Bionic dragonfly flapping wing aircraft of double sliding sleeve flapping mechanism

Abstract

The application discloses a bionic dragonfly flapping-wing aircraft with a double sliding sleeve flapping mechanism and belongs to the technical field of aircrafts. The bionic dragonfly flapping-wing aircraft comprises a bottom plate support, a transmission mechanism, a double sliding sleeve flapping mechanism, a cylindrical cam steering sweeping mechanism, one pair of front flapping wings and one pair of rear flapping wings. The transmission mechanism comprises front air source driving transmission mechanisms and rear air source driving transmission mechanisms which are arranged on the front and rear sides of the bottom plate support and are of the same structure. Each flapping wing root is provided with double sliding sleeve flapping mechanisms and cylindrical cam steering sweeping mechanisms which are of the same structure. The front air source driving transmission mechanism drives the circumferential rotation of a first sliding sleeve through an air source rotary vane engine, and then drives the reciprocating rotation of a wing root rotating shaft fixed frame and a wing root rotating shaft through a second sliding sleeve, so as to drive the flapping of the flapping wings. The rotation of the cylindrical cam of the cylindrical cam steering sweeping mechanism can drive the reciprocating sliding of a reciprocating top transmission part, push or pull the reciprocating rotation of a wing root connecting part, and then drive the sweeping movement of the flapping wings in space.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of aircrafts, and particularly relates to a bionic dragonfly flapping-wing aircraft with a double-sliding-sleeve flapping mechanism. BACKGROUND

[0002] In recent years, the low-altitude economy develops rapidly, and flapping-wing aircrafts have broad application prospects in the military and civil fields.

[0003] The flapping-wing aircraft is a kind of aircraft based on bionics to imitate the flight posture of insects, birds or bats, and has the advantages of flexible flight state change, high flight efficiency and good concealment, etc. Compared with the two traditional flight modes of fixed wings and rotors, the flapping-wing aircraft can quickly realize high-difficulty actions such as sharp turns and dives, and has more advantages when flying in a small space with many obstacles.

[0004] At present, the bionic flapping-wing aircraft generally adopts typical mechanisms such as single-crank double-rocker, crank slider, crank sliding groove and double-crank double-rocker. Such mechanisms can only realize simple up-and-down flapping of the flapping wings, and the low spatial freedom of the flapping wings leads to insufficient lift. The flight control of the aircraft mainly relies on the tail wing.

[0005] The driving source of the transmission flapping mechanism of most flapping-wing aircrafts is still lithium batteries and motor drives. Whether a new form of driving source that is reliable, environmentally friendly and has strong adaptability can be provided is also a problem that needs to be solved by technical personnel in this field. SUMMARY

[0006] The purpose of the application is to solve the problems of low spatial freedom of flapping wings and inability to fly flexibly in most flapping-wing aircrafts in the technical field, and to provide a bionic dragonfly flapping-wing aircraft with a double-sliding-sleeve flapping mechanism. Compressed gas and rotary vane engines are used as the driving source of the transmission flapping mechanism, which has the advantages of reliability, environmental protection, etc.

[0007] The technical scheme adopted by the application is as follows:

[0008] A bionic dragonfly flapping-wing aircraft with a double-sliding-sleeve flapping mechanism, characterized in that it comprises a bottom plate support 1, a transmission mechanism 2, a double-sliding-sleeve flapping mechanism 3, a cylindrical cam steering sweeping mechanism 4, one pair of front flapping wings 5 and one pair of rear flapping wings 6.

[0009] Each flapping wing root is provided with a double-sliding-sleeve flapping mechanism 3 with the same structure.

[0010] The bottom plate support 1 is provided with a wing root rotating shaft support arm 10 at the flapping wing root.

[0011] The transmission mechanism 2 comprises a gas source rotary vane engine 21, a speed reduction mechanism 22 and a cross inverter.

[0012] The cross commutator is provided with a commutator left and right output through shaft 23d, which is driven to rotate by the air source rotary vane engine 21.

[0013] The double sliding sleeve flapping mechanism 3 comprises a first sliding sleeve 30, a second sliding sleeve 31, a wing root rotating shaft 32, a wing root rotating shaft fixing frame 33, and a wing root connecting piece 34.

[0014] The wing root rotating shaft 32 is connected with the wing root rotating shaft support arm 10 at both ends, and the wing root rotating shaft fixing frame 33 is fixedly connected to the wing root rotating shaft 32.

[0015] The wing root rotating shaft fixing frame 33 is externally provided with a fixing frame slot 33b and internally provided with a fixing frame swing sliding column 33a.

[0016] The first sliding sleeve 30 is fixedly connected to both ends of the commutator left and right output through shaft 23d, and is provided with a crank sliding sleeve 30a.

[0017] The second sliding sleeve 31 is internally provided with a translation sliding column 31a and externally provided with a translation sliding sleeve 31b.

[0018] The translation sliding column 31a is slidably connected to the crank sliding sleeve 30a, and the translation sliding sleeve 31b is slidably connected to the fixing frame swing sliding column 33a.

[0019] The fixing frame slot 33b is connected to the flapping wing through the wing root connecting piece 34.

[0020] The transmission mechanism 2 comprises a front air source driving transmission mechanism 20 and a rear air source driving transmission mechanism 24, which are the same in structure and are arranged on the front and rear sides of the bottom plate support 1 respectively, and each is provided with an air source rotary vane engine 21.

[0021] The air source rotary vane engine 21 comprises an engine shell 26, a vane rotor 28, a rotor output shaft 29, a compressed gas tank 21b, an electric control valve 21c, a pressure regulating head 21d, an additional stroke adapter 21e, an air inlet hose 21f, and an exhaust hose 21g.

[0022] The engine shell 26 is fixedly connected to the bottom plate support 1, and comprises an upper cover 26a and a lower shell 27, which are sealingly connected.

[0023] The lower shell 27 comprises a total air inlet 27a, a pressure regulating chamber 27b, and an eccentric conversion chamber 27c.

[0024] The vane rotor 28 comprises a rotating disc 28a, a rotating vane 28b, and a vane spring 28c.

[0025] The total air inlet 27a of the lower shell 27 is sequentially connected with the electric control valve 21c and the compressed gas tank 21b.

[0026] The total inlet 27a is communicated with the pressure regulating chamber 27b;

[0027] The left side of the pressure regulating chamber 27b is threadedly connected with the pressure regulating head 21d, and the utilization volume of the pressure regulating chamber 27b can be reduced by rotating the pressure regulating head 21d inwardly until the outlet thereof is closed;

[0028] The outlet of the pressure regulating chamber 27b is communicated with the gas inlet of the eccentric conversion chamber 27c through the gas inlet hose 21f;

[0029] The gas outlet of the eccentric conversion chamber 27c is connected with the additional stroke adapter 21e provided with a rearward gas nozzle through the gas outlet hose 21g;

[0030] The eccentric conversion chamber 27c is in the shape of a "cylindrical groove", and the rotating disc 28a is in the shape of a "cylinder", the diameter of the rotating disc 28a being smaller than that of the eccentric conversion chamber 27c;

[0031] The rotating disc 28a is eccentrically connected with the eccentric conversion chamber 27c, and the eccentric side thereof is tangent to the inner wall of the eccentric conversion chamber 27c;

[0032] The eccentric conversion chamber 27c is provided with a gas inlet and a gas outlet respectively at the two sides of the tangent position of the inner wall thereof;

[0033] The rotating disc 28a is provided with k U-shaped through grooves around the same, and a rotating blade 28b is slidably arranged in each U-shaped through groove, k≥2;

[0034] The rotating blade 28b is connected with the body of the rotating disc 28a by the compression blade spring 28c, so that it is always in contact with the inner wall of the eccentric conversion chamber 27c;

[0035] The k rotating blades 28b divide the eccentric conversion chamber 27c into a gas inlet area, at least one transition area, and a gas outlet area;

[0036] The rotating disc 28a is coaxially fixed with the rotor output shaft 29, and the rotor output shaft 29 penetrates through the upper cover 26a and is sealingly connected with the same.

[0037] The cylindrical cam steering sweeping mechanism 4 comprises a cylindrical cam 40, a reciprocating top sub transmission member 41, a connecting rod 42, an outer rotor hollow shaft motor 44, and a motor fixing disc 45;

[0038] The cylindrical cam 40 is provided with a curved groove 40a on the cylindrical surface thereof;

[0039] The motor stator 44b of the outer rotor hollow shaft motor 44 is fixedly connected with the wing root rotating shaft 32 through the motor fixing disc 45;

[0040] The cylindrical cam 40 is coaxially fixedly connected with the motor rotor 44a penetrating through the wing root rotating shaft 32;

[0041] The middle part of the wing root rotation shaft 32 is provided with a polygonal reciprocating slide rail 32a;

[0042] The reciprocating hairpin transmission member 41 is in the shape of "[", and the front end is provided with a reciprocating slide groove 41a, and is connected with the reciprocating slide rail 32a through the reciprocating slide groove 41a;

[0043] The rear end of the reciprocating hairpin transmission member 41 is provided with an extended ball head hairpin 41b, and the extended ball head hairpin 41b is embedded in the curved groove 40a;

[0044] The outer connection table 41c of the reciprocating hairpin transmission member 41 is connected with one end of the connecting rod 42 through a vertical shaft;

[0045] The connecting table 34c of the wing root connecting piece 34 is connected with the other end of the connecting rod 42 through a vertical shaft;

[0046] The fixed frame slot 33b is connected with the wing root connecting piece 34 through a vertical shaft.

[0047] In use, the outer rotor hollow shaft motor 44 is powered, the motor rotor 44a and the motor stator 44b are first locked, the flapping wing flaps, the cylindrical cam 40 and the reciprocating hairpin transmission member 41 rotate together, that is, the contact phase is relatively constant, then the motor rotor 44a can be controlled to rotate relative to the motor stator 44b, the cylindrical cam 40 is driven to rotate, the reciprocating hairpin transmission member 41 slides forward and backward, and then the reciprocating hairpin transmission member 41 pushes or pulls the flapping wing to move forward and backward.

[0048] The rotor output shaft 29 of the gas source rotary vane engine 21 is connected with the commutator input shaft 23b of the commutator through a speed reduction mechanism 22; the commutator input shaft 23b and the commutator left and right output shaft 23d are connected through intermeshing bevel gears.

[0049] The curved groove 40a on the cylindrical surface of the cylindrical cam 40 is a closed loop "convex-concave curve shape";

[0050] The curved groove 40a of the "convex-concave curve shape" has at least one pair of convex vertices and concave vertices arranged alternately;

[0051] When the curved groove 40a of the "convex-concave curve shape" is provided with two pairs of convex vertices and concave vertices arranged alternately, the cylindrical cam 40 can realize forward and backward sweeping of the flapping wing twice per revolution.

[0052] The application provides a bionic dragonfly flapping-wing aircraft with a double sliding sleeve flapping mechanism and belongs to the technical field of aircrafts.

[0053] Compared with the prior art, the application has the following advantages and benefits:

[0054] 1) The flapping-wing aircraft uses compressed gas (compressed gas tank, compressed air or compressed carbon dioxide, etc.) and a gas source rotary vane engine as the driving source of the transmission flapping mechanism, which has the advantages of environmental protection and reliability.

[0055] 2) The gas source rotary vane engine of the flapping-wing aircraft is pollution-free, and the exhaust gas from the rear exhaust nozzle of the additional stroke adapter can provide additional strokes (secondary utilization).

[0056] 3) The flapping-wing aircraft uses a double sliding sleeve flapping mechanism to realize the flapping movement of the flapping wings, which mainly uses sliding connection or shaft connection and has a compact structure, which helps to reduce the operating noise and control the mass of the mechanism.

[0057] 4) According to the sweeping motion frequency of each flapping wing, the flapping wing can perform flapping motion with wing tip "8" or "elliptical" trajectory, and the turning motion of the aircraft can be controlled by the cylindrical cam steering sweeping mechanism to realize tailless flight control.

[0058] 5) The flapping-wing aircraft is based on the flight and aerodynamic characteristics of dragonflies and simulates the multi-degree-of-freedom motion of dragonfly wings in reality, which can realize differential flapping of the front and rear pairs of flapping wings, individual sweeping control of each flapping wing, good simulation of real dragonfly flight actions (gliding, diving and turning), and good bionic effect. BRIEF DESCRIPTION OF DRAWINGS

[0059] Figure 1 It is a whole structure schematic view of the bionic dragonfly flapping-wing aircraft with a double sliding sleeve flapping mechanism.

[0060] Figure 2 is a schematic diagram of the overall structure of a transmission flapping mechanism and a steering sweeping mechanism of a bionic dragonfly flapping-wing aircraft with a double sliding sleeve flapping mechanism according to the present application;

[0061] Figure 3 is a schematic diagram of the overall structure of a transmission flapping mechanism and a steering sweeping mechanism of a bionic dragonfly flapping-wing aircraft with a double sliding sleeve flapping mechanism according to the present application;

[0062] Figure 4 is a schematic diagram of the specific structure of a bottom plate support of a bionic dragonfly flapping-wing aircraft with a double sliding sleeve flapping mechanism according to the present application;

[0063] Figure 5 is a schematic diagram of the specific structure of a front transmission flapping mechanism and a steering sweeping mechanism of a bionic dragonfly flapping-wing aircraft with a double sliding sleeve flapping mechanism according to the present application;

[0064] Figure 6 is a schematic diagram of the specific structure of a front transmission flapping mechanism of a bionic dragonfly flapping-wing aircraft with a double sliding sleeve flapping mechanism according to the present application;

[0065] Figure 7 is a schematic diagram of the specific structure of a front air source driving transmission mechanism of a bionic dragonfly flapping-wing aircraft with a double sliding sleeve flapping mechanism according to the present application;

[0066] Figure 8 is a schematic diagram of the explosion structure of a gas source rotary vane engine in an air source driving transmission mechanism of a bionic dragonfly flapping-wing aircraft with a double sliding sleeve flapping mechanism according to the present application;

[0067] Figure 9 is a schematic diagram of the internal structure and working principle of a gas source rotary vane engine in an air source driving transmission mechanism of a bionic dragonfly flapping-wing aircraft with a double sliding sleeve flapping mechanism according to the present application;

[0068] Figure 10 is a schematic diagram of the specific structure of a double sliding sleeve flapping mechanism of a bionic dragonfly flapping-wing aircraft with a double sliding sleeve flapping mechanism according to the present application;

[0069] Figure 11 is a schematic diagram of the state change in a flapping period of a double sliding sleeve flapping mechanism of a bionic dragonfly flapping-wing aircraft with a double sliding sleeve flapping mechanism according to the present application;

[0070] Figure 12 is a schematic diagram of the specific structure of a steering sweeping mechanism of a bionic dragonfly flapping-wing aircraft with a double sliding sleeve flapping mechanism according to the present application;

[0071] Figure 13 is a schematic diagram of the part connection relationship of a steering sweeping mechanism of a bionic dragonfly flapping-wing aircraft with a double sliding sleeve flapping mechanism according to the present application;

[0072] Figure 14It is a bionic dragonfly flapping wing aircraft steering sweeping mechanism column cam specific structure schematic diagram of the double sliding sleeve flapping mechanism of the application;

[0073] Figure 15 It is a state change (column cam rotates 180°) schematic diagram of a front and rear sweeping period of the bionic dragonfly flapping wing aircraft steering sweeping mechanism of the double sliding sleeve flapping mechanism of the application;

[0074] Figure 16 It is a specific way schematic diagram of realizing opposite rotation of the front and rear self-stable balance pendulums in embodiment 2 of the bionic dragonfly flapping wing aircraft of the double sliding sleeve flapping mechanism of the application;

[0075] Figure 17 It is a flapping wing specific structure schematic diagram of the bionic dragonfly flapping wing aircraft of the double sliding sleeve flapping mechanism of the application;

[0076] Figure 18 It is a differential flapping state schematic diagram of the front flapping wing and the rear flapping wing of the bionic dragonfly flapping wing aircraft of the double sliding sleeve flapping mechanism of the application;

[0077] Figure 19 It is a turning state schematic diagram of the bionic dragonfly flapping wing aircraft of the double sliding sleeve flapping mechanism of the application;

[0078] Figure 20 It is a gliding state schematic diagram of the bionic dragonfly flapping wing aircraft of the double sliding sleeve flapping mechanism of the application.

[0079] In the drawings

[0080] 1. Base plate support; 10. Wing root rotation shaft support arm;

[0081] 2. Transmission mechanism; 20. Front air source driven transmission mechanism;

[0082] 21. Air source rotary vane engine; 21a. Engine support; 21b. Compressed air tank; 21c. Electric control valve; 21d. Pressure regulating head; 21e. Additional stroke adapter; 21f. Air inlet hose; 21g. Air outlet hose;

[0083] 26. Engine housing; 26a. Upper cover; 27. Lower housing; 27a. Total air inlet; 27b. Pressure regulating chamber; 27c. Eccentric conversion chamber; 28. Vane rotor; 28a. Rotary disc; 28b. Rotary vane; 28c. Vane spring; 29. Rotor output shaft;

[0084] 22. Speed reduction mechanism; 22a. Speed reduction support; 22b. Small gear; 22c. Double-layer composite gear; 22d. Large gear; 22e. Output fixed recess; 22f. Positioning pin;

[0085] 23. front cross commutator; 23a. commutator protection shell; 23b. commutator input shaft; 23c. input bevel gear; 23d. commutator left and right output shaft; 23e. front output bevel gear; 23f. balance pendulum bevel gear; 23g. balance pendulum output shaft; 23h. front self-stabilizing balance pendulum;

[0086] 24. rear air source driven transmission mechanism; 25. rear cross commutator; 25e. rear left and right output bevel gear; 25h. rear self-stabilizing balance pendulum;

[0087] 3. double sliding sleeve flapping mechanism; 30. first sliding sleeve unit; 30a. crank sliding sleeve; 31. second sliding sleeve unit; 31a. translation sliding column; 31b. translation sliding sleeve; 32. wing root rotation shaft; 32a. reciprocating sliding rail; 33. wing root rotation shaft fixing frame; 33a. fixing frame swing sliding column; 33b. fixing frame slot; 34. wing root connecting piece; 34a. one-character boss; 34b. flapping wing mounting head; 34c. connecting table;

[0088] 4. cylindrical cam steering sweep mechanism; 40. cylindrical cam; 40a. curved groove; 41. reciprocating knob transmission member; 41a. reciprocating sliding groove; 41b. extended ball knob; 41c. outer connecting table; 42. connecting rod; 43. cylindrical cam connecting disc; 44. outer rotor hollow shaft motor; 44a. motor rotor; 44b. motor stator; 45. motor fixing disc.

[0089] 5. 1 pair of front flapping wings; 50. left front flapping wing; 51. right front flapping wing; 51a. flapping wing joint; 51b. flapping wing skeleton; 51c. flapping wing membrane; 6. 1 pair of rear flapping wings; 60. left rear flapping wing; 61. right rear flapping wing. DETAILED DESCRIPTION

[0090] Example 1: A bionic dragonfly flapping wing aircraft with double sliding sleeve flapping mechanism

[0091] A bionic dragonfly flapping wing aircraft with double sliding sleeve flapping mechanism, comprising: a bottom plate support 1, a transmission mechanism 2, a double sliding sleeve flapping mechanism 3, a cylindrical cam steering sweep mechanism 4, 1 pair of front flapping wings 5, 1 pair of rear flapping wings 6;

[0092] Each flapping wing root is provided with a double sliding sleeve flapping mechanism 3 and a cylindrical cam steering sweep mechanism 4 with the same structure;

[0093] The bottom plate support 1 is provided with a pair of wing root rotation shaft support arms 10 at the flapping wing root;

[0094] The transmission mechanism 2 includes a front air source driven transmission mechanism 20 and a rear air source driven transmission mechanism 24, which are the same structure and are respectively arranged on the front and rear sides of the bottom plate support 1;

[0095] The front gas source driving transmission mechanism 20 comprises a gas source rotary vane engine 21, a speed reduction mechanism 22, and a front cross commutator 23.

[0096] The front cross commutator 23 is provided with a left-right symmetrical and through commutator left-right output through shaft 23d, which is driven to rotate by the gas source rotary vane engine 21, and the driving source of the gas source rotary vane engine 21 is compressed air.

[0097] The double sliding sleeve flapping mechanism 3 comprises a first sliding sleeve 30, a second sliding sleeve 31, a wing root rotating shaft 32, a wing root rotating shaft fixing frame 33, and a wing root connecting piece 34.

[0098] The wing root rotating shaft 32 is connected with the wing root rotating shaft support arm 10 at both ends in the front-rear direction, and the wing root rotating shaft fixing frame 33 is fixed on the wing root rotating shaft 32.

[0099] The wing root rotating shaft fixing frame 33 is provided with a fixing frame slot 33b outside and a front-rear direction fixing frame swing slide column 33a inside.

[0100] The first sliding sleeve 30 is symmetrically fixed at both ends of the commutator left-right output through shaft 23d, and is provided with a left-right direction crank sliding sleeve 30a thereon.

[0101] The front gas source driving transmission mechanism 20 can drive the first sliding sleeve 30 in the double sliding sleeve flapping mechanism 3 at the root of each of the two flapping wings in a pair of front flapping wings 5 to move synchronously in a circle by the gas source rotary vane engine 21.

[0102] The second sliding sleeve 31 is provided with a translation slide column 31a inside and a translation sliding sleeve 31b outside, the translation slide column 31a is connected with the crank sliding sleeve 30a inside, and the translation sliding sleeve 31b is connected with the fixing frame swing slide column 33a outside.

[0103] The fixing frame slot 33b is connected with the flapping wing through the wing root connecting piece 34.

[0104] Referring to the accompanying drawings Figure 11 In use, the first sliding sleeve 30 rotates 360° under the driving of the transmission mechanism 2, which can drive the wing root connecting piece 34 and the flapping wing outside to flap up and down once.

[0105] The gas source rotary vane engine 21 comprises an engine shell 26, a vane rotor 28, a rotor output shaft 29, a compressed gas tank 21b, an electric control valve 21c, a pressure regulating head 21d, an additional stroke adapter 21e, an air inlet hose 21f, and an air outlet hose 21g.

[0106] The engine shell 26 is fixed on the bottom plate support 1 through an engine support 21a.

[0107] The engine housing 26 comprises an upper cover 26a and a lower housing 27, which are connected by a sealing ring;

[0108] The lower housing 27 comprises a total air inlet 27a, a pressure regulating chamber 27b, an eccentric conversion chamber 27c, and a side air inlet 27d;

[0109] The vane rotor 28 comprises a rotating disc 28a, a rotating vane 28b, and a vane spring 28c;

[0110] The total air inlet 27a of the lower housing 27 is outwardly connected with the electric control valve 21c and the compressed gas tank 21b in sequence;

[0111] The total air inlet 27a is inwardly communicated with the left and right pressure regulating chambers 27b;

[0112] The pressure regulating chamber 27b is communicated with the side air inlet 27d on the right side, and is threadedly connected with the pressure regulating head 21d on the left side. The actual volume of the pressure regulating chamber 27b can be reduced by rotating the pressure regulating head 21d inwardly until the communication entrance of the pressure regulating chamber 27b and the side air inlet 27d is closed;

[0113] The side air inlet 27d is communicated with the air inlet of the eccentric conversion chamber 27c through the air inlet hose 21f;

[0114] The air outlet of the eccentric conversion chamber 27c is connected with the additional stroke adapter 21e through the air outlet hose 21g;

[0115] The additional stroke adapter 21e is fixed on the engine housing 26, and is provided with an air outlet nozzle facing backward;

[0116] The eccentric conversion chamber 27c is in the shape of a "cylindrical groove", and the rotating disc 28a is in the shape of a "cylinder". The diameter of the rotating disc 28a is smaller than that of the eccentric conversion chamber 27c;

[0117] The rotating disc 28a is eccentrically connected in 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 is provided with symmetrical and parallel air inlets and air outlets on the left and right sides of the tangent position of the inner wall;

[0118] The rotating disc 28a is provided with four U-shaped through grooves which are uniformly distributed around the rotating disc 28a. The rotating vane 28b is slidably arranged in each U-shaped through groove, and the rotating vane 28b is connected with the rotating disc 28a by the vane spring 28c in a compressed state;

[0119] The outer end of the rotating vane 28b is always in line contact with the inner wall of the eccentric conversion chamber 27c under the action of the vane spring 28c;

[0120] The upper and lower end faces of the rotating vane 28b are in close sliding connection with the lower end face of the upper cover 26a and the bottom face of the eccentric conversion chamber, respectively;

[0121] The rotating disc 28a is fixed to (or in one piece with) the rotor output shaft 29, and the axes of the two coincide;

[0122] The rotor output shaft 29 penetrates the upper cover 26a upward and is in sealed shaft connection therewith;

[0123] The rear end of the compressed gas tank 21b is provided with a gas supplementing port, and in actual use, the inside of the tank can be periodically supplemented with compressed air, compressed carbon dioxide or other non-polluting and non-flammable gas.

[0124] The cylindrical cam steering sweeping mechanism 4 comprises a cylindrical cam 40, a reciprocating top sub driving member 41, a connecting rod 42, a cylindrical cam connecting disc 43, an outer rotor hollow shaft motor 44 and a motor fixing disc 45;

[0125] The cylindrical cam 40 is provided with a curved groove 40a on the cylindrical surface thereof;

[0126] The motor stator 44b of the outer rotor hollow shaft motor 44 is fixed to the rear end of the wing root rotating shaft 32 through the motor fixing disc 45;

[0127] The motor rotor 44a of the outer rotor hollow shaft motor 44 is coaxially fixed to the cylindrical cam 40 through the cylindrical cam connecting disc 43; (i.e. the cylindrical cam 40 penetrates the wing root rotating shaft 32 and is fixed to the motor rotor 44a)

[0128] The diameter of the hollow shaft of the outer rotor hollow shaft motor 44 is greater than the outer diameter of the wing root rotating shaft 32, and the rotating shaft of the motor rotor 44a is coaxial with the wing root rotating shaft 32;

[0129] The middle part of the wing root rotating shaft 32 is provided with a rectangular reciprocating sliding rail 32a;

[0130] The reciprocating top sub driving member 41 is in the shape of "[", and the front end thereof is provided with a reciprocating sliding groove 41a, which is in sliding connection with the rectangular reciprocating sliding rail 32a through the reciprocating sliding groove 41a;

[0131] The rear end of the reciprocating top sub driving member 41 is provided with an outwardly extending ball head top sub 41b, which is embedded in the curved groove 40a;

[0132] The outer connecting table 41c on the outer side of the front end of the reciprocating top sub driving member 41 is connected to one end of the connecting rod 42 through a vertical shaft;

[0133] The connecting table 34c on the rear side of the wing root connecting piece 34 is connected to the other end of the connecting rod 42 through a vertical shaft;

[0134] The mounting bracket slot 33b and the inner protrusion 34a of the wing root connector 34 are connected by a vertical shaft.

[0135] The outer side of the wing root connector 34 is fixedly connected to the flapping wing connector 51a on the inner side of the flapping wing via the flapping wing mounting head 34b on it.

[0136] See appendix Figure 12 and attached Figure 13 When in use, the outer rotor hollow shaft motor 44 is energized, the motor rotor 44a and the motor stator 44b are locked first, the flapping wings flap, the cylindrical cam 40 and the reciprocating top transmission component 41 flap together, that is, the contact phase remains unchanged. Then, the motor rotor 44a can be controlled to rotate relative to the motor stator 44b, driving the cylindrical cam 40 to rotate, causing the reciprocating top transmission component 41 to slide back and forth, thereby pushing or pulling the flapping wings to perform a back and forth sweeping motion.

[0137] 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;

[0138] 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;

[0139] The small gear 22b is mounted on the rotor output shaft 29. The small gear 22b meshes with one side of the large gear of the double-layer compound gear 22c. The small gear side of the double-layer compound gear 22c meshes with the large gear 22d.

[0140] 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.

[0141] 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.

[0142] 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.

[0143] 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.

[0144] The input bevel gear 23c, the left and right output bevel gear 23e and the balance swing bevel gear 23f are sequentially meshed with each other.

[0145] The balance swing output shaft 23g is fixedly connected with the front self-stabilizing balance swing 23h.

[0146] Referring to the accompanying drawings Figure 12 - the cylindrical cam 40 has a curved groove 40a on the cylindrical surface of the cylindrical cam 40, which is a closed loop "convex-concave curve" or "multi-convex-concave curve"; in the embodiment, a double-convex-concave curved groove 40a is adopted, and there are four convex-concave alternations distributed on the cylindrical surface of the cylindrical cam 40, and there is one phase (a total of four phases) every 90° with respect to the extended spherical head top 41b (the concave vertex is 0° phase, and the convex vertex is 90° phase); Figure 14 Referring to the accompanying drawings

[0147] The cylindrical cam 40 with the double-convex-concave curved groove 40a can realize forward and backward sweeping of the flapping wing once every 180° of rotation; that is, the cylindrical cam 40 with the double-convex-concave curved groove 40a can realize forward and backward sweeping of the flapping wing twice every rotation; Figure 15 In actual use, the axial distance between the convex and concave vertices of the double-convex-concave curved groove 40a can be adjusted according to the requirement of the sweeping amplitude;

[0148] If it is required to ensure that the forward and backward sweeping amplitudes are consistent, it is required to ensure that when the double-convex-concave curved groove 40a is at a phase

[0149] (wherein 0, 1, 2, 3 can be taken) with respect to the extended spherical head top 41b, the flapping wing is in a state of 0° sweep angle; that is, when the phase is 45°, 135°, 225°, 315°, the extended spherical head top 41b is in the middle position of each 90° phase, and the flapping wing is in a state of 0° sweep angle; when the extended spherical head top 41b is at the concave vertex of each 90° phase, the flapping wing is in a limit position of backward sweeping; when the extended spherical head top 41b is at the convex vertex of each 90° phase, the flapping wing is in a limit position of forward sweeping; In summary, the cylindrical cam steering and sweeping mechanism 4 can drive the wing root connecting piece 34 to rotate forward or backward by rotating the cylindrical cam, and then drive the flapping wing to perform forward and backward sweeping motion with variable sweep angle, so as to control the flight direction.

[0150] The bottom plate support 1 can be made of a polymer composite material with high specific strength and specific stiffness by injection molding or 3D printing in actual manufacturing.

[0151]

[0152] ​The four flapping wings of the one pair of front flapping wings 5 and the one pair of rear flapping wings 6 are of the same structure, the one pair of front flapping wings 5 comprises a left front flapping wing 50 and a right front flapping wing 51, and the one pair of rear flapping wings 6 comprises a left rear flapping wing 60 and a right rear flapping wing 61; the right front flapping wing 51 comprises a flapping wing skeleton 51b made of carbon fiber and a flapping wing membrane 51c wrapped on the surface of the flapping wing skeleton 51b.

[0153] Embodiment 2:

[0154] Referring to the accompanying drawings Figure 2 and the accompanying drawings Figure 6 In the above-mentioned embodiment 1, the front air source driving transmission mechanism 20 and the rear air source driving transmission mechanism 24 are arranged in an array from front to back; the rear cross reversing gear 25 is arranged in the rear air source driving transmission mechanism 24, and the rear cross reversing gear 25 is of the same structure as the front cross reversing gear 23, and the only difference is that the setting direction of the rear output bevel gear 25e in the rear cross reversing gear 25 is opposite to that of the left and right output bevel gears 23e in the front cross reversing gear 23; at this time, only the left and right output through shafts of the reversing gears in the rear cross reversing gear 25 and the front cross reversing gear 23 are reversed (without affecting the work of the double sliding sleeve flapping mechanism 3 and the cylindrical cam steering sweeping mechanism 4); and the rear self-stabilizing balance swing 25h in the rear cross reversing gear 25 and the front self-stabilizing balance swing 23h in the front cross reversing gear 23 are turned in the same direction, that is, the turning direction of the front and rear self-stabilizing balance swings in embodiment 1 is determined by the rotor output shaft 29 of the rotary vane engine 21 in the front air source driving transmission mechanism 20 and the rear air source driving transmission mechanism 24.

[0155] Referring to the accompanying drawings Figure 16 When the rear self-stabilizing balance swing 25h and the front self-stabilizing balance swing 23h need to be turned in opposite directions in actual use, the front air source driving transmission mechanism 20 and the rear air source driving transmission mechanism 24 are arranged in front-to-back symmetry (wherein the exhaust nozzles of the additional stroke adapters 21e are always directed backward), so that the opposite rotation of the front and rear self-stabilizing balance swings can be realized, and the gas discharged from the exhaust nozzles of the additional stroke adapters 21e can be used twice.

[0156] The mechanism movement principle and process of the bionic dragonfly flapping wing aircraft with the double sliding sleeve flapping mechanism of the application are as follows:

[0157] The front and rear transmission flapping mechanisms and the cylindrical cam steering sweeping mechanisms of the bionic dragonfly flapping wing aircraft with the double sliding sleeve flapping mechanism of the application are of the same structure, and the front air source driving transmission mechanism 20, the double sliding sleeve flapping mechanism 3 at the root of the right front flapping wing and the cylindrical cam steering sweeping mechanism 4 are taken as an example:

[0158] When working, the working principle of the air source rotary vane engine 21 in the front air source driving transmission mechanism 20 is as follows:

[0159] The compressed air in the compressed air tank 21b passes through the electric control valve 21c, the total air inlet 27a, the pressure regulating chamber 27b, the side air port 27d, the air inlet hose 21f, and the air inlet of the eccentric conversion chamber 27c in sequence;

[0160] The remaining space of the whole eccentric conversion chamber 27c is divided into the air inlet chamber S1, the transition chamber I S2, the transition chamber II S3, and the air outlet chamber S4 in sequence by the four rotating vanes 28b;

[0161] Referring to the accompanying drawings Figure 9 The gas first enters the air inlet chamber S1, pushes the adjacent rotating vane 28b to rotate downward, drives the rotating disc 28a to rotate, and relies on inertia and eccentricity to set the original air inlet chamber S1 to become the new transition chamber I S2 and the original air outlet chamber S4 to become the new air inlet chamber S1. In this process, the gas in the original air outlet chamber S4 passes through the air outlet of the eccentric conversion chamber 27c, the air outlet hose 21g, and the additional stroke adapter 21e in sequence, and is discharged from the rear air outlet nozzle of the additional stroke adapter 21e;

[0162] In this way, the gas continuously enters the air chamber S1, which can make the rotating disc 28a continuously rotate, and further make the rotor output shaft 29 continuously rotate in one direction;

[0163] In the above process, the electric control valve 21c for blocking the gas delivery and the rotating pressure regulating head 21d for adjusting the gas delivery flow are provided, and the greater the gas delivery flow, the faster the rotating disc 28a rotates. The working principle of the gas source rotating vane engine 21 is described above, and the following description will describe the gas source rotating vane engine 21 as a whole.

[0164] The rotor output shaft 29 of the gas source rotating vane engine 21 drives the pinion 22b to rotate, and in turn drives the double-layer composite gear 22c and the large gear 22d to rotate, and further drives the commutator input shaft 23b fixedly connected with the large gear 22d to rotate.

[0165] Further, the input bevel gear 23c rotates to drive the left and right output bevel gears 23e and the commutator left and right output shafts 23d fixedly connected therewith to rotate;

[0166] 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;

[0167] The rotating commutator left and right output shafts 23d drive the first sliding sleeve assembly 30 in the two-side double sliding sleeve flapping mechanism 3 to rotate circumferentially;

[0168] The first sliding assembly 30 rotates in a circle, which drives the wing root shaft fixing frame 33 and the wing root shaft 32 fixed thereto to rotate up and down together through the second sliding assembly 31. The wing root connecting piece 34 drives the flapping wing to swing back and forth. This completes the up and down flapping of the right front flapping wing 51. In summary, the front flapping wing can flap up and down under the drive of the front transmission flapping mechanism. Since the front and rear flapping wings have different drive sources, differential flapping of the two pairs of flapping wings can be achieved.

[0169] Furthermore, when the flapping wing flaps, the cylindrical cam steering sweeping mechanism 4 rotates together with the wing root pivot fixing frame 33 and the wing root pivot 32. That is, the cylindrical cam steering sweeping mechanism 4 rotates together with the entire flapping wing plane, which can be regarded as relatively stationary.

[0170] The stator 44b of the outer rotor hollow shaft motor 44 is fixed on the wing root shaft 32 by the motor fixing plate 45, and its motor rotor 44a drives the cylindrical cam 40 to rotate circumferentially, thereby driving the reciprocating top transmission component 41 to slide back and forth.

[0171] The reciprocating pusher drive 41 slides back and forth, which will pull or push the wing root connector 34 forward or backward through the connecting rod 42, thereby driving the flapping wing to perform a spatial sweeping motion with a variable sweep angle.

[0172] During this process, each flapping wing can flap in a figure-eight or elliptical trajectory at its wingtip 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 turn.

[0173] Furthermore, based on bionics, this invention relates to a bionic dragonfly flapping-wing aircraft with a double-sliding flapping mechanism.

[0174] 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.

[0175] In summary, the ornithopter of the present application simulates the multi-degree-of-freedom movement of dragonfly wings in reality, and can realize differential flapping of the two pairs of wings, and individual sweep control of each wing; compressed gas (compressed gas tank, compressed air or compressed carbon dioxide, etc.) and a gas source rotary vane engine are used as the driving source of the transmission flapping mechanism, which has the advantages of reliability and environmental protection; a double sliding sleeve flapping mechanism is used to realize the flapping movement of the wings, and the mechanism mainly uses sliding connection or shaft connection, and is compact, which helps to reduce the running noise of the mechanism and the mass of the mechanism; each wing can perform flapping movement with a wingtip "8" or "ellipse" trajectory according to the sweep movement frequency, and the turning movement of the aircraft can be controlled through a cylindrical cam steering sweep mechanism to realize tailless flight control; in addition, the gas discharged by the gas source rotary vane engine is pollution-free, and when discharged from the rear exhaust nozzle of the additional stroke adapter 21e, it can provide additional strokes (secondary use).

[0176] Referring to the accompanying drawings Figures 18-20 The ornithopter is a bionic dragonfly ornithopter based on the flight characteristics and aerodynamic characteristics of dragonflies, which can better simulate the real flight movements (gliding, diving, turning) of dragonflies and achieve better bionic effect.

Claims

1. A bionic dragonfly flapping-wing aircraft of a dual sliding sleeve flapping mechanism, characterized in that, The utility model relates to a kind of flapping wing robot, including: Base support (1), transmission mechanism (2), double sliding sleeve flapping mechanism (3) and flapping wing; On base support (1), flapping wing root is equipped with wing root rotating shaft support arm (10) at the place; The double sliding sleeve flapping mechanism (3) includes first sliding sleeve piece (30), second sliding sleeve piece (31), wing root rotating shaft (32), wing root rotating shaft fixed frame (33), wing root connecting piece (34); The wing root rotating shaft (32) front and rear two ends are connected with wing root rotating shaft support arm (10), and wing root rotating shaft fixed frame (33) is fixed on wing root rotating shaft (32); The wing root rotating shaft fixed frame (33) is externally provided with fixed frame insertion slot (33b), and internally provided with fixed frame swing sliding column (33a); The first sliding sleeve piece (30) is fixed on the left and right ends of output through shaft (23d), and is provided with crank sliding sleeve (30a) thereon; The second sliding sleeve piece (31) is internally provided with translation sliding column (31a), and is externally provided with translation sliding sleeve (31b); The translation sliding column (31a) is connected with the crank sliding sleeve (30a) inwards, and the translation sliding sleeve (31b) is connected with the fixed frame swing sliding column (33a) outwards; The fixed frame insertion slot (33b) is connected with the flapping wing through the wing root connecting piece (34); The transmission mechanism (2) drives output through shaft (23d) to rotate; The transmission mechanism (2) includes front air source drive transmission mechanism (20) and rear air source drive transmission mechanism (24), and the two are the same structure and are respectively arranged on the left and right sides of base support (1), and are respectively provided with air source rotary vane engine (21); The air source rotary vane engine (21) includes engine shell (26), vane rotor (28), rotor output shaft (29), compressed gas tank (21b), electric control valve (21c), pressure regulating head (21d), additional stroke adapter (21e), air inlet hose (21f) and air outlet hose (21g); The engine shell (26) is fixed on base support (1), and the engine shell (26) includes upper cover (26a) and lower shell (27), and the two are sealingly connected; The lower shell (27) includes total air inlet (27a), pressure regulating chamber (27b) and eccentric conversion chamber (27c); The vane rotor (28) includes rotating disc (28a), rotating vane (28b) and vane spring (28c); The total air inlet (27a) of the lower shell (27) is sequentially connected with the electric control valve (21c) and the compressed gas tank (21b); The total air inlet (27a) is communicated with the pressure regulating chamber (27b) inwards; The left side of the pressure regulating chamber (27b) is threadedly and sealingly connected with the pressure regulating head (21d), and the pressure regulating head (21d) is rotated inwards to reduce the utilization volume of the pressure regulating chamber (27b) until the outlet thereof is closed; The outlet of the pressure regulating chamber (27b) is communicated with the air inlet of the eccentric conversion chamber (27c) through the air inlet hose (21f); The air outlet of the eccentric conversion chamber (27c) is connected with the additional stroke adapter (21e) provided with rear air nozzle through the air outlet hose (21g). The eccentric conversion chamber (27c) is in the shape of a "cylindrical groove", the rotating disc (28a) is in the shape of a "cylinder", and the diameter of the rotating disc (28a) is smaller than that of the eccentric conversion chamber (27c); The rotating disc (28a) is eccentrically connected in 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) is provided with an air inlet and an air outlet on both sides of the tangent inner wall, respectively; The rotating disc (28a) is provided with k U-shaped through grooves around it, and a rotating blade (28b) is slidably arranged in each U-shaped through groove, and k≥2; The rotating blade (28b) is connected to the rotating disc (28a) body by a compression blade spring (28c) to always contact the inner wall of the eccentric conversion chamber (27c); The k rotating blades (28b) divide the eccentric conversion chamber (27c) into an air inlet area, at least one transition area, and an air outlet area; The rotating disc (28a) is coaxially fixed to the rotor output shaft (29), and the rotor output shaft (29) penetrates the upper cover (26a) and is sealingly connected thereto.

2. The bionic dragonfly flapping wing aircraft of the double sliding sleeve flapping mechanism according to claim 1, wherein: a cylindrical cam steering sweeping mechanism (4) is further provided, comprising: a cylindrical cam (40), a reciprocating top transmission member (41), a connecting rod (42), an outer rotor hollow shaft motor (44), and a motor fixing disc (45); The cylindrical cam (40) is provided with a curved groove (40a) on the cylindrical surface thereof; The motor stator (44b) of the outer rotor hollow shaft motor (44) is fixedly connected to the wing root rotating shaft (32) through the motor fixing disc (45); The cylindrical cam (40) is coaxially fixed to the motor rotor (44a) penetrating the wing root rotating shaft (32); The wing root rotating shaft (32) is provided with a polygonal reciprocating sliding rail (32a) in the middle portion thereof; The reciprocating top transmission member (41) is in the shape of "[", and the front end thereof is provided with a reciprocating sliding groove (41a) and is slidably connected to the reciprocating sliding rail (32a) through the reciprocating sliding groove (41a); The reciprocating top transmission member (41) is provided with an extended ball head top (41b) at the rear end thereof, and the extended ball head top (41b) is embedded in the curved groove (40a); The outer connecting table (41c) of the reciprocating top transmission member (41) is connected to one end of the connecting rod (42) through a vertical shaft; The connecting table (34c) of the wing root connecting member (34) is connected to the other end of the connecting rod (42) through a vertical shaft; The fixed frame insertion slot (33b) is connected to the wing root connecting member (34) through a vertical shaft.

3. The bionic dragonfly flapping wing aircraft of the double sliding sleeve flapping mechanism according to claim 2, wherein: The curved groove (40a) on the cylindrical surface of the cylindrical cam (40) is a closed loop "convex-concave curve shape"; The curved groove (40a) of the "convex-concave curve shape" has at least one pair of alternately arranged convex vertices and concave vertices; When the curved groove (40a) of the "convex-concave curve shape" has two pairs of alternately arranged convex vertices and concave vertices, the cylindrical cam (40) sweeps the flapping wings twice forward and backward every one revolution. ​ 4. The bionic dragonfly flapping wing aircraft with double sliding sleeve flapping mechanism according to claim 1, 2 or 3, characterized in that: The hollow-shaft outer rotor motor (44) is powered on, the motor rotor (44a) and the motor stator (44b) are first locked, the flapping wing flaps, the cylindrical cam (40) and the reciprocating plunger transmission member (41) rotate together, that is, the contact phase is relatively constant, then the motor rotor (44a) can be controlled to rotate relative to the motor stator (44b), drive the cylindrical cam (40) to rotate, and make the reciprocating plunger transmission member (41) slide forward and backward, thereby pushing or pulling the flapping wing to perform forward and backward sweeping movement.

5. The bionic dragonfly flapping wing aircraft with dual sliding sleeve flapping mechanism according to claim 4, characterized in that: The rotor output shaft (29) of the gas source rotary vane engine (21) is in transmission connection with the commutator input shaft (23b) of the cross commutator through a speed reduction mechanism (22); the commutator input shaft (23b) and the left and right output shafts (23d) of the commutator are in transmission connection through intermeshing bevel gears.

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