CN-121990195-A - Bionic ornithopter based on dragonfly flight mechanism and driving method thereof

CN121990195ACN 121990195 ACN121990195 ACN 121990195ACN-121990195-A

Abstract

The invention provides a dragonfly flight mechanism-based bionic flapping wing aircraft and a driving method thereof, which are applied to the field of simulation and simulation of reconnaissance tasks of flapping wing unmanned aerial vehicles and comprise 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 frame and a tail; the head of the frame is provided with a first wing frame, the tail of the frame is provided with a second wing frame, the first dragonfly wing assembly is arranged on the first wing frame, the second dragonfly wing assembly is arranged on the second wing frame, the driving motor is arranged on the second wing assembly, the output end of the driving motor is connected with one end of the crankshaft assembly, the crankshaft assembly supports to drive the first dragonfly wing assembly and the second dragonfly wing assembly to asynchronously flutter, two pairs of wings can vibrate in the same period and with a fixed phase difference through the design of the crankshaft, and the complexity of an electric control system is greatly simplified.

Inventors

HUANG HAIFENG
LIU ZHIJIE
WANG XIAOLUN
ZHANG SHUANG
HE XIUYU
LI QING
HE WEI
WU XIAOYANG
QIN JINGYAN
FU QIANG

Assignees

北京科技大学

Dates

Publication Date: 20260508
Application Date: 20260228

Claims (10)

1. A bionic flapping wing aircraft based on a dragonfly flight mechanism is characterized by comprising 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 frame and a tail; The head of the stand is provided with a first wing frame, and the tail of the stand is provided with a second wing frame; The first dragonfly wing component is arranged on the first wing frame, and the second dragonfly wing component is arranged on the second wing frame; The driving motor is arranged on the second wing assembly, and the output end of the driving motor is connected with one end of the crankshaft assembly; One end of the crankshaft assembly, which is close to the tail, is connected with the second dragonfly wing assembly, and the other end of the crankshaft assembly is connected with the first dragonfly wing assembly; when the driving motor drives the crankshaft assembly to work, the crankshaft assembly supports to drive the first dragonfly wing assembly and the second dragonfly wing assembly to flap asynchronously.
2. The bionic ornithopter based on a dragonfly flight mechanism of claim 1, wherein the frame comprises a connecting plate, an upright post and a connecting block; the connecting plate is rectangular, and the length direction of the connecting plate is consistent with the length direction of the tail; The top ends of the four upright posts are respectively arranged at four corners of the connecting plate in parallel; A connecting block is sleeved on the two upright posts in the width direction of the connecting plate, and the two connecting blocks support to linearly lift on the corresponding two upright posts.
3. The bionic ornithopter based on a dragonfly flight mechanism of claim 2, wherein the crankshaft assembly comprises a first crank, a first connecting rod, a crankshaft, a lumbar plate, a second crankshaft, a second connecting rod, a mounting shaft and a connecting shaft; the rotation center of the first crank is connected with the output end of the driving motor; one end of the crankshaft is fixedly connected to the first crankshaft, and the other end of the crankshaft is arranged on one end circle center of the waist circular plate; one end of the first connecting rod is arranged at one end of the crankshaft, which is close to the first crank, and the other end of the first connecting rod is used for driving the second dragonfly wing assembly; The second crank is connected with the center of the other end part of the waist round plate through a connecting shaft, the first crank, the waist round plate and the plate surface of the second crank are arranged in parallel, a mounting shaft is arranged on the rotation center of the second crank, and the mounting shaft is rotatably arranged on the first wing frame; One end of the second connecting rod is arranged on the connecting shaft, and the other end of the second connecting rod is used for driving the first dragonfly wing assembly.
4. The bionic ornithopter platform based on a dragonfly flight mechanism of claim 3, wherein the first wing frame comprises a first base, a mounting disc, a first ladder frame, a first support column, a first connecting rib and a first mounting sleeve; the bottom of the first base is arranged in a concave arc shape and is matched with the mounting disc; The mounting disc is mounted on the bottom surface of the first base, the mounting shaft is mounted at the circle center of the mounting disc, and the mounting shaft is supported to rotate in the mounting disc; the first trapezoid frame is arranged on the first base and is in an isosceles trapezoid shape, a long cross beam of the first trapezoid frame is arranged above the first base, and two oblique side extension connecting rods of the first trapezoid frame are respectively connected with double-side wing wings in the first dragonfly wing assembly; One end of the first support column passes through the center of the long cross beam of the first trapezoid frame and is arranged on the first base, two first mounting sleeves are arranged on the side wall of the other end of the first support column through first connecting ribs, and each first mounting sleeve is matched with one first connecting rib; The two first mounting sleeves are respectively sleeved and fixed on the two upright posts on the same side; The lower surface of one side end side of the connecting plate is propped against the upper surfaces of the two first connecting ribs, and the two first connecting sleeves are arranged between the connecting plate and the connecting block.
5. The bionic ornithopter based on a dragonfly flight mechanism of claim 4, wherein the second wing frame comprises a motor frame, a second base, a second ladder frame, a second support column, a second connecting rib and a second mounting sleeve; the bottom of the second base is arranged in a concave arc shape and is matched with a motor frame arranged on the cylinder; the motor frame is arranged on the bottom surface of the second base; The second trapezoid frame is arranged on the second base and is in an isosceles trapezoid shape, a long cross beam of the second trapezoid frame is arranged above the second base, and two oblique side extension connecting rods of the second trapezoid frame are respectively connected with double-side wing wings in the second dragonfly wing assembly; One end of the second support column passes through the center of the long cross beam of the second trapezoid frame and is arranged on the second base, two second mounting sleeves are arranged on the side wall of the other end of the second support column through second connecting ribs, and each second mounting sleeve is matched with one second connecting rib; the two second mounting sleeves are respectively sleeved and fixed on the two upright posts on the same side; the lower surface of the other end side of the connecting plate is pressed against the upper surfaces of the two second connecting ribs, and the two second connecting sleeves are arranged between the connecting plate and the connecting block.
6. The bionic ornithopter based on a dragonfly flight mechanism of claim 5, wherein the first dragonfly wing assembly comprises 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 nose-side; the two first wing roots are sleeved on the first pin shaft; The first pin shaft sequentially penetrates through the connecting block, the two first wing roots and the second connecting rod at the machine head side from the machine head side to the machine tail side; Each first wing root is provided with a first carbon rod, each first carbon rod is provided with a first wing surface, the first wing surfaces are arranged in a dragonfly-like wing shape, and the two first wing surfaces are symmetrically arranged; a polish rod section is arranged at one end of each first carbon rod, which is close to the first wing root, and a first sliding block is arranged on the polish rod section of the first wing root; each first sliding block is connected with a connecting rod of a first ladder frame at a corresponding position.
7. The bionic ornithopter based on a dragonfly flight mechanism as claimed in claim 6, wherein the second dragonfly wing assembly comprises 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 at the tail side; the two second wing roots are sleeved on the second pin shaft; The second pin shaft sequentially penetrates through the connecting block at the tail side, the two second wing roots and the first connecting rod from the tail side to the nose side; each second wing root is provided with a second carbon rod, each second carbon rod is provided with a second wing surface, the second wing surfaces are arranged in a dragonfly-like wing shape, and the two second wing surfaces are symmetrically arranged; A polish rod section is arranged at one end of each second carbon rod, which is close to the second wing root, and a second sliding block is arranged on the polish rod section of the second wing root; Each second sliding block is connected with a connecting rod of the first trapezoid frame at a corresponding position.
8. A method for driving a bionic ornithopter based on a dragonfly flight mechanism, comprising the bionic ornithopter of claim 7, wherein the driving method comprises a hover mode, a cruise mode and an acceleration mode; When the bionic ornithopter is driven to be in a hovering mode, the phase difference between the first crank and the second crank in the crank shaft assembly is 180 degrees.
9. The method of driving a bionic ornithopter based on a dragonfly flight mechanism as claimed in claim 8, wherein the phase difference between the first crank and the second crank in the crank assembly is 90 ° when the bionic ornithopter is cruising.
10. The method of driving a bionic ornithopter based on a dragonfly flight mechanism as claimed in claim 8, wherein the first crank and the second crank in the crank assembly are out of phase by 0 ° when the bionic ornithopter is in the acceleration mode.

Description

Bionic ornithopter based on dragonfly flight mechanism and driving method thereof Technical Field The invention belongs to the field of flapping-wing unmanned aerial vehicles, and particularly relates to a bionic flapping-wing aircraft based on a dragonfly flight mechanism and a driving method thereof. Background The traditional fixed wing/rotor craft has insufficient lift force caused by low Reynolds number effect under micro scale, high energy consumption and short endurance (such as the general <30 minutes of the rotor craft endurance). Independent control of pitching and steering is difficult to achieve by a single pair of flapping wing mechanisms, and the lifting force stability of the passive deformation wings is poor. The existing flapping wing aircraft mostly adopts a single-crank double-rocker mechanism, the phase difference exists to cause the flying shake, the gear transmission system does not optimize the space layout, and the weight of the whole aircraft is increased. Disclosure of Invention In order to solve the problems, the invention provides a bionic flapping wing aircraft based on a dragonfly flight mechanism and a driving method thereof, and solves the bottleneck problems of poor stability and insufficient maneuverability of the existing flapping wing aircraft through a bionic four-wing linkage mechanism, and the bionic flapping wing aircraft specifically comprises the following components: A bionic flapping wing aircraft based on a dragonfly flight mechanism 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 frame and a tail; The head of the stand is provided with a first wing frame, and the tail of the stand is provided with a second wing frame; The first dragonfly wing component is arranged on the first wing frame, and the second dragonfly wing component is arranged on the second wing frame; The driving motor is arranged on the second wing assembly, and the output end of the driving motor is connected with one end of the crankshaft assembly; One end of the crankshaft assembly, which is close to the tail, is connected with the second dragonfly wing assembly, and the other end of the crankshaft assembly is connected with the first dragonfly wing assembly; when the driving motor drives the crankshaft assembly to work, the crankshaft assembly supports to drive the first dragonfly wing assembly and the second dragonfly wing assembly to flap asynchronously. Optionally, the rack comprises a connecting plate, an upright post and a connecting block; the connecting plate is rectangular, and the length direction of the connecting plate is consistent with the length direction of the tail; The top ends of the four upright posts are respectively arranged at four corners of the connecting plate in parallel; A connecting block is sleeved on the two upright posts in the width direction of the connecting plate, and the two connecting blocks support to linearly lift on the corresponding two upright posts. Optionally, the crankshaft assembly comprises a first crank, a first connecting rod, a crankshaft, a waist disk, a second crankshaft, a second connecting rod, a mounting shaft and a connecting shaft; the rotation center of the first crank is connected with the output end of the driving motor; one end of the crankshaft is fixedly connected to the first crankshaft, and the other end of the crankshaft is arranged on one end circle center of the waist circular plate; one end of the first connecting rod is arranged at one end of the crankshaft, which is close to the first crank, and the other end of the first connecting rod is used for driving the second dragonfly wing assembly; The second crank is connected with the center of the other end part of the waist round plate through a connecting shaft, the first crank, the waist round plate and the plate surface of the second crank are arranged in parallel, a mounting shaft is arranged on the rotation center of the second crank, and the mounting shaft is rotatably arranged on the first wing frame; One end of the second connecting rod is arranged on the connecting shaft, and the other end of the second connecting rod is used for driving the first dragonfly wing assembly. Optionally, the first wing frame comprises a first base, a mounting disc, a first trapezoid frame, a first support column, a first connecting rib and a first mounting sleeve; the bottom of the first base is arranged in a concave arc shape and is matched with the mounting disc; The mounting disc is mounted on the bottom surface of the first base, the mounting shaft is mounted at the circle center of the mounting disc, and the mounting shaft is supported to rotate in the mounting disc; the first trapezoid frame is arranged on the first base and is in an isosceles trapezoid shape, a long cross beam of the first trapezoid frame is arranged above the first base, and two oblique side extension co