CN109398696A - Angle adjustable microreactor technology and its method for processing and assembling based on piezoelectric bimorph wing - Google Patents
Angle adjustable microreactor technology and its method for processing and assembling based on piezoelectric bimorph wing Download PDFInfo
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- CN109398696A CN109398696A CN201811208944.2A CN201811208944A CN109398696A CN 109398696 A CN109398696 A CN 109398696A CN 201811208944 A CN201811208944 A CN 201811208944A CN 109398696 A CN109398696 A CN 109398696A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
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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 angle adjustable microreactor technologies and its method for processing and assembling based on piezoelectric bimorph wing, aircraft includes a pair of of piezoelectric bimorph wing, upper body cover, lower body cover, 4 pairs of inside fuselages, 4 pairs of outside fuselages and 3 supporting legs, opposite inside fuselage and outside fuselage is equipped with the identical wing slot in inclination angle and position, one piezoelectric bimorph wing is fixed on the identical medial and lateral fuselage in a pair of of slot inclination angle and position, another piezoelectric bimorph wing is fixed on symmetrical a pair of of medial and lateral fuselage therewith；Upper body cover is for fixing medial and lateral fuselage, and lower body cover is for fixing medial and lateral fuselage and installation supporting leg；Wherein the cable-through hole for controlling piezoelectric bimorph wing lead is offered on body cover and medial and lateral fuselage up and down.The configuration of the present invention is simple, difficulty of processing is low, at low cost, and the fixed position of wing and the optional scheme of angle are more, is suitble to do data acquisition and survey to fly experiment.
Description
Technical field
The present invention relates to micro air vehicle with flapping-wing fields, and in particular to a kind of angle adjustable based on piezoelectric bimorph wing
Microreactor technology and its method for processing and assembling.
Background technique
Micro flapping wing air vehicle is to analyze birds complexity flying method, and the efficient flying method obtained from, flapping wing flies
The advantages of examination of row side has both fixed-wing flying method and rotor flying mode can not only be acted by a set of flapping wing and realize liter
Drop, it is flat to fly and spiral, moreover it is possible to complete a series of extremely complex exceedingly difficult movements.However too much force in flapping flight mode
Situation of change cannot be analyzed with traditional hydrodynamics, flapping wing wing be it is soft, above flutter and under wing when flutter
Situation is extremely complex in hand, these are all urgently to be resolved.
In 2012, Aeronautical Industrial SA, Israel successfully developed a new micro flapping wing robot, referred to as " machine
Tool butterfly ", it is the form for imitating butterfly, possesses four wings, which is 20cm, and gross weight is only 12g, and is controlled
System integrity processed can complete the movement of a series of complex.
The mini-sized flap wings machine people of Harvard University's research at present is updating always, although this machinery insect structure is simple,
But entirely design process lacks very complicated, and researcher utilizes bionics principle, is designed referring to the flying method of fly.
Summary of the invention
Goal of the invention: to solve the deficiencies in the prior art, a kind of angle adjustable based on piezoelectric bimorph wing is provided
Microreactor technology and its method for processing and assembling.
Technical solution: for achieving the above object, using following technical scheme:
A kind of angle adjustable microreactor technology based on piezoelectric bimorph wing, including a pair of of piezoelectric bimorph wing, on
Body cover, lower body cover, 4 pairs of inside fuselages, 4 pairs of outside fuselages and 3 supporting legs, on opposite inside fuselage and outside fuselage
Equipped with the identical wing slot in inclination angle and position, a piezoelectric bimorph wing is fixed on a pair of of slot inclination angle and position is identical
On the fuselage of medial and lateral, another piezoelectric bimorph wing is fixed on symmetrical a pair of of medial and lateral fuselage therewith；Upper body cover
For fixing medial and lateral fuselage, lower body cover is for fixing medial and lateral fuselage and installation supporting leg；Wherein up and down body cover and
The cable-through hole of control piezoelectric bimorph wing lead is offered on the fuselage of medial and lateral.
Preferably, the piezoelectric bimorph wing includes wing skeleton and parachute, and wing skeleton includes from fin root to vein
Copper sheet section, piezoelectric ceramic vibration section and carbon fiber vein section, parachute are pasted onto carbon fiber vein section, wherein copper sheet section includes upper
Lower two layers of copper sheet is among it carbon fiber；Piezoelectric ceramic vibration section includes upper layer and lower layer piezoelectric ceramics, is among it carbon fiber；
Carbon fiber vein section and the carbon fiber of copper sheet section and piezoelectric ceramic vibration section are structure as a whole；Upper layer and lower layer piezoelectric ceramics connects
Ground, upper layer and lower layer copper sheet are connected and connect alternating current.
Preferably, the upper and lower body cover structure is identical, is eight-sided formation, at its outer ring edge, there are eight fixations
The groove of outside fuselage gear shaping, there are the rectangular through holes of eight fixed inside fuselage gear shapings for inner ring, and lead in inner ring rectangle
Hole periphery is uniformly provided with four small sircle holes as fixed freedom degree cable-through hole, and cable-through hole periphery is uniformly provided with three small square hole conducts
Supporting leg socket is equipped with big hole as wing in its center and drives wiring fairlead.
Preferably, 4 pairs of insides fuselage, sets that there are three fixed piezoelectric bimorph wings on every vertical direction by totally 8
The slot of copper sheet, the inclination angle of wing slot is respectively 0 °, 10 °, 20 ° and 30 ° on four pairs of inside fuselages, every inside fuselage it is upper
Lower end surface is respectively equipped with the gear shaping of fixed upper and lower body cover, and every inside fuselage upper and lower side is equipped with cable-through hole, in adjacent two panels
Side fuselage side is equipped with mutually matched double wedge and groove, and it is recessed that 8 inside fuselages according to a piece of side have a piece of side of double wedge to have
The sequence of slot, and be arranged successively to form cylinder-like structure according to above-mentioned angle.
Preferably, 4 pairs of outsides fuselage, sets that there are three fixed piezoelectric bimorph wings on every vertical direction by totally 8
The slot of piezoelectric ceramic vibration section, the inclination angle of wing slot is respectively 0 °, 10 °, 20 ° and 30 ° on four pairs of outside fuselages, and every outer
The upper and lower end face of side fuselage is respectively equipped with the gear shaping of fixed upper and lower body cover, and every outside fuselage upper and lower side is equipped with cable-through hole,
Fuselage side is equipped with mutually matched double wedge and groove on the outside of adjacent two panels, and 8 inside fuselages have double wedge one according to a piece of side
The reeded sequence in piece side, and be arranged successively to form cylinder-like structure according to above-mentioned angle.
Preferably, three supporting legs are spaced 120 ° from each other, so that being able to maintain balance when fuselage is put.
In another embodiment, a kind of angle adjustable microreactor technology based on piezoelectric bimorph wing, including a pair of of piezoelectricity
Twin lamella wing, upper body cover, lower body cover, inside fuselage, outside fuselage and three supporting legs, wherein inside fuselage is eight
The cylinder-like structure that side machine body plate forms in piece, outside fuselage are the cylinder-like structure of eight outer side machine body plate compositions, inside machine
Body is set in outside fuselage interior, and has gap between inside fuselage and outside fuselage；Opposite interior side machine body plate and outside machine
Body on piece is equipped with the identical wing slot in multiple groups inclination angle and position；Adjacent inboard fuselage on piece wing slot inclination angle is different；One
Piezoelectric bimorph wing is fixed on the slot of the identical inclination angle of medial and lateral fuselage and same position, another piezoelectric bimorph wing
Wing is fixed on symmetrical slot therewith；Upper body cover is for fixing medial and lateral fuselage, and lower body cover is for fixing medial and lateral
Fuselage and installation supporting leg；Wherein body cover and medial and lateral fuselage offer control piezoelectric bimorph wing lead up and down
Cable-through hole.
Preferably, the inside fuselage includes two groups of identical interior side machine body plates, and side machine body plate includes in first in every group
Side machine body plate, side machine body plate in second, side machine body plate in side machine body plate and the 4th in third；Every interior side machine body plate vertical direction
The slot of fixed piezoelectric bimorph wing copper sheet section, the wing of the first, second, third and fourth inside fuselage on piece there are three opening up
Wing slot inclination angle is different, and the upper and lower end face of every interior side machine body plate is respectively equipped with the gear shaping of fixed upper and lower body cover, and every
Inside fuselage card upper and lower side is equipped with cable-through hole, wherein side machine body plate two sides are equipped with double wedge in first and third, second
With the 4th in side machine body plate two sides be equipped with the groove cooperated with side machine body plate side double wedge in first and third, according to the
One, second, third and the 4th in the sequence of side machine body plate carry out assembling and form fuselage on the inside of hemicycle tubular, two groups of inside fuselages
Piece combines to form entire inside fuselage.
Preferably, the outside fuselage includes two groups of identical outer side machine body plates, and every group of outer side machine body plate includes outside first
The outer side machine body plate of side machine body plate, the second outer side machine body plate, third and the 4th outer side machine body plate；Every outer side machine body plate vertical direction
The slot of fixed piezoelectric bimorph wing copper sheet section, the wing of the first, second, third and fourth outside fuselage on piece there are three opening up
Wing slot inclination angle is different, and the upper and lower end face of every outer side machine body plate is respectively equipped with the gear shaping of fixed upper and lower body cover, and every
Outside fuselage card upper and lower side is equipped with cable-through hole, wherein first and the outer side machine body plate two sides of third be equipped with double wedge, second
It is equipped with the groove cooperated with side machine body plate side double wedge outside first and third with the 4th outer side machine body plate two sides, according to the
One, the sequence of second, third and the 4th outer side machine body plate carries out assembling and forms fuselage on the outside of hemicycle tubular, fuselage on the outside of two groups
Piece combines to form entire outside fuselage.
In another embodiment, the process and assemble side of the above-mentioned angle adjustable microreactor technology based on piezoelectric bimorph wing
Method, comprising the following steps:
1) upper and lower body cover and medial and lateral fuselage are processed:
High-intensitive, high-modulus carbon fibre material is selected, sheet thickness is in 120um~180um, to guarantee the intensity of fuselage
It is light with aircraft weight, then go out upper and lower body cover and medial and lateral fuselage with the laser cutting of low-power on carbon fiber sheet；
2) piezoelectric bimorph wing skeleton is processed:
The wing frame configuration of needs is processed according to the structure being pre-designed in piezoelectric bimorph on piece；
3) wing is processed:
It selects PI film as parachute material, film is first pasted on wing skeleton, designed wing is then cut into
Film profile, is processed into wing；
4) fixed and assembly:
By the medial and lateral fuselage of step 1) press respectively 0 ° of slot angle on fuselage, 10 °, 20 °, 30 °, 0 °, 10 °, 20 °,
30 ° of sequence sequences, and then, selects the identical medial and lateral fuselage of one group of angle by the pressure of processing formation in step 2) and step 3)
The piezoelectric ceramics section and copper sheet section of electrical twining piece wing initially pass through outside fuselage, inside fuselage are then passed through, then in piezoelectric bimorph
The enameled wire of a both ends coating removal is respectively welded on the copper sheet of piece wing and upper and lower piezoelectric ceramics, another wing is selected symmetrical
Slot angle complete the welding of lead-out wire in the same fashion, outside fuselage is then installed again according to first dress inside fuselage
Sequence is assembled.
The utility model has the advantages that compared with prior art, a kind of angle adjustable based on piezoelectric bimorph wing of the invention is micro-
Aircraft selects piezoelectric bimorph wing directly to control aircraft wings, and structure is simple, and difficulty of processing is low, at low cost,
The fixed position of wing and the optional scheme of angle are more, are suitble to do data acquisition and survey to fly experiment.
Detailed description of the invention
Fig. 1 is overall structure diagram figure of the invention；
Fig. 2 is overall structure perspective view of the explosion of the invention；
Fig. 3 is piezoelectric bimorph wing structural schematic diagram of the invention；
Fig. 4 is piezoelectric bimorph wing side view of the invention；
Fig. 5 is fuselage of the invention and body cover expanded schematic diagram；
Fig. 6 is piezoelectric bimorph original piece schematic diagram；
Fig. 7 is that piezoelectric bimorph wing shears schematic diagram；
Fig. 8 is wing skeleton structure schematic diagram of the invention；
Fig. 9 is wing scheme of installation of the present invention；
Wherein, 1 is upper body cover, and 2 be lower body cover, and 3 be outside fuselage, and 4 be inside fuselage, and 5 be piezoelectric bimorph wing
Wing, 6 be supporting leg；301 be enameled wire cable-through hole, and 302 be piezoelectric bimorph wing socket slot, and 303 be Lateral fuselage gear shaping,
304 be the rectangular through holes of fixed inside fuselage gear shaping, and 305 be the groove of fixed outside fuselage gear shaping；801 be copper sheet section, 802
For piezoelectric ceramic vibration section, 803 carbon fiber vein sections.
Specific embodiment
Technical solution of the present invention is described in detail in the following with reference to the drawings and specific embodiments.
As depicted in figs. 1 and 2, double based on the angle adjustable microreactor technology of piezoelectric bimorph wing, including a pair of of piezoelectricity
Chip wing, upper body cover, lower body cover, 4 pairs of inside fuselages, 4 pairs of outside fuselages and 3 supporting legs.Wherein, inside fuselage is
The cylinder-like structure of eight interior side machine body plate compositions, outside fuselage are the cylinder-like structure of eight outer side machine body plate compositions, inside
Fuselage is set in outside fuselage interior, and has gap between inside fuselage and outside fuselage；Opposite inside fuselage and outside machine
It is equipped with the identical wing slot in inclination angle and position with it, a piezoelectric bimorph wing is fixed on a pair of of slot inclination angle and position
On identical medial and lateral fuselage, another piezoelectric bimorph wing is fixed on symmetrical a pair of of medial and lateral fuselage therewith；Its
He 3 pairs inside fuselages and 3 pairs outside fuselages as fixation wing other alternatives；Upper and lower body cover plays in fixed,
The effect of outside fuselage and installation supporting leg；The circular hole that wherein body cover and medial and lateral are opened up and down is as control piezoelectric bimorph
The cable-through hole of the lead of wing.
As shown in Figure 3 and Figure 4, piezoelectric bimorph wing includes wing skeleton and parachute, and wherein wing skeleton is divided into 3 sections,
It is respectively as follows: copper sheet section, piezoelectric ceramic vibration section and carbon fiber vein section, parachute from fin root to vein and is pasted onto carbon fiber vein
Section, wherein copper sheet section includes upper layer and lower layer copper sheet, is among it carbon fiber；Piezoelectric ceramic vibration section includes upper layer and lower layer piezoelectricity
Ceramics are among it carbon fiber；Carbon fiber vein section and the carbon fiber of copper sheet section and piezoelectric ceramic vibration section are structure as a whole；On
Lower two layers of piezoelectric ceramics is grounded, and upper layer and lower layer copper sheet is connected and connects alternating current.
As shown in figure 5, upper and lower body cover structure is identical, and it is eight-sided formation, it is fixed outer there are eight at its outer ring edge
The groove of side fuselage gear shaping, there are the rectangular through holes of eight fixed inside fuselage gear shapings for inner ring, and in inner ring rectangular through holes
Periphery is uniformly provided with four small sircle holes as fixed freedom degree cable-through hole, and cable-through hole periphery is uniformly provided with three small square holes as branch
Support leg socket is equipped with big hole as wing in its center and drives wiring fairlead.
As shown in figure 5,4 pairs of inside fuselages, totally 8, there are three slot, to all can serve as piezoelectricity double on every vertical direction
The inclination angle of the copper sheet fixed slot of chip wing, the wing slot on four pairs of fuselages is respectively 0 °, 10 °, 20 ° and 30 °, Ke Yigen
It needs to select different inclination angles according to oneself, the upper and lower end face of every inside fuselage is respectively equipped with inserting for fixed upper and lower body cover
Tooth, every inside fuselage upper and lower side are equipped with cable-through hole, and fuselage side is equipped with mutually matched double wedge and recessed on the inside of adjacent two panels
Slot, 8 inside fuselages have a piece of reeded sequence of double wedge according to a piece of, and are arranged successively to form cylindrical shape according to above-mentioned angle
Structure.
4 pairs of outside fuselages, set that there are three fixed piezoelectric bimorph wing piezoelectric ceramic vibrators on every vertical direction by totally 8
The slot of dynamic section, the inclination angle of wing slot is respectively 0 °, 10 °, 20 ° and 30 ° on four pairs of outside fuselages, can be according to oneself need
Different inclination angles is selected, the upper and lower end face of every outside fuselage is respectively equipped with the gear shaping of fixed upper and lower body cover, every outside
Fuselage upper and lower side is equipped with cable-through hole, and fuselage side is equipped with mutually matched double wedge and groove, 8 inside machines on the outside of adjacent two panels
Body has the reeded sequence in a piece of side of double wedge according to a piece of side, and is arranged successively to form cylindric knot according to above-mentioned angle
Structure.
Three supporting legs are spaced 120 ° from each other, and balance is able to maintain when fuselage can be allowed to put.
The fuselage of the medial and lateral needs to be corresponded according to the tilt angle of its slot during installation.
In another embodiment, a kind of angle adjustable microreactor technology based on piezoelectric bimorph wing, including a pair of of piezoelectricity
Twin lamella wing, upper body cover, lower body cover, inside fuselage, outside fuselage and three supporting legs, wherein inside fuselage is eight
The cylinder-like structure that side machine body plate forms in piece, outside fuselage are the cylinder-like structure of eight outer side machine body plate compositions, inside machine
Body is set in outside fuselage interior, and has gap between inside fuselage and outside fuselage；Opposite interior side machine body plate and outside machine
Body on piece is equipped with the identical wing slot in multiple groups inclination angle and position；Adjacent inboard fuselage piece and outside fuselage on piece wing slot incline
Angle is different；One piezoelectric bimorph wing is fixed on the slot of the identical inclination angle of medial and lateral fuselage and same position, another pressure
Electrical twining piece wing is fixed on symmetrical slot therewith；Upper body cover is for fixing medial and lateral fuselage, and lower body cover is for solid
Determine medial and lateral fuselage and installation supporting leg；Wherein body cover and medial and lateral fuselage offer control piezoelectric bimorph wing up and down
The cable-through hole of wing lead.
Wherein, inside fuselage includes two groups of identical interior side machine body plates, and side machine body plate includes the first inside fuselage in every group
Piece, side machine body plate in second, side machine body plate in side machine body plate and the 4th in third；Every interior side machine body plate vertical direction offers
The slot of three fixed piezoelectric bimorph wing copper sheet sections, the wing slot of the first, second, third and fourth inside fuselage on piece
Inclination angle is different, and the upper and lower end face of every interior side machine body plate is respectively equipped with the gear shaping of fixed upper and lower body cover, every inside machine
Body card upper and lower side is equipped with cable-through hole, wherein side machine body plate two sides are equipped with double wedge in first and third, second and the 4th
Interior side machine body plate two sides are equipped with the groove cooperated with side machine body plate side double wedge in first and third, according to first, second,
The sequence of side machine body plate carries out assembling and forms fuselage on the inside of hemicycle tubular in third and fourth, and side machine body plate combines shape in two groups
At entire inside fuselage.
Outside fuselage includes two groups of identical outer side machine body plates, and every group of outer side machine body plate includes the first outer side machine body plate, the
The outer side machine body plate of two outer side machine body plates, third and the 4th outer side machine body plate；There are three every outer side machine body plate vertical direction opens up
The slot of fixed piezoelectric bimorph wing copper sheet section, the wing slot inclination angle of the first, second, third and fourth outside fuselage on piece
Different, the upper and lower end face of every outer side machine body plate is respectively equipped with the gear shaping of fixed upper and lower body cover, every outside fuselage card
Piece upper and lower side is equipped with cable-through hole, wherein first and the outer side machine body plate two sides of third be equipped with double wedge, second and the 4th outside
Fuselage piece two sides are equipped with the groove cooperated with side machine body plate side double wedge outside first and third, according to first, second, third
Carry out assembling with the sequence of the 4th outer side machine body plate and form fuselage on the outside of hemicycle tubular, two groups of outer side machine body plates combine to be formed it is whole
A outside fuselage.
A kind of method for processing and assembling of the angle adjustable microreactor technology based on piezoelectric bimorph wing, including following step
It is rapid:
1) body cover, interior outside fuselage and supporting leg up and down are processed:
The two-dimensional structure for processing body cover, interior outside fuselage and supporting leg up and down is drawn, high-intensitive, high-modulus carbon is selected
Fibrous material, sheet thickness is in 120um~180um, and intensity and the aircraft weight to guarantee fuselage are light, then in carbon fiber sheet
On with the laser of low-power be cut into processing body cover, interior outside fuselage and supporting leg up and down according to the two-dimensional structure drawn；
2) piezoelectric bimorph wing skeleton is processed:
As shown in Figure 6 to 8, wing skeleton X-Y scheme is drawn first, in accordance with design size；Then pressure shown in Fig. 6
Starting point is chosen in electrical twining sheet material, because wing skeleton is divided into three sections, for the consistency for ensuring two wings, is wanted before processing
Ensure the accuracy and consistency of starting point；It is finally repeatedly cut with low power laser, until finally in piezoelectric bimorph
On cut out wing skeleton structure shown in Fig. 8；
3) parachute is processed:
It selects PI film as parachute material, the parachute two dimension graph structure matched with wing skeleton is drawn, then with low
Parachute, is then pasted on wing skeleton by power laser cutting, completes aircraft wings part；
4) fixed and assembly:
By the medial and lateral fuselage of step 1) press respectively 0 ° of slot angle on fuselage, 10 °, 20 °, 30 °, 0 °, 10 °, 20 °,
30 ° of sequence sequences, then, as shown in figure 9, selecting the identical medial and lateral fuselage of one group of angle will be complete in step 2) and step 3)
At piezoelectric bimorph wing piezoelectric ceramics section and copper sheet section initially pass through outside fuselage, be then passed through inside fuselage, then pressing
The enameled wire of a both ends coating removal, the choosing of another wing are respectively welded on the copper sheet and upper and lower piezoelectric ceramics of electrical twining piece wing
It completes the welding of lead-out wire in the same fashion with symmetrical slot angle, outside is then installed again according to first dress inside fuselage
The sequence of fuselage is assembled.
Circular hole up and down on the fuselage of inside can be used to the enameled wire on piezoelectric ceramics, the circular hole among lower body cover
It can be used to draw enameled wire from aircraft to connect external control circuit.
A kind of angle adjustable microreactor technology based on piezoelectric bimorph wing of the invention selects piezoelectric bimorph wing
Directly aircraft wings are controlled, structure is simple, and difficulty of processing is low, and at low cost, the fixed position of wing and angle may be selected
Scheme is more, is suitble to do data acquisition and survey to fly experiment.
The unmentioned technology of the present invention is the prior art.
Claims (10)
1. a kind of angle adjustable microreactor technology based on piezoelectric bimorph wing, it is characterised in that: including a pair of of piezoelectric bimorph
Piece wing, upper body cover, lower body cover, 4 pairs of inside fuselages, 4 pairs of outside fuselages and 3 supporting legs, opposite inside fuselage and
Outside fuselage be equipped with the identical wing slot in inclination angle and position, a piezoelectric bimorph wing be fixed on a pair of of slot inclination angle and
On the identical medial and lateral fuselage in position, another piezoelectric bimorph wing is fixed on symmetrical a pair of of medial and lateral fuselage therewith
On；Upper body cover is for fixing medial and lateral fuselage, and lower body cover is for fixing medial and lateral fuselage and installation supporting leg；On wherein
The cable-through hole of control piezoelectric bimorph wing lead is offered on lower body cover and medial and lateral fuselage.
2. a kind of angle adjustable microreactor technology based on piezoelectric bimorph wing according to claim 1, feature exist
In: the piezoelectric bimorph wing includes wing skeleton and parachute, and wing skeleton includes copper sheet section, piezoelectricity pottery from fin root to vein
Porcelain vibration section and carbon fiber vein section, parachute are pasted onto carbon fiber vein section；Wherein, copper sheet section includes upper layer and lower layer copper sheet,
Centre is carbon fiber；Piezoelectric ceramic vibration section includes upper layer and lower layer piezoelectric ceramics, is among it carbon fiber；Carbon fiber vein section with
The carbon fiber of copper sheet section and piezoelectric ceramic vibration section is structure as a whole；Upper layer and lower layer piezoelectric ceramics is grounded, upper layer and lower layer copper sheet
It is connected and connects alternating current.
3. a kind of angle adjustable microreactor technology based on piezoelectric bimorph wing according to claim 1, feature exist
In: the upper and lower body cover structure is identical, is eight-sided formation, the fuselage gear shaping on the outside of its outer ring edge is fixed there are eight
Groove, there are the rectangular through holes of eight fixed inside fuselage gear shapings for inner ring, and uniformly set in inner ring rectangular through holes periphery
There are four small sircle holes as fixed freedom degree cable-through hole, and cable-through hole periphery is uniformly provided with three small square holes as supporting leg socket,
It is equipped with big hole in its center as wing and drives wiring fairlead.
4. a kind of angle adjustable microreactor technology based on piezoelectric bimorph wing according to claim 1, feature exist
In: 4 pairs of insides fuselage, is set on every vertical direction there are three the slot of fixed piezoelectric bimorph wing copper sheet totally by 8,
The inclination angle of wing slot is respectively 0 °, 10 °, 20 ° and 30 ° on four pairs of inside fuselages, the upper and lower end face difference of every inside fuselage
Gear shaping equipped with the upper and lower body cover of fixation, every inside fuselage upper and lower side are equipped with cable-through hole, fuselage side on the inside of adjacent two panels
Equipped with mutually matched double wedge and groove, 8 inside fuselages have the reeded sequence in a piece of side of double wedge according to a piece of side, and
It is arranged successively to form cylinder-like structure according to above-mentioned angle.
5. a kind of angle adjustable microreactor technology based on piezoelectric bimorph wing according to claim 1, feature exist
In 4 pairs of outsides fuselages, totally 8, set that there are three fixed piezoelectric bimorph wing piezoelectric ceramic vibrations on every vertical direction
The slot of section, the inclination angle of wing slot is respectively 0 °, 10 °, 20 ° and 30 ° on four pairs of outside fuselages, every outside fuselage up and down
End face is respectively equipped with the gear shaping of fixed upper and lower body cover, and every outside fuselage upper and lower side is equipped with cable-through hole, adjacent two panels outside
Fuselage side is equipped with mutually matched double wedge and groove, and 8 inside fuselages have a piece of side of double wedge fluted according to a piece of side
Sequence, and be arranged successively to form cylinder-like structure according to above-mentioned angle.
6. a kind of angle adjustable microreactor technology based on piezoelectric bimorph wing according to claim 1, feature exist
In: three supporting legs are spaced 120 ° from each other, so that being able to maintain balance when fuselage is put.
7. a kind of angle adjustable microreactor technology based on piezoelectric bimorph wing, it is characterised in that: including a pair of of piezoelectric bimorph
Piece wing, upper body cover, lower body cover, inside fuselage, outside fuselage and three supporting legs, wherein inside fuselage is in eight
The cylinder-like structure of side machine body plate composition, outside fuselage are the cylinder-like structure of eight outer side machine body plate compositions, inside body sleeve
It is located at outside fuselage interior, and has gap between inside fuselage and outside fuselage；Opposite interior side machine body plate and outer side machine body plate
It is equipped with the identical wing slot in multiple groups inclination angle and position；Adjacent inboard fuselage on piece wing slot inclination angle is different；One piezoelectricity
Twin lamella wing is fixed on the slot of the identical inclination angle of medial and lateral fuselage and same position, another piezoelectric bimorph wing is solid
It is scheduled on symmetrical slot therewith；Upper body cover is for fixing medial and lateral fuselage, and lower body cover is for fixing medial and lateral fuselage
With installation supporting leg；Wherein upper and lower body cover and medial and lateral fuselage offer the line excessively of control piezoelectric bimorph wing lead
Hole.
8. a kind of angle adjustable microreactor technology based on piezoelectric bimorph wing according to claim 7, feature exist
In: the inside fuselage includes two groups of identical interior side machine body plates, and side machine body plate includes side machine body plate, second in first in every group
Side machine body plate in side machine body plate and the 4th in interior side machine body plate, third；Every interior side machine body plate vertical direction is consolidated there are three opening up
Determine the slot of piezoelectric bimorph wing copper sheet section, the wing slot inclination angle of the first, second, third and fourth inside fuselage on piece is each
Not identical, the upper and lower end face of every interior side machine body plate is respectively equipped with the gear shaping of fixed upper and lower body cover, every inside fuselage card
Upper and lower side is equipped with cable-through hole, wherein side machine body plate two sides are equipped with double wedge in first and third, second and the 4th inside machine
Body piece two sides are equipped with the groove cooperated with side machine body plate side double wedge in first and third, according to the first, second, third He
The sequence of side machine body plate carries out assembling and forms fuselage on the inside of hemicycle tubular in 4th, and side machine body plate combines to be formed entirely in two groups
Inside fuselage.
9. a kind of angle adjustable microreactor technology based on piezoelectric bimorph wing according to claim 7, feature exist
In: the outside fuselage includes two groups of identical outer side machine body plates, and every group of outer side machine body plate includes the first outer side machine body plate, second
The outer side machine body plate of outer side machine body plate, third and the 4th outer side machine body plate；Every outer side machine body plate vertical direction is consolidated there are three opening up
Determine the slot of piezoelectric bimorph wing copper sheet section, the wing slot inclination angle of the first, second, third and fourth outside fuselage on piece is each
Not identical, the upper and lower end face of every outer side machine body plate is respectively equipped with the gear shaping of fixed upper and lower body cover, every outside fuselage card
Upper and lower side is equipped with cable-through hole, wherein first and the outer side machine body plate two sides of third be equipped with double wedge, second and the 4th outside machine
Body piece two sides are equipped with the groove cooperated with side machine body plate side double wedge outside first and third, according to the first, second, third He
The sequence of 4th outer side machine body plate carries out assembling and forms fuselage on the outside of hemicycle tubular, and two groups of outer side machine body plates combine to be formed entirely
Outside fuselage.
10. the processing of the angle adjustable microreactor technology described in any one of claim 1-9 based on piezoelectric bimorph wing
Assembly method, which comprises the following steps:
1) upper and lower body cover and medial and lateral fuselage are processed:
High-intensitive, high-modulus carbon fibre material is selected, sheet thickness is in 120um~180um, to guarantee the intensity of fuselage and fly
Row device is light-weight, then goes out upper and lower body cover and medial and lateral fuselage with the laser cutting of low-power on carbon fiber sheet；
2) piezoelectric bimorph wing skeleton is processed:
The wing frame configuration of needs is processed according to the structure being pre-designed in piezoelectric bimorph on piece；
3) wing is processed:
It selects PI film as parachute material, film is first pasted on wing skeleton, designed parachute wheel is then cut into
Exterior feature is processed into wing；
4) fixed and assembly:
The medial and lateral fuselage of step 1) is pressed into 0 ° of slot angle on fuselage, 10 °, 20 °, 30 °, 0 °, 10 °, 20 °, 30 ° respectively
Sequence sequences, and then, selects the identical medial and lateral fuselage of one group of angle by the piezoelectric bimorph of processing formation in step 2) and step 3)
The piezoelectric ceramics section and copper sheet section of piece wing initially pass through outside fuselage, inside fuselage are then passed through, then in piezoelectric bimorph wing
Copper sheet and upper and lower piezoelectric ceramics on respectively weld the enameled wire of a both ends coating removal, another wing selects symmetrical slot
Angle completes the welding of lead-out wire in the same fashion, then according to first dress inside fuselage install again outside fuselage sequence into
Row assembling.
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| CN103395493A (en) * | 2013-07-19 | 2013-11-20 | 北京理工大学 | Piezoelectric ceramic flapping-wing-type robot |
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| KR20050006374A (en) * | 2003-07-08 | 2005-01-17 | 한국과학기술연구원 | Actuating Apparatus Using Piezoelectric Actuator and Air Vehicle Using It |
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| 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 |
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