric ceramic piece 4-2 is identical, polarizes in thickness direction, such as
Shown in Fig. 4.Two group piezoelectric ceramic piece 4-2 non-conterminous to flight instruments applies same frequency electricity of the two-phase with pi/2 phase difference respectively
Signal.
Using the first electric signal of application as sinusoidal signal, the second electric signal be cosine signal exemplified by, it is larger in order to obtain
Vibration velocity, the extensional vibration encouraged are all single order longitudinal vibrations.As shown in figure 5, using single annular construction member as object, excitation is attached thereto
Two patch type piezoelectric transducers 4 produce the same frequency single order longitudinal vibration mode in time with 90 ° of phase differences, due to two patches
Plate piezoelectric transducer spatially has 90 ° of phase differences, and annular construction member 3 will produce displacement and the vertical direction of horizontal direction
Displacement.In a cycle T, the particle of 3 inner surface of annular construction member does elliptic motion a little, when T ∈ (0, T/4), two patches
Plate piezoelectric transducer extends at the same time, horizontal displacement components and the vertical displacement components positive increase at the same time of particle；As T ∈ (T/
4, T/2) when, the vertical displacement components forward direction that the patch type piezoelectric transducer of sinusoidal signal produces increases, the patch of cosine signal
The horizontal displacement components negative sense increase that formula PZT (piezoelectric transducer) produces；As T ∈ (T/2,3T/4), two patch type piezoelectric transducings
Device shortens at the same time, horizontal displacement components and vertical displacement components the negative sense increase at the same time of particle；It is sinusoidal as T ∈ (3T/4, T)
The vertical displacement components negative sense increase that the patch type piezoelectric transducer of signal produces, the patch type piezoelectric transducer production of cosine signal
Raw horizontal displacement components are positive to be increased, and the displacement component of the particle on annular construction member 3 in one cycle is superimposed as oval rail
Mark.As shown in Figure 6.The preferable vibration shape is patch type piezoelectric transducer extensional vibration, and annular construction member is indeformable, sharp as far as possible
With global displacement, the thread spindle of rotor mechanism will produce and above-mentioned elliptical orbit is equidirectional prolongs circumference side under rubbing action
To around the rotating movement of itself axis.However, annular construction member is elastomer, under the effect of patch type piezoelectric transducer, except production
Outside raw global displacement, local deformation is also had.The target of design is mode of oscillation of the working frequency far as possible from annular construction member,
Make the elastic deformation of rigid annulus itself as small as possible.
Quadrotor flight instruments is driven as object using whole patch type piezoelectric, since device sheet is as overall square row
Cloth, and the electric signal being applied on non-conterminous patch type piezoelectric transducer is identical, therefore on whole mechanism diagonal
Two propellers are rotor in the same direction, and two propellers of arbitrary neighborhood are reverse rotor, as shown in fig. 7, such a structure is just used
In overcoming the reaction torque of rotor in itself.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, some improvement can also be made on the premise of the utility model principle is not departed from, these improvement also should be regarded as
The scope of protection of the utility model.
Claims (4)
1. a kind of patch type piezoelectric drives quadrotor flight instruments, it is characterised in that：Including propeller (1), rotor mechanism (2),
Annular construction member (3) and patch type piezoelectric transducer (4), the annular construction member (3) are rigid annulus, the rotor mechanism (2) by
The thread spindle (2-1) for being provided with round platform, the circular cone (2-2), spring (2-3) and the nut (2-4) that are provided with through hole are formed, thread spindle
(2-1) makes round platform contact annular construction member (3) inner ring top, taper through the through hole on annular construction member (3) and circular cone (2-2)
Block (2-2) contacts annular construction member (3) inner ring lower part, and the spring (2-3) is arranged at below circular cone (2-2), the propeller
(1) lower part is provided with blind screw hole, and propeller (1) passes through screw thread phase by the upper end of blind screw hole and thread spindle (2-1)
Even, the patch type piezoelectric transducer (4) is by non-uniform beam (4-1) and is arranged in the front and rear surfaces of non-uniform beam (4-1)
Piezoelectric ceramic piece (4-2) forms.
2. patch type piezoelectric as claimed in claim 1 drives quadrotor flight instruments, it is characterised in that：The propeller (1)
For self-tightening paddle.
3. patch type piezoelectric as claimed in claim 1 drives quadrotor flight instruments, it is characterised in that：The propeller (1),
The number of rotor mechanism (2), annular construction member (3) and patch type piezoelectric transducer (4) is respectively four, four annular construction members (3)
Simultaneously an entirety is made in arrangement square with four patch type piezoelectric transducers (4), and the annular construction member (3) is positioned at four tops
Point, patch type piezoelectric transducer (4) are located on four edges, and the central axes of the patch type piezoelectric transducer (4) pass through adjacent two
The center of circle of a annular construction member (3).
4. patch type piezoelectric as claimed in claim 1 drives quadrotor flight instruments, it is characterised in that：The non-uniform beam
(4-1) is minimum with annular construction member (3) junction sectional area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720463976.1U CN207267531U (en) | 2017-04-28 | 2017-04-28 | A kind of patch type piezoelectric drives quadrotor flight instruments |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720463976.1U CN207267531U (en) | 2017-04-28 | 2017-04-28 | A kind of patch type piezoelectric drives quadrotor flight instruments |
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| Publication Number | Publication Date |
|---|---|
| CN207267531U true CN207267531U (en) | 2018-04-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720463976.1U Withdrawn - After Issue CN207267531U (en) | 2017-04-28 | 2017-04-28 | A kind of patch type piezoelectric drives quadrotor flight instruments |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106976558A (en) * | 2017-04-28 | 2017-07-25 | 南京航空航天大学 | A kind of patch type piezoelectric drives four rotor flight devices and its method of work |
-
2017
- 2017-04-28 CN CN201720463976.1U patent/CN207267531U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106976558A (en) * | 2017-04-28 | 2017-07-25 | 南京航空航天大学 | A kind of patch type piezoelectric drives four rotor flight devices and its method of work |
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| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180424 Effective date of abandoning: 20230623 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20180424 Effective date of abandoning: 20230623 |