A multi-degree-of-freedom bionic flapping-wing propulsion and energy harvesting device

Abstract

The present invention discloses a multi-freedom bionic flapping wing propulsion and energy harvesting device, including a flapping wing rotation execution module, a flapping wing sliding execution module, a flapping wing gear rack transmission module and a flapping wing external fixed adjustment frame. The flapping wing device adopts two independent modules to realize the movement of the two degrees of freedom of the flapping wing, namely, the buoyancy and pitching, which provides sufficient scalability for the research of multi-freedom bionic flapping wings in propulsion or energy harvesting. Furthermore, the transmission and control of the motion and the input and output of the energy are realized through the pitch main axis and multiple secondary axes, and the two working mechanisms of propulsion and energy harvesting are realized by changing the motion parameters of the flapping wing. It has the characteristics of high transmission efficiency, long working life, stable transmission and high reliability, which greatly expands the current research and application scope of flapping wing devices and provides a new technical route for improving the research on the propulsion and energy harvesting performance of flapping wings.

Description

Technical Field

[0001] The invention belongs to the field of engineering and technical research and experimental development technology, and in particular relates to a multi-degree-of-freedom bionic flapping-wing propulsion and energy harvesting device. Background Art

[0002] Vigorously developing clean energy is an inevitable requirement for achieving coordinated and sustainable development of my country's economy, society, energy, and environment. It is of great significance to ensure energy security, optimize energy structure, control environmental pollution, and build ecological civilization. In nature, flying creatures such as birds and aquatic creatures such as fish can generate maneuvering power and high propulsion efficiency through the oscillating motion of their wings or fins. People get inspiration from this and conduct in-depth research on bionic flapping wings. It is found that by changing the motion parameters of flapping wings, two working mechanisms will be generated. On the one hand, bionic oscillating flapping wings can be used as propulsion devices for aircraft and ships, and on the other hand, oscillating flapping wings can also capture energy in fluids, thus forming an oscillating flapping wing energy harvesting system.

[0003] The bionic flapping wing propulsion system has various advantages such as economy, environmental protection, high efficiency and low noise. Its own development is of great significance to various fields such as navigation, aerospace and aviation, and its application prospects are very broad. The bionic flapping wing energy harvesting system realizes energy harvesting through the flow velocity difference between the airfoil and the fluid by coupling the buoyancy and pitching motion. Compared with traditional rotating machinery, the oscillating flapping wing energy harvesting system has the advantages of simple structure, can be started at low Reynolds number, strong environmental adaptability, and little impact on wild animals. It also has a high energy capture efficiency, which is equivalent to the 45% efficiency achieved by traditional wind turbines.

[0004] Most of the existing flapping-wing devices can only realize a single flapping-wing working mechanism with a single degree of freedom. The rare dual-degree-of-freedom flapping-wing devices are only flapping-wing propulsion systems, which realize the movement of two degrees of freedom, pitch and buoyancy, through a complex crank rocker mechanism. The complexity of the current flapping-wing device, the difficulty of control, and the single working mechanism have greatly restricted the development and utilization of flapping-wing technology. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a multi-degree-of-freedom bionic flapping-wing propulsion and energy harvesting device. The flapping-wing device realizes the two-degree-of-freedom movement of the wing, namely the sinking and pitching, through linear guides and bearings, realizes the input or output of energy through the pitch main axis and multiple side gear secondary axes, and realizes the two working mechanisms of propulsion and energy harvesting by changing the flapping-wing motion parameters. This greatly expands the current research and application scope of flapping-wing devices and provides a new technical route for improving the research on flapping-wing propulsion and energy harvesting performance.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A multi-degree-of-freedom bionic flapping wing propulsion and energy harvesting device, comprising a flapping wing rotation execution module, a flapping wing sliding execution module, a flapping wing gear rack transmission module and a flapping wing external fixed adjustment frame, wherein the two modules for realizing the two degrees of freedom of the flapping wing, namely, the buoyancy and pitch, are independent of each other and complete their respective functions without interfering with each other;

[0008] The flapping wing rotation execution module is used to realize the pitch freedom movement of the flapping wing and realize the input or output of energy through the pitch main axis;

[0009] The flapping wing sliding execution module is used to realize the flapping wing's floating and sinking freedom movement;

[0010] The flapping-wing rack and pinion transmission module is used to achieve the coordination of two degrees of freedom and to transmit or control the motion;

[0011] The flapping wing external fixed adjustment frame is used to fix and adjust the entire device to ensure stable and reliable motion transmission.

[0012] A further improvement of the present invention is that the flapping-wing rotation execution module includes a flapping-wing truss, a rotation spindle, a bearing, a coupling, a flapping-wing blade, a blade end plate, a flapping-wing rotation damping and stiffness adjustment module and a truss sliding damping adjustment module;

[0013] The flapping-wing truss in the flapping-wing rotation execution module is the main structure of the overall flapping-wing device, which includes upper and lower horizontal trusses and front and rear vertical trusses. The rotating main shaft is fixed in the bearing seats on the upper and lower horizontal trusses through bearings and has rotational freedom. The front and rear vertical trusses are positioned and connected with the lower horizontal truss by angle codes; the flapping-wing rotation damping and stiffness adjustment module includes a main shaft wheel, a first U-shaped magnet, a first U-shaped magnet fixing seat and a main axis guide wheel. The main shaft wheel and the main axis guide wheel are arranged in steps along the rotating main shaft. The rotation damping of the flapping wing is adjusted by the magnetic size and relative position of the main shaft wheel and the first U-shaped magnet. The first U-shaped magnet is fixed in the first U-shaped magnet fixing seat on the upper horizontal truss of the flapping wing; the edge of the main axis guide wheel of the flapping-wing rotation damping and stiffness adjustment module is provided with a groove, and the traction rope passes around the groove The connecting springs at both ends are connected to the rear vertical truss, and the stiffness and length of the springs can be adjusted to achieve the function of changing the rotational stiffness of the flapping wing; a motor support seat is installed on the top of the upper horizontal truss, and the pitching movement of the flapping wing is transmitted or controlled by the motor through the end of the rotating main shaft; the bottom end of the rotating main shaft is connected to the flapping wing blade through a coupling, and a blade end plate is arranged on the top of the flapping wing blade; the truss sliding damping adjustment module comprises a sliding damping adjustment wheel, a second U-shaped magnet, a second U-shaped magnet fixing seat and a magnet fixing bracket, and the sliding damping of the flapping wing is adjusted by the magnetic size and relative position of the sliding damping adjustment wheel and the second U-shaped magnet, and the second U-shaped magnet is installed in the second U-shaped magnet fixing seat, and the second U-shaped magnet fixing seat is connected through the magnet fixing bracket, and the lower end of the magnet fixing bracket is fixed on the bearing fixing bracket.

[0014] A further improvement of the present invention is that the flapping wing rotation damping and stiffness adjustment module is connected to the rotating main shaft by a key.

[0015] A further improvement of the present invention is that the magnetic force of the magnet and the relative position of the magnet to the flapping-wing rotation damping and stiffness adjustment module are adjustable.

[0016] A further improvement of the present invention is that the height of the blade end plate is close to the free liquid surface, which can reduce the influence of liquid surface fluctuation on the blade movement.

[0017] A further improvement of the present invention is that the flapping-wing sliding execution module comprises a flapping-wing truss base, a slider, a linear guide rail and a guide rail support seat;

[0018] The flapping-wing sliding actuator module provides the flapping-wing rotating actuator module with the freedom of translation along the linear guide rail. The cooperation between the flapping-wing main axis and the linear guide rail forms the two degrees of freedom of flapping-wing pitch and sinking; the slider is installed at the four corners of the lower horizontal truss at the bottom of the flapping-wing rotating actuator module. The slider and the linear guide rail are precisely matched and have high strength and wear resistance; the linear guide rail is supported and fixed by the guide rail support seats at both ends, and the guide rail support seats are fixed on the side panels of the flapping-wing external fixed adjustment frame.

[0019] A further improvement of the present invention is that the flapping-wing rack and pinion transmission module comprises a spur rack, a precision gear, a gear countershaft, a bearing, a bearing seat, a shaft end bracket, a bearing seat fixing bracket and an adjustment block;

[0020] The flapping-wing gear rack transmission module is connected to the flapping-wing rotation execution module, and is used to transmit or control the linear motion of the flapping wing along the linear guide, that is, the sinking and floating motion of the flapping wing. The spur rack of the flapping-wing gear rack transmission module is fixed to the side of the lower horizontal plate of the flapping-wing rotation execution module; the precision gears include the first gear and the second gear on the same side and the third gear on the opposite side. The structure of multiple gear transmissions is beneficial to the balance of force and the simultaneous realization of the functions of motion control and energy collection and output; the gear countershaft is, from top to bottom, the shaft end bracket, the upper bearing, the precision gear and the lower bearing; the bearing is fixed with the bearing seat, and the bearing seat is fixed in the bearing seat fixing frames on both sides; the two ends of the bearing seat fixing frames are connected to the adjustment blocks; the adjustment blocks are fixed in the external fixed adjustment frame of the flapping wing.

[0021] A further improvement of the present invention is that the position and distance of the bearing seats can be adjusted longitudinally.

[0022] A further improvement of the present invention is that the adjustment block can be adjusted in the lateral direction to adjust the meshing of the precision gear and the spur rack to ensure higher gear and rack transmission efficiency and smooth transmission reliability.

[0023] A further improvement of the present invention is that the flapping wing external fixed adjustment frame comprises a first side plate, a second side plate, a third side plate, a fourth side plate, a first top plate, a second top plate, a first bottom plate, and a second bottom plate;

[0024] The flapping wing external fixed adjustment frame is used to provide overall support and protection; the through hole in the middle of the first side panel and the third side panel is used to install the spring for adjusting the pitch stiffness of the flapping wing, the rectangular groove below is used to install the guide rail support seat, and the rectangular grooves at both ends and the groove on the back are used to fix and adjust the lateral spacing of the flapping wing gear rack transmission module to achieve a better gear and rack meshing effect; the second side panel, the fourth side panel, the first top panel, the second top panel, the first bottom panel and the second bottom panel protect the overall device.

[0025] Compared with the prior art, the present invention has at least the following beneficial technical effects:

[0026] The present invention provides a multi-degree-of-freedom bionic flapping-wing propulsion and energy harvesting device, which realizes the two-degree-of-freedom movement of the flapping wings, namely, the sinking and pitching, through linear guides and bearings, realizes the input or output of energy through the pitch main shaft and multiple side gear countershafts, and realizes the two working mechanisms of propulsion and energy harvesting by changing the motion parameters of the flapping wings. This greatly expands the current research and application scope of flapping-wing devices and provides a new technical route for the research on improving the propulsion and energy harvesting performance of flapping wings.

[0027] Furthermore, the present invention provides a multi-degree-of-freedom bionic flapping wing propulsion and energy harvesting device, in which two modules for realizing the two degrees of freedom of flapping wings, namely, sinking and pitching, are independent of each other and can complete their respective functions without interfering with each other. The modular design provides sufficient scalability for the research on multi-degree-of-freedom bionic flapping wings in propulsion or energy harvesting, and is more conducive to the further promotion and improvement of the device.

[0028] Furthermore, the present invention provides a multi-degree-of-freedom bionic flapping wing propulsion and energy harvesting device, which uses mechanical means to realize the two degrees of freedom of the flapping wing's sinking and floating translation and pitching and rotation. The motor is connected to the shaft ends of the flapping wing main shaft and the gear secondary shaft to transmit or control the motion. It has high transmission efficiency, long service life, smooth transmission and high reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of a multi-degree-of-freedom bionic flapping-wing propulsion and energy harvesting device according to the present invention;

[0030] Figure 2 It is a schematic diagram of the flapping wing rotation execution module structure;

[0031] Figure 3 It is a schematic diagram of the flapping-wing sliding execution module structure;

[0032] Figure 4 It is a schematic diagram of the structure of the flapping-wing rack and pinion transmission module;

[0033] Figure 5 It is a schematic cross-sectional diagram of the secondary shaft structure of the flapping-wing transmission module;

[0034] Figure 6 Schematic diagram of the flapping wing external fixed adjustment frame structure.

[0035] Description of reference numerals:

[0036] 1. Flapping-wing rotation execution module; 2. Flapping-wing sliding execution module; 3-Flapping-wing gear rack transmission module; 4. Flapping-wing external fixed adjustment frame; 5. Flapping-wing truss; 6. Rotating main shaft; 7. Main shaft first bearing; 8. Main shaft second bearing; 9. Coupling; 10. Flapping-wing blade; 11. Blade end plate; 12. Flapping-wing rotation damping and stiffness adjustment module; 13. Main shaft wheel; 14. First U-shaped magnet; 15. First U-shaped magnet fixing seat; 16. Main axis guide wheel; 17. Truss sliding damping adjustment module; 18. Sliding damping adjustment wheel; 19. Second U-shaped magnet; 20. Second U-shaped Magnet fixing seat; 21. Magnet fixing bracket; 22. Flapping wing truss base; 23. Slider; 24. Linear guide; 25. Guide rail support seat; 26. Spur rack; 27. Precision gear; 28. Gear countershaft; 29. ​​Countershaft second bearing; 30. Countershaft second bearing seat; 31. Shaft end bracket; 32. Bearing seat fixing bracket; 33. Adjustment block; 34. Countershaft first bearing; 35. Countershaft first bearing seat; 36. First side panel; 37. Second side panel; 38. Third side panel; 39. Fourth side panel; 40. First top panel; 41. Second top panel; 42. First bottom panel; 43. Second bottom panel. DETAILED DESCRIPTION

[0037] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0038] See also Figure 1 The present invention provides a multi-degree-of-freedom bionic flapping-wing propulsion and energy harvesting device, including a flapping-wing rotation execution module 1, a flapping-wing sliding execution module 2, a flapping-wing gear rack transmission module 3 and a flapping-wing external fixed adjustment frame 4.

[0039] See also Figure 2 , a schematic diagram of the structure of a flapping-wing rotation execution module provided by the present invention, the flapping-wing rotation execution module 1 mainly includes a flapping-wing truss 5, a rotating main shaft 6, a first main shaft bearing 7, a second main shaft bearing 8, a coupling 9, a flapping-wing blade 10, a blade end plate 11, a flapping-wing rotation damping and stiffness adjustment module 12 and a truss sliding damping adjustment module 17.

[0040] See also Figure 3 , a schematic diagram of the structure of a flapping-wing sliding execution module provided by the present invention, the flapping-wing sliding execution module 2 mainly includes a flapping-wing truss base 22, a slider 23, a linear guide rail 24 and a guide rail support seat 25.

[0041] See also Figure 4 and Figure 5, a schematic diagram of the structure of a flapping-wing gear rack transmission module provided by the present invention, the flapping-wing gear rack transmission module 3 mainly includes a spur rack 26, a gear countershaft 28, a shaft end bracket 31, a countershaft first bearing 34, a countershaft first bearing seat 35, a precision gear 27, a countershaft second bearing 29, a countershaft second bearing seat 30, a bearing seat fixing frame 32 and an adjustment block 33.

[0042] See also Figure 6 , a schematic diagram of a flapping wing external fixed adjustment frame structure provided by the present invention, the flapping wing external fixed adjustment frame 4 mainly includes a first side panel 36, a second side panel 37, a third side panel 38, a fourth side panel 39, a first top panel 40, a second top panel 41, a first bottom panel 42 and a second bottom panel 43.

[0043] Preferably, the flapping-wing truss 5 in the flapping-wing rotation execution module 1 is the main structure of the overall flapping-wing device, comprising upper and lower horizontal trusses and front and rear vertical trusses. The rotating main shaft 6 is fixed in the bearing seats of the upper and lower horizontal flapping-wing trusses 5 through the first main shaft bearing 7 and the second main shaft bearing 8, and has rotational freedom. The front and rear vertical trusses are positioned and connected with the lower horizontal truss by angle codes; the flapping-wing rotation damping and stiffness adjustment module 12 comprises a main shaft disc 13, a first U-shaped magnet 14, a first U-shaped magnet fixing seat 15 and a main axis guide wheel 16. The main shaft disc 13 and the main axis guide wheel 16 are arranged in steps along the rotating main shaft. The rotation damping of the flapping wing is adjusted by the magnetic size and relative position of the main shaft disc 13 and the first U-shaped magnet 14. The first U-shaped magnet 14 is fixed on the upper horizontal truss of the flapping wing. In the first U-shaped magnet fixing seat 15; the main axis guide wheel 16 of the flapping wing rotation damping and stiffness adjustment module 12 has a groove on its edge, and the traction rope passes through the two ends of the groove to connect the spring and the rear vertical truss, and the stiffness and length of the spring can be adjusted to achieve the function of changing the rotation stiffness of the flapping wing; the truss sliding damping adjustment module 17 includes a sliding damping adjustment wheel 18, a second U-shaped magnet 19, a second U-shaped magnet fixing seat 20 and a magnet fixing bracket 21, and the sliding damping of the flapping wing is adjusted by the magnetic size and relative position of the sliding damping adjustment wheel 18 and the second U-shaped magnet 19, and the second U-shaped magnet 19 is installed in the second U-shaped magnet fixing seat 20, and the second U-shaped magnet fixing seat 20 is connected through the magnet fixing bracket 21, and the lower end of the magnet fixing bracket is fixed on the bearing seat fixing bracket 32.

[0044] A motor support seat can be installed on the top of the upper horizontal flapping-wing truss 5, and the pitching motion of the flapping wing is transmitted or controlled by the motor through the shaft end of the rotating main shaft 6; except for the necessary fixing and supporting structures, the other structures of the flapping-wing truss 5 are hollow; the bottom shaft end of the rotating main shaft 6 is connected to the flapping-wing blade 10 through a coupling 9, and a blade end plate 11 is provided on the top of the flapping-wing blade 10. The height of the blade end plate 11 is slightly lower than the experimental free liquid surface, which can effectively reduce the influence of liquid level fluctuations on the movement of the wing blade 10.

[0045] Preferably, the flapping-wing sliding execution module 2 provides the flapping-wing rotation execution module 1 with the freedom of translation along the linear guide 24, and the cooperation between the rotating main shaft 6 and the linear guide 24 forms the two degrees of freedom of flapping-wing pitch and sinking; the slider 23 is installed at the four corners of the flapping-wing truss base 22 at the bottom of the flapping-wing rotation execution module 1, and the slider 23 is precisely matched with the linear guide 24, and has high strength and wear resistance; the linear guide 24 is supported and fixed by the guide support seats 25 at both ends, and the guide support seats 25 are fixed on the side panels of the flapping-wing external fixed adjustment frame 4.

[0046] Preferably, the flapping-wing gear rack transmission module 3 is connected to the flapping-wing rotation execution module 1, and is used to transmit or control the linear motion of the flapping wing along the linear guide rail 24, that is, the floating motion of the flapping wing. The spur rack of the flapping-wing gear rack transmission module 3 is fixed to the side of the lower horizontal plate of the flapping-wing rotation execution module 1; the precision gear 27 includes the first gear and the second gear on the same side and the third gear on the opposite side. The structure of multiple gear transmissions is conducive to the balance of force and the simultaneous realization of the functions of motion control and energy collection output; the gear countershaft 28 is composed of the shaft end bracket 31, the countershaft first bearing 34, the countershaft The first bearing seat 35, the precision gear 27, the secondary shaft second bearing 29 and the secondary shaft second bearing seat 30; the secondary shaft second bearing 29 is fixed with the secondary shaft second bearing seat 30, the secondary shaft second bearing seat 30 is fixed in the bearing seat fixing frame 32 on both sides, and the position and distance of the secondary shaft second bearing seat 30 can be adjusted horizontally; the two ends of the bearing seat fixing frame 32 are connected to the adjustment block 33; the adjustment block 33 is fixed in the flapping wing external fixed adjustment frame 4, which can be adjusted laterally to adjust the meshing of the precision gear 27 and the spur rack 26 to ensure higher gear rack transmission efficiency and smooth transmission reliability.

[0047] Preferably, the present invention provides a schematic diagram of a flapping-wing external fixed adjustment frame structure, wherein the flapping-wing external fixed adjustment frame 4 is used to provide overall support and protection; the through hole between the first side panel 36 and the third side panel 38 is used to install a spring for adjusting the pitch stiffness of the flapping wing, the rectangular groove below is used to install a guide rail support seat 25, and the rectangular grooves at both ends and the groove on the back are used to fix and adjust the lateral spacing of the flapping-wing rack and pinion transmission module 3 to achieve a better gear and rack meshing effect; the second side panel 37, the fourth side panel 39, the first top panel 40, the second top panel 41, the first bottom panel 42 and the second bottom panel 43 protect the overall device, especially the internal bearings and precision transmission components such as racks and pinions.

[0048] Finally, it should be noted that the above embodiments are only preferred implementation modes of the present invention, which are only used to illustrate the technical solutions of the present invention rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation modes of the present invention can still be modified or replaced by equivalents, and any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A multi-degree-of-freedom bionic flapping-wing propulsion and energy harvesting device, It is characterized in that It includes a flapping wing rotation execution module, a flapping wing sliding execution module, a flapping wing gear rack transmission module and a flapping wing external fixed adjustment frame. The two modules for realizing the two degrees of freedom of the flapping wing, namely, the buoyancy and pitch, are independent of each other and complete their respective functions without interfering with each other. The flapping wing rotation execution module is used to realize the pitch freedom movement of the flapping wing and realize the input or output of energy through the pitch main axis; The flapping wing sliding execution module is used to realize the flapping wing's floating and sinking freedom movement; The flapping-wing rack and pinion transmission module is used to achieve the coordination of two degrees of freedom and to transmit or control the motion; The flapping wing external fixed adjustment frame is used to fix and adjust the entire device to ensure stable and reliable motion transmission; The flapping-wing rotation execution module includes a flapping-wing truss, a rotation main shaft, a bearing, a coupling, a flapping-wing blade, a blade end plate, a flapping-wing rotation damping and stiffness adjustment module and a truss sliding damping adjustment module; The flapping-wing truss in the flapping-wing rotation execution module is the main structure of the overall flapping-wing device, which includes upper and lower horizontal trusses and front and rear vertical trusses. The rotating main shaft is fixed in the bearing seats on the upper and lower horizontal trusses through bearings and has rotational freedom. The front and rear vertical trusses are positioned and connected with the lower horizontal truss by angle codes; the flapping-wing rotation damping and stiffness adjustment module includes a main shaft wheel, a first U-shaped magnet, a first U-shaped magnet fixing seat and a main axis guide wheel. The main shaft wheel and the main axis guide wheel are arranged in steps along the rotating main shaft. The rotation damping of the flapping wing is adjusted by the magnetic size and relative position of the main shaft wheel and the first U-shaped magnet. The first U-shaped magnet is fixed in the first U-shaped magnet fixing seat on the upper horizontal truss of the flapping wing; the edge of the main axis guide wheel of the flapping-wing rotation damping and stiffness adjustment module is provided with a groove, and the traction rope passes around the groove The springs at both ends are connected to the rear vertical truss, and the stiffness and length of the springs can be adjusted to achieve the function of changing the rotational stiffness of the flapping wing; a motor support seat is installed on the top of the upper horizontal truss, and the pitching movement of the flapping wing is transmitted or controlled by the motor through the end of the rotating main shaft; the bottom end of the rotating main shaft is connected to the flapping wing blade through a coupling, and a blade end plate is provided on the top of the flapping wing blade; the truss sliding damping adjustment module includes a sliding damping adjustment wheel, a second U-shaped magnet, a second U-shaped magnet fixing seat and a magnet fixing bracket, and the sliding damping of the flapping wing is adjusted by the magnetic size and relative position of the sliding damping adjustment wheel and the second U-shaped magnet, and the second U-shaped magnet is installed in the second U-shaped magnet fixing seat, and the second U-shaped magnet fixing seat is connected through the magnet fixing bracket, and the lower end of the magnet fixing bracket is fixed on the bearing fixing bracket; The flapping-wing sliding execution module includes a flapping-wing truss base, a slider, a linear guide rail and a guide rail support seat; The flapping-wing sliding execution module provides the flapping-wing rotation execution module with the freedom of translation along the linear guide rail. The cooperation between the flapping-wing main axis and the linear guide rail forms the two degrees of freedom of flapping-wing pitch and buoyancy. The slider is installed at the four corners of the lower horizontal truss at the bottom of the flapping-wing rotation execution module. The slider and the linear guide rail are precisely matched and have high strength and wear resistance. The linear guide rail is supported and fixed by the guide rail support seats at both ends, and the guide rail support seats are fixed to the side panels of the flapping-wing external fixed adjustment frame. The flapping-wing gear rack transmission module includes a spur rack, a precision gear, a gear countershaft, a bearing, a bearing seat, a shaft end bracket, a bearing seat fixing bracket and an adjustment block; The flapping-wing gear rack transmission module is connected to the flapping-wing rotation execution module, and is used to transmit or control the linear motion of the flapping wing along the linear guide, that is, the sinking and floating motion of the flapping wing. The spur rack of the flapping-wing gear rack transmission module is fixed to the side of the lower horizontal plate of the flapping-wing rotation execution module; the precision gears include the first gear and the second gear on the same side and the third gear on the opposite side. The structure of multiple gear transmissions is beneficial to the balance of force and the simultaneous realization of the functions of motion control and energy collection and output; the gear countershaft is, from top to bottom, the shaft end bracket, the upper bearing, the precision gear and the lower bearing; the bearing is fixed with the bearing seat, and the bearing seat is fixed in the bearing seat fixing frames on both sides; the two ends of the bearing seat fixing frames are connected to the adjustment blocks; the adjustment blocks are fixed in the external fixed adjustment frame of the flapping wing.

2. A multi-degree-of-freedom bionic flapping wing propulsion and energy harvesting device according to claim 1, It is characterized in that The flapping wing rotation damping and stiffness adjustment module is connected to the rotating main shaft by a key.

3. A multi-degree-of-freedom bionic flapping-wing propulsion and energy harvesting device according to claim 1, It is characterized in that The magnetic force of the magnet and the relative position of the magnet to the flapping-wing rotation damping and stiffness adjustment module are adjustable.

4. The multi-degree-of-freedom bionic flapping-wing propulsion and energy harvesting device according to claim 1, It is characterized in that The height of the blade end plate is close to the free liquid surface, which can reduce the influence of liquid surface fluctuation on the blade movement.

5. The multi-degree-of-freedom bionic flapping-wing propulsion and energy harvesting device according to claim 1, It is characterized in that The position and distance of the bearing seats can be adjusted longitudinally.

6. The multi-degree-of-freedom bionic flapping-wing propulsion and energy harvesting device according to claim 1, It is characterized in that The adjustment block can be adjusted laterally to adjust the meshing of the precision gear and the spur rack to ensure higher gear and rack transmission efficiency and smooth transmission reliability.

7. The multi-degree-of-freedom bionic flapping-wing propulsion and energy harvesting device according to claim 1, It is characterized in that The flapping wing external fixed adjustment frame comprises a first side plate, a second side plate, a third side plate, a fourth side plate, a first top plate, a second top plate, a first bottom plate and a second bottom plate; The flapping wing external fixed adjustment frame is used to provide overall support and protection; the through hole between the first side plate and the third side plate is used to install the spring for adjusting the pitch stiffness of the flapping wing, the rectangular groove below is used to install the guide rail support seat, and the rectangular grooves at both ends and the grooves on the back are used to fix and adjust the lateral spacing of the flapping wing gear rack transmission module to achieve a better gear and rack meshing effect; The second side plate, the fourth side plate, the first top plate, the second top plate, the first bottom plate and the second bottom plate protect the entire device.

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