CN109774917A - A kind of miniature double-rotor aerobat - Google Patents
A kind of miniature double-rotor aerobat Download PDFInfo
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- CN109774917A CN109774917A CN201910093517.2A CN201910093517A CN109774917A CN 109774917 A CN109774917 A CN 109774917A CN 201910093517 A CN201910093517 A CN 201910093517A CN 109774917 A CN109774917 A CN 109774917A
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- ball bearing
- piezoelectric bimorph
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 5
- 239000000919 ceramic Substances 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 241000446313 Lamella Species 0.000 abstract description 14
- 230000009471 action Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 230000005662 electromechanics Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses a kind of miniature double-rotor aerobats, belong to piezoelectric actuator field, using piezoelectric bimorph as pose adjustment driving device, realize micro air vehicle and miniaturise in pose adjustment and lightness.The present invention provides lift by a pair of propeller reversely installed and hollow-cup motor, counteracting reactive torque is overcome simultaneously, three twin lamellas realize that freely-supported is installed on bottom base by rotation axis, and precompression is applied for twin lamella by elastic element, buckle is installed on the middle part of twin lamella, and be connected by three push-pull rings with top base, it is attached between top base and bottom base by ball bearing structure.The present invention carries out push-and-pull action to top base using the maximum defluxion (middle part amount of deflection) of axial precommpression freely-supported twin lamella, and the adjustment that angle realizes any attitude is generated between upper rotor and lower rotor to drive.
Description
Technical field
The invention belongs to piezoelectric actuator field more particularly to a kind of miniature double-rotor aerobats.
Background technique
Small-sized double-rotor aerobat has VTOL, hovering, the ability all around flown, it can be achieved that pinpointing
Land does not need dedicated airport, can be applied to multiple-task, such as deep woods fire prevention, traffic monitoring, farmland is protected, take photo by plane aerial survey army
Thing and civilian aspect, which suffer to compare, to be widely applied.What BJ University of Aeronautics & Astronautics developed on the basis of sea-gull removes tail-rotor
Coaxial double-rotary wing unmanned vehicle, its operating mechanism has the body of ball-type, operating mechanism is more as helicopter
Complicated and spherical body reduces flexibility (the design spy of Chen Ming, Hu Jizhong .M22 small-sized depopulated helicopter of aircraft
Point [J] airplane design, 2005, (01): 71-74.).For the current more other kinds of aircraft of small-sized double-rotor aerobat
Type is less, maturity is relatively relatively low, and structure design and attitude control technology are not mature enough, and application range is relatively narrow.
Summary of the invention
The present invention provides a kind of miniature double-rotor aerobats, and the aircraft is using piezoelectric bimorph as pose adjustment
Driving device realizes micro air vehicle and miniaturises in pose adjustment and lightness.
In order to achieve the above object, the invention adopts the following technical scheme:
A kind of miniature double-rotor aerobat, comprising: base portion, flight portion and pose adjustment portion；The base portion includes bottom base 6
With top base 7, bottom base 6 and top base 7 are connect by corresponding ball bearing 61 on two pedestals with 72, and bottom base 6 includes lower base
Seat 61, three, the ball bearing bottom base support frame 64 of bottom base flexible beam 62, six, bottom base ball bearing 61 are located at bottom base 6
Top center, three bottom base flexible beams 62 are located at the side of bottom base 6 and the angle formed between any two is equal,
End furcations are arrived in the middle part of bottom base flexible beam 62, are respectively equipped with groove 65, six lower bases at 62 end furcations of bottom base flexible beam
Seat supports frame 64 is located at 62 middle part crotch of bottom base flexible beam, each 64 two sides of bottom base support frame difference in pairs
Equipped with rotation shaft mounting hole 63；Top base 7 includes three top base boss 71, top base ball bearing 72, top base ball bearing 72
Positioned at 7 bottom centre of top base, angle phase that three top base boss 71 are located at 7 side of top base and are formed between any two
Together；
The flight portion includes motor 9 and propeller 1, and there are two the motor installing holes for being separately mounted to 6 bottom of bottom base for motor 9
66 and the top of top base 7 motor installing hole 73 in, propeller 1 is two groups, is respectively arranged on the output shaft 10 of two motors 9
And it is oppositely oriented；
The pose adjustment portion includes rotation axis 2, buckle 3, push-pull ring 4, piezoelectric bimorph 5, elastic element 8；Rotation axis 2 has six
It is a, it is mounted on bottom base support frame 64 by rotating shaft mounting hole 63 respectively；There are three piezoelectric bimorphs 5, and each piezoelectricity is double
5 two sides of chip are respectively arranged in the card slot at two rotation axis, 2 middle part；There are three buckles 3, and each buckle 3 is respectively arranged in pressure
The middle part of electrical twining piece 5；There are three push-pull rings 4, and one end of each push-pull ring 4 is installed in the mounting hole of 3 inside of buckle, another
End is installed in the mounting hole of top base boss 71；There are three elastic elements 8, and the both ends of each elastic element 8 are respectively arranged in
In the groove 65 of 62 end of bottom base flexible beam.
In structure described above, piezoelectric bimorph 5 is made of piezoceramics layer 51 and base layer 52, and piezoceramics layer 51 is
Two layers, base layer 52 is located at the centre of two layers of piezoceramics layer 51；10 direction of rotation of output shaft of two motors 9 is opposite.
Beneficial effects of the present invention: the present invention provides a kind of miniature double-rotor aerobat, using piezoelectric bimorph as
The actuation mechanism of minute vehicle pose adjustment, makes that aircraft package size is smaller, quality is lighter, according to aircraft relevant parameter
Twin crystal chip size can be designed, aircraft is miniaturized further, complete machine can be used 3D printing technique and be made, aircraft total quality
It can be controlled within 30g；Piezoelectric material itself has the characteristics that response is fast, and the present invention is by twin lamella application made of piezoelectric material
, it can be achieved that the response of Millisecond in the actuation mechanism of minute vehicle pose adjustment, to enhance in complete machine flight course
Controllability；The present invention makes the change of top base realization any position using three twin lamellas by three push-pull rings, and at three
Realize under the synergistic effect of twin lamella and lock afterwards in place, so that realizing attitude angle can change towards any direction, i.e., it is in office when
Between the flight path of aircraft can all be carried out along any direction.And aircraft of the invention also have it is insensitive to magnetic field,
Do not generate magnetic field；Speed and position control performance are good, and precision is high；Control bandwidth is high；Power consumption is relatively small；Shape can be by use
Family requires arbitrarily devised；The advantages of vibration, noise are small, the operation is stable.
Detailed description of the invention
Fig. 1 is piezoelectric bimorph structural schematic diagram.
Fig. 2 is the power and displacement way of output schematic diagram of axial precommpression freely-supported twin lamella.
Fig. 3 is structural schematic diagram of the invention.
Fig. 4 is bottom base external structure view of the invention.
Fig. 5 is bottom base half sectional view of the invention.
Fig. 6 is top base external structure view of the invention.
Fig. 7 is top base half sectional view of the invention.
Fig. 8 is that axial precommpression freely-supported twin lamella of the invention applies precompression schematic diagram.
In figure, 1 is propeller, and 2 be rotation axis, and 3 be buckle, and 4 be push-pull ring, and 5 be piezoelectric bimorph, and 6 be bottom base, 7
It is elastic element for top base, 8,9 be motor, and 10 be motor output shaft, and 51 be piezoceramics layer, and 52 be base layer, under 61 are
Pedestal ball bearing, 62 be bottom base flexible beam, and 63 be rotation shaft mounting hole, and 64 be bottom base support frame, and 65 is flexible for bottom base
Beam groove, 66 be bottom base motor installing hole, and 71 be top base boss, and 72 be top base ball bearing, and 73 pacify for top base motor
Fill hole.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings:
As shown in figure 3, a kind of miniature double-rotor aerobat, comprising: base portion, flight portion and pose adjustment portion；The base portion
Including bottom base 6 and top base 7, bottom base 6 and top base 7 are connect by corresponding ball bearing 61 on two pedestals with 72, such as Fig. 4
With shown in Fig. 5, bottom base 6 includes 61, three, bottom base ball bearing bottom base flexible beam 62, six bottom base support frame 64, under
Pedestal ball bearing 61 is located at the top center of bottom base 6, and three bottom base flexible beams 62 are located at the side of bottom base 6
And the angle formed between any two is equal, and end furcations, 62 end furcations of bottom base flexible beam are arrived in the middle part of bottom base flexible beam 62
Place is respectively equipped with groove 65, and six bottom base support frames 64 are located at 62 middle part crotch of bottom base flexible beam in pairs,
Each 64 two sides of bottom base support frame are respectively equipped with rotation shaft mounting hole 63；As shown in Figure 6 and Figure 7, top base 7 includes on three
Pedestal boss 71, top base ball bearing 72, top base ball bearing 72 are located at 7 bottom centre of top base, three top base boss 71
It is located at 7 side of top base and the angle formed between any two is identical.
The flight portion includes motor 9 and propeller 1, and there are two the motor peaces for being separately mounted to 6 bottom of bottom base for motor 9
In the motor installing hole 73 for filling hole 66 and the top of top base 7,10 direction of rotation of output shaft of two motors 9 offset on the contrary pedestal by
The reactive torque arrived, a pair of of counter rotating propeller 1 are respectively arranged on the output shaft of a pair of of hollow-cup motor 9, are provided together upward
Lift.Propeller 1 be two groups, be respectively arranged in it is on the output shaft 10 of two motors 9 and oppositely oriented, counter rotating propeller 1 with
Motor 9 provides upward lift together.
The pose adjustment portion includes rotation axis 2, buckle 3, push-pull ring 4, piezoelectric bimorph 5, elastic element 8；Rotation axis 2
There are six, it is mounted on bottom base support frame 64 by rotating shaft mounting hole 63 respectively；There are three piezoelectric bimorphs 5, each pressure
5 two sides of electrical twining piece are respectively arranged in the card slot at two rotation axis, 2 middle part,；There are three buckles 3, and each buckle 3 is installed respectively
In the middle part of piezoelectric bimorph 5；There are three push-pull rings 4, and one end of each push-pull ring 4 is installed in the mounting hole of 3 inside of buckle,
The other end is installed in the mounting hole of top base boss 71；There are three elastic elements 8, and the both ends of each elastic element 8 are pacified respectively
In groove 65 loaded on 62 end of bottom base flexible beam；Three twin lamellas 5 realize that freely-supported is installed on bottom base 6 by rotation axis 2
On, and be that twin lamella 5 applies precompression by elastic element 8, to improve the power and displacement output ability of twin lamella, such as Fig. 1
Shown piezoelectric bimorph 5 is made of upper layer and lower layer piezoceramics layer 51 and intermediate base layer 52, when by 5 one end of piezoelectric bimorph
Hinged, for the other end using sliding support, and when sliding end applies axis precompression, it can generate centre as shown in Figure 2
The mode of texturing of bulge, and reach maximum in middle part output displacement, due to the application of precompression, the electromechanics of piezoelectric bimorph 5 turns
It changes efficiency to be improved, therefore power output and output displacement can be further amplified.
Buckle 3 is installed on the middle part of twin lamella 5, and is connected by three push-pull rings 4 with top base 7；Top base 7 and lower base
It is attached between seat 6 by ball bearing structure, axial precommpression freely-supported twin lamella is utilized under the action of three push-pull ring 4
Maximum defluxion (middle part amount of deflection) carries out push-and-pull action to top base 7, and angle reality is generated between upper rotor and lower rotor to drive
The adjustment of existing posture, realizes the adjustment of aircraft any angle posture.
The above is only the preferred embodiment of the present invention, it will help and those skilled in the art further understands the present invention,
But the invention is not limited in any way.It should be noted that those skilled in the art, not departing from this hair
Under the premise of bright design, the several modifications and improvements made belong to protection scope of the present invention.
Claims (3)
1. a kind of miniature double-rotor aerobat characterized by comprising base portion, flight portion and pose adjustment portion；The pedestal
Portion includes bottom base (6) and top base (7), bottom base (6) and top base (7) by corresponding ball bearing (61) on two pedestals with
(72) it connects, bottom base (6) includes bottom base ball bearing (61), three bottom base flexible beams (62), six bottom base support frames
(64), bottom base ball bearing (61) is located at the top center of bottom base (6), and three bottom base flexible beams (62) are located at
End furcations, bottom base are arrived in the middle part of bottom base flexible beam (62) in the side of bottom base (6) and the angle formed between any two is equal
It is respectively equipped with groove (65) at flexible beam (62) end furcations, six bottom base support frames (64) are located at lower base in pairs
Crotch in the middle part of seat flexible beam (62), each bottom base support frame (64) two sides are respectively equipped with rotation shaft mounting hole (63)；Upper base
Seat (7) includes three top base boss (71), top base ball bearing (72), and top base ball bearing (72) is located at top base (7) bottom
Portion center, three top base boss (71) are located at 7 side of top base and the angle formed between any two is identical；
The flight portion includes motor (9) and propeller (1), and there are two the electricity for being separately mounted to bottom base (6) bottom for motor (9)
In motor installing hole (73) at the top of machine mounting hole (66) and top base (7), propeller (1) is two groups, is respectively arranged in two
It is on the output shaft (10) of motor (9) and oppositely oriented；
The pose adjustment portion includes rotation axis (2), buckle (3), push-pull ring (4), piezoelectric bimorph (5), elastic element (8)；
There are six rotation axis (2), is mounted on bottom base support frame (64) by rotating shaft mounting hole (63) respectively；Piezoelectric bimorph
(5) there are three, each piezoelectric bimorph (5) two sides are respectively arranged in the card slot in the middle part of two rotation axis (2)；Buckle (3) has
Three, each buckle (3) is respectively arranged in the middle part of piezoelectric bimorph (5)；There are three push-pull rings (4), each push-pull ring (4)
One end is installed in the mounting hole on the inside of buckle (3), and the other end is installed in the mounting hole of top base boss (71)；Elastic element
(8) there are three, the both ends of each elastic element (8) are respectively arranged in the groove (65) of bottom base flexible beam (62) end.
2. miniature double-rotor aerobat according to claim 1, which is characterized in that piezoelectric bimorph (5) is by piezoelectric ceramics
Layer (51) and base layer (52) are constituted, and piezoceramics layer (51) is two layers, and base layer (52) is located at two layers of piezoceramics layer (51)
Centre.
3. miniature double-rotor aerobat according to claim 1, which is characterized in that the output shaft (10) of two motors (9)
Direction of rotation is opposite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910093517.2A CN109774917B (en) | 2019-01-30 | 2019-01-30 | Miniature double-rotor aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910093517.2A CN109774917B (en) | 2019-01-30 | 2019-01-30 | Miniature double-rotor aircraft |
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| Publication Number | Publication Date |
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| CN109774917A true CN109774917A (en) | 2019-05-21 |
| CN109774917B CN109774917B (en) | 2024-04-16 |
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|---|---|---|---|---|
| US3637322A (en) * | 1969-02-26 | 1972-01-25 | Dornier Ag | Rotor head for a helicopter |
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| CN102390530A (en) * | 2011-09-19 | 2012-03-28 | 北京航空航天大学 | Micromechanical controllable flapping rotary wing aircraft and manufacturing method as well as control method thereof |
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| CN207759012U (en) * | 2018-01-17 | 2018-08-24 | 重庆大学 | DCB Specimen is taken photo by plane unmanned plane |
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-
2019
- 2019-01-30 CN CN201910093517.2A patent/CN109774917B/en active Active
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| US20080253891A1 (en) * | 2005-10-05 | 2008-10-16 | Cabrera Pedro L | Swash Plate Anti-Torque Mechanism |
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| CN105253300A (en) * | 2015-11-08 | 2016-01-20 | 北京航空航天大学 | Minitype co-shaft double-rotor wing unmanned aerial vehicle based on oscillation damping rotor wing |
| CN106915457A (en) * | 2017-02-22 | 2017-07-04 | 北京航空航天大学 | A kind of variable co-axial helicopter steerable system of upper and lower rotor inclinator depth of parallelism |
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| CN109774917B (en) | 2024-04-16 |
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