CN209814264U - Miniature dual-rotor aircraft - Google Patents
Miniature dual-rotor aircraft Download PDFInfo
- Publication number
- CN209814264U CN209814264U CN201920164647.6U CN201920164647U CN209814264U CN 209814264 U CN209814264 U CN 209814264U CN 201920164647 U CN201920164647 U CN 201920164647U CN 209814264 U CN209814264 U CN 209814264U
- Authority
- CN
- China
- Prior art keywords
- lower base
- base
- upper base
- push
- ball bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000000919 ceramic Substances 0.000 claims description 7
- 230000009977 dual effect Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract 1
- 238000009434 installation Methods 0.000 abstract 1
- 230000007246 mechanism Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 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
Landscapes
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The utility model discloses a miniature bispin wing aircraft belongs to piezoelectric actuator field, utilizes the piezoelectricity bimorph as attitude adjustment drive arrangement, has realized that the microminiature aircraft is further miniaturized and light-duty in attitude adjustment. The utility model discloses a screw and the coreless motor of a pair of reverse installation provide lift, overcome simultaneously and offset reverse moment of torsion, and three bimorphs realize simply supporting through the axis of rotation and install on lower base to exert the precompression for bimorph through elastic element, the buckle is installed in the middle part of bimorph, and link to each other with the upper base through three pull rings of pushing away, are connected through ball bearing structure between upper base and the lower base. The utility model discloses utilize the maximum deflection (middle part amount of deflection) of the simply supported dicule of axial precompression to carry out the push-and-pull effect to the top base to the adjustment that produces the contained angle between rotor and the lower rotor and realize arbitrary gesture is gone up in the drive.
Description
Technical Field
The invention belongs to the field of piezoelectric actuators, and particularly relates to a miniature dual-rotor aircraft.
Background
The small double-rotor aircraft has the capabilities of vertical take-off and landing, hovering, front-back flying, left-right flying, fixed-point landing and no need of a special airport, and can be applied to various tasks, such as deep forest fire prevention, traffic monitoring, farmland protection, aerial photography and aerial survey and the like, and is widely applied in military and civil aspects. A coaxial double-rotor unmanned aerial vehicle without a tail rotor, which is developed by Beijing aerospace university on the basis of seagull, has a spherical body as the operating mechanism of the coaxial double-rotor unmanned aerial vehicle, the operating mechanism of the coaxial double-rotor unmanned aerial vehicle is more complex than that of a helicopter, and the spherical body reduces the flexibility of the aircraft (the design characteristics of a Chenming, Wako-fai. M22 small unmanned helicopter [ J ]. the design characteristics of an airplane, 2005, (01): 71-74.). Compared with other types of aircrafts, the conventional small double-rotor aircraft has fewer types and relatively lower maturity, and has the disadvantages of immature structural design and attitude control technology and narrow application range.
Disclosure of Invention
The invention provides a miniature dual-rotor aircraft, which utilizes a piezoelectric bimorph as an attitude adjustment driving device and realizes further miniaturization and light weight of the miniature aircraft in attitude adjustment.
In order to achieve the purpose, the invention adopts the following technical scheme:
a miniature dual-rotor aircraft comprising: a base part, a flying part and an attitude adjusting 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 with a lower base ball bearing 72 through corresponding lower base ball bearings 61 on the two bases, the lower base 6 comprises the 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 position of the lower base 6, the three lower base flexible beams 62 are respectively located on the side surface of the lower base 6, angles formed between every two lower base flexible beams are equal, the middle part to the tail end of each lower base flexible beam 62 are forked, a groove 65 is respectively arranged at the tail end forked position of each lower base flexible beam 62, the six lower base support frames 64 are respectively located at the middle forked position of each lower base flexible beam 62 in pairs, and two sides of each lower base support frame 64 are respectively provided with; the upper base 7 comprises three upper base bosses 71 and an upper base ball bearing 72, the upper base ball bearing 72 is positioned in the center of the bottom of the upper base 7, the three upper base bosses 71 are respectively positioned on the side surface of the upper base 7, and the angles formed between every two upper base bosses are the same;
the flight part comprises a motor 9 and propellers 1, the motor 9 is provided with two lower base motor mounting holes 66 respectively arranged at the bottom of the lower base 6 and an upper base motor mounting hole 73 arranged at the top of the upper base 7, the propellers 1 are divided into two groups which are respectively arranged on output shafts 10 of the two motors 9 and have opposite rotation directions;
the posture adjusting part comprises a rotating shaft 2, a buckle 3, a push-pull ring 4, a piezoelectric bimorph 5 and an elastic element 8; six rotating shafts 2 are respectively arranged on the lower base support frame 64 through rotating shaft mounting holes 63; the number of the piezoelectric bimorphs 5 is three, and two sides of each piezoelectric bimorph 5 are respectively arranged in the clamping grooves in the middle parts of the two rotating shafts 2; three buckles 3 are provided, and each buckle 3 is respectively arranged in the middle of the piezoelectric bimorph 5; three push-pull rings 4 are provided, one end of each push-pull ring 4 is arranged in the mounting hole on the inner side of the buckle 3, and the other end of each push-pull ring 4 is arranged in the mounting hole of the upper base boss 71; the number of the elastic members 8 is three, and both ends of each elastic member 8 are respectively installed in the grooves 65 formed at the ends of the flexible beams 62 of the lower base.
In the above structure, the piezoelectric bimorph 5 is composed of the piezoelectric ceramic layer 51 and the base layer 52, the piezoelectric ceramic layer 51 is two layers, and the base layer 52 is located between the two piezoelectric ceramic layers 51; the output shafts 10 of the two motors 9 rotate in opposite directions.
The invention has the beneficial effects that: the invention provides a miniature double-rotor aircraft, which utilizes a piezoelectric bimorph as an actuating mechanism for posture adjustment of the miniature aircraft, so that the overall size of the aircraft is smaller, the weight is lighter, the bimorph size can be designed according to relevant parameters of the aircraft, the aircraft is further miniaturized, the overall aircraft can be manufactured by adopting a 3D printing process, and the overall mass of the aircraft can be controlled within 30 g; the piezoelectric material has the characteristic of quick response, and the bimorph made of the piezoelectric material is applied to the actuating mechanism for adjusting the attitude of the micro aircraft, so that millisecond-level response can be realized, and the controllability of the whole aircraft in the flying process is enhanced; the invention adopts three bimorphs to realize the change of any position of the upper base through three push-pull rings and realizes locking after in place under the synergistic action of the three bimorphs, thereby realizing that the attitude angle can be changed towards any direction, namely the flight path of the aircraft can be carried out along any direction at any time. The aircraft of the invention is insensitive to magnetic field and does not generate magnetic field; the speed and position control performance is good, and the precision is high; the control bandwidth is high; power consumption is relatively small; the appearance can be designed arbitrarily according to the requirements of users; vibration, small noise and stable operation.
Drawings
Fig. 1 is a schematic diagram of a piezoelectric bimorph structure.
FIG. 2 is a schematic diagram of the force and displacement output of an axially precompressed simple supported bimorph.
Fig. 3 is a schematic structural diagram of the present invention.
Fig. 4 is a view of the external structure of the lower base of the present invention.
Fig. 5 is a half sectional view of the lower base of the present invention.
Fig. 6 is an external structural view of the upper base of the present invention.
Fig. 7 is a half sectional view of the upper base of the present invention.
FIG. 8 is a schematic illustration of the pre-compression of axially pre-compressed simple supported bimorphs in accordance with 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 bimorph, 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 base 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 Description
The invention is described in detail below with reference to the following figures and specific examples:
as shown in fig. 3, a miniature dual-rotor aircraft comprises: a base part, a flying part and an attitude adjusting 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 with an upper base ball bearing 72 through corresponding lower base ball bearings 61 on the two bases, as shown in fig. 4 and 5, the lower base 6 comprises the 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 position of the lower base 6, the three lower base flexible beams 62 are respectively located on the side surface of the lower base 6, angles formed between every two lower base flexible beams are equal, the middle part of each lower base flexible beam 62 is branched to the tail end, the tail end branch of each lower base flexible beam 62 is provided with a groove 65, the six lower base support frames 64 are respectively located at the middle branch of each lower base flexible beam 62 in a group, and two sides of each lower base support frame 64 are respectively provided with a; as shown in fig. 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 center of the bottom of the upper base 7, and the three upper base bosses 71 are respectively located on the side of the upper base 7 and form the same angle between each two upper base bosses.
The flying part comprises a motor 9 and propellers 1, the motor 9 is provided with two lower base motor mounting holes 66 respectively arranged at the bottom of the lower base 6 and an upper base motor mounting hole 73 arranged at the top of the upper base 7, the rotating directions of output shafts 10 of the two motors 9 are opposite to offset reverse torque applied to the base, and a pair of reverse propellers 1 are respectively arranged on the output shafts of a pair of hollow cup motors 9 to provide upward lift together. The propellers 1 are two groups, are respectively arranged on the output shafts 10 of the two motors 9 and have opposite rotating directions, and the reverse propellers 1 and the motors 9 provide upward lifting force together.
The posture adjusting part comprises a rotating shaft 2, a buckle 3, a push-pull ring 4, a piezoelectric bimorph 5 and an elastic element 8; six rotating shafts 2 are respectively arranged on the lower base support frame 64 through rotating shaft mounting holes 63; the number of the piezoelectric bimorphs 5 is three, and two sides of each piezoelectric bimorph 5 are respectively arranged in the clamping grooves in the middle parts of the two rotating shafts 2; three buckles 3 are provided, and each buckle 3 is respectively arranged in the middle of the piezoelectric bimorph 5; three push-pull rings 4 are provided, one end of each push-pull ring 4 is arranged in the mounting hole on the inner side of the buckle 3, and the other end of each push-pull ring 4 is arranged in the mounting hole of the upper base boss 71; the number of the elastic elements 8 is three, and two ends of each elastic element 8 are respectively arranged in the grooves 65 at the tail ends of the flexible beams 62 of the lower base; the three bimorphs 5 are simply supported and mounted on the lower base 6 through the rotating shaft 2, and pre-stress is applied to the bimorphs 5 through the elastic element 8, so that the force and displacement output capacity of the bimorphs is improved.
The buckle 3 is arranged in the middle of the double-wafer 5 and is connected with 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, the upper base 7 is pushed and pulled by the maximum deflection (middle deflection) of the axially pre-compressed simply supported bimorph under the action of the three push-pull rings 4, so that the upper rotor wing and the lower rotor wing are driven to generate an included angle to realize the adjustment of the attitude, and the adjustment of the attitude of the aircraft at any angle is realized.
The foregoing are only preferred embodiments of the present invention, which will aid those skilled in the art in further understanding the present invention, and are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit and scope of the invention.
Claims (3)
1. A miniature dual rotor aircraft, comprising: a base part, a flying part and an attitude adjusting 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 with an upper base ball bearing (72) through corresponding lower base ball bearings (61) on the two bases, the lower base (6) comprises a lower base ball bearing (61) and three lower base flexible beams (62), the device comprises six lower base supporting frames (64), wherein lower base ball bearings (61) are located at the center of the top of a lower base (6), three lower base flexible beams (62) are respectively located on the side faces of the lower base (6), angles formed between every two lower base flexible beams are equal, the middle parts of the lower base flexible beams (62) are branched to the tail ends, grooves (65) are respectively formed in the branched positions of the tail ends of the lower base flexible beams (62), every two groups of the six lower base supporting frames (64) are respectively located in the branched positions of the middle parts of the lower base flexible beams (62), and rotating shaft mounting holes (63) are respectively formed in two sides of each lower base supporting frame (64); the upper base (7) comprises three upper base bosses (71) and an upper base ball bearing (72), the upper base ball bearing (72) is positioned in the center of the bottom of the upper base (7), the three upper base bosses (71) are respectively positioned on the side surface of the upper base (7), and the angles formed between every two upper base bosses are the same;
the flight part comprises a motor (9) and propellers (1), the motor (9) is provided with two lower base motor mounting holes (66) respectively arranged at the bottom of the lower base (6) and an upper base motor mounting hole (73) arranged at the top of the upper base (7), the propellers (1) are divided into two groups which are respectively arranged on output shafts (10) of the two motors (9) and have opposite rotation directions;
the posture adjusting part comprises a rotating shaft (2), a buckle (3), a push-pull ring (4), a piezoelectric bimorph (5) and an elastic element (8); six rotating shafts (2) are respectively arranged on the lower base supporting frame (64) through rotating shaft mounting holes (63); the number of the piezoelectric bimorphs (5) is three, and two sides of each piezoelectric bimorph (5) are respectively arranged in the clamping grooves in the middle parts of the two rotating shafts (2); the number of the buckles (3) is three, and each buckle (3) is arranged in the middle of the piezoelectric bimorph (5) respectively; three push-pull rings (4) are provided, one end of each push-pull ring (4) is arranged in the mounting hole on the inner side of the buckle (3), and the other end of each push-pull ring is arranged in the mounting hole of the upper base boss (71); the number of the elastic elements (8) is three, and two ends of each elastic element (8) are respectively arranged in a groove (65) at the tail end of the flexible beam (62) of the lower base.
2. The micro-twin-rotor aircraft according to claim 1, wherein the piezoelectric bimorph (5) is composed of a piezoelectric ceramic layer (51) and a base layer (52), the piezoelectric ceramic layer (51) being two layers, the base layer (52) being located in the middle of the two piezoelectric ceramic layers (51).
3. A miniature twin-rotor aircraft according to claim 1, characterised in that the output shafts (10) of the two motors (9) rotate in opposite directions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920164647.6U CN209814264U (en) | 2019-01-30 | 2019-01-30 | Miniature dual-rotor aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920164647.6U CN209814264U (en) | 2019-01-30 | 2019-01-30 | Miniature dual-rotor aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209814264U true CN209814264U (en) | 2019-12-20 |
Family
ID=68872559
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920164647.6U Active CN209814264U (en) | 2019-01-30 | 2019-01-30 | Miniature dual-rotor aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209814264U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109774917A (en) * | 2019-01-30 | 2019-05-21 | 南京航空航天大学 | A kind of miniature double-rotor aerobat |
-
2019
- 2019-01-30 CN CN201920164647.6U patent/CN209814264U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109774917A (en) * | 2019-01-30 | 2019-05-21 | 南京航空航天大学 | A kind of miniature double-rotor aerobat |
| CN109774917B (en) * | 2019-01-30 | 2024-04-16 | 南京航空航天大学 | Miniature double-rotor aircraft |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108502152B (en) | Multi-rotor aircraft with airframe and thrust producing unit arrangement | |
| JP4688928B2 (en) | Inverted coaxial rotor hub shaft fairing rotation deterrent system | |
| US6938853B2 (en) | Biomimetic mechanism for micro aircraft | |
| US7249732B2 (en) | Aerodynamically stable, VTOL aircraft | |
| CN101492093B (en) | Flapping rotor wing design method and microminiature flapping rotor wing designed according to the method | |
| US6354536B1 (en) | Rotor hub mounted actuator for controlling a blade on a rotorcraft | |
| WO2004065208A2 (en) | Quiet vertical takeoff and landing aircraft using ducted, magnetic induction air-impeller rotors | |
| CN110104175B (en) | Coaxial reverse double-flapping rotor wing mechanism | |
| CN103332293A (en) | Tilting double-duct subminiature unmanned plane | |
| CN106986019B (en) | Motor cabinet capable of changing inclination angle of rotary wing surface of multi-rotor unmanned aerial vehicle | |
| CN110481769A (en) | Unmanned flight's device based on coaxial double-rotary wing | |
| CN107867397B (en) | Linear ultrasonic motor driven miniature ornithopter | |
| CN102806993A (en) | Multi-rotor aircraft | |
| CN209814264U (en) | Miniature dual-rotor aircraft | |
| CN114906323A (en) | Multi-attitude flapping wing aircraft based on additional mass effect mechanism | |
| CN110254711B (en) | Two-horizontal four-vertical blade rotatable six-wheel type rotor unmanned aerial vehicle | |
| CN110371285B (en) | Blade-rotatable horizontal lift four-wheel type rotor unmanned aerial vehicle | |
| CN113830304B (en) | Hovering bionic buzzer aircraft and control method thereof | |
| CN108639337B (en) | Single-degree-of-freedom flapping wing mechanism capable of realizing space motion trail | |
| TWI572526B (en) | Miniature aircraft wings drive structure | |
| CN109774917B (en) | Miniature double-rotor aircraft | |
| KR20060110241A (en) | Dragonfly-type ornithopter with two pairs of wing | |
| US11267561B2 (en) | Vibration attenuator | |
| CN209305827U (en) | A kind of improved unmanned plane pulp distance varying mechanism | |
| US10800513B2 (en) | Propeller system with directional thrust control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |