Flapping mechanism, flapping mechanism preparation device and preparation method

Abstract

The present invention relates to the field of bionic aircraft technology, specifically disclosing a flapping mechanism, a flapping mechanism manufacturing device, and a manufacturing method. The flapping mechanism includes a connector, a flapping membrane, and at least two wing frames; one end of the connector has a first fitting surface; one side of the wing frame has a second fitting surface, the second fitting surface being coplanar with the first fitting surface; the wing frame includes multiple flexible rods connected to the side of the connector; the flapping membrane is bonded to the first fitting surface and all of the second fitting surfaces. By optimizing the specific structure of the flapping mechanism, the flapping mechanism improves the fit and connection stability of the flapping membrane with the wing frame and the connector, thereby enhancing the structural strength and motion stability of the flapping mechanism and improving its bionic performance.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic aircraft, and in particular to a flapping-wing mechanism, a flapping-wing mechanism preparation device and a preparation method. Background Art

[0002] With the advancement of science and technology, research into bionics and soft robotics has continued to deepen, leading to the emergence of micro-bionic soft robots. Among these, bionic birds have become a hot research topic. Bird feathers, derived from keratinized avian epidermal cells, are lightweight and tough, providing important functions such as insulation and flight. Therefore, the study of bird feathers is particularly crucial.

[0003] Currently, numerous researchers at home and abroad are conducting research combining bionics, materials science, and soft mechanics. The development of bionic bird wings driven by intelligent materials and structures is becoming a mainstream trend. Compared to traditional rigid mechanical feathers driven by motors, these bionic wings offer significant advantages such as simple structure, smooth movement, high yaw efficiency, low noise, high maneuverability, and environmental friendliness. They demonstrate broad application value and prospects in areas such as aerial monitoring, biological observation, and military search and reconnaissance.

[0004] However, existing bionic flapping wing mechanisms still have some problems in practical applications. Some flapping wing mechanisms are not ideal in terms of the fit between the flapping membrane and the wing frame and connectors, and are prone to uneven fit. This not only reduces the fit and connection stability between the flapping membrane and the wing frame and connectors, but also leads to a decrease in the overall structural strength and motion stability of the flapping wing mechanism, resulting in flapping wing jitter or deformation during flight, thereby affecting flight performance. In addition, the wing frames of some flapping wing mechanisms are not flexible enough, making it difficult to effectively simulate the movement of real wings, and unable to well achieve flapping wing motion and simulate the flight posture of insects, resulting in poor bionic performance. Summary of the Invention

[0005] The purpose of the present invention is to provide a flapping-wing mechanism, a flapping-wing mechanism preparation device and a preparation method, so as to enhance the structural strength and motion stability of the flapping-wing mechanism and improve its bionic performance.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] A flapping mechanism includes a connecting member, a flapping membrane and at least two wing frames; one end of the connecting member has a first fitting surface; one side of the wing frame has a second fitting surface, the second fitting surface is coplanar with the first fitting surface, the wing frame includes a plurality of flexible rods, and the flexible rods are connected to the side of the connecting member; the flapping membrane is bonded to the first fitting surface and all of the second fitting surfaces.

[0008] As an optional technical solution for the flapping mechanism, the wing frame includes a hind wing frame, the hind wing frame is U-shaped, and both ends of the hind wing frame are connected to the connecting piece.

[0009] As an optional technical solution for the flapping mechanism, the wing frame includes a forewing frame, and the forewing frame includes an arc-shaped portion, a first flexible rod and several second flexible rods, one end of the arc-shaped portion is connected to the connecting member, one end of the first flexible rod is connected to the connecting member, and the other end is connected to the arc-shaped portion, one end of the second flexible rod is connected to the arc-shaped portion, and the middle part of the second flexible rod is connected to the first flexible rod.

[0010] As an optional technical solution for the flapping-wing mechanism, the flapping-wing mechanism also includes a third flexible rod, which is connected to the connecting piece and is in a 6-shape. The tail end portion of the 6-shaped third flexible rod is defined as the arc portion, and the circle portion of the 6-shaped third flexible rod is defined as the hind wing skeleton.

[0011] As an optional technical solution of the flapping-wing mechanism, the diameter of the first flexible rod, the diameter of the second flexible rod and the diameter of the third flexible rod are different.

[0012] As an optional technical solution of the flapping-wing mechanism, the flexible rod is made of carbon fiber.

[0013] A flapping-wing mechanism preparation device is used to prepare the above-mentioned flapping-wing mechanism, and the flapping-wing mechanism preparation device includes a base plate, a wing manufacturing mold and a cover plate; the wing manufacturing molds are the same in number and one-to-one correspondence as the wing skeletons, and the wing manufacturing mold includes a splicing part and a positioning part fixed to the splicing part, the splicing part is provided with a splicing half-groove, and all the splicing half-grooves form a splicing groove, the connecting part can be embedded in the splicing groove, the positioning part is provided with multiple positioning grooves, and the wing skeleton part is installed in the positioning groove; the cover plate is used to cover the flapping-wing membrane.

[0014] As an optional technical solution for the flapping mechanism preparation device, the wing manufacturing mold is manufactured by 3D printing technology.

[0015] As an optional technical solution for the flapping mechanism manufacturing device, the flapping mechanism manufacturing device further includes a flipping mechanism and a gluing mechanism, the flipping mechanism is used to flip the bottom plate and the cover plate, and the gluing mechanism is used to glue the flexible rod.

[0016] The method for preparing a flapping wing mechanism is applied to the above-mentioned flapping wing mechanism preparation device, comprising the following steps:

[0017] S10: placing all the wing manufacturing molds on the base plate and assembling them so that all the splicing half grooves form the splicing groove;

[0018] S20: embedding the connecting member in the splicing groove so that the first fitting surface is located at an end away from the groove bottom of the splicing groove;

[0019] S30: Assembling all the wing frames on the connecting parts and the wing manufacturing mold;

[0020] S40: Covering all the wing manufacturing molds with the pre-cut flapping wing membranes;

[0021] S50: covering the cover plate on the flapping membrane, so that the wing manufacturing mold, the flapping mechanism and the flapping membrane are sandwiched between the base plate and the cover plate;

[0022] S60: turning over the bottom plate and the cover plate, and then removing the bottom plate;

[0023] S70: adding glue to the unblocked portion of the flexible rod to adhere the flexible rod portion to the flapping membrane;

[0024] S80: After the glue is solidified, all the wing manufacturing molds are removed, and glue is dripped onto the portion of the flexible rod that has not been dripped with the glue, so that the remaining portion of the flexible rod is bonded to the flapping wing membrane;

[0025] S90: After the glue is cured, the flapping mechanism is removed.

[0026] Beneficial effects of the present invention:

[0027] The flapping-wing mechanism defines a first fitting surface at one end of the connector that is coplanar with a second fitting surface on one side of the wing skeleton, and the flapping-wing membrane is bonded to the first fitting surface and all the second fitting surfaces, so that the flapping-wing membrane is evenly and evenly bonded to the connector and the wing skeleton, ensuring the fit and connection stability between the flapping-wing membrane, the wing skeleton, and the connector. The above design helps to improve the overall structural strength and movement stability of the flapping-wing mechanism, reduce flapping wing vibration or deformation caused by uneven fitting, and thus improve the flight performance of the flapping-wing mechanism. Multiple flexible rods are connected to the side of the connector. This structural design gives the wing skeleton a certain degree of flexibility, can better simulate the movement of real wings, can effectively achieve flapping movement, and simulate the flight posture of insects such as butterflies, so as to improve the bionic performance of the flapping-wing mechanism.

[0028] The flapping-wing mechanism preparation device uses splicing half grooves to form splicing grooves, which can accurately position the connecting parts and ensure the position accuracy of the connecting parts during the assembly process. The multiple positioning grooves of the positioning part can accurately install the wing skeleton part, ensure that the position and angle of the wing skeleton meet the design requirements, and ensure the structural consistency and performance stability of the flapping-wing mechanism. The above design realizes the precise positioning of the connecting parts and the wing skeleton, ensures the assembly accuracy of the various components of the flapping-wing mechanism, and improves the consistency of product quality. The cover plate is used to cover the flapping-wing membrane and forms a clamping structure with the bottom plate, which can fix the flapping-wing membrane, help to make the flapping-wing membrane fit tightly with the wing skeleton during the bonding process, protect and fix the flapping-wing membrane, prevent the flapping-wing membrane from shifting, ensure the bonding effect and bonding quality between the flapping-wing membrane and the skeleton, and improve the preparation efficiency and quality of the flapping-wing mechanism.

[0029] Steps 1 to 3 of this flapping-wing mechanism preparation method ensure the structural accuracy and assembly quality of the flapping-wing mechanism through precise mold assembly and installation of connectors and wing frames. Steps 4 and 5 lay the flapping-wing membrane and form a clamping structure, ensuring a close fit between the flapping-wing membrane and the wing frame, providing a good foundation for the subsequent flipping action. The flipping action in step 6 facilitates the subsequent gluing operation, making gluing in the visible area easier and improving gluing efficiency. Steps 7 and 8 perform the glue dispensing operation in stages, first applying glue to the visible area, then removing the mold and applying glue to the obscured area. This ensures that all flexible rods are reliably bonded to the flapping-wing membrane, improving the structural strength and stability of the flapping-wing mechanism. Step 9 removes the flapping-wing mechanism, completing the entire preparation process and obtaining a complete flapping-wing mechanism that meets design requirements, ensuring the integrity and performance stability of the flapping-wing mechanism. Through this series of orderly steps, the various functions of the flapping-wing mechanism preparation apparatus are fully utilized, ensuring the precise assembly and bonding of the flapping-wing mechanism components, and each link is closely coordinated, improving the preparation efficiency of the flapping-wing mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 1 is a schematic structural diagram of a flapping wing mechanism provided by an embodiment of the present invention;

[0031] Figure 2 Schematic diagram of the structure of the hind wing manufacturing mold, the front wing manufacturing mold and the connecting parts provided in an embodiment of the present invention;

[0032] Figure 3 1 is a schematic structural diagram of a hind wing manufacturing mold provided by an embodiment of the present invention;

[0033] Figure 4 1 is a schematic structural diagram of a forewing manufacturing mold provided by an embodiment of the present invention;

[0034] Figure 5It is a flow chart of a method for preparing a flapping wing mechanism provided by an embodiment of the present invention.

[0035] In the picture:

[0036] 100, hind wing manufacturing mold; 110, hind wing splicing part; 111, hind wing splicing half groove; 120, hind wing positioning part; 121, hind wing positioning groove;

[0037] 200, forewing manufacturing mold; 210, forewing splicing portion; 211, forewing splicing half groove; 220, forewing positioning portion; 221, forewing positioning groove;

[0038] 900, flapping wing mechanism; 910, connecting member; 920, first flexible rod; 930, second flexible rod; 940, third flexible rod. DETAILED DESCRIPTION

[0039] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0040] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature being "above", "above" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0041] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0042] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0043] like Figure 1 As shown, this embodiment provides a flapping mechanism 900, including a connecting member 910, a flapping membrane and at least two wing frames; one end of the connecting member 910 has a first fitting surface; one side of the wing frame has a second fitting surface, the second fitting surface is coplanar with the first fitting surface, the wing frame includes a plurality of flexible rods, and the flexible rods are connected to the side of the connecting member 910; the flapping membrane is bonded to the first fitting surface and all the second fitting surfaces.

[0044] The flapping-wing mechanism 900 defines a first mating surface at one end of the connector 910 that is coplanar with a second mating surface on one side of the wing frame. The flapping membrane is bonded to the first mating surface and all of the second mating surfaces, ensuring uniform and smooth adhesion between the flapping membrane, the wing frame, and the connector 910, ensuring a secure fit and stable connection between the flapping membrane, the wing frame, and the connector 910. This design helps improve the overall structural strength and motion stability of the flapping-wing mechanism 900, reducing flapping vibration or deformation caused by uneven fit, thereby enhancing the flight performance of the flapping-wing mechanism 900. Multiple flexible rods are connected to the side of the connector 910. This structural design imparts a certain degree of flexibility to the wing frame, enabling it to better simulate the movement of a real wing, effectively achieving flapping motion and simulating the flight posture of insects such as butterflies, thereby enhancing the biomimetic performance of the flapping-wing mechanism 900.

[0045] In this embodiment, the connecting member 910 is connected to a driving mechanism on the bionic aircraft, and the driving mechanism is used to drive the flapping-wing mechanism 900 to perform flapping motions.

[0046] In this embodiment, the wing frame includes a hind wing frame, which is U-shaped, and both ends of the hind wing frame are connected to the connecting piece 910.

[0047] The two ends of the U-shaped hind wing skeleton are connected to the connector 910, so that the hind wing can work in conjunction with the connector 910 when flapping, thereby improving the efficiency and coordination of the flapping motion. This structure strengthens the connection stability between the hind wing skeleton and the connector 910, enhances the structural strength of the hind wing skeleton, and ensures the synchronization of the hind wing's motion when flapping. The U-shaped hind wing skeleton structure can provide a larger support area and better elasticity for the flapping mechanism 900, thereby enhancing the flexibility and durability of the wings. During the flapping motion, the U-shaped structure can effectively disperse the stress generated during flight, reduce stress concentration, and avoid deformation or damage to the hind wing skeleton during motion, thereby enhancing the structural stability of the flapping mechanism 900, extending the service life of the flapping mechanism 900, and being able to better adapt to different airflow environments, thereby improving flight efficiency.

[0048] Furthermore, the wing frame includes a forewing frame, which includes an arcuate portion, a first flexible rod 920, and a plurality of second flexible rods 930. One end of the arcuate portion is connected to the connector 910. One end of the first flexible rod 920 is connected to the connector 910, and the other end is connected to the arcuate portion. One end of the second flexible rod 930 is connected to the arcuate portion, and the middle portion of the second flexible rod 930 is connected to the first flexible rod 920. Specifically, four second flexible rods 930 are provided.

[0049] The structure in which the arc-shaped portion of the forewing skeleton, the first flexible rod 920, and the plurality of second flexible rods 930 are connected to each other forms a stable support system that can accurately simulate the shape and mechanical properties of the butterfly's forewings, and enables the forewing skeleton to have a reasonable mechanical distribution. This enables the forewings of the flapping mechanism 900 to generate more complex and effective airflows when flapping, thereby improving lift and flight flexibility. Among them, the design of the arc-shaped portion conforms to the principles of aerodynamics, can better simulate the shape of real butterfly wings, and improve the aerodynamic performance of the flapping mechanism 900. The connection method of the first flexible rod 920 and the second flexible rod 930 further enhances the structural strength and reliability of the forewing skeleton, enables the forewing to evenly disperse stress when subjected to force, reduces local deformation, ensures that the forewing will not be deformed or damaged during high-speed flapping, and improves the flight stability and flapping efficiency of the flapping mechanism 900.

[0050] Furthermore, the flapping mechanism 900 also includes a third flexible rod 940, which is connected to the connecting piece 910 and is in a 6 shape. The tail end part of the 6-shaped third flexible rod 940 is defined as an arc part, and the circle part of the 6-shaped third flexible rod 940 is defined as the hind wing skeleton.

[0051] The figure-6 design of the third flexible rod 940 integrates the curved portion of the forewing and the hindwing framework into one piece, enabling the forewing and hindwing to work together better during flapping motion, ensuring more synchronized and efficient flapping of the forewing and hindwings, thereby improving the overall motion efficiency of the flapping mechanism 900. This integrated design also simplifies the structure of the flapping mechanism 900, reducing the number of connection points between components, reducing structural complexity, and reducing the number of components. This results in a tighter and more stable connection between the forewing and hindwing frameworks, reducing assembly difficulty and production costs, and improving the reliability and stability of the flapping mechanism 900.

[0052] Furthermore, the diameters of the first flexible rod 920 , the second flexible rod 930 , and the third flexible rod 940 are different.

[0053] The first, second, and third flexible rods 920, 930, and 940 can be optimized for different mechanical requirements. Flexible rods of varying diameters can be configured appropriately based on their positions and functions within flapping-wing mechanism 900 to provide varying mechanical properties. Flexible rods with larger diameters can withstand greater stress and serve as the primary support and force transmission points, ensuring structural strength. Flexible rods with smaller diameters provide a certain degree of flexibility, enabling flapping-wing mechanism 900 to better simulate the motion of biological wings. This design optimizes the structural performance of flapping-wing mechanism 900, reducing its overall weight while ensuring structural strength, thereby improving its flight efficiency and flexibility.

[0054] In this embodiment, the flexible rod is made of carbon fiber.

[0055] Carbon fiber offers advantages such as high strength, low density, and excellent flexibility. Using carbon fiber as the material for the flexible rod significantly reduces the overall weight of flapping-wing mechanism 900 while maintaining its structural strength. This lighter weight reduces the load on the drive mechanism, thereby improving the flight efficiency and endurance of flapping-wing mechanism 900. Furthermore, carbon fiber exhibits excellent corrosion resistance and fatigue resistance, extending the service life of flapping-wing mechanism 900.

[0056] like Figures 1 to 4 As shown, this embodiment also provides a flapping mechanism preparation device for preparing the above-mentioned flapping mechanism 900, and the flapping mechanism preparation device includes a base plate, a wing manufacturing mold and a cover plate; the wing manufacturing molds are the same in number as the wing skeletons and correspond one to one, and the wing manufacturing mold includes a splicing part and a positioning part fixed to the splicing part, the splicing part is provided with a splicing half groove, and all the splicing half grooves form a splicing groove, and the connecting piece 910 can be embedded in the splicing groove, and the positioning part is provided with multiple positioning grooves, and the wing skeleton part is installed in the positioning groove; the cover plate is used to cover the flapping membrane.

[0057] This flapping-wing mechanism manufacturing device utilizes splicing half-grooves to form a splicing groove, which can precisely position the connector 910 and ensure the positional accuracy of the connector 910 during assembly. The multiple positioning grooves in the positioning portion accurately mount the wing frame, ensuring that the position and angle of the wing frame meet design requirements, thereby ensuring the structural consistency and performance stability of the flapping-wing mechanism 900. This design achieves precise positioning of the connector 910 and the wing frame, ensuring the assembly accuracy of the various components of the flapping-wing mechanism 900 and improving the consistency of product quality. The cover plate, used to cover the flapping-wing membrane, forms a clamping structure with the base plate, which can secure the flapping-wing membrane and facilitates a close fit between the flapping-wing membrane and the wing frame during the bonding process. It protects and secures the flapping-wing membrane, prevents displacement of the flapping-wing membrane, ensures the bonding effect and quality between the flapping-wing membrane and the frame, and improves the manufacturing efficiency and quality of the flapping-wing mechanism 900.

[0058] In this embodiment, two wing manufacturing molds are provided, namely a hindwing manufacturing mold 100 and a forewing manufacturing mold 200. The hindwing manufacturing mold 100 corresponds to the forewing frame, and the forewing manufacturing mold 200 corresponds to the hindwing frame. The splicing portion on the hindwing manufacturing mold 100 is the hindwing splicing portion 110, the positioning portion on the hindwing manufacturing mold 100 is the hindwing positioning portion 120, the splicing half-groove provided on the hindwing splicing portion 110 is the hindwing splicing half-groove 111, and the positioning groove provided on the hindwing positioning portion 120 is the hindwing positioning groove 121. The splicing portion on the forewing manufacturing mold 200 is the forewing splicing portion 210, the positioning portion on the forewing manufacturing mold 200 is the forewing positioning portion 220, the splicing half-groove provided on the forewing splicing portion 210 is the forewing splicing half-groove 211, and the positioning groove provided on the forewing positioning portion 220 is the forewing positioning groove 221.

[0059] In this embodiment, the wing manufacturing mold is manufactured by 3D printing technology.

[0060] 3D printing technology can precisely create complex wing molds according to design requirements, ensuring mold accuracy and quality, and improving the manufacturing precision and efficiency of flapping-wing mechanism 900. 3D printing technology can also rapidly produce molds of complex shapes, shortening mold manufacturing cycles and reducing mold manufacturing costs. Furthermore, 3D-printed molds can be customized, facilitating modification and optimization as needed to meet the manufacturing requirements of flapping-wing mechanisms 900 of varying specifications and designs, thereby improving the adaptability and scalability of flapping-wing mechanism manufacturing equipment.

[0061] Exemplarily, the flapping mechanism preparation device further includes a flipping mechanism and a gluing mechanism, wherein the flipping mechanism is used to flip the bottom plate and the cover plate, and the gluing mechanism is used to gluing the flexible rod.

[0062] The flipping mechanism is used to flip the base and cover plates, thereby easily completing the flipping operation of the wing manufacturing mold, flapping mechanism 900, and flapping membrane. This exposes the unobstructed portion of the flexible rod, facilitating the subsequent gluing operation, making the gluing process more convenient and efficient, improving the convenience and accuracy of gluing, and ensuring the uniformity and efficiency of gluing. The gluing mechanism can precisely control the amount of glue used and the gluing position, ensuring the accuracy of the glue amount and gluing position, improving the bonding quality between the flapping membrane and the flexible rod, and the performance stability of the flapping mechanism 900. The coordinated operation of the flipping mechanism and the gluing mechanism further improves the manufacturing precision and quality of the flapping mechanism 900.

[0063] like Figures 1 to 5 As shown, this embodiment also provides a method for preparing a flapping wing mechanism, which is applied to the above-mentioned flapping wing mechanism preparation device, comprising the following steps:

[0064] Step 1: Place all wing manufacturing molds on the base plate and assemble them so that all the splicing half grooves form a splicing groove.

[0065] Step 2: Insert the connecting piece 910 into the splicing groove so that the first fitting surface is located at the end away from the groove bottom of the splicing groove.

[0066] Step 3: Assemble all wing frames onto the connector 910 and the wing manufacturing mold.

[0067] Step 4: Cover all wing-making molds with pre-cut flapping membrane.

[0068] Step 5: Cover the flapping membrane with a cover plate, so that the wing manufacturing mold, the flapping mechanism 900 and the flapping membrane are sandwiched between the base plate and the cover plate.

[0069] Step 6: Flip the bottom plate and cover plate over, then remove the bottom plate.

[0070] Step 7: Add glue to the unobstructed part of the flexible rod to make the flexible rod part adhere to the flapping membrane.

[0071] Step 8: After the glue solidifies, remove all wing manufacturing molds and add glue to the part of the flexible rod that has not been glued, so that the rest of the flexible rod is bonded to the flapping wing membrane.

[0072] Step 9: After the glue solidifies, remove the flapping-wing mechanism 900.

[0073] Steps 1 to 3 of this flapping-wing mechanism preparation method ensure the structural accuracy and assembly quality of the flapping-wing mechanism 900 through precise mold assembly and installation of the connector 910 and wing frame. Steps 4 and 5 lay the flapping-wing membrane and form a clamping structure, ensuring a close fit between the flapping-wing membrane and the wing frame, providing a good foundation for the subsequent flipping action. The flipping action in step 6 facilitates the subsequent gluing operation, making gluing in the visible area easier and improving gluing efficiency. Steps 7 and 8 perform the gluing operation in stages, first applying glue to the visible area, then removing the mold and applying glue to the obstructed area. This ensures that all flexible rods are reliably bonded to the flapping-wing membrane, improving the structural strength and stability of the flapping-wing mechanism 900. Step 9 removes the flapping-wing mechanism 900, completing the entire preparation process and obtaining a complete flapping-wing mechanism 900 that meets the design requirements, ensuring the integrity and performance stability of the flapping-wing mechanism 900. Through the above series of orderly steps, the various functions of the flapping mechanism preparation device are fully utilized, ensuring the precise assembly and bonding of the various components of the flapping mechanism 900. Each link is closely coordinated, thereby improving the preparation efficiency of the flapping mechanism 900.

[0074] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A flapping wing mechanism preparation device, used for preparing a flapping wing mechanism, characterized in that: The flapping mechanism comprises: A connecting piece (910), wherein one end of the connecting piece (910) has a first fitting surface; At least two wing frames, one side of each wing frame having a second fitting surface, the second fitting surface being coplanar with the first fitting surface, the wing frame comprising a plurality of flexible rods, the flexible rods being connected to the side surface of the connecting member (910); a flapping film bonded to the first bonding surface and all of the second bonding surfaces; The flapping mechanism preparation device comprises: base plate; The wing manufacturing mold has the same number as the wing skeleton and corresponds one to one. The wing manufacturing mold includes a splicing portion and a positioning portion fixed to the splicing portion. The splicing portion is provided with a splicing half groove. All the splicing half grooves form a splicing groove. The connecting piece (910) can be embedded in the splicing groove. The positioning portion is provided with a plurality of positioning grooves. The wing skeleton portion is installed in the positioning groove. The cover plate is used to cover the flapping membrane so that the flapping membrane is evenly and evenly bonded to the connecting member (910) and the wing frame.

2. The flapping wing mechanism manufacturing device according to claim 1, characterized in that: The wing frame comprises a hind wing frame, the hind wing frame is U-shaped, and both ends of the hind wing frame are connected to the connecting piece (910).

3. The flapping wing mechanism manufacturing device according to claim 2, characterized in that: The wing frame includes a forewing frame, and the forewing frame includes an arc-shaped portion, a first flexible rod (920) and a plurality of second flexible rods (930), one end of the arc-shaped portion is connected to the connecting member (910), one end of the first flexible rod (920) is connected to the connecting member (910), and the other end is connected to the arc-shaped portion, one end of the second flexible rod (930) is connected to the arc-shaped portion, and the middle part of the second flexible rod (930) is connected to the first flexible rod (920).

4. The flapping wing mechanism manufacturing device according to claim 3, characterized in that: The flapping wing mechanism further comprises a third flexible rod (940), the third flexible rod (940) being connected to the connecting member (910) and being in a 6-shape, the tail end portion of the 6-shaped third flexible rod (940) being defined as the arc portion, and the circle portion of the 6-shaped third flexible rod (940) being defined as the hind wing skeleton.

5. The flapping wing mechanism manufacturing device according to claim 4, characterized in that: The diameter of the first flexible rod (920), the diameter of the second flexible rod (930) and the diameter of the third flexible rod (940) are different from each other.

6. The flapping wing mechanism manufacturing device according to any one of claims 1 to 5, characterized in that: The flexible rod is made of carbon fiber.

7. The flapping wing mechanism manufacturing device according to claim 1, characterized in that: The wing manufacturing mold is manufactured by 3D printing technology.

8. The flapping wing mechanism manufacturing device according to claim 1, characterized in that: The flapping mechanism manufacturing device further includes a flipping mechanism and a gluing mechanism, wherein the flipping mechanism is used to flip the bottom plate and the cover plate, and the gluing mechanism is used to gluing the flexible rod.

9. A method for preparing a flapping wing mechanism, applied to the flapping wing mechanism preparation device according to any one of claims 1 to 8, characterized in that: The following steps are involved: S10: placing all the wing manufacturing molds on the base plate and assembling them so that all the splicing half grooves form the splicing groove; S20: embedding the connecting piece (910) in the splicing groove so that the first fitting surface is located at an end away from the groove bottom of the splicing groove; S30: Assembling all the wing frames onto the connecting piece (910) and the wing manufacturing mold; S40: Covering all the wing manufacturing molds with the pre-cut flapping wing membranes; S50: covering the cover plate on the flapping membrane, so that the wing manufacturing mold, the flapping mechanism and the flapping membrane are sandwiched between the base plate and the cover plate; S60: turning over the bottom plate and the cover plate, and then removing the bottom plate; S70: adding glue to the unblocked portion of the flexible rod to adhere the flexible rod portion to the flapping membrane; S80: After the glue is solidified, all the wing manufacturing molds are removed, and glue is dripped onto the portion of the flexible rod that has not been dripped with the glue, so that the remaining portion of the flexible rod is bonded to the flapping wing membrane; S90: After the glue is cured, the flapping mechanism is removed.

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