Bionic dragonfly unmanned aerial vehicle

Abstract

The utility model belongs to the field of unmanned aerial vehicles, and discloses a bionic dragonfly unmanned aerial vehicle which comprises a vehicle body, the vehicle body extends upwards in the vertical direction, the plane where the vehicle body extends completely serves as the upper surface of the vehicle body, four rotating and swinging mechanisms are movably installed on the upper surface of the vehicle body, and each rotating and swinging mechanism is movably connected with a wing. And each wing is movably connected with the upper surface of the aircraft body. According to the rotary swing mechanism, each wing swings relative to the aircraft body, the first front wing and the second front wing symmetrically swing by taking the reference surface as the reference, and the first rear wing and the second rear wing symmetrically swing by taking the reference surface as the reference; the symmetrical swing action is similar to the flapping process of wings when the dragonfly flies, so that the unmanned aerial vehicle can fly in a narrow area and can adapt to complex terrains in the narrow area compared with a fixed-wing aircraft, and the adaptability of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] This utility model belongs to the field of drones, specifically relating to a biomimetic dragonfly drone. Background Technology

[0002] Bionic drones are man-made aircraft that mimic the flight patterns and control systems of natural organisms. Unlike fixed-wing and rotary-wing drones, they operate like insects, using the flapping of their wings to create air pressure differences that propel the aircraft up and down. Bionic drones are characterized by their small size, flexibility, portability, strong ability to blend into their environment, and stealth capabilities, making them difficult to detect when approached.

[0003] Currently, most bionic drones are fixed-wing drones. When conducting search and rescue flights in complex urban airspace with dense obstacles, the passages formed by tall buildings, power lines, and collapsed structures are relatively narrow, generally less than 1.5m wide. Since the wing length of fixed-wing drones is a fixed value, generally between 1 and 72m, fixed-wing drones cannot fly in such narrow and complex areas, such as when avoiding obstacles. In addition, fixed-wing drones require a certain length of runway for take-off and landing, making them unsuitable for use in narrow areas. Utility Model Content

[0004] To address the shortcomings of existing technologies, this invention provides a biomimetic dragonfly drone. By activating a rotating swing mechanism, the two wings located on either side of a reference plane swing symmetrically, allowing the wings to perform rotational movements similar to dragonfly wings for flight. Ultimately, this enables the drone to operate in narrow environments less than 1.5m wide, adapting to complex terrain structures and improving its adaptability.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A biomimetic dragonfly drone includes a body, the body extending vertically upwards until the surface where it is fully extended is the upper surface of the body, and also includes four rotating and swinging mechanisms movably mounted on the upper surface of the body, each of the rotating and swinging mechanisms being movably connected to a wing, and each wing being movably connected to the upper surface of the body.

[0007] The body has a length direction. The upper surface of the body is used as the basic surface. A dashed line is drawn along the length direction at the middle position of the basic surface. A reference surface is made that extends along the length direction of the body, with the basic surface being perpendicular to the basic surface and coinciding with the dashed line. The basic surface extends along the length direction.

[0008] The four rotating swing mechanisms swing on the upper surface of the fuselage, causing the four wings to deflect. Two rotating swing mechanisms installed on one side wall extending along the length of the fuselage swing symmetrically with the two rotating swing mechanisms installed on the other side wall extending along the length of the fuselage, with a reference plane as the reference, thereby enabling the fuselage to take off and fly.

[0009] Preferably, the four rotating swing mechanisms are arranged in an "X" shape on the upper surface of the machine body.

[0010] Preferably, two wings provided on one side wall extending along the length of the fuselage are respectively designated as the first front wing and the first rear wing, and two wings provided on the other side wall extending along the length of the fuselage are respectively designated as the second front wing and the second rear wing. The first front wing and the second front wing swing symmetrically with reference to a reference plane, and the first rear wing and the second rear wing swing symmetrically with reference to a reference plane.

[0011] Preferably, the rotary swing mechanism includes,

[0012] A rotating assembly is mounted on the upper surface of the machine body;

[0013] A swing assembly, one end of which is connected to the free end of the rotating assembly, and a movable limiting assembly is installed on the upper surface of the machine body, which is fixedly sleeved on the swing assembly.

[0014] Preferably, the rotating assembly includes,

[0015] A rotary motor, which is fixedly mounted on the upper surface of the machine body;

[0016] A turntable is fixedly mounted on the free end of the rotary motor.

[0017] Preferably, the oscillating component includes,

[0018] An eccentric shaft is fixedly installed at the end of the turntable, extends along the free end extension direction of the rotary motor, and is eccentrically positioned relative to the center of the free end of the rotary motor.

[0019] A connecting rod structure, one end of which is movably mounted on the eccentric shaft.

[0020] The movable column is fixedly inserted into the movable limiting assembly and connected to the other end of the connecting rod structure.

[0021] Preferably, the linkage structure includes,

[0022] A sphere, which is fixedly fitted onto the end of the eccentric shaft furthest from the turntable.

[0023] A movable ring is movably fitted onto the outside of the sphere, and a connecting ring is fixedly fitted onto the circumferential surface of the movable ring.

[0024] A hinged part is formed on the movable column, and the connecting ring is hinged to the hinged part of the movable column.

[0025] Furthermore, the sphere, the movable ring, and the movable ring connection portion form a fisheye bearing.

[0026] Preferably, the active limiting component includes,

[0027] A rotating shaft seat is fixedly mounted on the upper surface of the machine body, and a rotating shaft is movably mounted inside it.

[0028] A pivot connection portion is formed on the circumferential surface of the pivot and extends upward in the vertical direction;

[0029] The bearing collar has its bottom circumferential surface fixed to the shaft connection portion, and the bearing collar is sleeved on the movable column.

[0030] Furthermore, the movable column has a movable column connecting part, one end of which is connected to the movable column hinge part. The movable column connecting part is a column body, and a wing is fixedly connected to the circumferential surface of the movable column connecting part.

[0031] Preferably, the body extends vertically downwards until it reaches its full extension, which is the lower surface of the body. A mounting base is installed on the lower surface of the body via a bracket, and there is a gap between the mounting base and the lower surface of the body. A flight control board is installed on the lower surface of the mounting base.

[0032] Compared with the prior art, the beneficial effects of this utility model are:

[0033] 1. Because of the rotating swing mechanism in this utility model, each wing swings relative to the fuselage. Furthermore, since the first and second front wings swing symmetrically with reference to a reference plane, and the first and second rear wings swing symmetrically with reference to a reference plane, the aforementioned symmetrical swinging motion is similar to the flapping process of a dragonfly's wings when flying. This allows the aircraft to fly in a narrow area, thus enabling it to adapt to complex terrain in narrow areas compared to fixed-wing aircraft and improving the adaptability of the UAV.

[0034] 2. Because the biomimetic dragonfly drone in this utility model does not require a long runway to take off like a fixed-wing drone, this biomimetic dragonfly drone has no runway and can land on inclined walls or ruins, and is suitable for flying in narrow situations.

[0035] 3. Because the rotating swing mechanism in this utility model is driven by a rotating mechanism composed of a rotating motor, it can realize four degrees of freedom flapping wings and achieve instantaneous 90° turning, vertical lifting and lowering, and inverted flight. Attached Figure Description

[0036] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0037] Figure 2 This is a three-dimensional structural diagram of the present invention from another angle;

[0038] Figure 3 This is a bottom view of the present invention;

[0039] Figure 4 This is a schematic diagram of the structure of one of the rotating swing mechanisms, the frame, and the wing in this utility model;

[0040] Figure 5 for Figure 4 Enlarged diagram of details in the middle section;

[0041] Figure 6 This is an exploded view of the fisheye bearing in this utility model;

[0042] Figure 7 This is a flowchart illustrating the flight of the UAV in this invention.

[0043] Figure 8 for Figure 7 Enlarged schematic diagram of some details in (I);

[0044] Figure 9 for Figure 7 Enlarged schematic diagram of some details in Part (II);

[0045] Figure 10 for Figure 7 Enlarged schematic diagram of some details in section (III);

[0046] Figure 11 for Figure 7 Enlarged illustration of some details in section (IV);

[0047] In the diagram: fuselage 1, upper fuselage surface 11, lower fuselage surface 12, rotating swing mechanism 2, rotary motor 201, turntable 202, eccentric shaft 203, sphere 204, movable ring 205, movable column 206, movable column hinge 2061, notch 20611, movable column connecting part 2062, rotating shaft 207, rotating shaft connecting part 2071, bearing collar 208, rotating shaft seat 209, connecting ring 210, connecting ring connecting part 2101, connecting ring sleeve part 2102, connecting ring sleeve part chamber 21021, wing 3, first front wing 31, first rear wing 32, second front wing 33, second rear wing 34, bracket 4, fixed seat 5, flight control board 51. Detailed Implementation

[0048] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the following embodiments are described in detail with reference to the accompanying drawings. It should be noted that the description of these embodiments is for the purpose of helping to understand this utility model, but does not constitute a limitation on this utility model.

[0049] like Figure 1-11 As shown, a biomimetic dragonfly drone includes a body 1, which extends vertically upward until it is fully extended, forming the upper surface 11 of the body. It also includes four rotating and swinging mechanisms 2 movably mounted on the upper surface 11, each rotating and swinging mechanism 2 having a wing 3 movably connected to it, and each wing 3 also being movably connected to the upper surface 11 of the body.

[0050] The body 1 has a length direction. Taking the upper surface 11 of the body as the basic surface, a dashed line is drawn along the length direction at the middle position of the basic surface. Then, a reference surface A is made that extends along the length direction of the body 1, with the basic surface being perpendicular to the basic surface and coinciding with the dashed line. It should be noted that the process of establishing the reference surface A here is mainly carried out in SolidWorks software.

[0051] Four rotating and swinging mechanisms 2 are arranged in an "X" shape on the upper surface 11 of the fuselage. The four rotating and swinging mechanisms 2 swing on the upper surface 11 of the fuselage, causing the four wings 3 to deflect. Two rotating and swinging mechanisms 2 are set on one side wall extending along the length of the fuselage 1, and two rotating and swinging mechanisms 2 are set on the other side wall extending along the length of the fuselage 1, which swing symmetrically with reference plane A as the reference, thereby enabling the fuselage 1 to take off and fly. Specifically, the two wings 3 set on one side wall extending along the length of the fuselage 1 are respectively used as the first front wing 31 and the first rear wing 32, and the two wings set on the other side wall extending along the length of the fuselage 1 are respectively used as the second front wing 33 and the second rear wing 34. The first front wing 31 and the second front wing 33 swing symmetrically with reference plane A as the reference, and the first rear wing 32 and the second rear wing 34 swing symmetrically with reference plane A as the reference. The above symmetrical swinging action is similar to the flapping process of the wings of a dragonfly when it flies. Therefore, this drone is called a biomimetic dragonfly drone.

[0052] Each rotating and swinging mechanism 2 includes a rotating component mounted on the upper surface 11 of the machine body; specifically, the rotating component includes a rotating motor 201 (specifically a brushless motor in this embodiment), which is fixedly mounted on the upper surface 11 of the machine body; a turntable 202, which is fixedly mounted on the free end of the rotating motor 201; and a swinging component, one end of which is connected to the free end of the rotating component. A movable limiting component is mounted on the upper surface 11 of the machine body, which is fixedly sleeved on the swinging component; specifically, the swinging component includes an eccentric shaft 203, which is fixedly mounted on the end of the turntable 202 (specifically, the turntable 202 is a circular turntable, and the eccentric shaft 203 is fixed on the end face of the turntable 202 and integrally formed with the turntable 202), which extends along the extension direction of the free end of the rotating motor 201 and is eccentrically set to the center of the free end of the rotating motor 201;

[0053] The connecting rod structure, one end of which is movably mounted on the eccentric shaft 203, specifically comprises:

[0054] A sphere 204 is fixedly sleeved on the end of the eccentric shaft 203 away from the turntable 202, and a movable ring 205 is movably sleeved on the outside of the sphere 204;

[0055] The movable column 206 is fixedly inserted into the movable limiting assembly and connected to the other end of the connecting rod structure. Specifically, a connecting ring 210 is fixedly sleeved on the circumferential surface of the movable ring 205. The connecting ring 210 has a connecting ring connecting portion 2101 on its circumferential surface. The movable column hinge portion 2061 is formed on the movable column 206, and the connecting ring connecting portion 2101 is hinged to the movable column hinge portion 2061 (specifically, the connecting ring connecting portion 2061 is away from the connecting ring 210). The end of part 2101 is connected to a connecting ring sleeve part 2102. The connecting ring sleeve part 2102 has a connecting ring sleeve part chamber 21021. The connecting ring sleeve part chamber 21021 extends vertically and is open on the upper surface and lower surface of the connecting ring sleeve part 2102. The movable column hinge part 2061 is prism-shaped and has a notch 20611 on its side wall. The notch 20611 connects with the connecting ring sleeve part. The chambers 21021 are connected and both are fitted with a rotating column, which is used to rotatably connect the connecting ring sleeve 2011 and the movable column hinge 2061; wherein, the ball 204, the movable ring 205 and the movable ring connecting part 2051 form a fisheye bearing; the movable limiting assembly includes a rotating shaft seat 209, which is fixedly installed on the upper surface 11 of the fuselage, and a rotating shaft 207 is movably installed inside it; a rotating shaft connecting part 2071 is formed on the circumferential surface of the rotating shaft 207 and extends upward in the vertical direction; a bearing sleeve 208, the bottom of which is fixed to the rotating shaft connecting part 2071, and the bearing sleeve 208 is fitted with the movable column 206; more specifically: the movable column 206 has a movable column connecting part 2062, one end of which is connected to the movable column hinge 2061, the movable column connecting part 2062 is a column, and the wing 3 is fixedly connected to the circumferential surface of the movable column connecting part 2062;

[0056] The rotation process of each wing 3 relative to the fuselage 1 is as follows:

[0057] First, the rotary motor 201 is started. The free end of the rotary motor 201 begins to rotate, thereby driving the turntable 202 to rotate. This causes the eccentric shaft 203 to rotate in an arc around the center of the turntable 202. Consequently, the surface of the turntable 202 rotates within the sphere 204, causing the movable ring 205 to swing along with the sphere 204 (to achieve this swinging motion, the movable ring 205 and the sphere 204 are designed with a clearance fit). This causes the movable ring connecting part 2051 to pull the movable column hinge part 2061 under the swinging motion of the movable ring 205. Because the bearing collar 208 is sleeved on the movable column hinge 2061, and the bearing collar 208 is connected by the rotating shaft 207 inside the rotating shaft seat 209, that is, the rotating shaft connection 2071 serves as a fulcrum on the upper surface 11 of the fuselage. Under the pull, the movable column hinge 2061 also swings on the upper surface 11 of the fuselage (the swing is assisted by the bearing collar 208 to rotate the rotating shaft 207 horizontally on the upper surface 11 of the fuselage, thereby causing the wing 3 to swing relative to the upper surface 11 of the fuselage), causing the single wing 3 to move in an "8" shaped trajectory. The four rotary motors 201 work in coordination with each other (i.e., as... Figure 7 I-II-III-IV constitute a flight unit. Multiple flight units operate sequentially over a period of time, enabling the UAV to achieve flight and hovering. Even if the first front wing 31 and the second front wing 33 swing symmetrically on the reference plane A, and the first rear wing 32 and the second rear wing 34 swing symmetrically on the reference plane, the UAV can achieve stable flight, hovering, and forward and backward flight attitudes to adapt to complex terrain structures.

[0058] The body 1 extends vertically downwards until it reaches its full extent, which is the lower surface 12 of the body. A mounting base 5 is installed on the lower surface 12 via a bracket 4. There is a gap between the mounting base 5 and the lower surface 12 of the body. A flight control board 51 is installed on the lower surface of the mounting base 5. Specifically, the mounting base 5 is fixed to the lower surface 12 of the body with bolts. By removing the bolts, the bracket 4, the body 1, and the mounting base 5 can be separated, thereby allowing the removal of the flight control board 51 (the flight control board 51 is fixed to the mounting base 5 by snap-fit ​​or other detachable connection methods) to facilitate the inspection or replacement of the flight control board 51.

[0059] The present invention requires the following explanation.

[0060] 1. The shape of wing 3 matches the rotor blades of aircraft currently on the market.

[0061] 2. The wing 3 is made of carbon fiber-polyimide composite material.

[0062] 3. The flight control board 51 mainly controls the opening and closing of each rotating motor 201, thereby controlling each wing 3 to start moving, and ultimately controlling the UAV to carry out flight operations.

[0063] 4. This UAV can achieve four-degree-of-freedom flapping wings, enabling instantaneous 90° turns, vertical takeoff and landing, and inverted flight; the operation of each function is as follows:

[0064] 4.1 Working mechanism of instantaneous 90° turn: Yaw torque is generated by the phase difference swing of the left and right wing groups; specifically: the left wing group (first front wing 31, first rear wing 32) and the right wing group (second front wing 33, second rear wing 34) are both controlled by independent rotary motors 201; the two rotary motors 201 on the left: maintain standard phase drive; the two rotary motors 201 on the right: delay or advance the rotation phase (e.g., phase difference of 90°), so that the swing period of the right wing is asynchronous with that of the left.

[0065] Mechanical effects: The phase difference causes an asymmetric distribution of aerodynamic forces between the left and right wing groups → the right wing group generates a greater difference in drag or lift within a specific time period → forming a yaw torque around the reference plane A, driving the fuselage to complete a 90° turn.

[0066] 4.2 Vertical Lifting

[0067] Working mechanism: Total lift is controlled by synchronously adjusting the oscillation frequency of the four sets of wings; specifically:

[0068] Ascent Phase: The four rotating motors 201 accelerate synchronously → the oscillation frequency of the eccentric shaft 203 driving the movable column 206 increases → the flapping cycle of the wing 3 shortens, and the lift pulse density per unit time increases → the total lift exceeds gravity, achieving vertical climb.

[0069] Descent phase: Rotary motor 201 frequency decreases → lift pulse density decreases, gravity dominates the descent process → slow descent is achieved by dynamically adjusting the frequency through flight control board 51.

[0070] Structural adaptability: The eccentric shaft 203 ensures a constant swing amplitude, and the change in lift depends entirely on frequency control, avoiding mechanical complexity.

[0071] 4.3 Inverted Flight

[0072] Working mechanism: The flapping trajectory is reversed by reversing the rotation direction of the four rotating motors 201.

[0073] Drive process: Four rotary motors 201 rotate synchronously in reverse → turntable 202 rotates counterclockwise → eccentric shaft 203 drives the swing direction of movable column 206 to reverse → the wing's downward phase becomes leading edge downward, and the upward phase has trailing edge downward.

[0074] Mechanical characteristics: The reversal of the flapping direction causes a change in the direction of the aerodynamic vortex → generating reverse thrust, which, together with the rearward shift of the fuselage center of gravity (adjusting the pitch angle on the flight control board 51), enables inverted flight.

[0075] Structural compatibility: The symmetry of the reverse swing trajectory of the eccentric shaft 203 remains unchanged, and the stability of inverted flight is ensured by the synchronization of the rotary motor 201.

[0076] 4.4 Hovering

[0077] Working mechanism: Balance is maintained through the symmetrical swinging of the four wings 3 and dynamic frequency fine-tuning.

[0078] Motion mode: Four rotating motors 201 drive in a fixed frequency and phase → the motion trajectory of the wing 3 is completely symmetrical → lift and gravity are balanced.

[0079] Disturbance control: Flight control board 51 monitors attitude in real time → If the fuselage tilts, briefly increase the frequency of one rotating motor 201 (for example, the frequencies of the two rotating motors 201 on the left are both 22Hz, and the frequencies of the two rotating motors 201 on the right are both 18Hz) → The difference in lift between the left and right sides generates a corrective torque → Quickly restore the horizontal attitude.

[0080] Energy efficiency advantages: Fixed swing amplitude reduces energy loss, and hovering range is improved compared to traditional multi-rotor aircraft.

[0081] The above embodiments are preferred embodiments of this utility model and are not intended to limit the scope of protection of this utility model. Various modifications or variations that can be made by those skilled in the art without creative effort within the scope of the appended claims are still within the scope of protection of this patent.

Claims

1. A biomimetic dragonfly drone, comprising a body, wherein the body extends vertically upwards until it reaches its full extension, forming the upper surface of the body, characterized in that... It also includes four rotating swing mechanisms movably mounted on the upper surface of the fuselage, each of which is movably connected to a wing, and each wing is also movably connected to the upper surface of the fuselage; The body has a length direction. The upper surface of the body is used as the basic surface. A dashed line is drawn along the length direction at the middle position of the basic surface. A reference surface is made that extends along the length direction of the body, with the basic surface being perpendicular to the basic surface and coinciding with the dashed line. The basic surface extends along the length direction. The four rotating swing mechanisms swing on the upper surface of the fuselage, causing the four wings to deflect. Two rotating swing mechanisms installed on one side wall extending along the length of the fuselage swing symmetrically with the two rotating swing mechanisms installed on the other side wall extending along the length of the fuselage, with a reference plane as the reference, thereby enabling the fuselage to take off and fly.

2. The biomimetic dragonfly drone according to claim 1, characterized in that: The four rotating and swinging mechanisms are arranged in an "X" shape on the upper surface of the machine body.

3. A biomimetic dragonfly drone according to claim 1 or 2, characterized in that: The rotary swing mechanism includes, A rotating assembly is mounted on the upper surface of the machine body; A swing assembly, one end of which is connected to the free end of the rotating assembly, and a movable limiting assembly is installed on the upper surface of the machine body, which is fixedly sleeved on the swing assembly. The rotating assembly includes a rotating motor, which is fixedly mounted on the upper surface of the machine body; A turntable is fixedly mounted on the free end of the rotary motor.

4. The biomimetic dragonfly drone according to claim 3, characterized in that: The swing component includes, An eccentric shaft is fixedly installed at the end of the turntable, extends along the free end extension direction of the rotating assembly, and is eccentrically positioned relative to the center of the free end of the rotating assembly. A connecting rod structure, one end of which is movably mounted on the eccentric shaft. The movable column is fixedly inserted into the movable limiting assembly and connected to the other end of the connecting rod structure.

5. A biomimetic dragonfly drone according to claim 4, characterized in that: The linkage structure includes, A sphere, which is fixedly fitted onto the end of the eccentric shaft furthest from the turntable. A movable ring is movably fitted onto the outside of the sphere, and a connecting ring is fixedly fitted onto the circumferential surface of the movable ring. A hinged part is formed on the movable column, and the connecting ring is hinged to the hinged part of the movable column.

6. The biomimetic dragonfly drone according to claim 5, characterized in that: The active limiting component includes: A rotating shaft seat is fixedly mounted on the upper surface of the machine body, and a rotating shaft is movably mounted inside it. A pivot connection portion is formed on the circumferential surface of the pivot and extends upward in the vertical direction; The bearing collar has its bottom circumferential surface fixed to the shaft connection portion, and the bearing collar is sleeved on the movable column.

Images