Bionic flapping wing aircraft based on dragonfly flight mechanism and driving method thereof

Abstract

The invention provides a bionic flapping-wing aircraft based on a dragonfly flight mechanism and a driving method thereof, which are applied to the field of analogue simulation of a reconnaissance task of a flapping-wing unmanned aerial vehicle, and the bionic flapping-wing aircraft comprises a crankshaft assembly, a driving motor, a first dragonfly wing assembly, a second dragonfly wing assembly, a first wing frame, a second wing frame, a rack and a tail, a first wing frame is mounted at the head of the rack, and a second wing frame is mounted at the tail of the rack; the first dragonfly wing component is mounted on the first wing frame, and the second dragonfly wing component is mounted on the second wing frame; the driving motor is mounted on the second wing component, and the output end of the driving motor is connected with one end of the crankshaft component; the crankshaft assembly supports and drives the first dragonfly wing assembly and the second dragonfly wing assembly to flapping asynchronously, through the design of the crankshaft, it is guaranteed that the two pairs of wings can flapping at the same period and the fixed phase difference, and the complexity of an electric control system is greatly simplified.

Description

Technical Field

[0001] This invention relates to the field of flapping-wing unmanned aerial vehicles, and particularly to a biomimetic flapping-wing aircraft based on the flight mechanism of a dragonfly and its driving method. Background Technology

[0002] Traditional fixed-wing / rotor aircraft suffer from insufficient lift due to low Reynolds numbers at the microscale, resulting in high energy consumption and short endurance (e.g., rotorcraft typically have an endurance of less than 30 minutes). A single flapping-wing mechanism struggles to achieve independent pitch and yaw control, and passively deformable wings exhibit poor lift stability. Existing flapping-wing aircraft often employ a single-crank, dual-rocker mechanism, which introduces phase differences leading to flight vibrations. Furthermore, the gear transmission system lacks optimized spatial layout, increasing the overall weight. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides a biomimetic flapping-wing aircraft based on the dragonfly flight mechanism and its driving method. It solves the bottleneck problems of poor stability and insufficient maneuverability in existing flapping-wing aircraft through a biomimetic quadruple-wing linkage mechanism, specifically including:

[0004] A biomimetic flapping-wing aircraft based on the flight mechanism of dragonflies includes: a crankshaft assembly, a drive motor, a first dragonfly wing assembly, a second dragonfly wing assembly, a first wing frame, a second wing frame, a frame, and a tail.

[0005] The first wing frame is installed at the head of the frame, and the second wing frame is installed at the tail of the frame;

[0006] The first dragonfly wing assembly is mounted on the first wing frame, and the second dragonfly wing assembly is mounted on the second wing frame;

[0007] The drive motor is mounted on the second wing assembly, and the output end of the drive motor is connected to one end of the crankshaft assembly;

[0008] The crankshaft assembly is connected to the second dragonfly wing assembly at one end near the tail of the engine, and the other end of the crankshaft assembly is connected to the first dragonfly wing assembly.

[0009] When the drive motor drives the crankshaft assembly to work, the crankshaft assembly supports the asynchronous flapping of the first dragonfly wing assembly and the second dragonfly wing assembly.

[0010] Optionally, the frame includes: a connecting plate, a column, and a connecting block;

[0011] The connecting plate is rectangular, and its length is aligned with the length of the tail section.

[0012] The tops of the four columns are installed parallel to each other at the four corners of the connecting plate;

[0013] A connecting block is fitted on each of the two columns in the width direction of the connecting plate, and the two connecting blocks support linear lifting and lowering on the corresponding two columns.

[0014] Optionally, the crankshaft assembly includes: a first crank, a first connecting rod, a crankshaft, a cylindrical plate, a second crankshaft, a second connecting rod, a mounting shaft, and a connecting shaft;

[0015] The rotation center of the first crank is connected to the output end of the drive motor;

[0016] One end of the crankshaft is fixedly connected to the first crankshaft, and the other end of the crankshaft is mounted on the center of one end of the oval plate;

[0017] One end of the first connecting rod is mounted on the crankshaft near the first crank, and the other end of the first connecting rod is used to drive the second dragonfly wing assembly.

[0018] The second crank is connected to the center of the other end of the oval plate via a connecting shaft. The surfaces of the first crank, the oval plate, and the second crank are arranged in parallel. A mounting shaft is provided at the rotation center of the second crank, and the mounting shaft is rotatably mounted on the first wing frame.

[0019] One end of the second link is mounted on the connecting shaft, and the other end of the second link is used to drive the first dragonfly wing assembly.

[0020] Optionally, the first wing frame includes: a first base, a mounting disc, a first trapezoidal frame, a first support column, a first connecting rib, and a first mounting sleeve;

[0021] The bottom of the first base is concave and arc-shaped and is adapted to the mounting disc;

[0022] The mounting disc is mounted on the bottom surface of the first base and the mounting shaft is mounted at the center of the mounting disc, and the mounting shaft supports rotation within the mounting disc;

[0023] The first trapezoidal frame is mounted on the first base and is arranged in an isosceles trapezoidal shape. The long crossbeam of the first trapezoidal frame is arranged above the first base. The two inclined sides of the first trapezoidal frame extend into connecting rods that are respectively connected to the two wings inside the first dragonfly wing assembly.

[0024] One end of the first support column passes through the center of the long crossbeam of the first trapezoidal frame and is installed on the first base. Two first mounting sleeves are provided on the side wall of the other end of the first support column through the first connecting rib, and each first mounting sleeve is adapted to a first connecting rib.

[0025] The two first mounting sleeves are respectively fitted and fixed onto the two columns on the same side;

[0026] The lower surface of one end of the connecting plate presses against the upper surface of the two first connecting ribs, and the two first connecting sleeves are installed between the connecting plate and the connecting block.

[0027] Optionally, the second wing frame includes: a motor frame, a second base, a second trapezoidal frame, a second support column, a second connecting rib, and a second mounting sleeve;

[0028] The bottom of the second base is concave and arc-shaped and is adapted to the cylindrical motor frame;

[0029] The motor frame is mounted on the bottom surface of the second base;

[0030] The second trapezoidal frame is mounted on the second base and is arranged in an isosceles trapezoidal shape. The long crossbeam of the second trapezoidal frame is arranged above the second base. The two inclined sides of the second trapezoidal frame extend into connecting rods that are respectively connected to the double wings in the second dragonfly wing assembly.

[0031] One end of the second support column passes through the center of the long crossbeam of the second trapezoidal frame and is installed on the second base. Two second mounting sleeves are provided on the side wall of the other end of the second support column through the second connecting rib, and each second mounting sleeve is adapted to a second connecting rib.

[0032] The two second mounting sleeves are respectively fitted and fixed onto the two columns on the same side;

[0033] The lower surface of the other end of the connecting plate presses against the upper surface of the two second connecting ribs, and the two second connecting sleeves are installed between the connecting plate and the connecting block.

[0034] Optionally, the first dragonfly wing assembly includes a first pin, a first wing root, a first wing surface, a first carbon rod, and a first slider, wherein the first dragonfly wing assembly is on the nose side;

[0035] The two first wing roots are sleeved and installed on the first pin;

[0036] The first pin passes sequentially through the connecting block on the head side, the two first wing roots, and the second connecting rod from the head side to the tail side.

[0037] A first carbon rod is set on each first wing root, and a first wing surface is set on each first carbon rod. The first wing surface is set in the shape of a dragonfly wing, and the two first wing surfaces are set symmetrically.

[0038] Each of the first carbon rods has a smooth rod section at one end near the first wing root, and a first slider is provided on the smooth rod section of the first wing root;

[0039] Each of the first sliders is connected to the connecting rod of the first trapezoidal frame at the corresponding position.

[0040] Optionally, the second dragonfly wing assembly includes: a second pin, a second wing root, a second wing surface, a second carbon rod, and a second slider, wherein the second dragonfly wing assembly is located on the tail side;

[0041] The two second wing roots are sleeved and installed on the second pin;

[0042] The second pin passes sequentially through the connecting block on the tail side, the two second wing roots, and the first connecting rod from the tail side to the head side.

[0043] A second carbon rod is set on each second wing root, and a second wing surface is set on each second carbon rod. The second wing surface is set in the shape of a dragonfly wing, and the two second wing surfaces are set symmetrically.

[0044] Each of the second carbon rods has a smooth rod section at one end near the second fin root, and a second slider is provided on the smooth rod section of the second fin root;

[0045] Each of the second sliders is connected to the connecting rod of the first trapezoidal frame at the corresponding position.

[0046] A driving method for a biomimetic flapping-wing aircraft based on the flight mechanism of a dragonfly, characterized in that it includes the above-mentioned biomimetic flapping-wing aircraft, and the driving method includes hovering mode, cruise mode and acceleration mode;

[0047] When the bionic flapping-wing aircraft is in hover mode, the phase difference between the first crank and the second crank in the crankshaft assembly is 180°.

[0048] When the biomimetic flapping-wing aircraft is cruising, the phase difference between the first crank and the second crank in the crankshaft assembly is 90°.

[0049] When the biomimetic flapping-wing aircraft is in acceleration mode, the phase difference between the first crank and the second crank in the crankshaft assembly is 0°.

[0050] The beneficial effects of this invention are:

[0051] This invention significantly reduces system weight and energy consumption (weight reduction ≥35% compared to traditional four-motor solutions) by employing a single-motor driven crankshaft mechanism that synchronously drives two pairs of flapping wings through a gear set.

[0052] The crankshaft design of this invention supports dynamic adjustment of the phase difference between the fore and rear wings (adjustment range 0°-180°), and phase locking is achieved by changing the initial position of the connecting rod by rotating the crankshaft, which can adapt to the multi-modal flight requirements such as hovering and turning.

[0053] This invention constrains the wing root to reciprocate only in the vertical direction, ensuring the accuracy of the flapping trajectory and suppressing lateral vibration. The crankshaft converts the motor's rotational motion into asynchronous flapping of the fore and rear wings, and the design of its eccentric angle directly determines the phase difference.

[0054] For the first time, the crankshaft structure of an automobile engine has been introduced into a flapping-wing aircraft, using its high rigidity and low inertia characteristics to replace the traditional multi-stage gearbox, reducing the number of transmission components and lowering manufacturing costs by 40%. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1 This is a first-view structural diagram of an flapping-wing aircraft provided in an embodiment of the present invention;

[0057] Figure 2 This is a second-view structural diagram of the flapping-wing aircraft provided in an embodiment of the present invention;

[0058] Figure 3 This is a schematic diagram of the crankshaft assembly structure provided in an embodiment of the present invention;

[0059] Figure 4 This is a schematic diagram of the rack structure provided in an embodiment of the present invention;

[0060] Figure 5 This is a schematic diagram of the structure of two wing frames provided in an embodiment of the present invention;

[0061] Figure 6 This is a schematic diagram of the structure of two dragonfly wing assemblies provided in an embodiment of the present invention;

[0062] Figure 7 This is a detailed structural diagram of two dragonfly wing components provided in an embodiment of the present invention;

[0063] Figure 8 A simplified diagram of wingtip angle reasoning and its corresponding structural schematic diagram provided for embodiments of the present invention;

[0064] Figure 9 This is a front view of the full stroke of flight under a crankshaft assembly with the same phase difference, provided in an embodiment of the present invention.

[0065] Figure 10 Axonometric drawing of the entire flight stroke of a crankshaft assembly with the same phase difference, provided in an embodiment of the present invention;

[0066] Figure 11 A schematic diagram of a partial crankshaft assembly with a dual-view structure when the phase difference between the first crank and the second crank is 180°, provided for an embodiment of the present invention.

[0067] Figure 12 A schematic diagram of a partial crankshaft assembly with a dual-view structure when the phase difference between the first crank and the second crank is 90°, provided for an embodiment of the present invention.

[0068] Figure 13 A schematic diagram of the dual-view structure of a portion of the crankshaft assembly when the phase difference between the first crank and the second crank is 0°, provided for an embodiment of the present invention.

[0069] Figure label:

[0070] 1. Crankshaft assembly; 11. First crank; 12. First connecting rod; 13. Crankshaft; 14. Oval plate; 15. Second crank; 16. Second connecting rod; 17. Mounting shaft;

[0071] 2. Drive motor;

[0072] 3. First wing frame; 31. First base; 32. Mounting disc; 33. First trapezoidal frame; 34. First support column; 35. First connecting rib; 36. First mounting sleeve;

[0073] 4. Second wing frame; 41. Motor frame; 42. Second base; 43. Second trapezoidal frame; 44. Second support column; 45. Second connecting rib; 46. Second mounting sleeve;

[0074] 5. First dragonfly wing assembly; 51. First wing root; 52. First wing surface; 53. First carbon rod; 54. First slider;

[0075] 6. Second dragonfly wing assembly; 61. Second wing root; 62. Second wing surface; 63. Second carbon rod; 64. Second slider;

[0076] 7. Frame; 71. Connecting plate; 72. Column; 73. Connecting block;

[0077] 8. Tail section; a. Connecting rod. Detailed Implementation

[0078] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0079] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms “first,” “second,” and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an,” “a,” or “the,” and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising,” “including,” or “including,” and similar terms mean that the element or object preceding the word encompasses the element or object listed following the word and its equivalents, without excluding other elements or objects. The terms “connected,” “linked,” or “connected,” and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect.

[0080] like Figures 1 to 10 As shown, a biomimetic flapping-wing aircraft based on the flight mechanism of a dragonfly includes: a crankshaft assembly 1, a drive motor 2, a first dragonfly wing assembly 5, a second dragonfly wing assembly 6, a first wing frame 3, a second wing frame 4, a frame 7, and a tail 8; the first wing frame 3 is mounted on the head of the frame 7, and the second wing frame 4 is mounted on the tail of the frame 7; the first dragonfly wing assembly 5 is mounted on the first wing frame 3, and the second dragonfly wing assembly 6 is mounted on the second wing frame 4; the drive motor 2 is mounted on the second wing assembly, and the output end of the drive motor 2 is connected to one end of the crankshaft assembly 1; one end of the crankshaft assembly 1 near the tail 8 is connected to the second dragonfly wing assembly 6, and the other end of the crankshaft assembly 1 is connected to the first dragonfly wing assembly 5; when the drive motor 2 drives the crankshaft assembly 1 to work, the crankshaft assembly 1 supports the asynchronous flapping of the first dragonfly wing assembly 5 and the second dragonfly wing assembly 6.

[0081] This invention primarily employs a single-motor driven crankshaft 13 mechanism, which synchronously drives two pairs of flapping wings via a gear set, significantly reducing system weight and energy consumption (weight reduction of ≥35% compared to traditional four-motor solutions). The crankshaft 13 is designed to support dynamic adjustment of the phase difference between the fore and aft wings, with an adjustment range of 0° to 180°. Phase locking is achieved by rotating the crankshaft 13 to change the initial position of the connecting rod, adapting to multi-modal flight requirements such as hovering and turning.

[0082] In addition, in order to constrain the reciprocating motion of the root of each wing in the vertical direction, ensure the accuracy of the flapping trajectory and suppress lateral vibration, four columns 72 are set to form a double slide rail structure. The crankshaft 13 converts the rotational motion of the motor into the asynchronous flapping of the fore and hind wings, and its eccentric angle design directly determines the phase difference.

[0083] In one specific embodiment, the frame 7 includes: a connecting plate 71, columns 72, and connecting blocks 73; the connecting plate 71 is rectangular, and the length direction of the connecting plate 71 is consistent with the length direction of the tail 8; the tops of the four columns 72 are respectively installed parallel to each other at the four corners of the connecting plate 71; a connecting block 73 is sleeved on two columns 72 in the width direction of the connecting plate 71, and the two connecting blocks 73 support linear lifting on the corresponding two columns 72.

[0084] The frame 7 mainly includes: a connecting plate 71, four uprights 72 and two connecting blocks 73. Four through holes are provided at the four corners of the connecting plate 71, and an upright 72 is inserted into each through hole. The upright 72 is cylindrical in structure, and the top of the upright 72 is a circular disc, which is snapped onto the connecting plate 71. The connecting plate 71 is rectangular. The two uprights 72 on the short side of the connecting plate 71 are wrapped by a connecting block 73. The two uprights 72 on the same side are equivalent to the slide rail of the connecting block 73. The connecting block 73 is provided with horizontal through holes. The connecting block 73 is used to connect with the wing root and the connecting rod (first connecting rod 12 or second connecting rod 16), so that the wing root can be driven to rise and fall along the upright 72 to achieve flapping.

[0085] In one specific embodiment, the crankshaft assembly 1 includes: a first crank 11, a first connecting rod 12, a crankshaft 13, an oval plate 14, a second crankshaft 13, a second connecting rod 16, a mounting shaft 17, and a connecting shaft; the rotation center of the first crank 11 is connected to the output end of the drive motor 2; one end of the crankshaft 13 is fixedly connected to the first crank 11, and the other end of the crankshaft 13 is mounted on the center of one end of the oval plate 14; one end of the first connecting rod 12 is mounted on the crankshaft 13 near the first crank 11. The first connecting rod 11 has one end, and the other end is used to drive the second dragonfly wing assembly 6. The second crank 15 is connected to the center of the other end of the oval plate 14 via a connecting shaft. The surfaces of the first crank 11, the oval plate 14, and the second crank 15 are arranged in parallel. A mounting shaft 17 is provided at the rotation center of the second crank 15. The mounting shaft 17 is rotatably mounted on the first wing frame 3. One end of the second connecting rod 16 is mounted on the connecting shaft, and the other end of the second connecting rod 16 is used to drive the first dragonfly wing assembly 5.

[0086] The structure of the first crank 11 mainly consists of a half-plate oval plate 14 and a semi-circular structure. The first crank 11 and the second crank 15 have the same structure, but they are arranged symmetrically in space (for example, if the first crank 11 is upright, then the second crank 15 is inverted). The rotation center of the second drive is provided with a mounting shaft 17, which is used to connect with the first wing frame 3 (the mounting disc of the first wing frame 3).

[0087] The first connecting rod 12 is mounted on the crankshaft 13. When the crankshaft 13 rotates, it will drive the first connecting rod 12 to rotate. The first connecting rod 12 can then pull the second wing root 61 and the connecting block 73 connected to the second wing root 61 in the second dragonfly wing assembly 6 to move up and down along the corresponding column 72, thereby realizing the flapping of the wings of the second dragonfly wing assembly 6.

[0088] Similarly, the second connecting rod 16 is mounted on the connecting shaft. The crankshaft 13 drives the waist plate 14 to rotate, the waist plate 14 drives the connecting shaft to rotate, and the connecting shaft drives the second connecting rod 16 to pull the first wing root 51 and the connecting block 73 connected to the first wing root 51 in the first dragonfly wing assembly 5 to move up and down along the corresponding column 72, thereby realizing the flapping of the wings of the first dragonfly wing assembly 5.

[0089] In one specific embodiment, the first wing frame 3 includes: a first base 31, a mounting disc 32, a first trapezoidal frame 33, a first support column 34, a first connecting rib 35, and a first mounting sleeve 36; the bottom of the first base 31 is concave and arc-shaped and adapted to the mounting disc 32; the mounting disc 32 is mounted on the bottom surface of the first base 31, and the mounting shaft 17 is mounted at the center of the mounting disc 32, the mounting shaft 17 supporting rotation within the mounting disc 32; the first trapezoidal frame 33 is mounted on the first base 31 and is isosceles trapezoidal, the long crossbeam of the first trapezoidal frame 33 is positioned above the first base 31, and the first... Two inclined sides of a trapezoidal frame 33 extend into connecting rods a, which are respectively connected to the double wings inside the first dragonfly wing assembly 5; one end of the first support column 34 passes through the center of the long crossbeam of the first trapezoidal frame 33 and is installed on the first base 31; two first mounting sleeves 36 are provided on the side wall of the other end of the first support column 34 through the first connecting rib 35, and each first mounting sleeve 36 is adapted to one first connecting rib 35; the two first mounting sleeves 36 are respectively fitted and fixed on the two columns 72 on the same side; the lower surface of one end of the connecting plate 71 abuts against the upper surface of the two first connecting ribs 35, and the two first connecting sleeves are installed between the connecting plate 71 and the connecting block 73.

[0090] In one specific embodiment, the second wing frame 4 includes: a motor frame 741, a second base 42, a second trapezoidal frame 43, a second support column 44, a second connecting rib 45, and a second mounting sleeve 46. The bottom of the second base 42 is concave and arc-shaped, and is adapted to the cylindrical motor frame 741. The motor frame 741 is mounted on the bottom surface of the second base 42. The second trapezoidal frame 43 is mounted on the second base 42 and is an isosceles trapezoid. The long crossbeam of the second trapezoidal frame 43 is positioned above the second base 42, and two inclined sides of the second trapezoidal frame 43 extend into connecting rods a, which are respectively connected to the second base 42. The double-sided wing connection within the two dragonfly wing assembly 6; one end of the second support column 44 passes through the center of the long crossbeam of the second trapezoidal frame 43 and is installed on the second base 42; two second mounting sleeves 46 are provided on the side wall of the other end of the second support column 44 through the second connecting rib 45, each second mounting sleeve 46 is adapted to one second connecting rib 45; the two second mounting sleeves 46 are respectively sleeved and fixed on the two columns 72 on the same side; the lower surface of the other end of the connecting plate 71 abuts against the upper surface of the two second connecting ribs 45, and the two second connecting sleeves are installed between the connecting plate 71 and the connecting block 73.

[0091] The first wing frame 3 and the second wing frame 4 are both integrally machined and installed.

[0092] In one specific embodiment, the first dragonfly wing assembly 5 includes a first pin, a first wing root 51, a first wing surface 52, a first carbon rod 53, and a first slider 54, wherein the first dragonfly wing assembly 5 is located on the nose side; two first wing roots 51 are sleeved and mounted on the first pin; the first pin passes sequentially from the nose side to the tail side through the connecting block 73 on the nose side, the two first wing roots 51, and the second connecting rod 16; each first wing root 51 is provided with a first carbon rod 53, and each first carbon rod 53 is provided with a first wing surface 52, the first wing surface 52 being shaped like a dragonfly wing, and the two first wing surfaces 52 being symmetrically arranged; each first carbon rod 53 has a smooth rod section at one end near the first wing root 51, and a first slider 54 is provided on the smooth rod section of the first wing root 51; each first slider 54 is connected to the connecting rod a of the first trapezoidal frame 33 at the corresponding position.

[0093] In one specific embodiment, the second dragonfly wing assembly 6 includes: a second pin, a second wing root 61, a second wing surface 62, a second carbon rod 63, and a second slider 64. The second dragonfly wing assembly 6 is located on the tail 8 side. Two second wing roots 61 are fitted onto the second pin. The second pin passes sequentially from the tail 8 side to the nose side through the connecting block 73 on the tail 8 side, the two second wing roots 61, and the first connecting rod 12. Each second wing root 61 is provided with a second carbon rod 63, and each second carbon rod 63 is provided with a second wing surface 62. The second wing surface 62 is shaped like a dragonfly wing, and the two second wing surfaces 62 are symmetrically arranged. Each second carbon rod 63 has a smooth section at one end near the second wing root 61, and a second slider 64 is provided on the smooth section of the second wing root 61. Each second slider 64 is connected to the connecting rod a of the corresponding position of the first trapezoidal frame 33.

[0094] A second aspect of the present invention provides a driving method for a biomimetic flapping-wing aircraft based on the flight mechanism of a dragonfly, including the above-mentioned biomimetic flapping-wing aircraft, wherein the driving method includes a hovering mode, a cruise mode and an acceleration mode;

[0095] The crank assembly is replaceable, allowing it to be replaced with a crank assembly with a different phase difference.

[0096] like Figure 11 As shown, when the bionic flapping-wing aircraft is in hovering mode, the phase difference between the first crank 11 and the second crank 15 in the crankshaft assembly 1 is 180°.

[0097] like Figure 12 As shown, when the bionic flapping-wing aircraft is cruising, the phase difference between the first crank 11 and the second crank 15 in the crankshaft assembly 1 is 90°.

[0098] like Figure 13 As shown, when the bionic flapping-wing aircraft is in acceleration mode, the phase difference between the first crank 11 and the second crank 15 in the crankshaft assembly 1 is 0°.

[0099] In addition, such as Figure 8 As shown, taking the first dragonfly wing assembly 5 and crank assembly as examples (the second dragonfly wing assembly 6 follows the same principle), the flapping angle β of one side of the wing (the same applies to the other side) satisfies the following formula:

[0100] ;

[0101] Where OA=l1; AB=l2; MP=l3; OA=l1; the angle between OP and the horizontal direction is α, the angle between OA and the vertical direction is θ, O and B are on the same vertical line, and the MP rocker is tangent to the rod BC through the slider;

[0102] Where D is a process parameter, .

[0103] This invention significantly reduces system weight and energy consumption (weight reduction ≥35% compared to the traditional four-motor solution) by employing a single-motor driven crankshaft 13 mechanism, which synchronously drives the movement of two pairs of flapping wings through a gear set.

[0104] The crankshaft 13 of this invention is designed to support dynamic adjustment of the phase difference between the fore and rear wings (adjustment range 0°-180°). Phase locking is achieved by changing the initial position of the connecting rod by rotating the crankshaft 13, which can adapt to the multi-modal flight requirements such as hovering and turning.

[0105] The column 72 of this invention constrains the wing root to reciprocate only in the vertical direction, ensuring the accuracy of the flapping trajectory and suppressing lateral vibration. The crankshaft 13 converts the rotational motion of the motor into asynchronous flapping of the fore and hind wings, and the design of its eccentric angle directly determines the phase difference.

[0106] For the first time, the crankshaft structure of an automobile engine was introduced into a flapping-wing aircraft, using its high rigidity and low inertia characteristics to replace the traditional multi-stage gearbox, reducing the number of transmission components and lowering manufacturing costs by 40%.

[0107] The following points need to be explained:

[0108] (1) The accompanying drawings of the embodiments of the present invention only involve the structures involved in the embodiments of the present invention. Other structures can refer to the general design.

[0109] (2) For clarity, the thickness of layers or regions is enlarged or reduced in the drawings used to describe embodiments of the invention, i.e., these drawings are not drawn to scale. It is understood that when an element such as a layer, film, region or substrate is referred to as being “above” or “below” another element, the element may be “directly” located “above” or “below” the other element or there may be intermediate elements.

[0110] (3) Where there is no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other to obtain new embodiments.

[0111] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. The scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A biomimetic flapping-wing aircraft based on the flight mechanism of a dragonfly, characterized in that, include: Crankshaft assembly, drive motor, first dragonfly wing assembly, second dragonfly wing assembly, first wing frame, second wing frame, frame, and tail; The first wing frame is installed at the head of the frame, and the second wing frame is installed at the tail of the frame; The first dragonfly wing assembly is mounted on the first wing frame, and the second dragonfly wing assembly is mounted on the second wing frame; The drive motor is mounted on the second wing assembly, and the output end of the drive motor is connected to one end of the crankshaft assembly; The crankshaft assembly is connected to the second dragonfly wing assembly at one end near the tail of the engine, and the other end of the crankshaft assembly is connected to the first dragonfly wing assembly. When the drive motor drives the crankshaft assembly to work, the crankshaft assembly supports the asynchronous flapping of the first dragonfly wing assembly and the second dragonfly wing assembly.

2. The biomimetic flapping-wing aircraft based on the dragonfly flight mechanism according to claim 1, characterized in that, The frame includes: a connecting plate, a column, and a connecting block; The connecting plate is rectangular, and its length is aligned with the length of the tail section. The tops of the four columns are installed parallel to each other at the four corners of the connecting plate; A connecting block is fitted on each of the two columns in the width direction of the connecting plate, and the two connecting blocks support linear lifting and lowering on the corresponding two columns.

3. The biomimetic flapping-wing aircraft based on the dragonfly flight mechanism according to claim 2, characterized in that, The crankshaft assembly includes: a first crank, a first connecting rod, a crankshaft, an oval plate, a second crankshaft, a second connecting rod, a mounting shaft, and a connecting shaft; The rotation center of the first crank is connected to the output end of the drive motor; One end of the crankshaft is fixedly connected to the first crankshaft, and the other end of the crankshaft is mounted on the center of one end of the oval plate; One end of the first connecting rod is mounted on the crankshaft near the first crank, and the other end of the first connecting rod is used to drive the second dragonfly wing assembly. The second crank is connected to the center of the other end of the oval plate via a connecting shaft. The surfaces of the first crank, the oval plate, and the second crank are arranged in parallel. A mounting shaft is provided at the rotation center of the second crank, and the mounting shaft is rotatably mounted on the first wing frame. One end of the second link is mounted on the connecting shaft, and the other end of the second link is used to drive the first dragonfly wing assembly.

4. The biomimetic flapping-wing aircraft platform based on the dragonfly flight mechanism according to claim 3, characterized in that, The first wing frame includes: a first base, a mounting disc, a first trapezoidal frame, a first support column, a first connecting rib, and a first mounting sleeve; The bottom of the first base is concave and arc-shaped and is adapted to the mounting disc; The mounting disc is mounted on the bottom surface of the first base and the mounting shaft is mounted at the center of the mounting disc, and the mounting shaft supports rotation within the mounting disc; The first trapezoidal frame is mounted on the first base and is arranged in an isosceles trapezoidal shape. The long crossbeam of the first trapezoidal frame is arranged above the first base. The two inclined sides of the first trapezoidal frame extend into connecting rods that are respectively connected to the two wings inside the first dragonfly wing assembly. One end of the first support column passes through the center of the long crossbeam of the first trapezoidal frame and is installed on the first base. Two first mounting sleeves are provided on the side wall of the other end of the first support column through the first connecting rib, and each first mounting sleeve is adapted to a first connecting rib. The two first mounting sleeves are respectively fitted and fixed onto the two columns on the same side; The lower surface of one end of the connecting plate presses against the upper surface of the two first connecting ribs, and the two first connecting sleeves are installed between the connecting plate and the connecting block.

5. The biomimetic flapping-wing aircraft based on the dragonfly flight mechanism according to claim 4, characterized in that, The second wing frame includes: a motor frame, a second base, a second trapezoidal frame, a second support column, a second connecting rib, and a second mounting sleeve; The bottom of the second base is concave and arc-shaped and is adapted to the cylindrical motor frame; The motor frame is mounted on the bottom surface of the second base; The second trapezoidal frame is mounted on the second base and is arranged in an isosceles trapezoidal shape. The long crossbeam of the second trapezoidal frame is arranged above the second base. The two inclined sides of the second trapezoidal frame extend into connecting rods that are respectively connected to the double wings in the second dragonfly wing assembly. One end of the second support column passes through the center of the long crossbeam of the second trapezoidal frame and is installed on the second base. Two second mounting sleeves are provided on the side wall of the other end of the second support column through the second connecting rib, and each second mounting sleeve is adapted to a second connecting rib. The two second mounting sleeves are respectively fitted and fixed onto the two columns on the same side; The lower surface of the other end of the connecting plate presses against the upper surface of the two second connecting ribs, and the two second connecting sleeves are installed between the connecting plate and the connecting block.

6. The biomimetic flapping-wing aircraft based on the dragonfly flight mechanism according to claim 5, characterized in that, The first dragonfly wing assembly includes a first pin, a first wing root, a first wing surface, a first carbon rod, and a first slider, wherein the first dragonfly wing assembly is located on the nose side; The two first wing roots are sleeved and installed on the first pin; The first pin passes sequentially through the connecting block on the head side, the two first wing roots, and the second connecting rod from the head side to the tail side. A first carbon rod is set on each first wing root, and a first wing surface is set on each first carbon rod. The first wing surface is set in the shape of a dragonfly wing, and the two first wing surfaces are set symmetrically. Each of the first carbon rods has a smooth rod section at one end near the first wing root, and a first slider is provided on the smooth rod section of the first wing root; Each of the first sliders is connected to the connecting rod of the first trapezoidal frame at the corresponding position.

7. The biomimetic flapping-wing aircraft based on the dragonfly flight mechanism according to claim 6, characterized in that, The second dragonfly wing assembly includes: a second pin, a second wing root, a second wing surface, a second carbon rod, and a second slider, wherein the second dragonfly wing assembly is located on the tail side; The two second wing roots are sleeved and installed on the second pin; The second pin passes sequentially through the connecting block on the tail side, the two second wing roots, and the first connecting rod from the tail side to the head side. A second carbon rod is set on each second wing root, and a second wing surface is set on each second carbon rod. The second wing surface is set in the shape of a dragonfly wing, and the two second wing surfaces are set symmetrically. Each of the second carbon rods has a smooth rod section at one end near the second fin root, and a second slider is provided on the smooth rod section of the second fin root; Each of the second sliders is connected to the connecting rod of the first trapezoidal frame at the corresponding position.

8. A propulsion method for a biomimetic flapping-wing aircraft based on the flight mechanism of a dragonfly, characterized in that, Including the biomimetic flapping-wing aircraft of claim 7, the driving method includes hovering mode, cruise mode and acceleration mode; When the bionic flapping-wing aircraft is in hover mode, the phase difference between the first crank and the second crank in the crankshaft assembly is 180°.

9. The driving method for the biomimetic flapping-wing aircraft based on the dragonfly flight mechanism according to claim 8, characterized in that, When the biomimetic flapping-wing aircraft is cruising, the phase difference between the first crank and the second crank in the crankshaft assembly is 90°.

10. The driving method for the biomimetic flapping-wing aircraft based on the dragonfly flight mechanism according to claim 8, characterized in that, When the biomimetic flapping-wing aircraft is in acceleration mode, the phase difference between the first crank and the second crank in the crankshaft assembly is 0°.

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