A biomimetic dragonfly flapping-wing aircraft with adjustable sweeping amplitude driven by an air source

Abstract

This invention discloses a biomimetic dragonfly flapping-wing aircraft with adjustable sweep amplitude driven by an air source, belonging to the field of aircraft technology. It includes: a base plate support, a transmission mechanism, a sweeping flapping mechanism, a pair of front flapping wings, and a pair of rear flapping wings. The transmission mechanism includes a front air source driven transmission mechanism and a rear air source driven transmission mechanism with identical structures located on the front and rear sides of the base plate support, enabling differential sweeping movements of the two pairs of flapping wings. Each flapping wing root is equipped with an adjustable sweeping flapping mechanism and a micro-gear. The front air source driven transmission mechanism drives the sweeping support to rotate circumferentially via an air source rotating blade engine, which in turn drives the flapping wings to sweep through a sweeping swing frame. The amplitude and speed of each flapping wing's sweeping movement can be controlled independently. During flight, the sweep amplitude or speed of the front and rear flapping wings on the same side can be controlled to be greater than that of the front and rear flapping wings on the other side to achieve turning movements and tailless flight control.

Description

Technical Field

[0001] This invention belongs to the field of aircraft technology, specifically relating to a biomimetic dragonfly flapping-wing aircraft with adjustable sweeping amplitude driven by an air source. Background Technology

[0002] In recent years, the low-altitude economy has developed rapidly, and flapping-wing aircraft have broad application prospects in both military and civilian fields.

[0003] Ornithopter is a type of aircraft based on bionics that imitates the flight postures of insects, birds, or bats. It has advantages such as the ability to flexibly change its flight state, high flight efficiency, and good stealth. Compared with the two traditional flight methods of fixed wings and rotors, it can quickly achieve high-difficulty maneuvers such as sharp turns and dives, making it more advantageous when flying in confined spaces and spaces with many obstacles.

[0004] Currently, biomimetic flapping-wing aircraft generally use typical mechanisms such as single crank double rocker, crank slider, crank slide, and double crank double rocker. These mechanisms can generally only achieve simple up and down flapping of the aircraft's wings. The flapping wings have low spatial freedom, resulting in insufficient lift. Furthermore, the flight control of the aircraft mainly relies on the tail fin.

[0005] Most flapping-wing aircraft still rely on lithium batteries and electric motors as the driving source for their flapping mechanisms. The question of whether a new, reliable, environmentally friendly, and adaptable driving source can be provided is a problem that engineers in this field urgently need to solve. Summary of the Invention

[0006] The purpose of this invention is to solve the problems of limited spatial freedom and inflexible flight of most flapping-wing aircraft in the above-mentioned technical field, and to provide a biomimetic dragonfly flapping-wing aircraft with adjustable flapping amplitude driven by an air source; it uses compressed gas and a rotary valve plate engine as the driving source for the transmission flapping mechanism, and has advantages such as reliability and environmental protection.

[0007] The technical solution adopted in this invention is as follows:

[0008] A biomimetic dragonfly flapping-wing aircraft with adjustable sweeping amplitude driven by an air source is characterized by comprising: a base plate support 1, a transmission mechanism 2, a sweeping flapping mechanism 3, a front flapping wing 4, and a rear flapping wing 5.

[0009] Each flapping wing root is equipped with a sweeping flapping mechanism 3 with the same structure;

[0010] The sweeping and swatting mechanism 3 includes a sweeping and swatting rotating frame 31, a sweeping and swatting adjusting telescopic rod 32, a sweeping and swatting adjusting rotating rod 33, a sweeping and swatting swing frame 34, a limiting slide rod 35, and a slider rotating sleeve assembly 36.

[0011] The sweeping and shovel adjustment telescopic rod 32 includes a telescopic cylinder 32a and a telescopic head 32b, wherein the telescopic cylinder 32a is fixed in the middle of the sweeping and shovel rotating frame 31;

[0012] The sweeping adjustment lever 33 is provided with a sliding sleeve 33b, and its inner end is connected to the end of the telescopic head 32b by a shaft or ball joint.

[0013] The sweeping swing frame 34 is provided with an inner sliding column 34a, and the front and rear sides are fixedly connected to the limiting slide rods 35, with the outer end fixedly connected to the inner side of the flapping wing.

[0014] The sliding sleeve 33b and the inner sliding column 34a are slidably connected;

[0015] The base plate support 1 is provided with a front slide rail 11 and a rear slide rail 12 for sweeping flaps at the front and rear sides of the flapping wing root, respectively.

[0016] The slider-rotor assembly 36 includes a slider 36a disposed in the front slide rail 11 and the rear slide rail 12 of the sweeping, and a rotor 36b axially connected thereto.

[0017] The limiting slide rod 35 is slidably connected to the rotating sleeve 36b, and the axis of the limiting slide rod 35 is always coplanar with the rotating axis of the outer support platform 31c.

[0018] The transmission mechanism 2 drives the two side sweeping frames 31 to rotate synchronously in a circular motion;

[0019] The sweeping frame 31 is provided with an outer support platform 31c with a vertical end face. The sweeping adjustment rod (33) is provided with a support groove 33a. The two ends of the sliding pin 39 are fixed on the outer support platform 31c and slide in the support groove 33a.

[0020] The axis of the sweeping adjustment lever 33 forms an acute angle with the outer end face of the outer support platform 31c;

[0021] Inside the front slide rail 11 and the rear slide rail 12 of the sweeping block, compression spring strips 37 in a compressed state are provided on both sides of the slider 36a;

[0022] The outer side of the left and right output shafts 23d of the commutator is connected to the micro transmission 260 for transmission. The transmission output shaft 260a of the micro transmission 260 is fixed to the inner side of the sweeping frame 31, which can drive it to rotate circumferentially.

[0023] Each time the sweeping frame 31 rotates once, its outer flapping wing completes one sweeping up-and-down flapping motion.

[0024] During the flapping wing sweeping motion, the sweeping amplitude is controlled by adjusting the angle between the axis of the sweeping adjustment rod 33 and the outer end face of the outer support platform 31c by controlling the extension and retraction of the telescopic head 32b; the sweeping speed of the flapping wing can also be controlled by the micro transmission 260 at the root of each flapping wing.

[0025] The transmission mechanism 2 includes a front air source driven transmission mechanism 20 and a rear air source driven transmission mechanism 24. The two have the same structure and are respectively located on the front and rear sides of the base plate support 1, and each is equipped with its own air source rotary valve plate engine 21.

[0026] The air source rotary valve plate engine 21 includes an engine housing 26, a valve plate rotor 28, a rotor output shaft 29, a compressed air tank 21b, an electronically controlled valve 21c, a pressure regulating head 21d, an extra stroke adapter 21e, an intake hose 21f, and an exhaust hose 21g.

[0027] The engine housing 26 is fixedly connected to the base plate bracket 1. The engine housing 26 includes an upper cover 26a and a lower housing 27, which are sealed together.

[0028] The lower housing 27 includes a main air inlet 27a, a pressure regulating chamber 27b, and an eccentric conversion chamber 27c;

[0029] The valve rotor 28 includes a rotating wheel 28a, a rotating valve plate 28b, and a valve plate spring 28c;

[0030] The main air inlet 27a of the lower housing 27 is sequentially connected to the electronic control valve 21c and the compressed air tank 21b.

[0031] The main air inlet 27a is connected inward to the pressure regulating chamber 27b;

[0032] The left side of the pressure regulating chamber 27b is connected by a threaded seal of the pressure regulating head 21d. Rotating the pressure regulating head 21d inward can reduce the usable volume of the pressure regulating chamber 27b until its outlet is sealed.

[0033] The outlet of the pressure regulating chamber 27b is connected to the air inlet of the eccentric conversion chamber 27c via the air inlet hose 21f;

[0034] The exhaust port of the eccentric conversion chamber 27c is connected to an additional stroke adapter 21e with a rearward-facing exhaust nozzle via an exhaust hose 21g.

[0035] The eccentric conversion chamber 27c is in the shape of a "cylindrical groove", the rotating disk 28a is in the shape of a "cylindrical", and the diameter of the rotating disk 28a is smaller than the diameter of the eccentric conversion chamber 27c;

[0036] The eccentric shaft of the rotating disk 28a is connected to the eccentric conversion chamber 27c, and the eccentric side is tangent to the inner wall of the eccentric conversion chamber 27c.

[0037] The eccentric conversion chamber 27c has symmetrical air inlets and outlets on both sides of the tangent part of the inner wall;

[0038] k rotary valve plates 28b are evenly distributed on the rotating wheel 28a, and the two are an integral structure, where k≥2;

[0039] Due to its structural characteristics, the rotary valve plate 28b will naturally open outwards, and its outer side will contact the inner wall of the eccentric conversion chamber 27c.

[0040] The k rotary valve plates 28b divide the eccentric conversion chamber 27c into an intake zone, at least one transition zone, and an exhaust zone;

[0041] The rotating disk 28a is coaxially fixed to the rotor output shaft 29, and the rotor output shaft 29 passes through the upper cover 26a and is sealed to it.

[0042] When the output speed of the rotor output shaft 29 is large, a compressed valve spring 28c can be set between the inner side of the k rotating valve plates 28b and the body of the rotating disk 28a; the outer side of the rotating valve plate 28b is always in contact with the inner wall of the eccentric conversion chamber 27c under the action of the valve spring 28c.

[0043] The rotor output shaft 29 of the air source rotary valve plate engine 21 is connected to the commutator input shaft 23b of the cross commutator via a reduction mechanism 22; the commutator input shaft 23b and the left and right output shafts 23d of the commutator are connected by meshing bevel gears.

[0044] The cross commutator is also provided with a rotating balance pendulum output shaft, the end of which is fixed to a self-stabilizing balance pendulum; the self-stabilizing balance pendulums in the front air source drive transmission mechanism 20 and the rear air source drive transmission mechanism 24 can rotate in the same direction or in opposite directions.

[0045] This invention provides a biomimetic dragonfly flapping-wing aircraft with adjustable air-driven sweeping amplitude, comprising: a base plate support, a transmission mechanism, a sweeping flapping mechanism, a pair of front flapping wings, and a pair of rear flapping wings. The transmission mechanism includes a front air-driven transmission mechanism and a rear air-driven transmission mechanism with identical structures located on the front and rear sides of the base plate support, enabling differential sweeping movements of the two pairs of flapping wings. Each flapping wing root is equipped with an adjustable sweeping flapping mechanism and a micro-gear with identical structures. The front air-driven transmission mechanism drives the sweeping support to rotate circumferentially via an air-driven rotary blade engine, which in turn drives the flapping wings to sweep through a sweeping swing frame. The amplitude and speed of each flapping wing's sweeping movement can be controlled independently. During flight, the sweeping amplitude or speed of the front and rear flapping wings on the same side can be controlled to be greater than that of the front and rear flapping wings on the other side to achieve turning movements and realize tailless flight control.

[0046] In summary, the beneficial effects and advantages of this invention compared with the prior art are as follows:

[0047] 1) The flapping-wing aircraft of the present invention uses compressed gas (compressed gas tank, compressed air or compressed carbon dioxide, etc.) and air source rotary valve plate engine as the driving source for the transmission flapping mechanism, which has advantages such as environmental protection and reliability.

[0048] 2) The exhaust gas from the air source rotary valve plate engine of the flapping wing aircraft of the present invention is pollution-free, and can provide an additional stroke (secondary utilization) when discharged from the exhaust nozzle facing the rear of the extra stroke adapter.

[0049] 3) The flapping-wing aircraft of the present invention adopts a sweeping and flapping mechanism that integrates sweeping and flapping to achieve simultaneous sweeping and flapping motion of the flapping wings. The mechanism mainly adopts sliding connection or shaft connection and is compact, which helps to reduce the operating noise of the mechanism and control the quality of the mechanism.

[0050] 4) The amplitude and speed of the sweeping motion of each flapping wing of the flapping wing aircraft of the present invention can be controlled independently. When the aircraft is flying, the sweeping amplitude or sweeping speed of the front and rear flapping wings on the same side can be controlled to be greater than that of the front and rear flapping wings on the other side to achieve the turning motion of the aircraft and realize tailless flight control.

[0051] 5) The flapping-wing aircraft of this invention is based on the flight and aerodynamic characteristics of dragonflies. It simulates the multi-degree-of-freedom movement of dragonfly wings in reality and can realize the differential sweeping motion of the front and rear pairs of flapping wings. It can simulate the real flight actions of dragonflies (gliding, diving, turning) well and achieve a good biomimetic effect. Attached Figure Description

[0052] Figure 1 This is a schematic diagram of the overall structure of a biomimetic dragonfly flapping-wing aircraft with adjustable air-driven flapping amplitude according to the present invention.

[0053] Figure 2 This is a schematic diagram A of the overall structure of the transmission mechanism and the sweeping flapping mechanism of the air-driven biomimetic dragonfly flapping wing aircraft with adjustable sweeping amplitude according to the present invention.

[0054] Figure 3 This is a schematic diagram (B) of the overall structure of the transmission mechanism and the sweeping flapping mechanism of the air-driven, adjustable sweeping amplitude biomimetic dragonfly flapping wing aircraft of the present invention.

[0055] Figure 4 This is a schematic diagram of the specific structure of the base plate support of the biomimetic dragonfly flapping wing aircraft with adjustable air-driven flapping amplitude according to the present invention.

[0056] Figure 5 This is a schematic diagram of the front transmission mechanism and the sweeping flapping mechanism of a biomimetic dragonfly flapping wing aircraft with adjustable sweeping amplitude driven by an air source, according to the present invention.

[0057] Figure 6 This is a schematic diagram of the specific structure of the sweeping and flapping mechanism of a biomimetic dragonfly flapping wing aircraft with adjustable sweeping amplitude driven by an air source according to the present invention.

[0058] Figure 7 This is a schematic diagram of the front air source drive transmission mechanism of a biomimetic dragonfly flapping wing aircraft with adjustable air source drive sweeping amplitude according to the present invention.

[0059] Figure 8 This is a schematic diagram of the exploded structure of the air source rotary valve plate engine in the air source drive transmission mechanism of a biomimetic dragonfly flapping-wing aircraft with adjustable air source drive sweeping amplitude according to the present invention.

[0060] Figure 9 This is a schematic diagram of the internal structure of the air source rotary valve plate engine in the air source drive transmission mechanism of the present invention, which is a biomimetic dragonfly flapping wing aircraft with adjustable air source driven sweeping amplitude.

[0061] Figure 10 This is a schematic diagram of the working principle of the air source rotary valve plate engine in the air source drive transmission mechanism of the present invention, which is a biomimetic dragonfly flapping wing aircraft with adjustable air source drive sweeping amplitude.

[0062] Figure 11 This is a schematic diagram of the specific structure of the sweeping and flapping mechanism of a biomimetic dragonfly flapping wing aircraft with adjustable sweeping amplitude driven by an air source according to the present invention.

[0063] Figure 12 This is a schematic diagram of the specific structure of the slide rail rotating assembly in the sweeping and flapping mechanism of a gas-driven biomimetic dragonfly flapping wing aircraft with adjustable sweeping amplitude according to the present invention.

[0064] Figure 13 This is a schematic diagram of the state changes of the sweeping and flapping mechanism of a gas-driven, adjustable sweeping amplitude biomimetic dragonfly flapping wing aircraft during one sweeping cycle, according to the present invention.

[0065] Figure 14 This is a schematic diagram illustrating the working principle of the sweeping and flapping mechanism of an air-driven biomimetic dragonfly flapping wing aircraft with adjustable sweeping amplitude, which changes the sweeping amplitude of the sweeping and flapping.

[0066] Figure 15 This is a schematic diagram illustrating the specific method of achieving opposite rotation of the front and rear self-stabilizing balance pendulums in Embodiment 2 of the present invention, which is a biomimetic dragonfly flapping-wing aircraft with adjustable air-source driven flapping amplitude.

[0067] Figure 16 This is a schematic diagram of the specific flapping wing structure of a biomimetic dragonfly flapping wing aircraft with adjustable flapping amplitude driven by an air source according to the present invention.

[0068] Figure 17 This is a schematic diagram of the differential flapping states of the front and rear flapping wings of a biomimetic dragonfly flapping wing aircraft with adjustable air-driven flapping amplitude according to the present invention.

[0069] Figure 18 This is a schematic diagram of the turning state of a biomimetic dragonfly flapping-wing aircraft with adjustable air-driven flapping amplitude according to the present invention.

[0070] Figure 19 This is a schematic diagram of the gliding state of a biomimetic dragonfly flapping-wing aircraft with adjustable air-driven flapping amplitude according to the present invention.

[0071] In the attached diagram

[0072] 1. Base plate support; 10. Sweeping platform with double sliding rails; 11. Front sliding rail for sweeping; 12. Rear sliding rail for sweeping;

[0073] 2. Transmission mechanism; 20. Front air source drive transmission mechanism;

[0074] 21. Rotary valve plate engine; 21a. Engine mount; 21b. Compressed air tank; 21c. Electronic control valve; 21d. Pressure regulating head; 21e. Extra stroke adapter; 21f. Intake hose; 21g. Exhaust hose;

[0075] 26. Engine housing; 26a. Upper cover; 27. Lower housing; 27a. Main air intake; 27b. Pressure regulating chamber; 27c. Eccentric conversion chamber; 27d. Side air port; 28. Valve rotor; 28a. Rotating wheel; 28b. Rotating valve; 28c. Valve spring; 29. ​​Rotor output shaft;

[0076] 22. Reduction mechanism; 22a. Reduction bracket; 22b. Pinion; 22c. Double-layer compound gear; 22d. Large gear; 22e. Output fixing recess; 22f. Positioning pin;

[0077] 23. Front cross commutator; 23a. Commutator protective housing; 23b. Commutator input shaft; 23c. Input bevel gear; 23d. Left and right output shafts of the commutator; 23e. Left and right output bevel gears; 23f. Balance pendulum bevel gear; 23g. Balance pendulum output shaft; 23h. Front self-stabilizing balance pendulum;

[0078] 24. Rear air-driven transmission mechanism; 25. Rear cross commutator; 25e. Rear output bevel gear; 25h. Rear self-stabilizing balance pendulum; 260. Miniature transmission; 260a. Transmission output shaft;

[0079] 3. Sweeping and flapping mechanism; 31. Sweeping and flapping rotating frame; 31a. Inner fixed platform; 31b. Telescopic rod fixing frame; 31c. Outer support platform; 32. Sweeping and flapping adjusting telescopic rod; 32a. Telescopic cylinder; 32b. Telescopic head; 33. Sweeping and flapping adjusting rotating rod; 33a. Support slide groove; 33b. Sliding rotating sleeve; 34. Sweeping and flapping swing frame; 34a. Inner sliding rotating column; 34b. Slide rod fixing platform; 34c. Flapping wing mounting head; 35. Limiting slide rod; 36. Slider rotating sleeve assembly; 36a. Slider; 36b. Rotating sleeve; 37. Compression spring strip; 38. Turning pin; 39. Sliding pin;

[0080] 4.1 Front flapping wing; 40. Left front flapping wing; 41. Right front flapping wing; 41a. Flapping wing connector; 41b. Flapping wing frame; 41c. Flapping wing membrane;

[0081] 5.1 Rear flapping wing; 50. Left rear flapping wing; 51. Right rear flapping wing. Detailed Implementation

[0082] Example 1: A biomimetic dragonfly flapping-wing aircraft with adjustable sweeping amplitude driven by an air source

[0083] A biomimetic dragonfly flapping-wing aircraft with adjustable sweeping amplitude driven by an air source includes: a base plate support 1, a transmission mechanism 2, a sweeping flapping mechanism 3, a pair of front flapping wings 4, and a pair of rear flapping wings 5.

[0084] Each flapping wing root is equipped with a sweeping flapping mechanism 3 with the same structure;

[0085] The base plate support 1 is provided with a pair of flapping double slide rail platforms 10 at the root of the flapping wings;

[0086] The transmission mechanism 2 includes a front air source driven transmission mechanism 20 and a rear air source driven transmission mechanism 24, which have the same structure and are respectively located on the front and rear sides of the base plate support 1.

[0087] The aforementioned front air source drive transmission mechanism 20 includes an air source rotary valve plate engine 21, a reduction mechanism 22, a front cross commutator 23, and a micro transmission 260;

[0088] The front cross commutator 23 is provided with symmetrical and through commutator left and right output shafts 23d, which are driven to rotate by the air source rotary valve plate motor 21. The driving source of the air source rotary valve plate motor 21 is compressed air.

[0089] The outer side of the left and right output shafts 23d of the commutator is connected to the micro transmission 260 for transmission.

[0090] The sweeping and swatting mechanism 3 has an adjustable sweeping amplitude and includes: a sweeping and swatting rotating frame 31, a sweeping and swatting adjusting telescopic rod 32, a sweeping and swatting adjusting rotating rod 33, a sweeping and swatting swing frame 34, a limiting slide rod 35, a slider rotating sleeve assembly 36, a compression spring strip 37, a rotating pin 38, and a sliding pin 39.

[0091] The output shaft 260a of the micro transmission 260 is fixedly connected to the inner fixed platform 31a inside the sweeping frame 31.

[0092] The front air source drive transmission mechanism 20 can simultaneously drive the sweeping flapping frame 31 at the root of each of the two flapping wings in the pair of front flapping wings 4 to move in a synchronous circular motion through the air source rotary valve plate engine 21.

[0093] The sweeping frame 31 is provided with a telescopic rod fixing frame 31b in the middle and an outer support platform 31c with a vertical end face (vertical to the bottom plate support 1) on the outside;

[0094] The sweeping adjustment telescopic rod 32 includes a telescopic cylinder 32a and a telescopic head 32b;

[0095] The telescopic cylinder 32a is fixed on the telescopic rod fixing frame 31b, and the telescopic cylinder 32a is provided with a controllable telescopic head 32b;

[0096] The inner end of the sweeping adjustment lever 33 is axially connected to the outer end of the telescopic head 32b via a pivot pin 38;

[0097] The sweeping adjustment lever 33 has a support groove 33a in the middle and a sliding sleeve 33b on the outside;

[0098] The two ends of the sliding pin 39 are fixed on the outer support platform 31c, and the support groove 33a of the sweeping adjustment rod 33 is slidably connected to the sliding pin 39.

[0099] The axis of the sweeping adjustment lever 33 is set at an acute angle to the outer end face of the outer support platform 31c;

[0100] The sweeping swing frame 34 has an inner sliding column 34a on the inner side and a flapping wing mounting head 34c on the outer side; the sweeping swing frame 34 also has a sliding rod fixing platform 34b on the front and rear sides.

[0101] The sliding sleeve 33b and the inner sliding column 34a are slidably connected;

[0102] Both the front and rear sliding rod fixing platforms 34b are fixed with "columnar" limiting sliding rods 35;

[0103] The paired sweeping double slide rail platform 10 is provided with a front sweeping slide rail 11 and a rear sweeping slide rail 12 at the front and rear, respectively.

[0104] The front and rear slide rails of the sweeping device are both slidably connected to the slider rotating sleeve assembly 36.

[0105] The slider-rotor assembly 36 includes a slider 36a disposed in the slide rail and a rotating sleeve 36b axially connected to the slider 36a.

[0106] The limiting slide bar 35 and the rotating sleeve 36b are slidably connected;

[0107] The axis of the limiting slide bar 35 is always kept coplanar with the axis of rotation of the outer support platform 31c;

[0108] Inside the front slide rail 11 and the rear slide rail 12 of the sweeping, there are compression spring strips 37 in a compressed state on both sides of the slider 36a;

[0109] The flapping wing mounting head 34c on the flapping wing swing frame 34 is fixedly connected to the flapping wing connector 41a on the inner side of the flapping wing.

[0110] See appendix Figure 13 and attached Figure 14 When in use, the sweeping frame 31 rotates 360° under the drive of the transmission mechanism 2, which can drive the sweeping swing frame 34 and its outer flapping wings to complete a back-and-forth sweeping up-and-down flapping motion.

[0111] During the flapping wing sweeping motion, the sweeping amplitude can be controlled by adjusting the angle between the axis of the sweeping adjustment rod 33 and the outer end face of the outer support platform 31c by controlling the extension and retraction of the telescopic head 32b.

[0112] During the flapping wing sweeping motion, the sweeping speed (frequency) of the flapping wing can be controlled by a micro transmission 260 set at the root of each flapping wing; the control of the flapping wing sweeping amplitude or sweeping speed can be used for the steering control of the aircraft.

[0113] The air source rotary valve plate engine 21 includes an engine housing 26, a valve plate rotor 28, a rotor output shaft 29, a compressed air tank 21b, an electronically controlled valve 21c, a pressure regulating head 21d, an extra stroke adapter 21e, an intake hose 21f, and an exhaust hose 21g.

[0114] The engine housing 26 is fixed to the base plate bracket 1 via the engine bracket 21a;

[0115] The engine housing 26 includes an upper cover 26a and a lower housing 27, which are sealed together by a sealing ring;

[0116] The lower housing 27 includes a main air inlet 27a, a pressure regulating chamber 27b, an eccentric conversion chamber 27c, and a side air inlet 27d;

[0117] The valve rotor 28 includes a rotating disk 28a, a rotating valve plate 28b, and a valve plate spring 28c;

[0118] The main air inlet 27a of the lower housing 27 is connected outward (downward) to the electronic control valve 21c and the compressed air tank 21b in sequence;

[0119] The main air inlet 27a is connected inward to the pressure regulating chamber 27b in the left and right directions;

[0120] The pressure regulating chamber 27b is connected to the side air port 27d to the right, and its left side is connected by a pressure regulating head 21d through a threaded seal. Rotating the pressure regulating head 21d inward can reduce the actual usable volume of the pressure regulating chamber 27b until the connection between the pressure regulating chamber 27b and the side air port 27d is sealed.

[0121] The side air inlet 27d is connected to the air inlet of the eccentric conversion chamber 27c via the air inlet hose 21f;

[0122] The exhaust port of the eccentric conversion chamber 27c is connected to the additional stroke adapter 21e via an exhaust hose 21g;

[0123] The additional stroke adapter 21e is fixed to the engine housing 26 and has a rearward-facing exhaust nozzle thereon;

[0124] The eccentric conversion chamber 27c is in the shape of a "cylindrical groove", the rotating disk 28a is in the shape of a "cylindrical", and the diameter of the rotating disk 28a is smaller than the diameter of the eccentric conversion chamber 27c;

[0125] The eccentric shaft of the rotating wheel 28a is connected to the eccentric conversion chamber 27c, and the eccentric side is tangent to the inner wall of the eccentric conversion chamber 27c. The eccentric conversion chamber 27c has symmetrical and parallel air inlets and outlets on the left and right sides of the tangent point on the inner wall.

[0126] See appendix Figure 10 The rotating disk 28a is provided with three rotating valve plates 28b, which are integrated into one structure. It can be manufactured by subtractive manufacturing (milling, etc.) from a complete cylindrical disk. Under normal circumstances, the rotating valve plates 28b will open outwards to support normal operation at a certain speed.

[0127] When a higher output speed is required (higher intake pressure), a compressed valve spring 28c can be installed between the inner side of the three rotary valve plates 28b and the main body of the rotary disk 28a.

[0128] The outer side of the rotary valve plate 28b is always in contact with the inner wall of the eccentric conversion chamber 27c under the action of the valve plate spring 28c;

[0129] The upper and lower end faces of the rotary valve plate 28b are tightly slidably connected to the lower end face of the upper cover 26a and the bottom surface of the eccentric conversion chamber, respectively.

[0130] The rotating disk 28a is fixedly connected to the rotor output shaft 29 (or is an integral structure), and their axes coincide.

[0131] The rotor output shaft 29 passes upward through the upper cover 26a and is connected to its sealing shaft;

[0132] The compressed air tank 21b is equipped with a gas replenishment port at the rear end, which can be used to periodically replenish the tank with compressed air, compressed carbon dioxide, and other non-polluting and non-flammable gases.

[0133] The deceleration mechanism 22 includes a deceleration bracket 22a, a pinion 22b, a double-layer composite gear 22c, a large gear 22d, and a positioning pin 22f;

[0134] The speed reduction bracket 22a is fixed on the base plate bracket 1, and the double-layer composite gear 22c and the large gear 22d are installed on the speed reduction bracket 22a by positioning pins 22f;

[0135] The pinion 22b is mounted on the rotor output shaft 29. The pinion 22b meshes with one side of the large gear of the double-layer compound gear 22c. The pinion side of the double-layer compound gear 22c meshes with the large gear 22d.

[0136] The large gear 22d has an output fixing recess 22e at its center, and is fixedly connected to the commutator input shaft 23b of the front cross commutator 23 through the output fixing recess 22e.

[0137] The front cross commutator 23 includes a commutator protective shell 23a, a commutator input shaft 23b, an input bevel gear 23c, a commutator left and right output shaft 23d, left and right output bevel gears 23e, a balance pendulum bevel gear 23f, a balance pendulum output shaft 23g, and a front self-stabilizing balance pendulum 23h.

[0138] The commutator protective shell 23a is fixed on the base plate bracket 1. The front and rear limit shafts of the commutator protective shell 23a are respectively connected to the balance pendulum output shaft 23g and the commutator input shaft 23b.

[0139] The balance pendulum output shaft 23g is fixedly connected to the inner side of the balance pendulum bevel gear 23f, the commutator input shaft 23b is fixedly connected to the inner side of the input bevel gear 23c, and the commutator left and right output shafts 23d are fixedly connected to the left and right output bevel gears 23e.

[0140] The input bevel gear 23c, the left and right output bevel gears 23e, and the balance bevel gear 23f mesh with each other in sequence;

[0141] The output end of the balance pendulum output shaft 23g is fixed to the self-stabilizing balance pendulum 23h.

[0142] The base plate support 1 can be manufactured in actual production using a polymer composite material with high specific strength and specific stiffness through injection molding or 3D printing.

[0143] The four flapping wings, namely the pair of front flapping wings 4 and the pair of rear flapping wings 5, have the same structure. The pair of front flapping wings 4 includes a left front flapping wing 40 and a right front flapping wing 41, and the pair of rear flapping wings 5 ​​includes a left rear flapping wing 50 and a right rear flapping wing 51. The right front flapping wing 41 includes a flapping wing skeleton 41b made of carbon fiber and a flapping wing membrane 41c wrapped with a high-elasticity polyester film on its surface.

[0144] Example 2: A biomimetic dragonfly flapping-wing aircraft with adjustable sweeping amplitude driven by an air source.

[0145] See appendix Figure 2 and attached Figure 6 In the above embodiment 1, the front air source drive transmission mechanism 20 and the rear air source drive transmission mechanism 24 are arranged in a front-to-back array. The rear air source drive transmission mechanism 24 is provided with a rear cross commutator 25, which has the same overall structure as the front cross commutator 23. The only difference is that the rear output bevel gear 25e in the rear cross commutator 25 is set in the opposite direction to the left and right output bevel gears 23e in the front cross commutator 23. At this time, only the left and right output shafts of the commutators in the rear cross commutator 25 and the front cross commutator 23 will rotate in opposite directions (without affecting the operation of the sweeping and flapping mechanism 3). The rear self-stabilizing balance pendulum 25h in the rear cross commutator 25 and the front self-stabilizing balance pendulum 23h in the front cross commutator 23 rotate in the same direction. That is, in embodiment 1, the direction of the front and rear self-stabilizing balance pendulums is determined by the orientation of the rotor output shaft 29 (unidirectional rotation) of the rotary valve plate engine 21 in the front air source drive transmission mechanism 20 and the rear air source drive transmission mechanism 24.

[0146] See appendix Figure 15 In actual use, when the rear self-stabilizing pendulum 25h and the front self-stabilizing pendulum 23h need to rotate in opposite directions, the front air source drive transmission mechanism 20 and the rear air source drive transmission mechanism 24 are symmetrically arranged (where the exhaust nozzles of the extra stroke adapter 21e always face backward). This can achieve the opposite rotation of the front and rear self-stabilizing pendulums, and also make secondary use of the gas discharged from the exhaust nozzles of the extra stroke adapter 21e to generate a backward stroke.

[0147] The specific mechanism and process of the air-driven, adjustable sweeping amplitude biomimetic dragonfly flapping-wing aircraft of the present invention are as follows:

[0148] The front and rear transmission mechanisms and the sweeping flapping mechanism of the air-source driven adjustable sweeping flapping aircraft of the present invention have the same structure. Taking the front air-source driven transmission mechanism 20 and the sweeping flapping mechanism 3 at the root of the right front flapping wing 41 as examples:

[0149] During operation, the working principle of the air source rotary valve plate engine 21 in the front air source drive transmission mechanism 20 is as follows:

[0150] The compressed air in the compressed air tank 21b passes sequentially through the electronically controlled valve 21c, the main air inlet 27a, the pressure regulating chamber 27b, the side air inlet 27d, and the air inlet hose 21f into the air inlet of the eccentric conversion chamber 27c.

[0151] The remaining space of the entire eccentric conversion chamber 27c is divided into an intake chamber S1, a transition chamber S2, and an exhaust chamber S3 by three rotary valve plates 28b in sequence.

[0152] See appendix Figure 9 Gas first enters the intake chamber S1, pushing the nearby rotary valve plate 28b to rotate downwards, which in turn drives the rotary wheel 28a to rotate. Due to inertia and eccentric setting, the original intake chamber S1 will become a new transition chamber S2, and the original exhaust chamber S3 will become a new intake chamber S1. During this process, the gas in the original exhaust chamber S passes through the exhaust port of the eccentric conversion chamber 27c in sequence through the exhaust hose 21g and the extra stroke adapter 21e, and is discharged from the exhaust nozzle facing the rear of the extra stroke adapter 21e.

[0153] By doing so, by ensuring that gas continues to enter the gas chamber S1, the rotating disk 28a can be rotated continuously, which in turn causes the rotor output shaft 29 to rotate continuously in one direction.

[0154] In the above process, there is an electrically controlled valve 21c that blocks the gas delivery and a rotating pressure regulating head 21d that regulates the gas delivery flow. The larger the gas delivery flow, the faster the rotating wheel 28a rotates. This completes the description of the working principle of the gas source rotary valve plate engine 21. The following description will describe the gas source rotary valve plate engine 21 as a whole.

[0155] The rotor output shaft 29 of the air source rotary valve plate engine 21 drives the pinion 22b to rotate, which in turn drives the double-layer compound gear 22c and the large gear 22d to rotate, thereby driving the commutator input shaft 23b, which is fixed to the large gear 22d, to rotate.

[0156] Furthermore, the rotation of the input bevel gear 23c drives the left and right output bevel gears 23e and the commutator left and right output shafts 23d fixed to them to rotate.

[0157] The left and right output bevel gears 23e drive the balance pendulum bevel gear 23f and the front self-stabilizing balance pendulum 23h to rotate;

[0158] The rotating commutator's left and right output shafts 23d drive the sweeping frame 31 in the sweeping mechanism 3 on both sides to rotate circumferentially via the micro gearboxes 260 on both sides.

[0159] The sweeping frame 31 drives the sweeping adjustment telescopic rod 32 and the sweeping adjustment rotating rod 33 to rotate in a circular motion together;

[0160] Furthermore, the sweeping swing frame 34 and its upper flapping wing (right front flapping wing 41) are driven by the sliding sleeve 33b of the sweeping adjustment lever 33 to perform sweeping flapping motion; in summary, the front flapping wing can perform sweeping flapping motion under the drive of the front transmission flapping mechanism, and since the front and rear flapping wings have different drive sources, differential sweeping flapping motion of the two pairs of flapping wings can be realized.

[0161] See appendix Figure 13 and attached Figure 14 When in use, the sweeping frame 31 rotates 360° under the drive of the transmission mechanism 2, which can drive the sweeping swing frame 34 and its outer flapping wings to complete a back-and-forth sweeping up-and-down flapping motion.

[0162] During the flapping motion of the flapping wings, the angle between the axis of the flapping adjustment lever 33 and the outer end face of the outer support platform 31c can be adjusted by controlling the telescopic head 32b to control the flapping amplitude. Alternatively, the flapping speed (frequency) of the flapping wings can be controlled by the micro transmission 260 set at the root of each flapping wing. The control of the flapping amplitude or the flapping speed can be used for the steering control of the aircraft. For example, if the flapping amplitude or the flapping speed of the left front and rear flapping wings is greater than that of the right front and rear flapping wings, the aircraft can turn to the right.

[0163] Furthermore, based on bionics, this invention relates to a bionic dragonfly flapping-wing aircraft with adjustable sweeping amplitude driven by an air source.

[0164] The flapping frequency of the wings is designed to be 17-25Hz. The reduction ratio is set to 32:1 (e.g., 8:1 for the first stage and 4:1 for the second stage). A 2S (7.4V) lithium battery is selected as the power supply method and a drive motor with a value of 4400-6500kV is selected. The theoretical flapping frequency can be met when the system has sufficient power.

[0165] In summary, the flapping-wing aircraft of the present invention simulates the multi-degree-of-freedom movement of dragonfly wings in reality, and can realize differential sweeping motion of two pairs of flapping wings, and the amplitude and speed of each flapping wing sweeping motion can be controlled independently.

[0166] It uses compressed gas (compressed gas tank, compressed air or compressed carbon dioxide, etc.) and air source rotary valve plate motor as the drive source for the transmission and actuation mechanism, which has advantages such as reliability and environmental protection.

[0167] The sweeping and flapping mechanism integrates sweeping and flapping motions to achieve simultaneous sweeping and flapping movements of the flapping wings. This mechanism mainly uses sliding or shaft-connected connections and is compact, which helps to reduce the operating noise and mass of the mechanism.

[0168] When the aircraft is in flight, the sweeping amplitude or sweeping speed of the front and rear flapping wings on the same side can be controlled to be greater than that of the front and rear flapping wings on the other side, so as to realize the aircraft's turning motion and achieve tailless flight control.

[0169] Furthermore, the gas discharged from the gas source rotary valve plate engine in this invention is pollution-free and can provide an additional stroke (secondary utilization) when discharged from the exhaust nozzle facing rearward from the extra stroke adapter 21e.

[0170] See appendix Figure 17-19 This flapping-wing aircraft is a biomimetic dragonfly flapping-wing aircraft with adjustable flapping amplitude driven by an air source, based on the flight characteristics and aerodynamic properties of dragonflies. It can simulate the real flight actions of dragonflies (gliding, diving, turning) well and achieve a good biomimetic effect.

Claims

1. A biomimetic dragonfly flapping-wing aircraft with adjustable sweeping amplitude driven by an air source, comprising: The base plate support (1), transmission mechanism (2), sweeping flapping mechanism (3), flapping wings are characterized by: The sweeping and thrashing mechanism (3) includes a sweeping and thrashing rotating frame (31), a sweeping and thrashing adjusting telescopic rod (32), a sweeping and thrashing adjusting rotating rod (33), a sweeping and thrashing swing frame (34), a slider rotating sleeve assembly (36), and a limiting slide rod (35). The sweeping adjustment telescopic rod (32) includes a telescopic cylinder (32a) and a telescopic head (32b), wherein the telescopic cylinder (32a) is fixed in the middle of the sweeping rotating frame (31); The sweeping adjustment lever (33) is provided with a sliding sleeve (33b) on the outside, and its inner end is connected to the end of the telescopic head (32b) by a shaft or ball joint; The sweeping swing frame (34) is provided with an inner sliding column (34a), and the front and rear sides are fixedly connected with limiting slide rods (35), and the outer end is fixedly connected to the inner side of the flapping wing; The sliding sleeve (33b) and the inner sliding column (34a) are slidably connected; The base plate support (1) is provided with a front sweeping slide rail (11) and a rear sweeping slide rail (12) on the front and rear sides of the flapping wing root, respectively; The slider-rotor assembly (36) includes a slider (36a) disposed in the front slide rail (11) and the rear slide rail (12) of the sweeping, and a rotor (36b) axially connected thereto. The limiting slide rod (35) is slidably connected to the rotating sleeve (36b), and the axis of the limiting slide rod (35) is always coplanar with the rotating axis of the outer support platform (31c); The transmission mechanism (2) drives the two sweeping frames (31) to rotate synchronously in a circular motion; The sweeping frame (31) is provided with an external support platform (31c) with a vertical end face. The sweeping adjustment rod (33) is provided with a support groove (33a). The two ends of the sliding pin (39) are fixed on the external support platform (31c) and slide in the support groove (33a). The axis of the sweeping adjustment lever (33) forms an acute angle with the outer end face of the outer support platform (31c); Inside the front slide rail (11) and the rear slide rail (12) of the sweeping, there are compression spring strips (37) on both sides of the slider (36a) in a compressed state.

2. The biomimetic dragonfly flapping-wing aircraft with adjustable sweeping amplitude driven by an air source according to claim 1, characterized in that: The transmission mechanism (2) includes a gas source rotary valve plate engine (21), a reduction mechanism (22), and a cross commutator; The cross commutator is provided with a commutator left and right output shaft (23d), which is driven to rotate by a gas source rotary valve plate motor (21); The left and right output shafts (23d) of the commutator drive the two side sweeping frames (31) to rotate synchronously.

3. The biomimetic dragonfly flapping-wing aircraft with adjustable sweeping amplitude driven by an air source according to claim 2, characterized in that: The outer side of the left and right output shafts (23d) of the commutator is connected to the micro transmission (260) for transmission, and the transmission output shaft (260a) of the micro transmission (260) is fixedly connected to the inner side of the sweeping frame (31); During the flapping wing sweeping motion, the sweeping amplitude is controlled by adjusting the angle between the axis of the sweeping adjustment rod (33) and the outer end face of the outer support platform (31c) by controlling the telescopic head (32b); or the sweeping speed of the flapping wing is controlled by the micro transmission (260) at the root of each flapping wing.

4. The biomimetic dragonfly flapping-wing aircraft with adjustable sweeping amplitude driven by an air source according to claim 3, characterized in that: The transmission mechanism (2) includes a front air source drive transmission mechanism (20) and a rear air source drive transmission mechanism (24). The two have the same structure and are respectively located on the front and rear sides of the base plate support (1), and each is equipped with its own air source rotary valve plate engine (21). The air source rotary valve plate engine (21) includes an engine housing (26), a valve plate rotor (28), a rotor output shaft (29), a compressed air tank (21b), an electronically controlled valve (21c), a pressure regulating head (21d), an extra stroke adapter (21e), an intake hose (21f), and an exhaust hose (21g). The engine housing (26) is fixedly connected to the base plate bracket (1). The engine housing (26) includes an upper cover (26a) and a lower housing (27), which are sealed together. The lower housing (27) includes a main air inlet (27a), a pressure regulating chamber (27b), and an eccentric conversion chamber (27c); The valve rotor (28) includes a rotating disk (28a) and a rotating valve plate (28b); The main air inlet (27a) of the lower housing (27) is connected in sequence to the electronic control valve (21c) and the compressed air tank (21b); The main air inlet (27a) is connected inward to the pressure regulating chamber (27b); The left side of the pressure regulating chamber (27b) is connected by a threaded seal via a pressure regulating head (21d); The outlet of the pressure regulating chamber (27b) is connected to the inlet of the eccentric conversion chamber (27c) via an inlet hose (21f); The exhaust port of the eccentric conversion chamber (27c) is connected to an additional stroke adapter (21e) with a rearward-facing exhaust nozzle via an exhaust hose (21g); The eccentric conversion chamber (27c) is in the shape of a "cylindrical groove", the rotating disk (28a) is in the shape of a "cylindrical", and the diameter of the rotating disk (28a) is smaller than the diameter of the eccentric conversion chamber (27c); The eccentric shaft of the rotating disk (28a) is connected to the eccentric conversion chamber (27c), and the eccentric side is tangent to the inner wall of the eccentric conversion chamber (27c); The eccentric conversion chamber (27c) has symmetrical air inlets and outlets on both sides of the tangent point of the inner wall; The rotating wheel (28a) is provided with k rotating valve plates (28b) evenly distributed, where k≥2; The k rotary valve plates (28b) divide the eccentric conversion chamber (27c) into an intake zone, at least one transition zone, and an exhaust zone; The rotating disk (28a) is coaxially fixed to the rotor output shaft (29), and the rotor output shaft (29) passes through the upper cover (26a) and is sealed to it.

5. The biomimetic dragonfly flapping-wing aircraft with adjustable sweeping amplitude driven by an air source according to claim 4, characterized in that: A compressed valve spring (28c) is provided between the inner side of the k rotary valve plates (28b) and the main body of the rotary disk (28a).

6. The biomimetic dragonfly flapping-wing aircraft with adjustable sweeping amplitude driven by an air source according to claim 5, characterized in that: The rotor output shaft (29) of the gas source rotary valve plate engine (21) is connected to the commutator input shaft (23b) of the cross commutator via a reduction mechanism (22); the commutator input shaft (23b) and the left and right output shafts (23d) of the commutator are connected by meshing bevel gears.

7. A biomimetic dragonfly flapping-wing aircraft with adjustable sweeping amplitude driven by an air source, as described in claim 6, characterized in that: The cross commutator is also provided with a rotating balance pendulum output shaft, the end of which is fixed to a self-stabilizing balance pendulum; the self-stabilizing balance pendulums in the front air source drive transmission mechanism (20) and the rear air source drive transmission mechanism (24) rotate in the same direction or in opposite directions.

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