Biomimetic flapping wing vehicle driven by dielectric elastomer bidirectional pull wire

Abstract

The present application relates to soft robot and software driving technical field, specifically relates to a dielectric elastomer driven two-way wire bionic flapping wing aircraft, aiming at the exploration of micro material of bionic robot and the deficiency of control technology, in order to solve the problem of insufficient bionic flapping wing control and poor stability of bionic flight, the technical scheme of the present application is that a pair of bionic flapping wings are symmetrically arranged on the upper two sides of the power bin, a driving device is arranged in the power bin, which is composed of 6 dielectric elastomer unit annular surrounding coaxial insulation pipe and compression spring, the rear side of the driving device is provided with dielectric elastomer clamp one, which divides the driving device into two parts, the dielectric elastomer unit is coiled by film, the dielectric elastomer on the front section is coated with electrode, the dielectric elastomer in the rear section is coated with electrode with interval, and the rear section presents lower semicircle coated electrode, and the upper semicircle is not coated, the front end and the rear end of the driving device are respectively provided with dielectric elastomer clamp two and dielectric elastomer tail clamp.

Description

Technical Field

[0001] This invention belongs to the field of soft robotics and software-driven systems, and specifically relates to a biomimetic flapping-wing aircraft driven by a dielectric elastomer and bidirectional wires. Background Technology

[0002] Dielectric elastomers (DEs), as a type of efficient, lightweight, flexible and fast-responding smart material, can efficiently convert electrical energy into mechanical energy. Their combination with flexible materials is a suitable approach for biomimetic aircraft design.

[0003] Bionics solves engineering problems by mimicking the structure and function of natural organisms, and the study of butterfly flight mechanisms is of great significance. Utilizing dielectric elastomers can simplify the design of biomimetic butterflies, enabling precise control and rapid response, and improving flight flexibility and endurance. However, flapping-wing bionic technology still faces challenges in practical applications, including insufficient energy efficiency and endurance, difficulty in balancing structural strength and durability, lack of flight stability and control precision, high manufacturing costs, poor environmental adaptability, and significant interdisciplinary difficulties.

[0004] Dielectric elastomers can simplify the design of biomimetic aircraft, enabling precise control and rapid response, and improving flight flexibility and endurance, while elastic springs provide reliable power support and energy storage; how to effectively combine them to achieve the flexibility and power support of biomimetic robots is a question that needs to be considered.

[0005] In the design of the biomimetic flapping wing device using dielectric elastomers, the combination of individual wing control and pitch motion has not been achieved. Combining it with a flexible structure is the possible way to achieve this motion.

[0006] Julian Kunze's report in "Design, Manufacturing, and Characterization of ThinCore-Free, Rolled Dielectric Elastomer Actuators" describes the fabrication of a coreless, rolled actuator that can utilize space to make the structure more compact. However, the structural instability makes this structure unsuitable for reciprocating strain.

[0007] According to Marcus Rosenthal's description in "Multifunctional electroelastomer roll actuators and their application for biomimetic walking robots" in 2003, the spacer thin film coating method is widely used in MER actuator structures, but the structural form and application range are highly fixed, and the structure is too large to be suitable for micro structures.

[0008] Patent No. CN202110434800.4 discloses a pneumatic folding bionic flapping-wing micro aircraft. This is a shell-like bionic flapping-wing aircraft. It uses a motor to transmit motion through a crank-rocker mechanism, which drives the wing surface to flap periodically. An air pump drives the wing surface to extend and open. However, the flapping of the wing surface is not independent. The flapping frequency of the two wing surfaces is the same and cannot be controlled independently. Summary of the Invention

[0009] In view of this, in view of the shortcomings of current exploration and control technology of micromaterials for biomimetic robots, and in order to solve the problems of insufficient control of existing biomimetic flapping wings and poor stability of biomimetic flight, a biomimetic flapping wing aircraft driven by a dielectric elastomer and bidirectional wire is provided.

[0010] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a biomimetic flapping-wing aircraft driven by a dielectric elastomer and bidirectional pull wires, comprising a power chamber and a pair of biomimetic flapping wings, the pair of biomimetic flapping wings being symmetrically arranged on both sides of the upper part of the power chamber; the power chamber is composed of an upper frame and a lower frame that are interlocked; a driving device is provided inside, and fixed pull rings are respectively provided on both sides inside the power chamber; the pair of biomimetic flapping wings are flapped by pull wires respectively.

[0011] The driving device is a cylindrical body, consisting of six dielectric elastically wound driving device units arranged in a ring around an insulating tube and a compression spring. The rear side of the driving device is provided with a dielectric elastic body clamp 1, which divides the driving device into front and rear parts. The dielectric elastic body of the front section of the driving device unit is coated with electrodes to form the driving end. The dielectric elastic body of the rear section is coated at intervals and then wound to form a lower semicircle coated with electrodes, while the upper semicircle is not coated. The front and rear ends of the driving device are respectively provided with a dielectric elastic body clamp 2 and a dielectric elastic body tail clamp. The driving device unit at the point where it is in contact with the dielectric elastic body clamp 1 and the dielectric elastic body tail clamp is not coated with electrodes.

[0012] The front ends of the six dielectric elastomer units are evenly distributed with three tension spring connecting blocks, and the front ends of the three tension spring connecting blocks are respectively connected to tension springs.

[0013] The pull wires on each bionic flapping wing are connected in sequence to the tension spring, composite pull ring one, fixed pull ring, and composite pull ring two on the same side.

[0014] Furthermore, positioning guide posts are respectively provided in the upper frame and the lower frame, and the positioning guide posts in the upper and lower frames are inserted into each other as a whole. A set of rotating shaft fixing blocks are respectively provided at the left and right ends of the upper surface of the upper frame for the rotation of the bionic flapping wing. An upper driver positioning block and a lower driver positioning block are respectively provided in the center of the upper frame and the lower frame. An electroelastic clamp is embedded in the groove of the driver positioning block and the lower driver positioning block, thereby limiting the shaking of the driving device.

[0015] Furthermore, the wing surface of each biomimetic flapping wing is composed of PET film and carbon fiber frame. Fine lines are set on the upper skeleton of the carbon fiber frame, and double pull rings are sleeved on the fine lines. The double pull rings on the same side of the biomimetic flapping wing are connected to the pull rings on the same side by pull lines. The root of the wing surface of the biomimetic flapping wing is an I-shaped fixing clip. The lower two ends of the I-shaped fixing clip are respectively fitted with torsion springs and inserted into the coaxially set rotating shaft fixing blocks. One end of the torsion spring is supported on the I-shaped fixing clip, and the spring support foot of the other end is supported on the upper surface of the power compartment.

[0016] Furthermore, the tension spring connecting block is L-shaped, with the longitudinal section perpendicular to the dielectric elastomer unit and the transverse section extending out of the dielectric elastomer clamp. The end of the transverse section is provided with a circular connecting hole, and one end of the tension spring is connected to the connecting hole.

[0017] Furthermore, the dielectric elastomer unit is made by centerless winding, and is arranged in a circular shape at equal angles around the insulating tube and compression spring. The dielectric elastomer unit film is made of impact-resistant VHB4910, and the electrodes are made of carbon paste.

[0018] Furthermore, a tension spring fixing device is provided on the inner side of the front end of the lower frame, and the other end of the tension spring is connected to the tension spring fixing device.

[0019] Furthermore, the starting angle of the torsion spring rotation is 135°.

[0020] Furthermore, the length of a single dielectric elastomer is 94 mm, and the thickness of a single layer is 0.5 mm.

[0021] Furthermore, the inner ring of the pull tab is elliptical and made of metal.

[0022] Furthermore, both the pull line and the thin line are fishing lines.

[0023] Compared with the prior art, the advantages of the present invention are as follows:

[0024] 1. The present invention uses rolled dielectric elastomer material for driving, which can perform reciprocating motion in the linear direction. The reciprocating motion is more in line with the flapping process of the flapping wing device.

[0025] 2. The present invention divides the driving device into two groups of driving. The electric field strength of the main driving unit of the two groups is different, which will produce reciprocating motion at different frequencies. The pull wire is connected to the dielectric elastomer driving device unit 20 in the driving device. The pull wire transmits the force of the deformation of the driving device to the left and right wings. The flapping frequency of the left and right wings will be significantly different. The different control of the left and right wings will be more biomimetic.

[0026] 3. The present invention comprises a pull ring, double pull rings, and a thin wire forming a simple gain structure. Utilizing the principle of movable pulley movement, the main drive section extends when energized and contracts when de-energized. The deformation force generated by the contraction provides power to the pull wire. Since the length of the pull wire is constant, through the action of the gain structure, the wing surface rotates around the wing root axis under the action of the pull wire's contraction and extension, achieving rapid movement of the wing surface. Simultaneously, it charges the torsion spring. The movement of the wing surface is controlled by the pull wire. The present invention also utilizes the deformation properties of flexible materials (pull wire, dielectric elastomer, and deformation of the wing surface film) to ensure that the resultant force on the wing surface always moves along the direction of maximum force. Each flapping motion achieved in this way is an effective flapping motion.

[0027] 4. The power compartment of this invention includes an upper frame and a lower frame with a hollow design, which is injection molded, resulting in a more compact structure with strong resistance to deformation and high structural rigidity. The hollow design reduces materials and weight, thus controlling costs.

[0028] 5. To prevent accelerated wear of local components during the pulling of the wire, this invention uses a wear-resistant pull ring structure with high hardness.

[0029] 6. The biomimetic flapping wing of this invention uses a single-layer PET film and a carbon fiber frame. The wing frame and wing film have good insulation, are lightweight, acid and alkali resistant, and have significant impact resistance.

[0030] 7. The dielectric elastomer unit of this invention is segmented and hollowly wound, which enables it to have faster and more stable axial strain. Furthermore, the hollow winding process ensures uniform axial stress release and small strain, preventing structural deformation during reciprocating motion. Simultaneously, it easily maximizes the utilization of space. The drive unit using this winding method combines reciprocating stretching and contraction with reciprocating oscillation. The drive unit consists of six dielectric elastomers arranged in a circumferential parallel configuration. This arrangement addresses the issue of insufficient actuation energy from a single drive unit. Since each unit is hollowly wound, the parallel connection does not increase mass or volume excessively, maximizing space utilization and energy release. This invention employs a multi-dielectric elastomer composite parallel connection method, which effectively improves the low energy density problem compared to a single dielectric elastomer drive.

[0031] 8. This invention employs two methods: full coating and intermittent coating. One section is fully coated, enabling reciprocating motion after winding; the other section is intermittently coated, enabling oscillating motion after winding. These two motion modes are completely different. The type and structure of the actuator are related; this method aims to integrate the functions of dielectric elastomer materials. Dielectric elastomer materials are generally driven independently, with a single motion form. This invention uses a thin film to achieve two functions through coating and winding, integrating oscillation and movement functions into a single actuator. This patent allows for the integration of dielectric elastomers with different functions into a single actuator. Furthermore, due to the hollow nature of the unit, the spatial structure is maximized, allowing for the parallel connection of multiple units, resulting in a more compact structure, richer functionality, and greater energy release.

[0032] 9. The main body of this invention utilizes the energy release of a flexible dielectric elastomer and the energy storage of an elastic element (elastic spring). It also uses flexible materials such as wires, ropes, and films to reduce the use of rigid structures. Under collision conditions, flexible materials can improve impact resistance, which not only enhances the flexibility and stability of the aircraft, but also effectively improves energy conversion efficiency and extends endurance. Attached image description:

[0033] Figure 1 This is a schematic diagram of the structure of the present invention;

[0034] Figure 2 This is a connection diagram of the power compartment and drive unit;

[0035] Figure 3 This is an exploded view of the power compartment;

[0036] Figure 4 This is a schematic diagram of the drive structure, where a is a structural diagram of the drive device; b is a structural diagram of the drive device unit.

[0037] Figure 5 This is a front view of the wing structure; where a is the structural diagram of the wing surface position; b is the structural diagram of the wire winding position.

[0038] Markings: 1. Drive unit; 2. Dielectric elastomer tail clamp; 3. Lower driver positioning block; 4. Tension spring connecting block; 5. Tension spring; 6. Lower frame; 7. Upper frame; 8. Power compartment positioning guide post; 9. Rotary shaft fixing block; 10. Pull ring; 11. Tension spring fixing device; 12. Upper driver positioning block; 13. Dielectric elastomer clamp one; 14. Bionic flapping wing; 15. Double pull ring; 16. Thin wire; 17. Wing root I-beam fixing; 18. Torsion spring; 19. Compression spring; 20. Drive unit unit; 21. Pull wire at the gain structure; 22. Dielectric elastomer clamp two. Detailed implementation method:

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention. The technical solutions provided by various embodiments of this invention will be described in detail below with reference to the accompanying drawings.

[0040] This invention provides a biomimetic flapping-wing aircraft driven by a dielectric elastomer and bidirectional pull wires, comprising a power bay and a pair of biomimetic flapping wings. The pair of biomimetic flapping wings 14 are symmetrically arranged on both sides of the upper part of the power bay, and the pair of biomimetic flapping wings are flapped by pull wires 21. Figure 1 As shown.

[0041] The power compartment is composed of an upper frame 7 and a lower frame 6 that are interlocked. A drive unit 1 is installed inside, and pull rings 10 are installed on both sides of the power compartment. Positioning guide posts 8 are respectively installed inside the upper frame 7 and the lower frame 6, and the positioning guide posts 8 in the upper and lower frames are inserted into each other. A set of rotating shaft fixing blocks 9 are respectively installed at the left and right ends of the upper surface of the upper frame 7 for the rotation of the bionic flapping wing 14. An upper driver positioning block 12 and a lower driver positioning block 3 are respectively installed at the center of the upper frame 7 and the lower frame 6. A dielectric elastomer clamp 13 is embedded in the grooves of the driver positioning block 12 and the lower driver positioning block 3, thereby limiting the shaking of the drive unit 1 and ensuring the working stability of the power compartment. Figure 2 and 3 As shown.

[0042] Each biomimetic flapping wing 14 has a wing surface composed of PET film and a carbon fiber frame. A thin wire 16 is attached to the upper skeleton of the carbon fiber frame, and a double pull ring 15 (the double pull ring 15 is welded from composite pull ring one 15-a and composite pull ring two 15-b) is fitted onto the wire 16. The pull wire 21 on the same side of the biomimetic flapping wing connects sequentially from the tension spring 5 on the same side to composite pull ring one 15-a, the same side fixing pull ring 10, and composite pull ring two 15-b. The left and right biomimetic flapping wings are connected to the tension spring on the same side, while the upper tension spring is not involved. The root of the biomimetic flapping wing 14 has an I-shaped fixing clip 17. The lower ends of the I-shaped fixing clamp 17 are respectively fitted with torsion springs 18 and inserted into the coaxially arranged rotating shaft fixing block 9. One end of the torsion spring 18 is supported on the I-shaped fixing clamp 17, and the other end of the spring support foot is supported on the upper surface of the power compartment. The root of the wing surface 14 can rotate, and each rotating part has torsion spring structures 18-a and 18-b as energy storage elements to provide restoring force and store energy. The lower part of the wing surface 14 is connected to multiple force points by flexible ropes. The length of the flexible rope is greater than the distance between the two points, so that when deformation occurs under force, the resultant force formed by the forces on the two points always points in the direction of transmission along the thin rope. Figure 5 As shown.

[0043] The pivot of the wing root of the present invention is Ф3×50mm, and the fixed shaft supporting the torsion spring 18 is equidistant from the pivot.

[0044] In one embodiment of this invention, the driving device 1 is a cylindrical body composed of six dielectric elastomer units arranged in a ring around a 5mm*60mm PET insulating tube and a 5mm diameter compression spring 19. The compression spring 19 provides pre-tension stress. The rear side of the driving device is provided with a dielectric elastomer clamp 13, which divides the driving device into front and rear parts. The front and rear ends of the driving device are respectively provided with a dielectric elastomer clamp 22 and a dielectric elastomer tail clamp 2. The contact surface between the dielectric elastomer clamp 13, the dielectric elastomer clamp 22, and the dielectric elastomer tail clamp 2 and the dielectric elastomer unit is 5mm. This 5mm is not coated with electrodes and is not treated in any way. The dielectric elastomer unit 20 has different driving methods at the front and rear. The two-stage design can complete the combination of reciprocating motion and oscillation around the plane. The longer section of the drive unit is the main drive end, which can achieve reciprocating extension and retraction along the axis when energized. The main drive end is connected to the tension spring 5. The other end is the shorter end, which can achieve a reciprocating oscillating motion. Three tension spring connecting blocks 4 are evenly distributed at the front ends of the six dielectric elastomer units. The front ends of the three tension spring connecting blocks 4 are respectively connected to tension springs 5. Figure 4As shown. Since the drive device is composed of multiple units connected in parallel, and the dielectric elastomer unit 20 is divided into two sections by the dielectric elastomer clamp 13, the two sections of the same driver are not evenly divided due to the different actuation effects of the front and rear, which will cause the structure to shake and become unstable. Therefore, the positioning block can fix the position of the drive device 1 and overcome the shaking caused by the different motion modes.

[0045] The dielectric elastomer unit is formed by hollowly rolling a thin film. Electrodes are coated on the front section of the dielectric elastomer, and the rear section, after being coated intermittently, is rolled into a lower semicircle coated with electrodes, while the upper semicircle remains uncoated. Two dielectric elastomer units 20 form a set. Both the tension spring 5 and the dielectric elastomer unit 20 generate a restoring force after elastic contraction. Two devices providing pre-tension stress for contraction recovery are placed opposite each other. The tension spring 5 provides pre-tension stress in the opposite direction to the dielectric elastomer unit 20. Each set is provided with pre-tension stress by the tension spring 5 and the tension spring connecting block 4. Figure 4 As shown in 'a';

[0046] The driving device 1 of the present invention is arranged in a circumferential arrangement at equal angles around the PET insulating tube. The length of a single dielectric elastomer is 94mm, and the thickness of the single-layer film is 0.5mm. The length of a single dielectric elastomer used for reciprocating drive is 59mm, the length used for oscillation is 25mm, and the length used for fixing is 5mm.

[0047] As one implementation method in this embodiment, the tension spring connecting block 4 is L-shaped, such as... Figure 4 As shown, the elastomer unit is vertically arranged, and the transverse section extends out of the dielectric elastomer clamp 22. The end of the transverse section is provided with a circular connecting hole, and one end of the tension spring 5 is connected to the connecting hole.

[0048] As one implementation method in this embodiment, the dielectric elastomer unit is hollow-wound and arranged in a circular pattern at equal angles around the insulating tube and compression spring 19. The dielectric elastomer unit film is made of impact-resistant VHB4910, and the electrode is made of carbon paste.

[0049] As one embodiment of this invention, a tension spring fixing device 11 is provided on the inner side of the front end of the lower frame 6, and the other end of the tension spring 5 is connected to the tension spring fixing device 11.

[0050] As one implementation method in this embodiment, the starting angle of rotation of the torsion spring 18 is 135°.

[0051] As one embodiment of this example, the length of a single dielectric elastomer is 94 mm and the thickness of a single layer is 0.5 mm.

[0052] As one embodiment of this example, the inner ring of the pull ring 10 is elliptical and made of metal.

[0053] As one implementation method in this embodiment, both the pull line 21 and the thin line 16 are fishing lines.

[0054] As one embodiment of this example, the upper frame 7 and the lower frame 6 are the same size, each with a thickness of 2mm, and are 90mm×30mm×12.5mm. The structure is made of 3D printing in one piece and includes a power chamber positioning guide post, a tension spring connecting block, and a driver positioning block.

[0055] The upper driver positioning block 12 and the lower driver positioning block 3 are integrally manufactured with the frame. The dimensions of the lower driver positioning block 3 are 1mm × 3mm × 15mm, and the dimensions of the upper driver positioning block 12 are 1mm × 7mm × 15mm.

[0056] The pull ring 10 is a metal ring with a major axis diameter of 4mm. The inner diameter of the ring is elliptical, which can effectively prevent wear on the pull wire 21 compared to a circular structure.

[0057] The diameter of the tension spring fixing device 11 is 1m, and its dimensions are 13mm × 4mm.

[0058] The torsion spring 18 has the following dimensions: diameter 5.5mm, pitch 2mm, 6 turns, clockwise, and the starting angle of rotation is 135°.

[0059] The compression spring 19 has the following dimensions: diameter 4.5mm, pitch 1mm, 21 turns in total, clockwise direction, with no starting angle.

[0060] The dimensions of tension spring 5 are: diameter 7mm, pitch 1mm, 20.5 turns in total, clockwise direction, no starting angle.

[0061] The power compartment of this invention facilitates the installation and disassembly of the hollow structure drive device after winding, and also helps with heat dissipation. At the same time, compared with the frameless structure, the framed structure is more stable.

[0062] In the driving mechanism of the dielectric elastomer material of this invention, different structures affect the motion mode of the driving device. The reciprocating motion along a single axis and the oscillating motion around a single axis of the dielectric elastomer are integrated into a single driving device through a process. Part of the reciprocating motion can be directly converted into rotation around the airfoil axis through a gain structure. The motion mode before and after the conversion is similar, with low energy loss and simple structure. Part of the oscillating motion is directly controlled by the pitch motion of the control structure that affects the horizontal plane balance, resulting in precise pitch response.

[0063] This invention employs segmented hollow winding, which results in faster and more stable axial strain. Furthermore, the hollow winding process ensures uniform axial stress release and minimal strain, preventing structural deformation during reciprocating motion. It also easily maximizes the utilization of space. Actuators using this winding method can achieve more functions, and paralleling multiple actuators can address the issue of insufficient actuation energy from a single actuator. Since each unit is hollow and wound, parallel connection does not increase mass or volume excessively, maximizing space utilization and energy release.

[0064] This patent integrates two thin-film coatings and two completely different drive components to achieve different actuation methods. This method aims to integrate the functions of dielectric elastomer materials. The type and structure of the actuator are related; this patent allows for the integration of dielectric elastomer actuators with different functions into a single actuator. Furthermore, due to the hollow nature of the unit, the spatial structure is maximized, allowing multiple units to be connected in parallel, resulting in a more compact structure, richer functionality, and greater energy release.

[0065] Design technical requirements:

[0066] 1. Using coreless dielectric elastomers can effectively achieve structural weight reduction while increasing deformation.

[0067] 2. The winding and unwinding of the ropes causes the wing surface to flap. The large-stroke motion requires the power compartment to withstand a large deformation; multiple ropes connected in parallel can meet this requirement.

[0068] 3. Flapping-wing flight is a process that uses Bernoulli's principle to create a pressure difference. Since unidirectional force motion is not easy to achieve, dividing the drive unit into two groups can form two different braking frequencies. The flapping of the wing surfaces creates an effective frequency difference, thus completing the control of the two wing surfaces.

[0069] 4. Add a torsion spring 18 at the wing rotation position to resolve the impact of impact loads on the flight device.

[0070] 5. A total of three tension springs 5 ​​can provide tension force to the drive device during deformation.

[0071] 6. The purpose of choosing a hollow frame structure for the power compartment is to reduce the impact of vibrations caused by movement on the overall attitude.

[0072] 7. The purpose of using a cable is to generate instantaneous acceleration to drive the wing surface, creating a low-pressure zone in the area it passes through, and the pressure difference between the upper and lower wing surfaces is sufficient for takeoff.

[0073] 8. The flexible guy wire has a delay in force transmission, which allows for effective control in the event of instability in the power chamber. Furthermore, the force on the flexible guy wire always moves in the direction of the resultant force.

[0074] Experimental example,

[0075] Each pair of drive units 20 drives each other as a group. When the counter electrode is energized, the main drive end of the hollow drive unit 20 extends due to the electric field force, the gain structure power is zero, and the stress of the single-sided pull wire 21 is released. As the stress is released, the torsion springs 18-a and 18-b connected to the root of the wing begin to recover their deformation. Under the action of the spring recovery force, the wing surface 14 begins to rotate along the rotating shaft 9. The force on the torsion spring foot drives the I-beam support 17 to make the wing 14 flap upward. In the power-off transition state, each drive unit 1 will generate a restoring force deformation due to the properties of the dielectric elastomer material. The two drive units act as a group, driving the thin rope 21 on one side to tighten. Under the pulling action of the gain structure formed by 15 below the wing 14, a downward flapping motion is completed. The drive unit is initially horizontal in space. By applying voltage to the tail end of the drive unit 20, the dielectric elastomer material moves under the action of the electric field, causing the drive unit 1 to swing up and down. The swinging will cause the entire power chamber to swing in the horizontal plane. By controlling the swing angle, the horizontal deflection can be controlled. In this way, the entire mechanism can be controlled to achieve pitching motion, realizing the compound control of simultaneous flapping and pitching in the biomimetic flapping wing design.

[0076] In the experimental state, this structure has three different states. The first is the initial state, in which the connection and pre-tension stress of the structure are stable, the torsion spring 18 has a restoring force, and the dielectric elastic material of the drive device 1 has a restoring force. Both restoring forces ultimately act on the tension wire 21, and they are opposite forces. The length of the tension wire 21 remains unchanged. Under the action of force, the wing 14 is in a suspended state. In the second transition state, voltage is applied to the drive device 1 in the power chamber, and the main drive end of the drive device unit 20 deforms. There are a total of six drive units, which are divided into two groups. The two groups can adjust the flapping frequency of the left and right wings respectively. The deformation of each drive group is consistent with the deformation of the rope movement. The torsion spring 18 is used as a... The energy stored in the energy storage element is transferred to the I-beam 17 through the foot of the spring 18, which drives the wing surface 14 to rotate around the 9-axis hole. At this time, the structure can be seen from the front to retract the wing surfaces 14 on both sides, and the two wing surfaces 14 gradually move closer together on the upper part of the structure. In the third state, the voltage of the drive unit 20 in the power compartment of the structure is interrupted, and the drive unit 20 generates a recovery deformation. The pre-tension stress is fully provided by the tension spring 5. At the same time, it can be observed that the rope tightens towards the two drive groups near this structure. The rope outside the power compartment will generate a strong tension due to the tightening force and the gain effect of the wing 14. At this time, the torsion spring 18 is re-energized, the wing 14 is pulled down, and the structure will undergo a downward closing process.

[0077] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A biomimetic flapping-wing aircraft driven by a dielectric elastomer and bidirectional wires, comprising a power bay and a pair of biomimetic flapping wings, wherein the pair of biomimetic flapping wings (14) are symmetrically arranged on both sides of the upper part of the power bay; characterized in that, The power compartment is composed of an upper frame (7) and a lower frame (6) that are fastened together; a drive device (1) is installed inside it, and fixed pull rings (10) are installed on both sides of the power compartment. A pair of bionic flapping wings are flapped by pull lines (21). The driving device (1) is a cylindrical body, consisting of six dielectric elastically wound driving device units (20) arranged in a ring around an insulating tube and a compression spring (19) on the same axis; the rear side of the driving device is provided with a dielectric elastic body clamp (13) to divide the driving device into front and rear parts. The dielectric elastic body of the front section of the driving device unit (20) is coated with electrodes to form the driving end, and the dielectric elastic body of the rear section is coated with electrodes in a semi-circular shape after being rolled up, while the upper semi-circle is not coated; the front and rear ends of the driving device are respectively provided with a dielectric elastic body clamp (22) and a dielectric elastic body tail clamp (2), and the driving device unit (20) that is in contact with the dielectric elastic body clamp (13) and the dielectric elastic body tail clamp (2) is not coated with electrodes; The front ends of the six dielectric elastically wound drive unit units (20) are evenly clamped with three tension spring connecting blocks (4), and the front ends of the three tension spring connecting blocks (4) are respectively connected with tension springs (5). The pull wire (21) on each bionic flapping wing is connected in sequence to the tension spring (5), composite pull ring one (15-a), fixed pull ring (10) and composite pull ring two (15-b) on the same side. The upper frame (7) and the lower frame (6) are respectively provided with positioning guide posts (8), and the positioning guide posts (8) in the upper and lower frames are connected together. The upper and lower frames are respectively provided with a set of rotating shaft fixing blocks (9) at the left and right ends of the upper surface of the upper frame (7) for the rotation of the bionic flapping wing (14). The upper driver positioning block (12) and the lower driver positioning block (3) are respectively provided in the center of the upper frame (7) and the lower frame (6). The electroelastic clamp (13) is embedded in the groove of the driver positioning block (12) and the lower driver positioning block (3), thereby limiting the shaking of the drive device (1). Each bionic flapping wing (14) has a wing surface composed of PET film and carbon fiber frame. A thin wire (16) is set on the upper skeleton of the carbon fiber frame. A double pull ring (15) is fitted on the thin wire (16). The double pull ring (15) on the same side of the bionic flapping wing (14) is connected to the fixed pull ring (10) on the same side by a pull wire (21). The root of the wing surface of the bionic flapping wing (14) is an I-shaped fixing clip (17). The lower two ends of the I-shaped fixing clip (17) are respectively fitted with torsion springs (18) and inserted into the coaxial rotating shaft fixing block (9). One end of the torsion spring (18) is supported on the I-shaped fixing clip (17), and the spring support foot of the other end is supported on the upper surface of the power compartment.

2. The biomimetic flapping-wing aircraft driven by a dielectric elastomer and bidirectional wires according to claim 1, characterized in that, The tension spring connecting block (4) is L-shaped, with the longitudinal section perpendicular to the dielectric elastomer unit and the transverse section extending out of the dielectric elastomer clamp (22). The end of the transverse section is provided with a circular connecting hole, and one end of the tension spring (5) is connected to the connecting hole.

3. A biomimetic flapping-wing aircraft driven by a dielectric elastomer and bidirectional wires according to claim 1 or 2, characterized in that, The dielectric elastomer unit is made by centerless winding, and is arranged in a circular shape at equal angles around the insulating tube and compression spring (19). The dielectric elastomer unit film is made of impact-resistant VHB4910, and the electrode is made of carbon paste.

4. A biomimetic flapping-wing aircraft driven by a dielectric elastomer and bidirectional wires according to claim 3, characterized in that, The lower frame (6) is provided with a tension spring fixing device (11) on the inner side of the front end, and the other end of the tension spring (5) is connected to the tension spring fixing device (11).

5. A biomimetic flapping-wing aircraft driven by a dielectric elastomer and bidirectional wires according to claim 4, characterized in that, The starting angle of rotation of the torsion spring (18) is 135°.

6. A biomimetic flapping-wing aircraft driven by a dielectric elastomer and bidirectional wires according to claim 5, characterized in that, The length of a single dielectric elastomer is 94 mm, and the thickness of a single layer is 0.5 mm.

7. A biomimetic flapping-wing aircraft driven by a dielectric elastomer and bidirectional wires according to claim 6, characterized in that, The inner ring of the pull ring (10) is elliptical and made of metal.

8. A biomimetic flapping-wing aircraft driven by a dielectric elastomer and bidirectional wires according to claim 7, characterized in that, The pull line (21) and the thin line (16) mentioned above are both fishing lines.

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