CN103639918B - Piezoelectric Driving flapping-wing MAV 3-dimensional freedom platform - Google Patents

Abstract

The invention provides a three-degree-of-freedom platform for a piezoelectric-driven flapping-wing micro-aircraft, which includes a base, a convex slider in the X direction, a back-shaped slider in the Z direction, and a concave slider in the Y direction, wherein: the base is connected to the micro-aircraft through a threaded hole. The aircraft is fixed; the X-direction convex slider cooperates with the X-guiding rail on the base, and the threaded hole on the X-direction convex slider adjusts and fixes the relative position of the X-direction convex slider on the X-guiding rail through screws; the Y-direction The concave slider cooperates with the Y-guiding rail on the X-direction convex slider, and the threaded hole on the Y-direction concave slider adjusts and fixes the relative position of the Y-direction concave slider on the Y-guiding rail through screws; the Z-direction The return-shaped slider cooperates with the Z guide rail on the base, and the threaded hole on the Z-direction return-shaped slide block adjusts and fixes the relative position of the Z-direction return-form slide block on the Z guide rail through screws. The invention overcomes the assembly problem of the flapping-wing micro-aircraft, and at the same time can replace the fuselage for experimental testing, and has precise positioning and convenient adjustment.

Description

Three-degree-of-freedom platform for piezoelectric-driven flapping-wing micro-aircraft

technical field

The invention relates to the field of micro-aircraft technology, in particular to a three-degree-of-freedom platform for a piezoelectric-driven flapping-wing micro-aircraft.

Background technique

In recent years, with the continuous development of micro-electromechanical system technology, micro-aircraft has become a research hotspot, especially flapping-wing micro-aircraft. The flapping-wing micro-aircraft is a micro-aircraft that imitates the flight of birds or insects. Compared with general aviation aircraft, the flapping-wing micro-aircraft has good maneuverability and aerodynamic performance. It has the advantages of small size, light weight, and strong concealment in a small space. It has very broad application prospects in military and civilian applications. . Therefore, the flapping-wing micro-aircraft has become a research hotspot in the scientific and technological circles. Foreign countries have produced certain achievements in the research of flapping-wing micro-aircraft.

After searching the existing technology, it was found that Benjamin M.Finio et al. of Harvard University published an article titled "Body torque modulation for a microrobotic fly" at the 2009 IEEEInternational Conference on Robotics and Automation, in which a platform made of acrylic material using rapid prototyping technology was used. To test, the platform is not able to move. A search also found that P.S. Sreetharan of Harvard University and others published an article titled "Passive Aerodynamic Drag Balancing in a Flapping-Wing Robotic Insect" in the Journal of Mechanical Design in 2010, which used a single-degree-of-freedom test platform. Both platforms have the function of replacing the fuselage, but the installation position of the driver cannot be guaranteed to be accurate during the test, nor can it be assembled. The device in the assembly of micro-flapping-wing aircraft has not been retrieved at present.

Contents of the invention

In view of the defects in the prior art, the purpose of the present invention is to provide a three-degree-of-freedom platform for a piezoelectric-driven flapping-wing micro-aircraft, which can be adjusted according to the design dimensions of each mechanism of the flapping-wing micro-aircraft to carry out the assembly of the whole machine and realize precise positioning , to overcome the problem of complete machine assembly of this type of flapping-wing micro-aircraft during experimental testing, and at the same time, it can also replace the fuselage for experimental testing, with accurate positioning and convenient adjustment.

In order to achieve the above object, the present invention provides a three-degree-of-freedom platform for a piezoelectric-driven flapping-wing micro-aircraft, including a base, an X-direction convex slider, a Z-direction return-shaped slider and two Y-direction concave sliders , wherein: the base is provided with an X-direction rail and a Z-direction rail, and the X-direction rail and the Z-direction rail are perpendicular to each other; the X-direction convex slider is provided with an X-direction slide groove and a Y-direction rail, and the X-direction slide The groove cooperates with the X-guiding rail on the base; the Y-direction concave slider is provided with a Y-direction slide groove, and the Y-direction slide groove cooperates with the Y-direction guide rail on the X-direction convex slider; The Z-direction sliding block is provided with a Z-direction sliding groove, and the Z-direction sliding groove cooperates with the Z-direction rail on the base.

Preferably, the X-direction sliding groove on the X-direction convex slider is clearance-fitted with the X-direction rail on the base through a tolerance, so that the X-direction convex slider slides on the X-direction rail.

Preferably, the Y-direction slide groove on the Y-direction concave slider is clearance-fitted with the Y-direction rail on the X-direction convex slider through tolerance, so that the Y-direction concave slider slides on the Y-direction rail.

Preferably, the Z-direction slide groove on the Z-direction return-shaped slider is clearance-fitted with the Z-direction guide rail on the base through a tolerance, so that the Z-direction return-shaped slide block slides on the Z-direction guide rail.

Preferably, the base is also provided with threaded holes for fixing the base.

Preferably, the corresponding positions on the left and right sides of the X-direction chute of the X-direction convex slider are provided with a threaded hole, and the threaded holes are used to adjust and fix the X-direction convex slider on the X-direction rail of the base relative position on .

Preferably, a threaded hole is provided at the corresponding positions on the left and right sides of the Y-direction chute of the Y-direction concave slider, and the screw holes adjust and fix the Y-direction concave slider on the X-direction convex slide. The block's Y direction relative to the position on the rail.

Preferably, the corresponding positions on the four sides of the Z-direction return-shaped slider are all provided with a threaded hole, and the threaded holes adjust and fix the relative position of the Z-direction return-shaped slider on the Z-direction rail of the base through screws.

Preferably, the length of the base is not more than 10cm, the width is not more than 3cm, and the height is not more than 5cm.

Preferably, the base, the X-direction convex slider, the Z-direction return-shaped slider and the two Y-direction concave sliders adopt general mechanical processing technology, and select metal materials such as aluminum alloy materials. The X-direction convex slider, the Z-direction return-shaped slider and the Y-direction concave slider are all detachably connected, and sliders in different directions can be selected according to actual needs.

Compared with the prior art, the present invention has the following beneficial effects:

The invention is easy to process; it can move in the three directions of X, Y and Z, and the Z-direction back-shaped slider is a back-shaped structure, which can be tested in four directions. The cantilever piezoelectric driver has more accurate positioning and convenient operation. ; The present invention uses screws to adjust the relative position and fixation, which is convenient to disassemble, and slide blocks in different directions can be selected according to actual needs. For example, when testing a cantilever beam piezoelectric driver, only Z-direction slide block adjustment is required; not only can the test be performed, but also The flapping-wing micro-aircraft can be assembled, and can be adjusted according to the design dimensions of each mechanism of the flapping-wing micro-aircraft to assemble the whole machine to meet the assembly accuracy requirements.

Description of drawings

Other characteristics, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

Fig. 1 is the positive isometric view of overall mechanism of the present invention;

Fig. 2 is the isometric view of base of the present invention;

Fig. 3 is an isometric view of the X-direction convex slider of the present invention;

Fig. 4 is the positive isometric view of Y direction concave slider of the present invention;

Fig. 5 is an isometric view of the Z-direction return-shaped slide block of the present invention;

In the picture:

1 is threaded hole, 2 is X-direction rail, 3 is Z-direction rail, 4 is threaded hole, 5 is Y-direction rail, 6 is X-direction chute, 7 is threaded hole, 8 is Y-direction chute, 9 is thread Hole, 10 is the Z direction chute, 11 is the base, 12 is the X direction convex slider, 13 is the Y direction concave slider, and 14 is the Z direction return shape slider.

Detailed ways

The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

As shown in Figures 1, 2, 3, 4, and 5, this embodiment provides a three-degree-of-freedom platform for a piezoelectric-driven flapping-wing micro-aircraft, including: a base 11, an X-direction convex slider 12, two Y A concave slider 13 and a Z-shaped back-shaped slider 14, the above-mentioned components are made of aluminum alloy through general mechanical processing technology; among them: X-direction convex slider 12, Z-direction back-shaped slider 14 cooperates with the base 11, and the Y-direction concave slider 13 cooperates with the X-direction convex slider 12.

As shown in Figure 2, the base 11 is provided with a threaded hole 1, an X guide rail 2 and a Z guide rail 3, wherein: a threaded hole 1 is provided on the base 11 for fixing the base 11; Guide rail 3 is a 7-shaped structure, X guide rail 2 and Z guide rail 3 are vertically connected and fixed, X guide rail 2 cooperates with X direction convex slider 12, Z guide guide rail 3 cooperates with Z direction return-shaped slider 14.

As shown in Figure 3, the X-direction convex slider 12 is provided with two threaded holes 4, the Y-direction rail 5 and the X-direction chute 6, wherein: the left and right sides of the X-direction chute 6 are respectively provided at corresponding positions A threaded hole 4, the threaded hole 4 adjusts and fixes the relative position of the X-direction convex slider 12 on the X-direction rail 2 through screws; the Y-direction rail 5 cooperates with the Y-direction concave slider 13; the X-direction chute 6 passes through The tolerance fits with the clearance of the X-guiding rail 2 on the base 11, so that the X-direction convex slider 12 can slide on the X-guiding rail 2.

As shown in Figure 4, the Y-direction concave slider 13 is provided with two threaded holes 7 and a Y-direction chute 8, wherein: the corresponding positions of the left and right sides of the Y-direction chute 8 are respectively provided with a screw thread Holes 7 and threaded holes 7 adjust and fix the relative position of the Y-direction concave slider 13 on the Y-direction rail 5 through screws; the Y-direction chute 8 is clearance-fitted with the Y-direction rail 5 on the X-direction convex slider through tolerances , the Y-shaped concave slider 13 can slide on the Y-guiding rail 5 .

As shown in Figure 5, the Z-direction return-shaped slider 14 is provided with four threaded holes 9 and Z-direction chute 10, wherein: the four threaded holes 9 respectively penetrate through the four Z-direction return-shaped slide blocks 14. On the side, adjust and fix the relative position of the Z-direction sliding block 14 on the Z-guiding rail 3 by screws; the Z-directing slide groove 10 of the Z-directing sliding block 14 has a gap with the Z-guiding rail 3 on the base 11 through the tolerance Cooperate, the Z-direction return-shaped slide block 14 can be made to slide on the Z-guiding rail 3 .

The working process of this embodiment is as follows:

The proximal end of the cantilever piezoelectric actuator on the flapping-wing micro-aircraft is fixed on the Z-direction return-shaped slider 14 through cyanopropionate bonding, and its Z-direction position is adjusted through the Z-direction return-form slider 14; the flapping-wing micro-aircraft The left and right sides of the chest cavity are respectively fixed on two Y-direction concave sliders 13 , and the Y-direction position can be adjusted through the two Y-direction concave sliders 13 .

When carrying out micro-assembly and experimental testing, adjust the two Y-direction concave sliders 13 to be symmetrical left and right along the longitudinal centerline of the driver, so that the longitudinal centerline of the chest cavity of the flapping-wing micro-aircraft is aligned with the longitudinal centerline of the driver; at the same time, adjust according to the X-direction length of the driver The X-direction convex slider 12 aligns the distal end of the driver with the transverse centerline of the bottom crossbeam of the chest cavity to bond and assemble the driver and the chest cavity, and finally adjusts the Z-direction return-shaped slider 14 according to the height of the bottom crossbeam of the chest cavity.

The invention can realize the movement in three directions of X, Y and Z, and the Z-direction back-shaped slider is a back-shaped structure, which can be tested in four directions. The cantilever piezoelectric driver has more accurate positioning and convenient operation; Screws are used to adjust the relative position and fixation, and it is easy to disassemble. Sliders in different directions can be selected according to actual needs. For example, when testing a cantilever beam piezoelectric driver, only Z-direction slider adjustment is required; not only for testing, but also for micro The flapping-wing aircraft is assembled, and the design size of each mechanism of the flapping-wing micro-aircraft is adjusted to carry out the assembly of the whole machine to meet the assembly accuracy requirements.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims (10)

1. a piezoelectric-driven flapping wing micro-aircraft three-degree-of-freedom platform is characterized in that it comprises a base, an X-direction convex slide block, a Z-direction return-shaped slide block and two Y-direction concave slide blocks, wherein : The base is provided with an X-direction rail and a Z-direction rail, and the X-direction rail and the Z-direction rail are perpendicular to each other; the X-direction convex slider is provided with an X-direction chute and a Y-direction rail, and the X-direction chute and the The X-direction rail on the base is matched; the Y-direction concave slider is provided with a Y-direction chute, and the Y-direction chute cooperates with the Y-direction rail on the X-direction convex slider; the Z-direction A Z-direction slide groove is arranged on the return-shaped slide block, and the Z-direction slide groove cooperates with the Z-direction rail on the base. 2. The three-degree-of-freedom platform of a piezoelectric-driven flapping-wing micro-aircraft according to claim 1, wherein the X-direction chute on the X-direction convex slider passes through the tolerance and the X-direction rail on the base Clearance fit, so that the X-direction convex slider slides on the X-direction rail. 3. The three-degree-of-freedom platform of a piezoelectric-driven flapping-wing micro-aircraft according to claim 1, wherein the Y-direction chute on the Y-direction concave slide block passes through the tolerance and the X-direction convex-shaped slide block The Y-guiding rail on the upper part is clearance fit, so that the Y-direction concave slider slides on the Y-guiding rail. 4. The three-degree-of-freedom platform of a piezoelectric-driven flapping-wing micro-aircraft according to claim 1, wherein the Z-direction chute on the Z-direction return-shaped slider passes through the tolerance and the Z-direction rail on the base Clearance fit, so that the Z-direction slider slides on the Z-direction rail. 5. A three-degree-of-freedom platform for a piezoelectric-driven flapping-wing micro-aircraft according to claim 1, wherein the base is also provided with threaded holes for fixing the base. 6. A piezoelectric-driven flapping-wing micro-aircraft three-degree-of-freedom platform according to any one of claims 1-5, wherein the left and right sides of the X-direction chute of the X-direction convex slider Corresponding positions are provided with a threaded hole, and the threaded hole adjusts and fixes the relative position of the X-direction convex slider on the X-direction rail of the base through screws. 7. A piezoelectric-driven flapping-wing micro-aircraft three-degree-of-freedom platform according to any one of claims 1-5, wherein the left and right sides of the Y-direction chute of the Y-direction concave slider Corresponding positions are provided with a threaded hole, and the threaded hole adjusts and fixes the relative position of the Y-direction concave slider on the Y-direction rail of the X-direction convex slider through screws. 8. The three-degree-of-freedom platform of a piezoelectric-driven flapping-wing micro-aircraft according to any one of claims 1-5, wherein a screw thread is provided on the corresponding positions of the four sides of the Z-direction return-shaped slider The threaded hole adjusts and fixes the relative position of the Z-direction return-shaped slider on the Z-direction rail of the base through screws. 9. A three-degree-of-freedom platform for a piezoelectric-driven flapping-wing micro-aircraft according to any one of claims 1-5, wherein the length of the base is no more than 10 cm, the width is no more than 3 cm, and the height is no more than 5 cm . 10. The three-degree-of-freedom platform of a piezoelectric-driven flapping-wing micro-aircraft according to any one of claims 1-5, wherein the X-direction convex slider, the Z-direction return-shaped slider and the Y-direction The concave sliders are all detachable connections, and sliders in different directions can be selected according to actual needs.