A bionic dragonfly flapping-wing aircraft with a wire-rope drive flapping mechanism

Abstract

The present invention discloses a bionic dragonfly flapping wing aircraft with a wire rope drive flapping mechanism, belonging to the technical field of aircraft. It includes: a support skeleton, a front flapping wing, a rear flapping wing, a transmission mechanism, a wire rope flapping mechanism, and an inclined platform sweeping and steering mechanism. The transmission mechanism includes a front transmission mechanism and a rear transmission mechanism which are symmetrically arranged on the front and rear sides of the support skeleton with the same structure. A wire rope flapping mechanism and an inclined platform sweeping and steering mechanism with the same structure are provided at the root of each flapping wing. The front transmission mechanism drives the sliding groove member to reciprocate up and down through a driving motor, and then drives the wing root fixed disk and the wing root rotating shaft to rotate reciprocally through an upper connecting rope and a lower connecting rope, thereby driving the flapping wing to flap. The front and rear pairs of flapping wings can flap differentially. The circumferential rotation of the rotating inclined platform of the inclined platform sweeping and steering mechanism can drive the reciprocating inclined platform coaxially connected to its edge to move back and forth, pushing or pulling the wing root connecting member to rotate back and forth, thereby driving the flapping wing to perform a sweeping motion in space.

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft, and in particular relates to a bionic dragonfly flapping-wing aircraft with a wire-transmission flapping mechanism. Background Art

[0002] Flapping-wing aircraft is a type of aircraft that imitates the flight posture of insects, birds or bats based on bionics. It has the advantages of high flight efficiency, good concealment, and the ability to flexibly change flight status. Compared with the two traditional flight modes of fixed-wing and rotary-wing, it can quickly achieve difficult movements such as sharp turns and dives, making it more advantageous when flying in a narrow space. Flapping-wing aircraft has broad application prospects in both military and civilian fields.

[0003] At present, bionic flapping-wing aircraft generally adopt typical mechanisms such as single crank double rocker, crank slide, double crank double rocker, etc. This type of mechanism can generally only realize simple up and down flapping of the aircraft's wings. The flapping wings have low spatial freedom, resulting in insufficient lift, and the mechanism has high operating noise; flight control mainly relies on the tail wing. Summary of the invention

[0004] The purpose of the present invention is to solve the problems of large operating noise of the mechanism and low freedom of flapping wings in space existing in most flapping-wing aircrafts at present, and to provide a bionic dragonfly flapping-wing aircraft with a rope-driven flapping mechanism.

[0005] 1. A bionic dragonfly flapping-wing aircraft with a wire-driven flapping mechanism, comprising: a supporting frame 1, a pair of front flapping wings 2, a pair of rear flapping wings 3, a transmission mechanism 4, and a wire-driven flapping mechanism 5;

[0006] Each flapping wing root is provided with a cord flapping mechanism 5 of the same structure;

[0007] The support frame 1 is provided with a guide rod platform 12a, and the guide rod platform 12a is provided with a guide rod 12b;

[0008] The transmission mechanism 4 includes: a driver, a reducer, a final transmission shaft 40f, and a pin rudder arm 40g;

[0009] The final transmission shaft 40f is axially connected to the support frame 1, and the pin rudder arms 40g are fixed at both ends of the final transmission shaft 40f;

[0010] The wire rope flapping mechanism 5 comprises: a slide member 50, an upper rotating wheel 51, a lower rotating wheel 52, an upper connecting rope 53, a lower connecting rope 54, a wing root rotating shaft 55, a wing root fixing plate 56, and a wing root connecting member 57;

[0011] The upper rotating wheel 51 and the lower rotating wheel 52 are respectively axially connected to the upper and lower sides of the supporting frame 1;

[0012] The wing root fixing plate 56 is fixed on the wing root rotating shaft 55, and the front and rear ends of the wing root rotating shaft 55 are axially connected to the rotating shaft support arm 12c, and the rotating shaft support arm 12c is fixed on the supporting frame 1;

[0013] The slide member 50 is provided with a slide 50a and a guide rail 50b, and the upper and lower ends of the slide member 50 are respectively provided with an upper joint 50c and a lower joint 50d;

[0014] The wing root fixing plate 56 is provided with an upper fixing head 56a, a lower fixing head 56b, and a fixing plate U-shaped slot 56c;

[0015] The slide member 50 is sleeved on the guide rod 12b through the guide rail 50b;

[0016] The cylindrical pin of the pin rudder arm 40g is arranged in the slide groove 50a of the slide groove member 50;

[0017] One end of the upper connecting rope 53 and the lower connecting rope 54 are fixed to the upper joint 50c and the lower joint 50d respectively; the other ends are respectively passed around the upper rotating wheel 51 and the lower rotating wheel 52 and fixed to the lower fixing head 56b and the upper fixing head 56a of the wing root fixing plate 56;

[0018] The fixed plate U-shaped slot 56c is connected to the flapping wing via a wing root connector 57.

[0019] The lengths of the upper connecting rope 53 and the lower connecting rope 54 are equal, and the upper joint 50c and the lower joint 50d of the slide member 50 are arranged in a front-to-back staggered manner, so that the upper connecting rope 53 and the lower connecting rope 54 are arranged in a space in a staggered manner, and there is actually a distance in the front-to-back direction at the intersection of the front-to-back projections of the two.

[0020] The bionic dragonfly flapping-wing aircraft is also provided with a ramp sweeping steering mechanism 6, including: a reciprocating ramp 60, a spring 61, a connecting rod 62, a revolving ramp 63, an outer rotor hollow shaft motor 64, and a motor fixing plate 65;

[0021] The motor stator 64b of the outer rotor hollow shaft motor 64 is fixed to the rear end of the wing root shaft 55 through the motor fixing plate 65, that is, the wing root shaft 55, the wing root fixing plate 56 and the motor stator 64b are integrated;

[0022] The said rotating ramp 63 passes through the wing root rotating shaft 55 and is fixed to the end of the motor rotor 64a of the outer rotor hollow shaft motor 64; the said reciprocating ramp 60 is axially connected to the wing root rotating shaft 55, and the inclined surface of the reciprocating ramp 60 corresponds to the inclined surface of the rotating ramp 63;

[0023] The spring 61 is sleeved on the wing root shaft 55 and is in a compressed state, with its two ends respectively fixed on the reciprocating inclined platform 60 and the wing root fixed plate 56;

[0024] The outer connecting platform 60a of the reciprocating inclined platform 60 is connected to one end of the connecting rod 62 through a vertical shaft;

[0025] The connecting platform 57c of the wing root connecting member 57 is connected to the other end of the connecting rod 62 via a vertical shaft;

[0026] The fixed plate U-shaped slot 56c is connected to the wing root connector 57 via a vertical shaft;

[0027] When in use, power is turned on, the motor rotor 64a and the motor stator 64b are locked first, the flapping wings flap, and the reciprocating inclined table 60 and the rotating inclined table 63 rotate together, that is, the contact phase remains relatively unchanged, and then the motor rotor 64a can be controlled to rotate relative to the motor stator 64b, and the rotating inclined table 63 can rotate relative to the reciprocating inclined table 60. The reciprocating inclined table 60 moves back and forth to make the flapping wings perform a sweeping motion.

[0028] The front transmission mechanism 40 includes a driving motor 40a, a large gear 40d, a final transmission shaft 40f, and two pin rudder arms 40g. The driving motor 40a is fixed to the front part of the support frame 1, and drives the large gear 40d and the final transmission shaft 40f fixed thereto to rotate together; the pin rudder arms 40g are symmetrically fixed to both sides of the final transmission shaft 40f.

[0029] The pair of front flapping wings 2 and the pair of front flapping wings 3 have a total of four flapping wing structures that are identical. The pair of front flapping wings 2 includes a left front flapping wing 20 and a right front flapping wing 21; the left front flapping wing 20 includes a flapping wing skeleton 20b and a flapping wing membrane 20c wrapped around its surface.

[0030] The present invention provides a bionic dragonfly flapping-wing aircraft with a wire-driven flapping mechanism, which belongs to the technical field of aircraft. The aircraft comprises: a supporting frame, a front flapping wing, a rear flapping wing, a transmission mechanism, a wire-driven flapping mechanism, and an inclined platform sweeping and steering mechanism. The transmission mechanism comprises a front transmission mechanism and a rear transmission mechanism with the same structure and symmetrically arranged on the front and rear sides of the supporting frame; each flapping wing root is provided with a wire-driven flapping mechanism and an inclined platform sweeping and steering mechanism with the same structure, and the front transmission mechanism drives a slide member to reciprocate up and down through a driving motor; and then drives the wing root fixing plate and the wing root rotating shaft to reciprocate through an upper connecting rope and a lower connecting rope to drive the flapping wings to flap, and the front and rear pairs of flapping wings can flap differentially; the circumferential rotation of the rotating inclined platform of the inclined platform sweeping and steering mechanism can drive a coaxial reciprocating inclined platform with an edge connected thereto to reciprocate back and forth, push or pull the wing root connecting member to rotate back and forth, and then drive the flapping wings to sweep in space.

[0031] In summary, compared with the prior art, the present invention has the following beneficial effects and advantages:

[0032] 1) The flapping-wing aircraft of the present invention simulates the multi-degree-of-freedom motion of dragonfly wings in reality, and can realize differential flapping of the front and rear pairs of flapping wings and individual sweep control of each flapping wing;

[0033] 2) The flapping-wing aircraft of the present invention uses a wire rope as a transmission flapping mode, which greatly reduces the operating noise of the mechanism and the mass of the transmission components, and helps to control the mass of the entire aircraft;

[0034] 3) Each flapping wing of the flapping-wing aircraft of the present invention can perform flapping motion in an "elliptical" or "figure-8" trajectory at the wing tip according to its sweeping motion frequency, and the turning motion of the aircraft can be controlled by the ramp sweeping steering mechanism to achieve tailless control;

[0035] 4) The flapping-wing aircraft of the present invention is a bionic dragonfly flapping-wing aircraft with a rope-driven flapping mechanism proposed based on the flight and aerodynamic characteristics of dragonflies. It can better simulate the real flight movements (gliding, diving, turning) of dragonflies and achieve better bionic effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the overall structure of a bionic dragonfly flapping-wing aircraft with a wire-driven flapping mechanism of the present invention;

[0037] Figure 2 It is a schematic diagram of the exploded structure of a support frame of a bionic dragonfly flapping-wing aircraft with a wire-driven flapping mechanism of the present invention;

[0038] Figure 3 It is a schematic diagram of the three-dimensional structure of a support frame of a bionic dragonfly flapping-wing aircraft with a wire-driven flapping mechanism of the present invention;

[0039] Figure 4 A is a schematic diagram of the overall structure of a bionic dragonfly flapping-wing aircraft transmission flapping mechanism and a sweeping and steering mechanism of a wire-driven flapping mechanism of the present invention;

[0040] Figure 5 It is a schematic diagram B of the overall structure of a transmission flapping mechanism and a sweeping and steering mechanism of a bionic dragonfly flapping-wing aircraft with a wire-driven flapping mechanism of the present invention;

[0041] Figure 6 It is a schematic diagram of the specific structure of the front transmission mechanism of a bionic dragonfly flapping-wing aircraft with a wire-driven flapping mechanism of the present invention;

[0042] Figure 7 A is a schematic diagram of a specific structure of a bionic dragonfly flapping-wing aircraft with a wire-transmitted flapping mechanism of the present invention;

[0043] Figure 8 This is a schematic diagram B of a specific structure of a bionic dragonfly flapping-wing aircraft with a wire-transmitted flapping mechanism of the present invention;

[0044] Fig. 9It is a schematic diagram of the staggered arrangement of the upper connecting rope and the lower connecting rope of a bionic dragonfly flapping-wing aircraft with a wire-transmission flapping mechanism of the present invention;

[0045] Fig.10 It is a schematic diagram of the specific structure of a bionic dragonfly flapping-wing aircraft inclined platform sweeping and steering mechanism of a wire-driven flapping mechanism of the present invention;

[0046] Fig.11 It is a schematic diagram of the state change of the rotating inclined platform of the sweeping and steering mechanism of the inclined platform of the bionic dragonfly flapping-wing aircraft with a wire-driven flapping mechanism of the present invention when the rotating inclined platform rotates one cycle (one circle) relative to the reciprocating inclined platform;

[0047] Fig.12 It is a schematic cross-sectional three-dimensional structure diagram of a bionic dragonfly flapping-wing aircraft inclined platform sweeping and steering mechanism of a wire-driven flapping mechanism of the present invention;

[0048] Fig.13 It is a schematic diagram of the flapping three-dimensional structure of a bionic dragonfly flapping-wing aircraft with a wire-driven flapping mechanism of the present invention;

[0049] Fig.14 It is a schematic diagram of the differential flapping state of the front and rear pairs of flapping wings of a bionic dragonfly flapping-wing aircraft with a rope-driven flapping mechanism of the present invention;

[0050] Fig.15 It is a schematic diagram of a turning state of a bionic dragonfly flapping-wing aircraft with a wire-transmission flapping mechanism of the present invention;

[0051] Fig.16 The present invention is a schematic diagram of a bionic dragonfly flapping-wing aircraft in a gliding state with a wire-transmission flapping mechanism.

[0052] In the attached figure

[0053] 1. Support frame; 10. Front main bracket; 10a. Rotating wheel support arm; 11. Connecting column; 12. Left bracket; 12a. Guide rod platform; 12b. Guide rod; 12c. Rotating shaft support arm; 13. Right bracket; 14. Carbon fiber connecting rod; 15. Fixed sleeve; 16. Rear main bracket;

[0054] 2.1 pair of front flapping wings; 20. Left front flapping wing; 21. Right front flapping wing; 20a. Flapping wing joint; 20b. Flapping wing skeleton; 20c. Flapping wing membrane;

[0055] 3.1 pair of rear flapping wings; 30. Left rear flapping wing; 31. Right rear flapping wing;

[0056] 4. Transmission mechanism; 40. Front transmission mechanism; 40a. Driving motor; 40b. Small gear; 40c. Double gear; 40d. Large gear; 40e. Intermediate transmission shaft; 40f. Final transmission shaft; 40g. Pinion rudder arm; 41. Rear transmission mechanism;

[0057] 5. Rope flapping mechanism; 50. Slideway member; 50a. Slideway; 50b. Guide rail; 50c. Upper joint; 50d. Lower joint;

[0058] 51. Upper rotating wheel; 52. Lower rotating wheel; 53. Upper connecting rope; 54. Lower connecting rope; 55. Wing root rotating shaft; 56. Wing root fixing plate; 56a. Upper fixing head; 56b. Lower fixing head; 56c. U-shaped slot of fixing plate; 57. Wing root connecting piece; 57a. Flapping wing mounting groove; 57b. Slotted boss; 57c. Connecting platform;

[0059] 6. Inclined platform sweep steering mechanism; 60. Reciprocating inclined platform; 60a. External connecting platform; 61. Spring; 62. Connecting rod; 63. Revolving inclined platform; 64. External rotor hollow shaft motor; 64a. Motor rotor; 64b. Motor stator; 65. Motor fixing plate. DETAILED DESCRIPTION

[0060] A bionic dragonfly flapping-wing aircraft with a wire-driven flapping mechanism comprises: a supporting frame 1, a pair of front flapping wings 2, a pair of rear flapping wings 3, a transmission mechanism 4, a wire-driven flapping mechanism 5, and an inclined platform sweeping and steering mechanism 6, wherein: the transmission mechanism 4 comprises a front transmission mechanism 40 and a rear transmission mechanism 41, which are identical in structure and symmetrically arranged on the front and rear sides of the supporting frame 1; a wire-driven flapping mechanism 5 and an inclined platform sweeping and steering mechanism 6 with identical structures are arranged at the root of each flapping wing, and the front transmission mechanism 40 drives the synchronous up-and-down reciprocating motion of the slideway member 50 in the wire-driven flapping mechanism 5 at the root of each of the two flapping wings in the pair of front flapping wings 2 through a driving motor 40a;

[0061] The wire rope flapping mechanism 5 includes a slide member 50, an upper rotating wheel 51, a lower rotating wheel 52, an upper connecting rope 53, a lower connecting rope 54, a wing root rotating shaft 55, a wing root fixing plate 56, and a wing root connecting member 57;

[0062] The upper and lower sides of the slide member 50 are respectively fixedly connected to an upper connecting rope 53 and a lower connecting rope 54. The upper connecting rope 53 passes through the upper rotating wheel 51 axially connected to the upper part of the support frame 1 and the inner side of the wing root fixing plate 56 axially connected to the middle part of the support frame 1 in sequence, and is fixedly connected to the lower fixing head 56b at the lower part of the wing root fixing plate 56; the lower connecting rope 54 passes through the lower rotating wheel 52 axially connected to the lower part of the support frame 1 and the inner side of the wing root fixing plate 56 axially connected to the middle part of the support frame 1 in sequence, and is fixedly connected to the upper fixing head 56a at the upper part of the wing root fixing plate 56; the wing root fixing plate 56 is outwardly connected to the wing root connecting member 57 and the flapping wing in sequence;

[0063] When the wings flap, the inclined platform sweeping steering mechanism 6 rotates back and forth together with the wing root fixed plate 56 and the wing root rotating shaft 55. The circular rotation of the internal revolving inclined platform 63 can drive the reciprocating inclined platform 60 which is coaxial and connected to it at the edge to reciprocate back and forth. The front and rear ends of the connecting rod 62 are respectively connected to the reciprocating inclined platform 60 and the wing root connecting piece 57 through a vertical shaft.

[0064] The slide member 50 includes an upper joint 50c and a lower joint 50d arranged on its upper and lower sides, and also includes a guide rail 50b slidably connected to the guide rod 12b on its front and rear sides; the U-shaped slot 56c of the fixing plate outside the wing root fixing plate 56 is axially connected with the straight-line boss 57b on the inner side of the wing root connecting member 57 through a vertical shaft; the flapping wing mounting groove 57a outside the wing root connecting member 57 is fixedly connected to the flapping wing joint 20a on the inner side of the flapping wing.

[0065] See attached Fig. 9 The upper joint 50c and the lower joint 50d of the slide member 50 have the same structure and are staggered front to back, so that the upper connecting rope 53 and the lower connecting rope 54 are staggered in space, that is, there is actually a distance in the front to back direction at the intersection of the front to back projections of the two, and there is no interference between the two during the flapping motion, and the two are of equal length.

[0066] The ramp sweep steering mechanism 6 includes a reciprocating ramp 60, a spring 61, a connecting rod 62, a revolving ramp 63, an outer rotor hollow shaft motor 64, and a motor fixing plate 65. The motor fixing plate 65 is fixedly connected to the rear of the wing root shaft 55, and its front side is fixedly connected to the motor stator 64b of the outer rotor hollow shaft motor 64; the motor rotor 64a of the outer rotor hollow shaft motor 64 is fixedly connected to the non-inclined side of the revolving ramp 63, and the diameter of the hollow shaft of the outer rotor hollow shaft motor 64 is larger than the outer diameter of the wing root shaft 55; the reciprocating ramp 6 0 is axially connected to the wing root rotating shaft 55, and the inclination angles of the reciprocating inclined platform 60 and the rotating inclined platform 63 are consistent and connected; the spring 61 is sleeved on the wing root rotating shaft 55, and the two ends are respectively fixed to the non-inclined side of the reciprocating inclined platform 60 and the wing root fixed plate 56, providing contact force between the reciprocating inclined platform 60 and the rotating inclined platform 63; the wing root connecting piece 57 is axially connected to one end of the connecting rod 62 through the vertical shaft through the connecting platform 57c on the rear side, and the slot-type external connecting platform 60a on the outer side of the reciprocating inclined platform 60 is axially connected to the other end of the connecting rod 62 through the vertical shaft;

[0067] See attached Fig.11 When in use, power is turned on, the motor rotor 64a and the motor stator 64b are locked first, the flapping wings flap, and the reciprocating inclined table 60 and the rotating inclined table 63 rotate together, that is, the contact phase remains relatively unchanged. Then the motor rotor 64a can be controlled to rotate relative to the motor stator 64b, and the rotating inclined table 63 can rotate relative to the reciprocating inclined table 60. The reciprocating inclined table 60 moves back and forth to make the flapping wings perform a sweeping motion.

[0068] See attached Fig.11 and attached Fig.12 In this embodiment, the revolving inclined platform 63 rotates one circle relative to the reciprocating inclined platform 60 to complete one complete forward and backward sweeping movement of the wing root connecting member 57 and the flapping wing; the two ends of the spring 61 are respectively fixedly connected to the wing root fixed plate 56 of the reciprocating inclined platform 60, and this fixed connection is conducive to the transmission of driving force from the wing root fixed plate 56 to the reciprocating inclined platform 60 during flapping. If a live connection is used, the driving force will be transmitted through the outer connecting rod structure, which will cause greater load and wear on the connecting rod structure. In this embodiment, the wing root fixed plate 56, the spring 61, and the reciprocating inclined platform 60 are connected together by fixed connection, and the characteristic of the spring itself to absorb and transmit torque is used to improve the movement life of the mechanism; see the attached Fig.11 When the phase of the rotating ramp 63 relative to the reciprocating ramp 60 is rotated from 0° to 180°, the rotating ramp 63 will generate a very small torque on the reciprocating ramp 60, which can be absorbed by the spring 61 and released in the second half of the rotation from 180° to 360°. This process will also increase the overall motion life of the mechanism.

[0069] In some embodiments, if the two ends of the spring 61 only contact the end surfaces of the wing root fixed plate 56 of the reciprocating ramp 60 but are not fixedly connected, a slide groove needs to be opened at the inner hole of the reciprocating ramp 60, and a slide is added at the corresponding position of the wing root rotating shaft 55. The reciprocating ramp 60 can slide back and forth along the wing root rotating shaft 55, and the function of the ramp sweeping steering mechanism 6 in this embodiment can also be realized.

[0070] The front transmission mechanism 40 includes a driving motor 40a, a pinion 40b, a double-layer gear 40c, a large gear 40d, an intermediate transmission shaft 40e, a final transmission shaft 40f, and two pin rudder arms 40g. The driving motor 40a is fixedly connected to the front main bracket 10, and its output shaft is fixedly connected to the pinion 40b; the double-layer gear 40c and the large gear 40d are respectively fixedly connected to the intermediate transmission shaft 40e and the final transmission shaft 40f, and the intermediate transmission shaft 40e and the final transmission shaft 40f are axially connected to the front part of the support frame 1; the pinion 40b is meshed with the large-toothed side of the double-layer gear 40c, and the small-toothed side of the double-layer gear 40c is meshed with the large gear 40d, that is, the final transmission shaft 40f is driven to rotate by the driving motor 40a, and the pin rudder arms 40g are symmetrically fixedly connected on both sides of the final transmission shaft 40f; the cylindrical pins of the pin rudder arms 40g are located in the slide groove 50a of the slide groove member 50.

[0071] The support frame 1 includes a front main bracket 10, a rear main bracket 16, a carbon fiber connecting rod 14, a fixing sleeve 15, a connecting column 11, two left brackets 12, and two right brackets 13, wherein: the front main bracket 10 and the rear main bracket 16 have the same structure and are symmetrically arranged on the front and rear sides, and are connected and fixed by the carbon fiber connecting rod 14 and the fixing sleeve 15; the left and right sides of the front main bracket 10 and the rear main bracket 16 are symmetrically fixed to the left bracket 12 and the right bracket 13 through the connecting column 11, that is, the left bracket 12 and the right bracket 13 have the same structure and are symmetrically arranged according to the front main bracket 10; the upper and lower sides of the front main bracket 10 are provided with a wheel support arm 10a , the wheel support arms 10a on both sides are respectively axially connected to the upper wheel 51 and the lower wheel 52; the left bracket 12 is provided with guide rod platforms 12a at the top and bottom, and the guide rod 12b is fixedly connected between the upper and lower guide rod platforms 12a, and the slide member 50 reciprocates up and down along the guide rod 12b; the left bracket 12 is provided with shaft support arms 12c at the front and back, the wing root shaft 55 passes through the front and rear two shaft support arms 12c and is axially connected thereto, and the wing root fixing plate 56 is fixedly connected thereto; in actual manufacturing, the front main bracket 10, the rear main bracket 16, the left bracket 12 and the right bracket 13 can be made of polymer composite materials with high specific strength and specific stiffness through injection molding or 3D printing methods.

[0072] The pair of front flapping wings 2 and the pair of rear flapping wings 3 have a total of four identical flapping wing structures. The pair of front flapping wings 2 include a left front flapping wing 20 and a right front flapping wing 21, and the pair of rear flapping wings 3 include a left rear flapping wing 30 and a right rear flapping wing 31; the left front flapping wing 20 includes a flapping wing frame 20b made of carbon fiber material and a flapping wing membrane 20c wrapped with a high-elastic polyester film on its surface.

[0073] In actual use, the inclination angles of the inclined surfaces of the reciprocating inclined platform 60 and the rotating inclined platform 63 are adjusted according to the requirements of the sweeping amplitude, and the adjustment range can be selected from 20° to 60°; if you want to ensure that the front and rear sweeping amplitudes are consistent, you need to ensure that: when the inclined surfaces of the reciprocating inclined platform 60 and the rotating inclined platform 63 coincide with each other (the two are relative, and the phase difference is 180°), the flapping wing is at the extreme position of the backward sweep; when the reciprocating inclined platform 60 and the rotating inclined platform 63 are relative, and the phase difference is 0°, the flapping wing is at the extreme position of the forward sweep; see Fig.10 At this time, when the reciprocating inclined platform 60 and the rotating inclined platform 63 are relative to each other and the phase difference is 90°, the flapping angle is 0°.

[0074] In summary, the ramp sweep steering mechanism 6 can push or pull the wing root connector 57 to rotate forward or backward, thereby driving the flapping wing to perform a forward and backward sweeping motion with a variable sweep angle to achieve the effect of controlling the flight direction.

[0075] The mechanism motion process of the bionic dragonfly flapping-wing aircraft with a wire-driven flapping mechanism of the present invention is specifically as follows:

[0076] In the bionic dragonfly flapping-wing aircraft with a wire-rope drive flapping mechanism, the front and rear drive flapping mechanisms and the sweep steering mechanisms have the same structure. Taking the front drive mechanism 40, the wire-rope flapping mechanism 5 at the root of the left front flapping wing, and the inclined platform sweep steering mechanism 6 as an example:

[0077] During operation, the driving motor 40a drives the small gear 40b to rotate, which in turn drives the double-layer gear 40c and the large gear 40d to rotate, and then drives the final transmission shaft 40f fixedly connected to the large gear to rotate. The pin rudder arm 40g fixedly connected to the final transmission shaft rotates circumferentially, and its cylindrical pin slides in the chute 50a of the chute member 50, driving the chute member 50 to reciprocate up and down along the guide rod 12b.

[0078] See Attachment Figure 7 and Attachment Figure 8 . When the chute member 50 moves upward, it will pull the lower connecting rope 54 at its lower joint 50d upward. The lower connecting rope 54 passes through the lower runner 52 and pulls the wing root fixing disk 56 upward to rotate through the upper fixing head 56a. Since the lengths of the upper connecting rope 53 and the lower connecting rope 54 are the same, the upper connecting rope 53 between the upper joint 50c and the lower fixing head 56b will move passively, thus completing the upward flapping motion of the left front flapping wing 20. Similarly, when the chute member 50 moves downward, it will pull the upper connecting rope 53 at its upper joint 50c downward. The upper connecting rope 53 passes through the upper runner 51 and pulls the wing root fixing disk 56 downward to rotate through the lower fixing head 56b. Therefore, the lower connecting rope 54 between the lower joint 50d and the upper fixing head 56a will move passively, thus completing the downward flapping motion of the left front flapping wing 20. In summary, the front flapping wing can flap up and down under the drive of the front drive flapping mechanism, and since the driving sources of the front and rear flapping wings are different, differential flapping of the two pairs of front and rear flapping wings can be achieved.

[0079] When the flapping wing flaps, the inclined platform sweep steering mechanism 6 rotates together with the wing root fixing disk 56 and the wing root rotating shaft 55, that is, the inclined platform sweep steering mechanism 6 rotates together with the entire flapping wing plane and can be regarded as relatively stationary. The motor stator 64b of the outer rotor hollow shaft motor 64 is fixedly connected to the wing root rotating shaft 55 through the motor fixing disk 65, and its motor rotor 64a drives

[0080] the turnover inclined platform 63 to rotate circumferentially, and then can drive the reciprocating inclined platform 63 coaxially connected to its edge to reciprocate back and forth. During this process, the spring 61 is always in a compressed state. The reciprocating back and forth movement of the reciprocating inclined platform 63 will push or pull the wing root connecting member 57 forward or backward to rotate through the connecting rod 62, thereby driving the flapping wing to perform a spatial back and forth sweep motion with a variable sweep angle;

[0081] During this process, each flapping wing can perform flapping motion in an "elliptical" or "figure-8" trajectory at the wing tip according to its sweeping motion frequency. By controlling the two flapping wings on one side to perform sweeping motion or the flapping wings on both sides to perform asynchronous sweeping motion, the aircraft can be controlled to perform turning motion.

[0082] Based on bionics, the flapping frequency of the bionic dragonfly flapping-wing aircraft with a rope-driven flapping mechanism is designed to be 18-24Hz, the reduction ratio is set to 36:1, and a 2S (7.4V) lithium battery (power supply) and a 5250-7050KV drive motor are selected. The theoretical flapping frequency can be met when the system is fully charged.

[0083] In summary, the flapping-wing aircraft of the present invention simulates the multi-degree-of-freedom motion mode of dragonfly wings in reality, and can realize differential flapping of the front and rear pairs of flapping wings and individual sweep control of each flapping wing; the use of wire ropes as a transmission flapping mode greatly reduces the operating noise of the mechanism and the mass of the transmission components, which helps to control the mass of the entire aircraft; each flapping wing can perform flapping motion in an "elliptical" or "figure-8" trajectory of the wing tip according to its sweep motion frequency, and the turning motion of the aircraft can be controlled by the ramp sweep steering mechanism to realize tailless control; see the attached Figure 14-16 The flapping-wing aircraft is a bionic dragonfly flapping-wing aircraft with a rope-driven flapping mechanism based on the flight and aerodynamic characteristics of the dragonfly. It can simulate the real flight movements of the dragonfly (gliding, diving, turning) well and achieve a better bionic effect.

Claims

1. A bionic dragonfly flapping-wing aircraft with a cable-driven flapping mechanism, comprising: A supporting frame (1), a pair of front flapping wings (2), a pair of rear flapping wings (3), a transmission mechanism (4), and a wire rope flapping mechanism (5); Each flapping wing root is provided with a wire rope flapping mechanism (5) of the same structure; The support frame (1) is provided with a guide rod platform (12a) and a rotating shaft support arm (12c); the guide rod platform (12a) is provided with a guide rod (12b); and the rotating shaft support arm (12c) is fixed on the support frame (1); The transmission mechanism (4) comprises: a driver, a reducer, a final transmission shaft (40f), and a pin rudder arm (40g); The final drive shaft (40f) is axially connected to the support frame (1), and the pin rudder arms (40g) are fixed at both ends of the final drive shaft (40f); The wire rope flapping mechanism (5) comprises: a slide member (50), an upper rotating wheel (51), a lower rotating wheel (52), an upper connecting rope (53), a lower connecting rope (54), a wing root rotating shaft (55), a wing root fixing plate (56), and a wing root connecting member (57); The upper rotating wheel (51) and the lower rotating wheel (52) are axially connected to the upper and lower sides of the supporting frame (1) respectively; The wing root fixing plate (56) is fixed on the wing root rotating shaft (55), and the front and rear ends of the wing root rotating shaft (55) are axially connected to the rotating shaft support arm (12c); The slide member (50) is provided with a slide member (50a) and a guide rail (50b), and the upper and lower ends of the slide member (50) are respectively provided with an upper joint (50c) and a lower joint (50d); The wing root fixing plate (56) is provided with an upper fixing head (56a), a lower fixing head (56b), and a fixing plate U-shaped slot (56c); The slide member (50) is sleeved on the guide rod (12b) via a guide rail (50b); The cylindrical pin of the pin rudder arm (40g) is arranged in the slide groove (50a) of the slide groove member (50); One end of the upper connecting rope (53) and the lower connecting rope (54) are fixed to the upper joint (50c) and the lower joint (50d), respectively; the other ends are respectively passed around the upper rotating wheel (51) and the lower rotating wheel (52) and fixed to the lower fixing head (56b) and the upper fixing head (56a) of the wing root fixing plate (56); The fixed plate U-shaped slot (56c) is connected to the flapping wing via a wing root connector (57).

2. The bionic dragonfly flapping-wing aircraft with a wire-driven flapping mechanism according to claim 1, characterized in that: The upper connecting rope (53) and the lower connecting rope (54) are of equal length, and the upper joint (50c) and the lower joint (50d) of the slide groove member (50) are arranged in a front-to-back staggered manner, so that the upper connecting rope (53) and the lower connecting rope (54) are arranged in a spatially staggered manner.

3. The bionic dragonfly flapping-wing aircraft with a wire-driven flapping mechanism according to claim 1 or 2, characterized in that: A ramp sweeping steering mechanism (6) is also provided, comprising: a reciprocating ramp (60), a spring (61), a connecting rod (62), a revolving ramp (63), an outer rotor hollow shaft motor (64), and a motor fixing plate (65); The motor stator (64b) of the outer rotor hollow shaft motor (64) is fixed to the rear end of the wing root rotating shaft (55) via a motor fixing plate (65); The revolving ramp (63) passes through the wing root rotating shaft (55) and is fixed to the end of the motor rotor (64a) of the outer rotor hollow shaft motor (64); The reciprocating inclined platform (60) is axially connected to the wing root rotating shaft (55), and the inclined surface of the reciprocating inclined platform (60) corresponds to the inclined surface of the rotating inclined platform (63); The spring (61) is sleeved on the wing root rotating shaft (55) and is in a compressed state, with two ends respectively fixed on the reciprocating inclined platform (60) and the wing root fixed plate (56); The outer connecting platform (60a) of the reciprocating inclined platform (60) is axially connected to one end of the connecting rod (62) via a vertical shaft; The connecting platform (57c) of the wing root connecting member (57) is axially connected to the other end of the connecting rod (62) via a vertical shaft; The fixed plate U-shaped slot (56c) is axially connected to the wing root connecting piece (57) via a vertical shaft.

4. The bionic dragonfly flapping-wing aircraft with a wire-driven flapping mechanism according to claim 3, characterized in that: When in use, the motor is powered on, the motor rotor (64a) and the motor stator (64b) are locked first, the flapping wings flap, the reciprocating inclined platform (60) and the rotating inclined platform (63) rotate together, that is, the contact phase remains relatively unchanged, and then the motor rotor (64a) can be controlled to rotate relative to the motor stator (64b), the rotating inclined platform (63) can be controlled to rotate relative to the reciprocating inclined platform (60), and the reciprocating inclined platform (60) moves back and forth to make the flapping wings perform a sweeping motion.

5. The bionic dragonfly flapping-wing aircraft with a wire-driven flapping mechanism according to claim 4, characterized in that: The transmission mechanism (4) comprises a front transmission mechanism (40) and a rear transmission mechanism (41), both of which have the same structure and are symmetrically arranged on the front and rear sides of the support frame 1. The front transmission mechanism (40) comprises a driving motor (40a), a large gear (40d), a final transmission shaft (40f), and two pin rudder arms (40g). The driving motor (40a) is fixedly connected to the front part of the support frame (1), and drives the large gear (40d) and the final transmission shaft (40f) fixedly connected thereto to rotate together.

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