A multi-degree-of-freedom biomimetic dragonfly flapping-wing aircraft

Abstract

This invention relates to the field of biomimetic flapping-wing aircraft technology, and discloses a multi-degree-of-freedom biomimetic dragonfly flapping-wing aircraft, including a fuselage and transmission device, a left flapping wing and a right flapping wing, a flight control and communication module, and a tail wing steering mechanism. The fuselage and transmission device include a drive gear, an intermediate transmission gear, a driven gear, a first rotating shaft, a left flapping wing rocker arm, a right flapping wing rocker arm, a second rotating shaft, a retaining ring, a transmission link, a gearbox frame, a fuselage main beam, a drive motor, and a high-definition camera. The flight control and communication module includes a flight control system housing, a battery, a receiver, a brushed ESC, and a flight control board. The tail wing steering mechanism includes a servo mount, a servo servo, a servo output rocker arm, a steering lever, a limit seat, a tail wing, and a tail wing drive link. This multi-degree-of-freedom biomimetic dragonfly flapping-wing aircraft can reduce the overall size and weight of the aircraft, while providing more convenient tail wing steering, thereby achieving flexible control of various flight attitudes and improving the usability of the aircraft.

Description

Technical Field

[0001] This invention relates to the field of biomimetic flapping-wing aircraft technology, specifically a multi-degree-of-freedom biomimetic dragonfly flapping-wing aircraft. Background Technology

[0002] Miniature biomimetic flapping-wing aircraft, with their small size, maneuverability, and low flight noise, have irreplaceable application value in scenarios such as low-altitude inspection in confined spaces, indoor environmental detection, and close-range emergency reconnaissance. Among them, the dragonfly flapping-wing configuration has become the core research and development direction in the field of miniature flapping-wing aircraft because it has the ability to fly in all attitudes, including inverted flight, side flight, and vertical take-off and landing. At present, the relevant research and development in the industry focuses on optimizing the aerodynamic performance of the flapping mechanism, and there are obvious shortcomings in balancing the miniaturization, lightweighting, and scenario adaptability of the whole machine, making it difficult to achieve the engineering implementation of a size close to that of a real dragonfly.

[0003] First, existing dragonfly flapping-wing aircraft mostly adopt a structure of split processing and multiple fastener assembly, resulting in redundant parts, complicated assembly process, and difficulty in weight control, making it impossible to balance structural strength and extreme lightweighting. Secondly, the existing dragonfly flapping wing aircraft's internal gear transmission mechanism lacks a reliable axial limiting design, which can easily lead to axial movement and meshing misalignment during high-frequency flapping, resulting in poor flight stability. Secondly, traditional aircraft tail steering mechanisms mostly use single-stage short linkage transmission, which has large steering play and low control precision, making it difficult to achieve precise flight direction adjustment. Moreover, most solutions are not adapted to high-definition real-time image acquisition units that match the micro airframe, and cannot simultaneously complete video acquisition of the operation scene during flight, resulting in limited adaptability to actual scenarios.

[0004] Therefore, we propose a multi-degree-of-freedom biomimetic dragonfly flapping-wing aircraft to solve the above problems. Summary of the Invention

[0005] (a) Technical problems to be solved To address the shortcomings of existing technologies, this invention provides a multi-degree-of-freedom biomimetic dragonfly flapping-wing aircraft capable of forward, yaw, and pitch flight, offering flexible multi-attitude flight control. It also features a more convenient and efficient tail wing steering mechanism, providing advantages such as efficient and convenient tail wing steering control. This invention solves the problems of existing dragonfly flapping-wing aircraft, which often employ modular manufacturing and multi-fastener assembly, resulting in redundant components, cumbersome assembly processes, difficulty in weight control, and an inability to balance structural strength with extreme lightweight design.

[0006] (II) Technical Solution To achieve the above objectives, the present invention provides the following technical solution: a multi-degree-of-freedom biomimetic dragonfly flapping-wing aircraft, comprising a fuselage and transmission device, a left flapping wing and a right flapping wing, a flight control and communication module and a tail wing steering mechanism, wherein the fuselage and transmission device comprises a drive gear, an intermediate transmission gear, a driven gear, a first rotating shaft, a left flapping wing rocker arm, a right flapping wing rocker arm, a second rotating shaft, a retaining ring, a transmission connecting rod, a gearbox frame, a fuselage main beam, a drive motor and a high-definition camera; The flight control and communication module includes a flight control system housing, a battery, a receiver, a brushed ESC, and a flight control board; The tail fin steering mechanism includes a servo mount, a servo servo, a servo output rocker arm, a steering tie rod, a limit seat, a tail fin, and a tail fin drive linkage. The left flapping wing rocker arm and the right flapping wing rocker arm include a left flapping wing and a right flapping wing, and the gearbox frame, flight control system housing, servo mount and limit seat are all fixedly installed on the main beam of the fuselage.

[0007] Preferably, the high-definition camera is fixedly installed at the front end of the main beam of the body. There are two sets of drive motors, namely a front drive motor and a rear drive motor. Both sets of drive motors are fixedly installed on the gearbox frame. The output shaft of each set of drive motors is firmly connected to the input end of the corresponding drive gear. The intermediate transmission gear and driven gear are rotatably installed on the gearbox frame through a support shaft. The drive gear meshes with the intermediate transmission gear, and the intermediate transmission gear meshes with the driven gear.

[0008] Preferably, the support shaft, the first rotating shaft, and the second rotating shaft are all provided with retaining rings at their ends to limit the axial movement of the driven gear, the transmission link, and the corresponding flapping wing rocker arm. The first rotating shaft is fixedly installed at the eccentric position of the driven gear. The driven gear is hinged to the first end of the transmission link through the first rotating shaft. The second end of the transmission link is hinged to the first end of the left flapping wing rocker arm and the right flapping wing rocker arm through the second rotating shaft. The second ends of the left flapping wing rocker arm and the right flapping wing rocker arm are both hinged to the gearbox frame and can reciprocate around the hinge point.

[0009] Preferably, the left flapping wing is fixedly installed on the left flapping wing rocker arm, and the right flapping wing is fixedly installed on the right flapping wing rocker arm. The installation angles of the left flapping wing and the right flapping wing relative to the left flapping wing rocker arm and the right flapping wing rocker arm are adjustable and remain fixed in the working state.

[0010] Preferably, the servo motor is fixedly mounted on the servo motor base, the output end of the servo motor is fixedly connected to the first end of the servo motor output rocker arm, the second end of the servo motor output rocker arm is hinged to the first end of the steering tie rod, the second end of the steering tie rod is hinged to the first end of the tail fin drive linkage, and the second end of the tail fin drive linkage is fixedly connected to the drive tail fin, for the drive tail fin to deflect left and right; The tail fin is rotatably connected to the limiting seat via a pivot. The limiting seat, in conjunction with the retaining spring, restricts the axial movement of the tail fin during deflection, ensuring the deflection accuracy of the tail fin.

[0011] Preferably, the battery, receiver, brushed ESC, and flight control board are all integrated and installed within the flight control system housing. The battery is electrically connected to the flight control board, receiver, brushed ESC, servo motor, and high-definition camera, providing power to the entire system. The receiver is electrically connected to the flight control board to receive external remote control commands and transmit them to the flight control board. The signal output terminal of the flight control board is electrically connected to the control input terminal of the brushed ESC, and the power output terminal of the brushed ESC is electrically connected to the drive motor. The flight control board independently controls the operating speed and start / stop of the two sets of drive motors through the brushed ESC. The signal output terminal of the flight control board is electrically connected to the servo motor to control the deflection angle of the servo motor's output shaft. The high-definition camera is electrically connected to the flight control board to collect flight environment image data and transmit the image data to the flight control board.

[0012] Preferably, the driven gear, the first rotating shaft, the left flapping wing rocker arm, the right flapping wing rocker arm, the second rotating shaft, the snap ring, and the transmission link corresponding to the left flapping wing and the right flapping wing are all symmetrically arranged on the central axis of the fuselage main beam.

[0013] Preferably, the interior of each of the intermediate transmission gears and driven gears is provided with a plurality of arc-shaped through holes that are evenly distributed axially. The arc-shaped through holes are used to reduce the overall weight of the machine body and transmission device.

[0014] Preferably, the longitudinal section of the tail fin is arranged in a right-angled trapezoid to adapt to the airflow characteristics of the flapping-wing aircraft, optimize aerodynamic lift and control force, and at the same time undertake the control function of attitude adjustment. The side inclined surface of the tail fin is arranged towards the main beam of the fuselage.

[0015] (III) Beneficial Effects Compared with the prior art, the present invention provides a multi-degree-of-freedom biomimetic dragonfly flapping-wing aircraft, which has the following beneficial effects: 1. This multi-degree-of-freedom biomimetic dragonfly flapping-wing aircraft, through its fuselage and transmission device, left and right flapping wings, flight control and communication module, and tail wing steering mechanism, can reduce the overall size and weight of the aircraft, while providing more convenient tail wing steering, thereby achieving flexible control of various flight attitudes and improving the aircraft's usability. Attached Figure Description

[0016] Figure 1 This is a top-view view of the structure of a multi-degree-of-freedom biomimetic dragonfly flapping-wing aircraft proposed in this invention; Figure 2 This is a structural diagram of the fuselage and transmission device of the present invention; Figure 3 This is a right view of the fuselage and transmission device of the present invention; Figure 4 This is a diagram showing the positions of the flight control and communication module and the tail fin steering mechanism of the present invention. Figure 5 This is a detailed diagram of the flight control and communication module of the present invention.

[0017] In the picture: 101 Drive gear; 102 Intermediate transmission gear; 103 Eccentric driven gear; 104 First pivot; 105 Left flapping wing rocker arm; 106 Right flapping wing rocker arm; 107 Second pivot; 108 Snap ring; 109 Transmission connecting rod; 110 Gearbox frame; 111 Main fuselage beam; 112 Drive motor; 113 Flight control system housing; 114 Battery; 115 Receiver; 116 Brushed ESC; 117 Flight controller board; 118 Servo mount; 119 Servo motor; 120 Servo output rocker arm; 121-Steering lever; 122-Limit seat; 123-Tail wing; 124-Tail wing drive linkage; 125-HD camera; 126-Left flapping wing; 127-Right flapping wing. Detailed Implementation

[0018] 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 embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative effort are all within the scope of protection of the present invention.

[0019] Please see Figure 1-5 A multi-degree-of-freedom biomimetic dragonfly flapping-wing aircraft structure includes a fuselage and transmission device, a left flapping wing and a right flapping wing, a flight control and communication module, and a tail wing steering mechanism. The fuselage and transmission device includes a drive gear 101, an intermediate transmission gear 102, a driven gear 103, a first rotating shaft 104, a left flapping wing rocker arm 105, a right flapping wing rocker arm 106, a second rotating shaft 107, a snap ring 108, a transmission link 109, a gearbox frame 110, a fuselage main beam 111, a drive motor 112, and a high-definition camera 125. The flight control and communication module includes a flight control system housing 113, a battery 114, a receiver 115, a brushed ESC 116, and a flight control board 117; The tail wing steering mechanism includes a servo mount 118, a servo servo 119, a servo output rocker arm 120, a steering lever 121, a limit seat 122, a tail wing 123, and a tail wing drive linkage 124. The left flapping wing and the right flapping wing include left flapping wing 126 and right flapping wing 127.

[0020] As attached Figure 2-4 As shown, the main fuselage beam 111 is the core load-bearing component of the aircraft. It is manufactured using a 3D printing integrated molding process to ensure structural compactness and lightweight. In this embodiment, the gearbox frame 110, flight control system housing 113, servo mount 118, and limit seat 122 are all directly fitted onto the preset mounting positions of the main fuselage beam 111 using a 3D printed integrated tight-fit structure. Reliable fixation is achieved by the interference fit between the components, eliminating traditional screws and other fasteners. While ensuring structural strength, this maximizes the lightweight and assembly convenience of the micro bionic aircraft. The high-definition camera 125 is fixedly installed at the front end of the main fuselage beam 111 through a snap-fit ​​structure. Its lens is oriented in the same direction as the forward flight of the aircraft and is used to collect image data of the flight environment.

[0021] In this embodiment, the drive motor 112 adopts two sets of miniature brushed motors, namely the front drive motor and the rear drive motor. The two sets of motors are arranged symmetrically front and rear. Each set of drive motors 112 is fixedly installed in the motor mounting slot of the gearbox frame 110 by motor bracket bolts. The output shaft of each set of drive motors 112 adopts an interference fit and is directly inserted into the central shaft hole of the corresponding drive gear 101. The circumferential and axial locking is achieved by the extrusion force between the shaft holes, so as to realize the stable and independent output of the motor rotation power to the gear transmission mechanism.

[0022] As attached Figure 2-3 As shown, the intermediate transmission gear 102 and the driven gear 103 are rotatably mounted in the gear mounting holes of the gearbox frame 110 via cylindrical support shafts. During assembly, the driving gear 101 and the intermediate transmission gear 102 are engaged externally, and the intermediate transmission gear 102 and the driven gear 103 are also engaged externally, forming a three-stage continuous power transmission path of "driving gear-intermediate transmission gear-driven gear". Multiple intermediate transmission gears 102 and driven gears 103 have multiple arc-shaped through holes evenly distributed axially inside. The arc-shaped through holes are used to reduce the overall weight of the machine body and transmission device. In this embodiment, to ensure the reliability of the gear transmission, annular retaining ring grooves are provided at the ends of the support shafts, and retaining rings 108 are fitted into the retaining ring grooves as shown in the attached figure. Figure 2 As shown, the end face of the snap ring 108 is in close contact with the outer end face of the intermediate transmission gear 102 and the driven gear 103, and cooperates with the inner limiting surface of the gearbox frame 110 to realize the axial limiting of the gears, effectively preventing the gears from axially moving during high-speed operation and ensuring the precise meshing position of the gears.

[0023] The first rotating shaft 104 is a cylindrical pin, which is fixedly installed in the eccentric hole position of the driven gear 103 by interference fit. After assembly, the first rotating shaft 104 and the driven gear 103 rotate synchronously. The driven gear 103 is hinged to one end of the transmission connecting rod 109 through the first rotating shaft 104, forming the crank assembly of the crank connecting rod mechanism. In order to limit the axial movement at the hinge, a snap ring groove is also opened at the shaft end of the first rotating shaft 104 and a snap ring 108 is installed. The snap ring 108 is close to the outer end face of the transmission connecting rod 109 to realize the axial positioning of the driven gear 103 and the transmission connecting rod 109. The other end of the transmission link 109 is hinged to the first end of the left flapping wing rocker arm 105 and the first end of the right flapping wing rocker arm 106 respectively via the second rotating shaft 107; the shaft end of the second rotating shaft 107 is also equipped with a retaining ring 108 to limit the axial relative movement between the transmission link 109 and the left and right flapping wing rockers, so as to ensure the connection reliability and movement accuracy of the hinge structure. In this embodiment, the second ends of the left flapping wing rocker arm 105 and the right flapping wing rocker arm 106 are both hinged to the rocker arm mounting seat of the gearbox frame 110 through a hinge shaft, forming a rocker structure that can swing back and forth around the hinge point. When the driven gear 103 rotates, it drives the transmission connecting rod 109 to perform reciprocating linear motion through the first rotating shaft 104, thereby pushing the left and right flapping wing rockers to swing back and forth around the hinge point, providing power for the biomimetic flapping of the wings.

[0024] As attached Figure 1-2 As shown, the left flapping wing 126 is installed on the wing surface mounting end of the left flapping wing rocker arm 105 by a plug-in interference fit, and the right flapping wing 127 is installed on the wing surface mounting end of the right flapping wing rocker arm 106 by a plug-in interference fit. To adapt to the aerodynamic requirements of different flight modes, the left flapping wing 126 and the right flapping wing 127 can be adjusted to the target angle of attack according to the flight requirements. Then, they are respectively inserted and fixed to the wing surface mounting ends of the left flapping wing rocker arm 105 and the right flapping wing rocker arm 106 through plug-in interference fit. Reliable locking is achieved by the squeezing force at the insertion point. This not only meets the requirement of adjustable angle of attack, but also ensures the installation stability in the working state, thereby achieving optimized configuration of airfoil angle of attack in different modes such as vertical take-off and landing and forward flight. Meanwhile, the driven gear 103, the first rotating shaft 104, the left flapping wing rocker arm 105, the right flapping wing rocker arm 106, the second rotating shaft 107, the snap ring 108, and the transmission link 109 corresponding to the left flapping wing 126 and the right flapping wing 127 are all symmetrically arranged about the central axis of the fuselage main beam 111. The connection relationship and transmission principle of the components on both sides of the symmetry are completely the same, driving the flapping wings on the corresponding sides to synchronously complete the biomimetic flapping action.

[0025] As attached Figure 4-5 As shown, the core of assembling the tail wing steering mechanism lies in the realization of an integrated actuator and a precise limiting structure: Both the servo mount 118 and the limit seat 122 are directly assembled to the pre-set position at the tail of the fuselage main beam 111 using a plug-in interference fit, without the need for additional fasteners, thus achieving a compact and integrated design between the tail control mechanism and the core load-bearing structure of the fuselage; the servo servo 119 is fixedly installed in the mounting slot of the servo mount 118 through a plug-in tight fit, achieving a compact integration between the control mechanism and the fuselage, ensuring that the servo is stable and reliable during operation without loosening or swaying; The output shaft of the servo motor 119 is directly inserted into the shaft hole at the first end of the servo motor output rocker arm 120, achieving a rigid connection through a tight-fitting insertion method. This allows the servo motor output torque to be directly and efficiently converted into the rocker arm's swing motion. Both ends of the steering linkage 121 are pre-set with cylindrical hinge shafts. One hinge shaft of the steering linkage 121 engages with the axial latch of the servo motor output rocker arm 120, and the other hinge shaft engages with the axial latch of the tail wing drive linkage 124. The steering linkage 121 has integrated protrusions at both ends. The shaft structure, corresponding to the axial snap-fit ​​at the end of the servo output rocker arm 120 and the tail fin drive linkage 124, forms a rotating engagement, constituting a bearingless, lightweight, and high-response crank-connecting rod transmission structure. While ensuring flexible transmission, it greatly simplifies the assembly process and reduces the tail weight. When the servo 119 is activated, it can precisely drive the tail fin 123 to deflect left and right through the transmission link of "servo output rocker arm 120 to steering linkage 121 to tail fin drive linkage 124", providing it with a stable yaw control torque. The second end of the tail wing drive linkage 124 and the tail wing 123 are integrally fixed to each other to form a complete tail wing actuator unit. The whole unit is rotatably mounted on the limit seat 122 through a rotating shaft, and the left and right yaw action is realized with the rotating shaft as the fulcrum. The shaft end is provided with a retaining spring 108. The retaining spring 123 and the limit seat 122 form a precise axial limit fit. During the deflection of the tail wing, the axial movement of the tail wing actuator unit along the rotating shaft direction can be effectively suppressed, avoiding motion interference and deflection angle error. Structurally, the accuracy and motion stability of the tail wing attitude control are guaranteed. When the servo motor 119 is activated, it can precisely drive the tail fin 123 to yaw left and right through the transmission link from the servo motor output rocker arm 120 to the steering lever 121 to the tail fin drive linkage 124, providing it with a stable yaw control torque. The longitudinal section of the tail fin 123 is set in a right-angled trapezoid to adapt to the airflow characteristics of the flapping wing aircraft, optimize aerodynamic lift and control force, and at the same time undertake the control function of attitude adjustment. The side inclined surface of the tail fin 123 is set towards the fuselage main beam 111.

[0026] As attached Figure 1 and attached Figure 3-5 As shown in this embodiment, based on the structure of the multi-degree-of-freedom dragonfly flapping-wing aircraft, the specific flight control implementation method of its vertical take-off and landing and forward flight modes is as follows, characterized by the following steps: When vertical takeoff and landing are required: the flight control board 117 controls two sets of drive motors 112 to operate synchronously at the same speed through the brushed ESC 116, driving the gear transmission mechanism to keep the front and rear wings of the left flapping wing 126 and the right flapping wing 127 at the same flapping frequency; the installation angle of the left flapping wing 126 and the right flapping wing 127 relative to the corresponding rocker arm is adjusted so that the direction of the resultant lift generated by the flapping wings is opposite to the direction of gravity; when the resultant lift is greater than the total weight of the aircraft, the aircraft is controlled to ascend vertically; when the resultant lift is less than the total weight of the aircraft, the aircraft is controlled to descend vertically. When forward flight is required: the flight control board 117 controls the two sets of drive motors 112 to run synchronously at the same speed through the brushed ESC 116, so that the flapping wings maintain the same flapping frequency; the installation angle of attack of the left flapping wing 126 and the right flapping wing 127 is adjusted so that the lift generated by the four wings is balanced with the gravity and the resultant force is forward, thereby driving the aircraft to achieve stable forward flight; When a turn is required: the flight control board 117 controls the output shaft of the servo motor 119 to rotate by a corresponding angle according to the turn command transmitted by the receiver 115. The servo output rocker arm 120, steering lever 121, and tail fin drive linkage 124 drive the tail fin 123 to deflect to the left, so that the aircraft generates a left yaw moment and achieves left turn flight; it also drives the tail fin 123 to deflect to the right, so that the aircraft generates a right yaw moment and achieves right turn flight. When pitch is required: When flying up, the flight control board 117 increases the operating speed of the front drive motor through the brushed ESC 116, thereby increasing the flapping frequency of the front left flapping wing 126 and the right flapping wing 127, so that the lift on the front side of the aircraft is greater than the lift on the rear side, thus obtaining the pitching torque and achieving pitching attitude adjustment; when flying down, the operating speed of the rear drive motor is increased, thereby increasing the flapping frequency of the rear left flapping wing 126 and the right flapping wing 127, so that the lift on the rear side of the aircraft is greater than the lift on the front side, thus obtaining the pitching torque and achieving pitching attitude adjustment.

[0027] As attached Figure 3-5 As shown, the receiver 115, brushed ESC 116, and flight control board 117 are fixedly installed in the preset mounting positions inside the flight control system housing 113 using a miniature snap-fit ​​structure. No additional fasteners are required, which simplifies the assembly process, effectively compresses the installation space, and reduces the overall weight, which is in line with the lightweight and miniaturized design goals of this invention. During assembly, it is ensured that the spacing between the components is uniform to avoid circuit interference and ensure stable signal transmission. Battery 114 is electrically connected to flight control board 117, brushed ESC 116, and HD camera 125 via wires. The wires are made of thin-diameter flexible wires to reduce space occupation and weight, providing a stable and continuous power supply for all electrical components of the system and ensuring the coordinated operation of all mechanisms. The power supply line of HD camera 125 is arranged separately to avoid interference with control signal lines, ensuring stable operation of the camera and avoiding problems such as image acquisition interruption and lag. The flight control system housing 113 is fixedly installed on the pre-set mounting position of the fuselage main beam 111 through a 3D printed tight-fit structure. Reliable fixation is achieved by the interference fit between the components, which further simplifies the assembly process and ensures that the flight control and communication modules do not loosen or move during flight, thus ensuring the accurate transmission of control commands. The high-definition camera 125 is fixedly mounted on the front end of the main beam 111 of the fuselage, with the lens facing the same direction as the aircraft's forward flight. This position can minimize airflow interference caused by flapping wings, ensuring the clarity of image acquisition, while not affecting the aerodynamic performance and flight attitude of the aircraft. The fixing method adopts a micro-buckle and 3D printing integrated structure. The bottom of the camera has a pre-set snap-fit ​​protrusion that precisely matches the snap-fit ​​groove at the front end of the main beam 111 of the fuselage. No additional fasteners are required, which not only ensures the reliability of the fixation, but also further reduces the weight of the whole machine, perfectly adapting to the design requirements of the micro-bionic dragonfly body. The HD camera 125 uses a simulated HD camera adapted for miniature aerial photography. It is directly connected to the image transmission module interface of the flight controller via a matching cable, which can simultaneously provide power to the camera and transmit video signals. The image transmission module communicates and is powered by serial communication with the flight controller board 117 through its own interface. The flight controller board 117 can configure parameters and coordinate control of the image transmission module. The entire connection layout is simple, the cable length is adapted to the fuselage size, and there is no redundant wiring, which further ensures the lightweight and miniaturization of the whole machine.

[0028] Working process: When the aircraft starts up and enters flight mode, the high-definition camera 125 is powered on and works simultaneously to collect high-definition images of the flight environment in real time, ensuring clear images and smooth transmission. The collected video signal is directly input to the image transmission module through the ribbon cable. After being processed by the image transmission module, it is transmitted back to the ground remote control terminal in real time. The flight control board 117 realizes the coordinated control of the image transmission module through the serial port.

[0029] The high-definition camera in this embodiment is small in size and lightweight, and can be efficiently adapted to the bionic dragonfly body. It can simultaneously complete the image and video acquisition of the operation scene during the flight of the aircraft, which solves the problems of most existing solutions not being adapted to the high-definition real-time image acquisition unit that matches the aircraft body, being unable to simultaneously complete the video acquisition of the operation scene during flight, and having limited adaptability to actual scenes. It significantly improves the practicality and application range of the aircraft in scenarios such as inspection in confined spaces and close-range reconnaissance.

[0030] It should be noted that the term "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0031] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-degree-of-freedom biomimetic dragonfly flapping-wing aircraft, comprising a fuselage and transmission device, a left flapping wing and a right flapping wing, a flight control and communication module, and a tail wing steering mechanism, characterized in that: The fuselage and transmission device include a drive gear (101), an intermediate transmission gear (102), a driven gear (103), a first rotating shaft (104), a left flapping wing rocker arm (105), a right flapping wing rocker arm (106), a second rotating shaft (107), a snap ring (108), a transmission link (109), a gearbox frame (110), a fuselage main beam (111), a drive motor (112), and a high-definition camera (125). The flight control and communication module includes a flight control system housing (113), a battery (114), a receiver (115), a brushed ESC (116), and a flight control board (117). The tail wing steering mechanism includes a servo mount (118), a servo servo (119), a servo output rocker arm (120), a steering lever (121), a limit seat (122), a tail wing (123), and a tail wing drive linkage (124). The left flapping wing rocker arm (105) and the right flapping wing rocker arm (106) include a left flapping wing (126) and a right flapping wing (127). The gearbox frame (110), the flight control system housing (113), the servo mount (118) and the limit seat (122) are all fixedly installed on the fuselage main beam (111).

2. The multi-degree-of-freedom biomimetic dragonfly flapping-wing aircraft according to claim 1, characterized in that: The high-definition camera (125) is fixedly installed at the front end of the main beam (111) of the body. There are two sets of drive motors (112), namely a front drive motor and a rear drive motor. Both sets of drive motors (112) are fixedly installed on the gearbox frame (110). The output shaft of each set of drive motors (112) is firmly connected to the input end of the corresponding drive gear (101). The intermediate transmission gear (102) and driven gear (103) are rotatably installed on the gearbox frame (110) through the support shaft. The drive gear (101) meshes with the intermediate transmission gear (102), and the intermediate transmission gear (102) meshes with the driven gear (103).

3. The multi-degree-of-freedom biomimetic dragonfly flapping-wing aircraft according to claim 2, characterized in that: The support shaft, the first rotating shaft (104), and the second rotating shaft (107) are all provided with snap rings (108) to restrict the axial movement of the driven gear (103), the transmission link (109), and the corresponding flapping wing rocker arm. The first rotating shaft (104) is fixedly installed at the eccentric position of the driven gear (103). The driven gear (103) is hinged to the first end of the transmission link (109) through the first rotating shaft (104). The second end of the transmission link (109) is hinged to the first end of the left flapping wing rocker arm (105) and the right flapping wing rocker arm (106) through the second rotating shaft (107). The second ends of the left flapping wing rocker arm (105) and the right flapping wing rocker arm (106) are both hinged to the gearbox frame (110) and can swing back and forth around the hinge point.

4. The multi-degree-of-freedom biomimetic dragonfly flapping-wing aircraft according to claim 1, characterized in that: The left flapping wing (126) is fixedly installed on the left flapping wing rocker arm (105), and the right flapping wing (127) is fixedly installed on the right flapping wing rocker arm (106). The installation angles of the left flapping wing (126) and the right flapping wing (127) relative to the left flapping wing rocker arm (105) and the right flapping wing rocker arm (106) are adjustable and remain fixed in the working state.

5. The multi-degree-of-freedom biomimetic dragonfly flapping-wing aircraft according to claim 1, characterized in that: The servo motor (119) is fixedly installed on the servo motor base (118). The output end of the servo motor (119) is fixedly connected to the first end of the servo output rocker arm (120). The second end of the servo output rocker arm (120) is hinged to the first end of the steering rod (121). The second end of the steering rod (121) is hinged to the first end of the tail wing drive link (124). The second end of the tail wing drive link (124) is fixedly connected to the drive tail wing (123) for left and right deflection of the drive tail wing (123). The tail fin (123) is rotatably connected to the limiting seat (122) via a pivot. The limiting seat (122) works with the snap ring (108) to restrict the axial movement of the tail fin (123) when it deflects, thus ensuring the deflection accuracy of the tail fin (123).

6. The multi-degree-of-freedom biomimetic dragonfly flapping-wing aircraft according to claim 1, characterized in that: The battery (114), receiver (115), brushed ESC (116), and flight control board (117) are all integrated and installed inside the flight control system housing (113). The battery (114) is electrically connected to the flight control board (117), receiver (115), brushed ESC (116), servo motor (119), and high-definition camera (125) to provide power for the entire system. The receiver (115) is electrically connected to the flight control board (117) to receive external remote control commands and transmit the commands to the flight control board (117). The signal output of the flight control board (117) The terminal is electrically connected to the control input terminal of the brushed ESC (116), the power output terminal of the brushed ESC (116) is electrically connected to the drive motor (112), the flight control board (117) independently controls the operating speed and start / stop of the two sets of drive motors (112) through the brushed ESC (116), the signal output terminal of the flight control board (117) is electrically connected to the servo motor (119) and is used to control the deflection angle of the output shaft of the servo motor (119), the high-definition camera (125) is electrically connected to the flight control board (117) and is used to collect flight environment image data and transmit the image data to the flight control board (117).

7. The multi-degree-of-freedom biomimetic dragonfly flapping-wing aircraft according to claim 1, characterized in that: The driven gear (103), the first rotating shaft (104), the left flapping wing rocker arm (105), the right flapping wing rocker arm (106), the second rotating shaft (107), the snap ring (108), and the transmission link (109) corresponding to the left flapping wing (126) and the right flapping wing (127) are all symmetrically arranged on the central axis of the fuselage main beam (111).

8. The multi-degree-of-freedom biomimetic dragonfly flapping-wing aircraft according to claim 1, characterized in that: Multiple intermediate transmission gears (102) and driven gears (103) are provided with multiple arc-shaped through holes that are evenly distributed axially inside. The arc-shaped through holes are used to reduce the overall weight of the machine body and transmission device.

9. A multi-degree-of-freedom biomimetic dragonfly flapping-wing aircraft according to claim 1, characterized in that: The tail fin (123) has a right-angled trapezoidal longitudinal section, which is used to adapt to the airflow characteristics of the flapping wing aircraft, optimize aerodynamic lift and control force, and at the same time undertake the control function of attitude adjustment. The side inclined surface of the tail fin (123) is set towards the fuselage main beam (111).

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