Body-equipped intelligent bionic ornithopter with self-adaptive attack angle adjusting joints

Abstract

The intelligent bionic ornithopter with the body and the self-adaptive attack angle adjusting joints comprises an ornithopter body, wings and an empennage, the wings and the empennage are arranged on the ornithopter body, driving motors are symmetrically arranged on the flapping portions of the wings, and each driving motor is provided with a limiting joint; the limiting joint comprises an outer ring, an inner ring and an elastic cushion block, the outer ring is composed of a plane end and first protruding parts, the plane end and the driving motor are connected and rotate synchronously, the first protruding parts are located on the two sides of the plane end and provided with penetrating holes, the inner ring is a cylinder, and the inner ring is arranged between the first protruding parts and swings with the middle of the plane end as the center. The inner ring and the penetrating hole are matched and jointly sleeved and fixedly connected with the edge of the wing, a second protruding part is arranged on the inner ring, and elastic cushion blocks are arranged at the upper end and the lower end of the second protruding part. The invention aims to provide the bionic ornithopter which can fully simulate flapping wing flapping actions of flying organisms and can adaptively adjust the attack angle in the flapping process so as to improve the flapping lift force and reduce the resistance.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic flapping-wing robots, and in particular to an embodied intelligent bionic flapping-wing machine with adaptive attack angle adjustment joints. Background Art

[0002] Bionic flapping-wing robots, due to their enormous potential for flight efficiency, quietness, and maneuverability, are a type of small aircraft with high research value and application prospects. Although numerous flapping-wing robot designs have been proposed both domestically and internationally, issues with drive systems and overall quality control have prevented their flight efficiency from matching that of actual living creatures, such as pigeons. In recent years, embodied intelligence, a cutting-edge field in artificial intelligence, has rapidly advanced towards practical application, playing a key role in key technologies such as perception, decision-making, and execution. At the application level, embodied intelligence has begun to be implemented in various fields, including industrial manufacturing, home services, and commercial services. In the industrial sector, embodied intelligent robots can perform tasks such as handling and assembly, improving production efficiency. Companion robots have emerged in the home service sector, demonstrating the powerful decision-making capabilities of embodied intelligence in complex tasks. However, due to the complex aerodynamic models of flapping-wing robots, their application remains underdeveloped.

[0003] Existing flapping-wing robots, due to weight control considerations, are mostly based on a single drive mode. Therefore, during actual movement, the wings often only have a single degree of freedom (flapping) along the fuselage axis, and the wings may also experience some bending deformation due to the flexibility of the material. However, in actual bird flight, whether it is the high-frequency flapping of small hummingbirds or the low-frequency flapping of large flying mammals like bats, the wing's angle of attack must be adjusted during the flapping cycle to continuously generate lift or reduce drag. Therefore, there is an urgent need for a bionic flapping-wing machine that can fully mimic the flapping motion of flying organisms and adaptively adjust the angle of attack during the flapping process to increase lift and reduce drag. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies in the above-mentioned prior art and to provide a bionic flapping-wing machine that can fully imitate the flapping movements of flying creatures and adaptively adjust the angle of attack during the flapping process to enhance the flapping lift and reduce the drag.

[0005] To achieve the above object, the present invention is implemented through the following technical solutions:

[0006] An embodied intelligent bionic flapping-wing aircraft with adaptive angle-of-attack adjustment joints comprises a fuselage, and wings, a tail and a power supply arranged on the fuselage. The flapping parts of the wings are symmetrically provided with drive motors, and each drive motor is provided with a limit joint; the limit joint comprises an outer ring and an inner ring, the outer ring consists of a flat end and a first protrusion, the flat end is connected to the drive motor for synchronous rotation, the first protrusion is located on both sides of the flat end and is provided with a through hole, the inner ring is a cylindrical column, the inner ring is arranged between the first protrusions and swings with the middle of the flat end as the center, the inner ring cooperates with the through hole to be fitted on and fixedly connected to the edge of the wing, a second protrusion is provided on the inner ring, and elastic pads are provided at the upper and lower ends of the second protrusion.

[0007] Furthermore, the center of the plane end has an arc-shaped embedding groove, and the edge of the plane end is provided with a mounting hole for connecting to the drive motor.

[0008] Furthermore, the surface of the first protrusion is arc-shaped, the cross-section of the second protrusion is fan-shaped, the fan-shaped arc surface of the second protrusion is adapted to the first protrusion, and the second protrusion is provided with a mounting hole for connecting with the wing.

[0009] Furthermore, the wing includes a cross bar, a longitudinal bar and an oblique bar. The cross bar extends outward from both sides of the fuselage, and the end of the longitudinal bar facing the fuselage is connected to the front end of the cross bar and forms an 80° angle. An elastic component is stretched between the other end of the longitudinal bar and the rear end of the cross bar. A curved bar connected between the cross bar and the longitudinal bar is provided at the angle where the two are connected. The oblique bar is obliquely arranged between the curved bar and the elastic component. The rod section between the cross bar and the curved bar passes through the first protrusion and the inner ring and is connected to the second protrusion through a connecting member.

[0010] Furthermore, the fuselage includes a mounting plate, a connecting rod and a fuselage connecting piece, the mounting plate is connected to the drive motor, the fuselage connecting piece is a truss structure and is connected between the drive motors, the connecting rod is a straight line, one side of the connecting rod passes through the mounting plate and is connected to the fuselage connecting piece, and the other side of the connecting rod is connected to the tail through the tail connecting piece.

[0011] Furthermore, a fixing part located on the upper side of the fuselage connecting part is connected between the driving motors, and the fixing part is a ring structure.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] The drive motor and limit joint in the present invention can simultaneously satisfy the requirements of executing the flapping action and passively changing the angle of attack of the wing, so that the wing can produce a follow-up angle adjustment in response to the influence of aerodynamic force and gravity during the flapping process. During the upward swing stroke of the wing, due to the influence of gravity and air resistance, the inner ring will be affected by the resistance and rotate downward, causing the wing to naturally rotate downward close to a vertical state. At this time, the air resistance is minimized, which can maximize the reduction of resistance during the upward swing process. During the downward swing stroke, the angle of attack is reduced to 0°, and the wing is close to horizontal to achieve the best lift effect. In such a downward and upward flapping cycle, the aerodynamic force received by the wing will provide net lift, so that the angle of attack can be adaptively adjusted during the flapping process, fully imitating the flapping action of the wings of flying creatures. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the front side of the present invention;

[0015] Figure 2 It is a structural schematic diagram of the front side of the present invention;

[0016] Figure 3 Schematic diagram of the structure of the fuselage in the present invention;

[0017] Figure 4 Schematic diagram of the structure of the wing of the present invention;

[0018] Figure 5 Schematic diagram of the structure of the limiting joint in the present invention;

[0019] Figure 6 An exploded view of the limiting joint in the present invention;

[0020] Figure 7 Schematic diagram of the limit joint when the wing is in a horizontal state;

[0021] Figure 8 is a schematic diagram of the fuselage connecting member of the present invention;

[0022] Figure 9 Schematic diagram of the fixing ring in the present invention;

[0023] Figure 10 Schematic diagram of the mounting plate in the present invention.

[0024] Reference numerals:

[0025] 1-connecting rod, 2-wing, 3-tail, 4-drive motor, 5-tail connector, 6-power supply, 7-mounting plate, 8-fuselage connector, 9-fixing part, 10-limiting joint, 21-cross bar, 22-longitudinal bar, 23-oblique bar, 24-curved bar, 101-outer ring, 102-inner ring, 103-elastic pad, 104-bearing, 105-first protrusion, 106-second protrusion. DETAILED DESCRIPTION

[0026] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0027] like Figures 1 to 10 As shown, an embodied intelligent bionic flapping-wing aircraft with adaptive angle of attack adjustment joints includes a fuselage, and wings 2, tail 3 and power supply 6 arranged on the fuselage, the flapping parts of the wings 2 are symmetrically provided with drive motors 4, and each drive motor 4 is provided with a limit joint 10; the limit joint 10 includes an outer ring 101 and an inner ring 102, the outer ring 101 consists of a plane end and a first protrusion 105, the plane end is connected to the drive motor 4 and rotates synchronously, the first protrusion 105 is located on both sides of the plane end and is provided with a through hole, the inner ring 102 is a cylindrical column, the inner ring 102 is arranged between the first protrusion 105 and swings with the middle of the plane end as the center, the inner ring 102 cooperates with the through hole to be fitted on the edge of the wing 2 and fixedly connected, a second protrusion 106 is provided on the inner ring 102, and elastic pads 103 are provided at the upper and lower ends of the second protrusion 106.

[0028] The center of the flat end has an arcuate groove, and the edge of the flat end is provided with a mounting hole for connecting to the drive motor 4. The arcuate groove facilitates the installation and positioning of the inner ring 102 in the outer ring 101, and also facilitates the inner ring 102 to swing up and down around the middle of the flat end.

[0029] The surface of the first protrusion 105 is arc-shaped, and the cross-section of the second protrusion 106 is fan-shaped. The fan-shaped arc surface of the second protrusion 106 is adapted to match the first protrusion 105. The second protrusion 106 is provided with a mounting hole for mating with the wing 2. The fan-shaped cross-section of the second protrusion 106 allows the outer surface of the second protrusion 106 to coincide with the first protrusion 105 when the inner ring 102 swings with the wing 2, thereby preventing interference with the limit joint 10 due to other equipment attached to the ornithopter during flapping of the wing 2.

[0030] The wing 2 includes a crossbar 21, a longitudinal bar 22, and a diagonal bar 23. The crossbar 21 extends outward from both sides of the fuselage. The longitudinal bar 22, facing the fuselage, is connected to the front end of the crossbar 21 at an 80° angle. An elastic member is tensioned between the other end of the longitudinal bar 22 and the rear end of the crossbar 21. A curved bar 24 is provided at the angle between the crossbar 21 and the longitudinal bar 22. The diagonal bar 23 is tilted between the curved bar 24 and the elastic member. The section between the crossbar 21 and the curved bar 24 passes through the first protrusion 105 and the inner ring 102 and is fixedly connected to the second protrusion 106 via a connector. The 80° angle between the crossbar 21 and the longitudinal bar 22 prevents interference between the two wings 2 and prevents entanglement between the wings 2 when the power source 6 is a battery pack and needs to be connected to the drive motor 4. The wing frame composed of the crossbars 21, longitudinal bars 22, diagonal bars 23 and elastic components can provide installation support for the wing membrane, and the diagonal bars 23 increase the overall strength to prevent the wing 2 from bending.

[0031] The fuselage includes a mounting plate 7, a connecting rod 1, and a fuselage connector 8. The mounting plate 7 is connected to the drive motor 4. The fuselage connector 8 is a truss structure and is connected between the drive motors 4. The connecting rod 1 is linear, with one side of the connecting rod 1 passing through the mounting plate 7 to connect to the fuselage connector 8. The other side of the connecting rod 1 is connected to the empennage 3 via the empennage connector 5. The fuselage connector 8 and the empennage connector 5 are used to enhance the connection strength between the entire fuselage and the empennage 3. To facilitate installation of the fuselage connector 8, mounting holes are preferably provided at the four corners of the fuselage connector 8 and the housing of the drive motor 4.

[0032] The drive motors 4 are connected to a fixing member 9 located on the upper side of the fuselage connecting member 8. The fixing member 9 is an annular structure. The annular fixing member 9 can not only strengthen the connection strength between the drive motors 4, but also reduce the weight of the fixing member 9.

[0033] like Figure 7 The figure shows the limit joint 10 when the wing 2 is in a horizontal state. At this time, the elastic pad 103 on the upper part of the second protrusion 106 is in contact with the upper edge of the plane end of the outer ring 101, the angle of attack is reduced to 0°, and the wing 2 is close to horizontal.

[0034] When the ornithopter is flying, the output power of the drive motor 4 can be controlled according to the flight conditions to change the frequency of the flapping cycles of the wing 2. In a flapping cycle, when the wing 2 is in the downstroke phase, the wing 2 flaps from top to bottom. At this time, the wing 2 is continuously subjected to the upward lift brought by the airflow. Therefore, in the early stage of the downstroke phase, the wing 2 drives the elastic pad 103 on the upper part of the inner ring 102 to fit with the upper edge of the plane end of the outer ring 101 under the action of lift, thereby locking the angle of attack of the subsequent downstroke phase at 0°, increasing the projected surface area of ​​the relative motion between the wing 2 and the air flapping, and making the flapping process generate a large lift effect.

[0035] During the upstroke phase, wing 2 flaps upward from bottom to top. At this point, wing 2 is continuously subjected to the downward drag of the airflow. Therefore, in the early stages of the upstroke phase, wing 2, under the action of the lift drag, drives the elastic pad 103 at the bottom of the inner ring 102 to fit the lower edge of the planar end of the outer ring 101, thereby locking the angle of attack of the subsequent upstroke phase at 80°. This greatly reduces the projected surface area of ​​the relative motion between wing 2 and air flapping, greatly reducing the lift drag of the upstroke phase. Ultimately, throughout the entire flapping cycle, passive angle of attack adjustment makes the aerodynamic force of the upstroke asymmetric, and the direction of action of the combined impulse of the full cycle is upward, thus achieving the effect of the average force manifesting as lift. It should be noted that as the flapping frequency increases, the aerodynamic force exerted on wing 2 increases, and the rate at which wing 2 passively changes its angle of attack during the upstroke will also accelerate accordingly. Therefore, as the flapping frequency increases, the effect of the passive angle of attack will also be correspondingly better.

[0036] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An embodied intelligent bionic flapping-wing aircraft with adaptive attack angle adjustment joints, comprising a fuselage, and wings (2), a tail (3), and a power supply (6) arranged on the fuselage, characterized in that: The flapping part of the wing (2) is symmetrically provided with a driving motor (4), and each driving motor (4) is provided with a limit joint (10); the limit joint (10) includes an outer ring (101) and an inner ring (102), the outer ring (101) is composed of a plane end and a first protrusion (105), the plane end is connected to the driving motor (4) and rotates synchronously, the first protrusion (105) is located on both sides of the plane end and is provided with a through hole, the inner ring (102) is a cylindrical column, the inner ring (102) is provided between the first protrusions (105) and swings around the middle of the plane end, the inner ring (102) cooperates with the through hole to be fitted on the edge of the wing (2) and fixedly connected, the inner ring (102) is provided with a second protrusion (106), and elastic pads (103) are provided at the upper and lower ends of the second protrusion (106).

2. The embodied intelligent bionic flapping-wing aircraft with adaptive angle-of-attack adjustment joints according to claim 1, characterized in that: The center of the plane end has an arc-shaped embedding groove, and the edge of the plane end is provided with a mounting hole for connecting to the drive motor (4).

3. The embodied intelligent bionic flapping-wing aircraft with adaptive angle-of-attack adjustment joints according to claim 1, characterized in that: The surface of the first protrusion (105) is arc-shaped, the cross-section of the second protrusion (106) is fan-shaped, the fan-shaped arc surface of the second protrusion (106) is adapted to the first protrusion (105), and the second protrusion (106) is provided with a mounting hole for matching and connecting with the wing (2).

4. The embodied intelligent bionic flapping-wing aircraft with adaptive angle-of-attack adjustment joints according to claim 3, characterized in that: The wing (2) comprises a crossbar (21), a longitudinal bar (22) and an oblique bar (23), wherein the crossbar (21) extends outward from both sides of the fuselage, and one end of the longitudinal bar (22) facing the fuselage is connected to the front end of the crossbar (21) and forms an angle of 80 degrees, and an elastic member is stretched between the other end of the longitudinal bar (22) and the rear end of the crossbar (21), and a curved bar (24) connected between the crossbar (21) and the longitudinal bar (22) is provided at the angle where the crossbar (21) and the longitudinal bar (22) are connected, and the oblique bar (23) is obliquely provided between the curved bar (24) and the elastic member, and the rod section between the crossbar (21) and the curved bar (24) penetrates into the first protrusion (105) and the inner ring (102) and is connected to the second protrusion (106) through a connecting member.

5. The embodied intelligent bionic flapping-wing aircraft with adaptive angle-of-attack adjustment joints according to claim 1, characterized in that: The fuselage comprises a mounting plate (7), a connecting rod (1) and a fuselage connecting member (8), wherein the mounting plate is connected to the drive motor (4), the fuselage connecting member (8) is a truss structure and is connected between the drive motors (4), the connecting rod (1) is a straight line, one side of the connecting rod (1) passes through the mounting plate (7) and is connected to the fuselage connecting member (8), and the other side of the connecting rod (1) is connected to the tail (3) through the tail connecting member (5).

6. The embodied intelligent bionic flapping-wing aircraft with adaptive attack angle adjustment joints according to claim 5, characterized in that: A fixing member (9) located on the upper side of the fuselage connecting member (8) is connected between the driving motors (4), and the fixing member (9) is a ring-shaped structure.

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