CN109398685A - A kind of patch type piezoelectric driving rotor flight device - Google Patents
A kind of patch type piezoelectric driving rotor flight device Download PDFInfo
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- CN109398685A CN109398685A CN201811344655.5A CN201811344655A CN109398685A CN 109398685 A CN109398685 A CN 109398685A CN 201811344655 A CN201811344655 A CN 201811344655A CN 109398685 A CN109398685 A CN 109398685A
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- patch type
- piezoelectric actuator
- variable cross
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/02—Gyroplanes
- B64C27/021—Rotor or rotor head construction
- B64C27/025—Rotor drives, in particular for taking off; Combination of autorotation rotors and driven rotors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
本发明公开了一种贴片式压电驱动旋翼飞行装置，包括一个螺旋桨、一个转子机构和一个贴片式压电作动器。贴片式压电作动器为变截面杆式结构，由贴有压电陶瓷片的等截面矩形梁和变截面圆柱杆组成。其中，四片压电陶瓷片分别粘贴在等截面矩形梁的四个表面。转子机构由若干簧片通过一定预压力安装在贴片式压电作动器的变截面圆柱杆的驱动面上，螺旋桨固定在转子机构上。本发明通过激励两相具有相位差的电信号，激励贴片式压电作动器产生两相正交的二阶弯曲模态并相互耦合，使驱动面产生整体的类圆回转运动，并通过摩擦作用带动转子机构与螺旋桨转动。本发明整体结构灵活紧凑，易于微型化。
The invention discloses a patch type piezoelectric driving rotor flight device, which comprises a propeller, a rotor mechanism and a patch type piezoelectric actuator. The patch piezoelectric actuator is a rod-type structure with variable section, which is composed of a rectangular beam of equal section and a cylindrical rod of variable section pasted with piezoelectric ceramic sheets. Among them, four piezoelectric ceramic sheets are respectively pasted on the four surfaces of the rectangular beam of equal section. The rotor mechanism is installed on the driving surface of the variable-section cylindrical rod of the patch piezoelectric actuator by a number of reeds through a certain pre-pressure, and the propeller is fixed on the rotor mechanism. The invention stimulates the two-phase electric signal with phase difference to stimulate the patch piezoelectric actuator to generate two-phase orthogonal second-order bending modes and couple with each other, so that the driving surface generates an overall quasi-circular rotary motion, and through the The friction action drives the rotor mechanism and the propeller to rotate. The overall structure of the invention is flexible and compact, and is easy to be miniaturized.
Description
Technical field
The present invention relates to a kind of patch type piezoelectrics to drive rotor flight device, belongs to piezoelectric actuating technical field.
Background technique
UAV abbreviation unmanned plane, be it is a kind of controlled by radio robot, or by being preprogramed manipulation
Non- manned vehicle.Due to having the characteristics that zero injures and deaths, using limitation less, good concealment, efficiency-cost ratio it is high, before wide application
Scape.Investigation tasks are executed in order to more snugly penetrate into the narrow spaces such as room, pipeline and cave, it is desirable that aircraft size
Smaller, weight is lighter, this concept of micro air vehicle is just come into being, and is further developed towards the trend of micromation.
Piezoelectric Driving itself has the characteristics that small in size, light weight, response are rapid, compact-sized, good without electromagnetic interference etc., well
Requirement of the micro air vehicle for actuator in MEMS (MEMS) is met.The two is combined into rear rotor craft
Structure can be more compact and be further simplified, and can obtain bigger lift weight ratio, to complete more diverse aerial mission
There is provided may.
Summary of the invention
Goal of the invention: being directed to the above-mentioned prior art, proposes a kind of patch type piezoelectric driving rotor flight device, piezoelectricity is driven
It moves in conjunction with rotor craft.
Technical solution: a kind of patch type piezoelectric driving rotor flight device, including propeller, rotor mechanism and patch type pressure
Motor-driven cylinder；The patch type piezoelectric actuator is by bar of variable cross-section and four piezoelectric ceramic pieces being arranged on bar of variable cross-section surface
It constitutes；The bar of variable cross-section includes the cross-section rectangular beam and superposed variable cross-section cylindrical bar two parts positioned at lower part, institute
State four surfaces that four piezoelectric ceramic pieces are respectively adhered on the cross-section rectangular beam；The rotor mechanism includes being provided with idol
Several cylinder rings for being circumferentially uniformly distributed eccentric grove, even number rectangle reed corresponding with the eccentric grove and elasticity
Circle；One end of the rectangle reed is provided with card slot, and the other end passes through eccentric grove and the variable cross-section on the cylinder ring
The driving face contact of cylindrical bar；The elastic ring is socketed on the outside of each rectangle reed, is fixed on the rectangle reed
Card slot at, apply the precompression between the rotor mechanism and patch type piezoelectric actuator；The propeller is fixed on described
Cylinder ring upper end.
Further, the polarization type of four piezoelectric ceramic pieces is identical, polarizes in thickness direction；Wherein, own
Piezoelectric ceramic piece is divided into two groups according to the stickup direction on four surfaces in the cross-section rectangular beam, is located at unidirectional two
The polarization direction of piece piezoelectric ceramic piece is identical.
Further, variable cross-section cylindrical bar part has the concave cylindrical structure of two continuous variable cross sections, and diameter is most
The excircle of small concave cylindrical structure is the drive surface.
Further, the fluting direction of the eccentric grove on the cylinder ring is unified amesiality.
Further, when applying two-phase respectively with pi/2 phase to two groups of potsherds in the patch type piezoelectric actuator
The electric signal of potential difference, when so that patch type piezoelectric actuator inspiring the orthogonal second order flexural vibration mode of two-phase simultaneously,
The intermediate node of bar of variable cross-section is located at the intermediate node of two orthogonal second order bending vibrations, the paste position of two groups of piezoelectric ceramic pieces
It is located at first peak swing position of the second order bending vibration respectively inspired, the drive surface is located at the second order bending vibration
Second peak swing position.
The utility model has the advantages that the patch type piezoelectric that the present invention designs drives, rotor flight device is compact-sized, is easy to clamping, noise
It is small, can electromagnetism interference, wherein the piezoelectric actuator structure type simple and flexible of patch type, micromation easy to accomplish.As one
Kind rotor driver itself can obtain very high lift weight ratio.
Detailed description of the invention
Fig. 1 is the schematic three dimensional views of patch type piezoelectric driving rotor flight device of the present invention；
Fig. 2 is the structural schematic diagram of patch type piezoelectric driving rotor flight device of the present invention；
Fig. 3 is rotor mechanism structural schematic diagram；
Fig. 4 is patch type piezoelectric actuator configurations side view；
Fig. 5 is the polarized structural schematic diagram of piezoelectric ceramic piece；
Fig. 6 is the piezoelectric actuator working state schematic representation of patch type；
Fig. 7 is the movement locus schematic diagram of rotor mechanism outer surface particle.
Specific embodiment
Further explanation is done to the present invention with reference to the accompanying drawing.
As shown in Figure 1 to Figure 3, a kind of patch type piezoelectric drives rotor flight device, including propeller 1,2 and of rotor mechanism
Patch type piezoelectric actuator 3.
Patch type piezoelectric actuator 3 is by bar of variable cross-section 3-1 and four piezoelectric ceramics being arranged on the surface bar of variable cross-section 3-1
Piece 3-2 is constituted.Bar of variable cross-section 3-1 includes the cross-section rectangular beam and superposed variable cross-section cylindrical bar two positioned at lower part
Point, four piezoelectric ceramic piece 3-2 pass through four surfaces that epoxide-resin glue is symmetrically pasted onto cross-section rectangular beam respectively.Four
The polarization type of piezoelectric ceramic piece 3-2 is identical, polarizes in thickness direction；Wherein, all piezoelectric ceramic piece 3-2 according to wait cut
The stickup direction on four surfaces of face rectangular beam is divided into two groups, positioned at the polarization side of unidirectional two panels piezoelectric ceramic piece 3-2
To identical, as shown in Figure 5.Variable cross-section cylindrical bar part has the concave cylindrical structure of two continuous variable cross sections, and diameter is the smallest
The excircle of concave cylindrical structure is drive surface.
Rotor mechanism 2 includes the cylinder ring 2-1, corresponding with eccentric grove for being provided with even number and being circumferentially uniformly distributed eccentric grove
Even number rectangle reed 2-2 and elastic ring 2-3, the fluting direction of the eccentric grove on cylinder ring 2-1 is unified amesiality.
One end of rectangle reed 2-2 is provided with card slot, and the other end passes through the drive of eccentric grove and variable cross-section cylindrical bar on cylinder ring 2-1
Dynamic face contact.Elastic ring 2-3 is socketed on the outside of each rectangle reed 2-2, is fixed at the card slot of rectangle reed 2-2, is applied
Precompression between rotor mechanism 2 and patch type piezoelectric actuator 3.
Propeller 1 is provided with a through-hole, and aperture is identical as cylinder ring 2-2 inner hole, is fixed on the upper end of cylinder ring 2-1.
The telecommunications that two-phase has pi/2 phase difference is applied respectively to two groups of potsherd 3-2 in patch type piezoelectric actuator 3
Number, so that patch type piezoelectric actuator 3 inspires the orthogonal second order flexural vibration mode of two-phase simultaneously.With the first of application
Electric signal is sinusoidal signal, for the second electric signal is cosine signal, in order to obtain the vibration shape being consistent with designed structure, is swashed
The vibration encouraged all is second order bending vibration.It is research object with individual patch type piezoelectric actuator 3, two orthogonal second order bending vibrations
Intermediate node is located at the intermediate setting of bar of variable cross-section 3-1, can be used for clamping entire piezoelectric actuator；Two groups of piezoelectric ceramic pieces it is viscous
Patch position is located at first peak swing position of the second order bending vibration of the patch type piezoelectric actuator respectively inspired；Concave
The smallest cylinder drive surface of variable cross-section cylindrical bar is located at second peak swing position of the second order bending vibration of patch type piezoelectric actuator
It sets, as shown in Figure 6.When the two second order bending vibration modes inspired in patch type piezoelectric actuator intercouple, concave, which becomes, to be cut
Face round bar will circumferentially do class circumgyration campaign, and therefore, in a cycle T, all particles of drive surface will do ellipse
Movement, when T ∈ (0, T/4), drive surface is simultaneously to both horizontally and vertically extending, the horizontal displacement components of particle and vertical position
Move component positive increase simultaneously；As T ∈ (T/4, T/2), the vertical displacement components that excitation sinusoidal signal generates drive surface are just
To increase, the horizontal displacement components negative sense that cosine signal generates drive surface increases；As T ∈ (T/2,3T/4), driving towards
Horizontal and vertical directions shortens simultaneously, and negative sense increases the horizontal displacement components and vertical displacement components of particle simultaneously；As T ∈
When (3T/4, T), the vertical displacement components negative sense that excitation cosine signal generates drive surface increases, and sinusoidal signal produces drive surface
Raw horizontal displacement components forward direction increases, and the particle on the inner surface of 3 drive surface of patch type piezoelectric actuator is in one cycle
Displacement component be superimposed as elliptical orbit.
Under installation condition, gapless between 3 drive surface of each reed 2-2 and patch type piezoelectric actuator.Patch type piezoelectric
When the driving surface vibration of actuator 3, the power for acting on side reed 2-2 is outward released, the reed 2-2 and patch of the other side
3 drive surface of plate piezoelectric actuator in the horizontal direction between there is gap, will by elastic ring 2-3 to the precompression of reed 2-2
The reed 2-2 of the other side pushes the drive surface of patch type piezoelectric actuator 3 to, is still kept in contact.The outer surface of drive surface and eight
The practical contact of a reed 2-2 is still a circle, i.e. contact circle, contacts round radius by 3 drive surface of patch type piezoelectric actuator
Elliptic motion amplitude and reed 2-2 rigidity determine, as shown in Figure 7.The ideal vibration shape be in the case where certain precompression,
3 drive surface of patch type piezoelectric actuator generates whole class circle rotary motion, and reed 2-2 is basically unchanged shape, exists as much as possible
It is moved under rubbing action using whole driven in translation reed, so that entire rotor mechanism rotation, to realize that propeller rotates.
However, reed 2-2 is elastomer, under the effect of piezoelectric actuator 3, other than generating along the integral translation of slot, office is also had
Portion's deformation；And reed and bar of variable cross-section be under rubbing action when relative rotation, as flexible deformation and produce relative sliding.
The target of design is under the premise of overall volume and quality small as far as possible, and the amplitude in piezoelectric actuator ultra-precision driving face is big as far as possible, and makes
The flexible deformation of reed itself is as small as possible.When designing specific outer dimension, mode point is carried out by finite element emulation software
Analysis, and parametric adjustment is carried out to size.The fluting direction of eccentric grove is unified amesiality, when the phase for changing two-phase pumping signal
Potential difference, propeller can realize reverse rotation.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (5)
1. a kind of patch type piezoelectric drives rotor flight device, it is characterised in that: including propeller (1), rotor mechanism (2) and patch
Plate piezoelectric actuator (3)；The patch type piezoelectric actuator (3) is by bar of variable cross-section (3-1) and is arranged at bar of variable cross-section (3-1)
Four piezoelectric ceramic pieces (3-2) on surface are constituted；The bar of variable cross-section (3-1) include positioned at lower part cross-section rectangular beam and
Superposed variable cross-section cylindrical bar two parts, four piezoelectric ceramic pieces (3-2) are respectively adhered on the cross-section rectangle
Four surfaces of beam；The rotor mechanism (2) includes the cylinder ring (2- for being provided with even number and being circumferentially uniformly distributed eccentric grove
1), even number rectangle reed (2-2) corresponding with the eccentric grove and elastic ring (2-3)；The rectangle reed (2-2)
One end be provided with card slot, the other end passes through the driving of eccentric grove and the variable cross-section cylindrical bar on the cylinder ring (2-1)
Face contact；The elastic ring (2-3) is socketed on the outside of each rectangle reed (2-2), is fixed on the rectangle reed (2-
2) at card slot, apply the precompression between the rotor mechanism (2) and patch type piezoelectric actuator (3)；The propeller (1)
It is fixed on the upper end the cylinder ring (2-1).
2. patch type piezoelectric according to claim 1 drives rotor flight device, it is characterised in that: the four piezoelectricity pottery
The polarization type of tile (3-2) is identical, polarizes in thickness direction；Wherein, all piezoelectric ceramic pieces (3-2) are according to described etc.
The stickup direction on four surfaces of section rectangular beam is divided into two groups, is located at the pole of unidirectional two panels piezoelectric ceramic piece (3-2)
It is identical to change direction.
3. patch type piezoelectric according to claim 1 or 2 drives rotor flight device, it is characterised in that: the variable cross-section
Cylindrical bar part has the concave cylindrical structure of two continuous variable cross sections, and the excircle of the smallest concave cylindrical structure of diameter is institute
State drive surface.
4. patch type piezoelectric according to claim 1 or 2 drives rotor flight device, it is characterised in that: the cylinder ring
The fluting direction of eccentric grove on (2-1) is unified amesiality.
5. patch type piezoelectric according to claim 3 drives rotor flight device, it is characterised in that: when to the patch type
Two groups of potsherds (3-2) on piezoelectric actuator (3) apply the electric signal that two-phase has pi/2 phase difference respectively, so that patch type
When piezoelectric actuator (3) inspires the orthogonal second order flexural vibration mode of two-phase simultaneously, the middle node of bar of variable cross-section (3-1)
Point is located at the intermediate node of two orthogonal second order bending vibrations, and the paste position of two groups of piezoelectric ceramic pieces (3-2) is located at respectively
First peak swing position of the second order bending vibration that self-excitation issues, the drive surface are located at second maximum of the second order bending vibration
Amplitude position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811344655.5A CN109398685B (en) | 2018-11-13 | 2018-11-13 | A patch-type piezoelectric driven rotor flight device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811344655.5A CN109398685B (en) | 2018-11-13 | 2018-11-13 | A patch-type piezoelectric driven rotor flight device |
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| CN109398685A true CN109398685A (en) | 2019-03-01 |
| CN109398685B CN109398685B (en) | 2024-05-28 |
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| CN201811344655.5A Expired - Fee Related CN109398685B (en) | 2018-11-13 | 2018-11-13 | A patch-type piezoelectric driven rotor flight device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110995056A (en) * | 2019-12-27 | 2020-04-10 | 合肥工业大学 | Synchronous impact piezoelectric motor |
| CN112448613A (en) * | 2020-10-26 | 2021-03-05 | 南京航空航天大学 | Surface-mounted piezoelectric driven underwater propeller vector propulsion system and method thereof |
| CN116605405A (en) * | 2023-07-07 | 2023-08-18 | 西安交通大学 | Ultra-miniature bionic rotor wing flight control device and control method |
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| US20130168491A1 (en) * | 2010-09-09 | 2013-07-04 | Groen Brothers Aviation, Inc | Mission-adaptive rotor blade with circulation control |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110995056A (en) * | 2019-12-27 | 2020-04-10 | 合肥工业大学 | Synchronous impact piezoelectric motor |
| CN112448613A (en) * | 2020-10-26 | 2021-03-05 | 南京航空航天大学 | Surface-mounted piezoelectric driven underwater propeller vector propulsion system and method thereof |
| CN116605405A (en) * | 2023-07-07 | 2023-08-18 | 西安交通大学 | Ultra-miniature bionic rotor wing flight control device and control method |
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