CN114013644A - Flapping wing device for four-wing flapping wing aircraft - Google Patents
Flapping wing device for four-wing flapping wing aircraft Download PDFInfo
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- CN114013644A CN114013644A CN202111362032.2A CN202111362032A CN114013644A CN 114013644 A CN114013644 A CN 114013644A CN 202111362032 A CN202111362032 A CN 202111362032A CN 114013644 A CN114013644 A CN 114013644A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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Abstract
The invention discloses a flapping wing device for a four-wing flapping wing aircraft, and belongs to the technical field of flapping wing aircraft. The device comprises a front double-wing driving mechanism, a rear double-wing driving mechanism and a driving mechanism connecting frame; the front double-wing driving mechanism and the rear double-wing driving mechanism have the same structure: comprises a kinetic energy driving structure and a pair of flank driving mechanisms with the same structure; the kinetic energy driving structure comprises a double-wing active energy piezoelectric driver and a double-wing auxiliary kinetic energy piezoelectric driver; the lower ends of the double-wing active energy piezoelectric driver and the double-wing auxiliary energy piezoelectric driver are fixedly connected with the driving mechanism connecting frame; the pair of side wing driving mechanisms with the same structure comprises a side wing flapping mechanism and a side wing rocker arm; the side wing flapping mechanism comprises a main kinetic energy driving connecting arm and an auxiliary kinetic energy driving connecting arm; the side wing rocker arm integrally comprises a flapping wing connecting part and a flapping wing driving part, and the front double-wing driving mechanism and the rear double-wing driving mechanism are respectively arranged in front of and behind the driving mechanism connecting frame. It has the characteristics of light weight, compact structure, controllable takeoff pitching motion and the like.
Description
Technical Field
The invention relates to the technical field of flapping wing aircrafts.
Background
The vibration frequency of dragonfly wings is 30-40Hz, can realize various flight modes such as stable hovering, fast turning, continuous forward flight and the like, and the wings can realize actions such as waving, twisting, forward sweeping and the like, and can randomly switch flight postures, which is the best reference template for design and development of a miniature flapping wing aircraft, however, the current dragonfly-sized miniature flapping wing aircraft is difficult to reproduce the flight capability of dragonflies.
A dragonfly-imitating micro flapping wing aircraft is an aircraft flying based on a dragonfly tandem wing motion mode. Different from bird-like aircrafts, the motor driving mode under the large scale is very limited under the dragonfly scale due to the influence of surface force, the driving force and efficiency of the motor can be obviously reduced under the small scale, a shaft and a gear in the traditional mechanical structure cannot ensure high transmission efficiency, and the processing difficulty is very high.
The intelligent material is a new material which can sense environmental changes and realize instructions and execution through self judgment and conclusion, and has the characteristics of high power density, self-sensing, self-driving, large deformation and the like. The piezoelectric intelligent composite structure can realize functions of driving, sensing, energy collection and the like, and therefore, the piezoelectric intelligent composite structure has a very bright prospect in application of a miniature flapping wing aircraft.
The research of domestic insect-scale micro flapping wing air vehicles has already been achieved to a certain extent. Chinese patent publication No. CN106081104A and application No. 201610574891.0 provide an insect-scale piezoelectric-driven flapping wing micro air vehicle. Chinese patent publication No. CN107284659A, application No. 201610200303.7, provides a method for changing the maximum amplitude of a wing of a pico-type flapping wing aircraft based on a piezoelectric structure. The Chinese patent with the publication number of CN105366050A and the application number of 201510824649.X provides a piezoelectric dragonfly-imitating micro flapping wing aircraft. However, the existing insect-imitating micro flapping wing aircraft, such as the aircraft disclosed in the aforementioned patent No. CN106081104A, has a weight of sub-milligram, and although flapping motion of a pair of wings can be achieved, the flight attitude is not easy to adjust. The direct connection of the piezoelectric structure to the wing as disclosed in CN107284659A changes the maximum amplitude of the wing, but the deformation of the piezoelectric material is small, and it is difficult to obtain a large deformation with this direct connection. The piezoelectric-driven dragonfly-like design proposed by the publication No. CN105366050A is also a piezoelectric composite structure directly connected with a wing, and a large flapping amplitude is difficult to obtain.
Disclosure of Invention
The invention aims to provide a flapping wing device for a four-wing flapping wing aircraft, which has the characteristics of light weight, compact structure, controllable takeoff pitching action and the like.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a flapping wing device for a four-wing flapping wing aircraft comprises a front double-wing driving mechanism, a rear double-wing driving mechanism and a driving mechanism connecting frame;
the front double-wing driving mechanism and the rear double-wing driving mechanism have the same structure: the device comprises a kinetic energy driving structure and a pair of flank driving mechanisms with the same structure;
the kinetic energy driving structure comprises a double-wing active energy piezoelectric driver and a double-wing auxiliary kinetic energy piezoelectric driver;
the lower end of the double-wing active energy piezoelectric driver is fixedly connected with the driving mechanism connecting frame, so that the double-wing active energy piezoelectric driver is transversely arranged on the driving mechanism connecting frame;
the lower end of the double-wing auxiliary kinetic energy piezoelectric driver is fixedly connected with the driving mechanism connecting frame, so that the double-wing auxiliary kinetic energy piezoelectric driver is transversely arranged on the driving mechanism connecting frame;
the pair of side wing driving mechanisms with the same structure comprises a side wing flapping mechanism and a side wing rocker arm;
the side wing flapping mechanism comprises a main kinetic energy driving connecting arm and an auxiliary kinetic energy driving connecting arm; the active energy driving connecting arm and the auxiliary energy driving connecting arm are arranged in parallel from front to back, one end of the active energy driving connecting arm is connected with the upper part of the double-wing active energy piezoelectric driver, the other end of the active energy driving connecting arm is connected with the side wing rocker arm, and the connecting part of the active energy driving connecting arm and the side wing rocker arm is an active energy driving point of the side wing rocker arm; one end of the auxiliary kinetic energy driving connecting arm is connected with the upper part of the double-wing auxiliary kinetic energy piezoelectric driver, the other end of the auxiliary kinetic energy driving connecting arm is connected with the side wing rocker arm, and the connecting part of the auxiliary kinetic energy driving connecting arm on the side wing rocker arm is a side wing rocker arm auxiliary kinetic energy driving point; the main arm hinge part and the auxiliary arm hinge part enable the active energy driving connecting arm and the auxiliary energy driving connecting arm to respectively generate corresponding bending motion when the active energy driving point and the auxiliary energy driving connecting arm generate forward and backward acting force to the side wing rocker arm so as to enable the side wing rocker arm to swing forwards and backwards; a pair of flank driving mechanisms with the same structure is symmetrically arranged on the left side and the right side of the kinetic energy driving structure; the lateral wing driving mechanism arranged on the left side of the kinetic energy driving structure is a left lateral wing driving mechanism; the lateral wing driving mechanism arranged on the right side of the kinetic energy driving mechanism is a right lateral wing driving mechanism;
the side wing rocker arm integrally comprises a flapping wing connecting part and a flapping wing driving part, and the flapping wing connecting part is provided with a flapping wing connecting structure used for being connected with the flexible flapping wing; the flapping wing driving part is a part between the driving point of the main kinetic energy of the side wing rocker arm and the driving point of the auxiliary kinetic energy of the side wing rocker arm, and forms a side wing rocker arm driving arm so as to convert the forward and backward reverse displacement of the driving point of the side wing rocker arm and the driving point of the auxiliary kinetic energy of the side wing rocker arm into the forward and backward swinging of the side wing rocker arm; the length of the driving arm of the side wing rocker arm is inversely related to the swing angle of the side wing rocker arm;
the front double-wing driving mechanism and the rear double-wing driving mechanism are respectively arranged in front of and behind the driving mechanism connecting frame.
The invention further improves that:
the double-wing active energy piezoelectric driver and the double-wing auxiliary energy piezoelectric driver are arranged at intervals in the longitudinal direction of the driving mechanism connecting frame; the double-wing auxiliary kinetic energy piezoelectric driver is arranged on one side of the double-wing active energy piezoelectric driver, which is far away from the side wing rocker arm; the driving point of the main kinetic energy of the side wing rocker arm is positioned at the inner side of the auxiliary kinetic energy driving point of the side wing rocker arm.
The active energy driving connecting arm is provided with two main arm hinged parts which are respectively positioned at 1/3 and 2/3 of the length of the active energy driving connecting arm; the auxiliary kinetic energy driving connecting arm is provided with an auxiliary arm hinged part which is positioned at 1/2 of the length of the auxiliary kinetic energy driving connecting arm.
The main energy driving connecting arm is formed by bonding three sections of strip-shaped vertical plates together through flexible polyimide films, and two flexible polyimide film parts of the main energy driving connecting arm are two main arm hinging parts to form flexible hinge connection; the auxiliary kinetic energy driving connecting arm is formed by bonding two sections of strip-shaped vertical plates together through a flexible polyimide film, and the flexible polyimide film part of the auxiliary kinetic energy driving connecting arm is an auxiliary arm hinging part so as to form flexible hinge connection.
A double-wing active energy piezoelectric driver bonding plate is connected between the end part of the active energy driving connecting arm of the left side wing driving mechanism and the end part of the active energy driving connecting arm of the right side wing driving mechanism so as to be bonded with the upper part of the double-wing active energy piezoelectric driver; and a double-wing auxiliary kinetic energy piezoelectric driver bonding plate is connected between the end part of the auxiliary kinetic energy driving connecting arm of the left side wing driving mechanism and the end part of the auxiliary kinetic energy driving connecting arm of the right side wing driving mechanism and is used for bonding with the upper part of the double-wing auxiliary kinetic energy piezoelectric driver.
The flapping wing connecting structure arranged on the flapping wing connecting part in the side wing rocker arm and used for being connected with the flexible flapping wing is as follows: the flapping wing connecting groove is formed in the flapping wing connecting part of the side wing rocker arm, and the connecting end of the flexible flapping wing is connected into the flapping wing connecting groove through the flexible polyimide film, so that the flexible flapping wing is connected with the side wing rocker arm through a flexible hinge, and the wing surface of the side wing rocker arm is subjected to passive torsional deformation under the action of aerodynamic force and inertial force.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in:
the invention adopts the piezoelectric driver as power drive, the front double-wing driving mechanism and the rear double-wing driving mechanism are designed to have compact structures, the volume and the weight of the aircraft are reduced, the amplitude and the vibration frequency of a pair of flapping wings of the front double-wing driving mechanism and the amplitude and the vibration frequency of a pair of flapping wings of the rear double-wing driving mechanism can be respectively controlled, so that the aircraft body generates pitching action, the synchronous control of the amplitude and the vibration frequency can be realized, the amplitude variation motion of the aircraft can be realized, in addition, the high-frequency output of the piezoelectric driver is added, and the fast take-off and the stable landing of the aircraft body can be realized.
It has the characteristics of light weight, compact structure, independent control of front and rear double-wing amplitude and vibration frequency, and the like.
Drawings
FIG. 1 is a schematic view of the connection structure of a flapping wing apparatus and two pairs of flexible flapping wings;
FIG. 2 is a schematic view of the connection between the front double wing drive mechanism and a pair of flexible flapping wings of FIG. 1;
FIG. 3 is a schematic view of the connection structure of the front double wing drive mechanism of FIG. 2;
fig. 4 is a schematic structural view of the left and right wing driving mechanisms in fig. 3.
In the drawings: 1. a flexible flapping wing; 2. a drive mechanism connecting frame; 3. a two-wing active energy piezoelectric actuator; 4. the double-wing auxiliary kinetic energy piezoelectric driver; 5. a side wing rocker arm; 6. the main kinetic energy drives the connecting arm; 7. the auxiliary kinetic energy drives the connecting arm; 8. the side wing rocker arm can drive the point actively; 9. the side wing rocker arm assists the kinetic energy driving point; 10. a main arm hinge; 11. an auxiliary arm hinge; 12. a double-wing active energy piezoelectric driver bonding plate; 13. the double-wing auxiliary kinetic energy piezoelectric driver is adhered to the board.
Brief introduction to the piezoelectric actuator:
the piezoelectric actuator is a composite structure composed of a piezoelectric ceramic material (PZT-5H) and carbon fiber prepreg. The structure has three layers, the upper layer and the lower layer are piezoelectric ceramic layers, the middle layer is carbon fiber prepreg, and the piezoelectric ceramic layers are tightly bonded together by resin in the carbon fiber prepreg layer through a curing mode. The piezoelectric ceramic deforms under the action of an external electric field, and is a functional material capable of realizing conversion between electric energy and mechanical energy. The deformation direction of the piezoelectric ceramic is closely related to the direction of the applied electric field, when the direction of the applied electric field is parallel to the polarization direction of the piezoelectric ceramic, the piezoelectric ceramic generates an extension deformation perpendicular to the polarization direction, namely the length direction of the piezoelectric ceramic, and conversely generates a contraction deformation, which utilizes the axial piezoelectric effect (namely d31 piezoelectric effect) of the piezoelectric ceramic. When the deformation directions of the piezoelectric ceramics on the upper layer and the lower layer of the whole driver are opposite, if the upper ceramic layer is elongated and the lower ceramic layer is contracted, the whole driver bends downwards, and vice versa.
In the d31 mode, the driver can be swung up and down to provide a force source for the transmission mechanism by changing the conditions under which the voltage is applied.
Detailed Description
The invention will be described in further detail below with reference to the figures and specific examples.
For convenience of explanation, the present invention will be described in detail using a four-wing ornithopter as an example.
The standard parts used in the invention can be purchased from the market, the special-shaped parts can be customized according to the description and the description of the attached drawings, and the specific connection mode of each part adopts the conventional means of mature bolts, rivets, welding, sticking and the like in the prior art, and the detailed description is not repeated.
As can be seen from the embodiments shown in fig. 1 to 4, the flapping wing device for the four-wing flapping wing aircraft of the present embodiment includes a flight control system, a flapping wing device and two pairs of flexible flapping wings 1, wherein the flapping wing device includes a front double-wing driving mechanism, a rear double-wing driving mechanism and a driving mechanism connecting frame 2;
the front double-wing driving mechanism and the rear double-wing driving mechanism have the same structure: the device comprises a kinetic energy driving structure and a pair of flank driving mechanisms with the same structure;
the kinetic energy driving structure comprises a double-wing active energy piezoelectric driver 3 and a double-wing auxiliary kinetic energy piezoelectric driver 4;
the lower end of the double-wing active energy piezoelectric actuator 3 is fixedly connected with the driving mechanism connecting frame 2, so that the double-wing active energy piezoelectric actuator 3 is transversely arranged on the driving mechanism connecting frame 2;
the lower end of the double-wing auxiliary kinetic energy piezoelectric driver 4 is fixedly connected with the driving mechanism connecting frame 2, so that the double-wing auxiliary kinetic energy piezoelectric driver 4 is transversely arranged on the driving mechanism connecting frame 2;
the pair of side wing driving mechanisms with the same structure comprises a side wing flapping mechanism and a side wing rocker arm 5;
the side wing flapping mechanism comprises a driving energy driving connecting arm 6 and an auxiliary energy driving connecting arm 7; the active energy driving connecting arm 6 and the auxiliary kinetic energy driving connecting arm 7 are arranged side by side in the front-back direction, one end of the active energy driving connecting arm 6 is connected with the upper part of the double-wing active energy piezoelectric driver 3, the other end of the active energy driving connecting arm is connected with the side wing rocker arm 5, and the connecting part of the active energy driving connecting arm 6 on the side wing rocker arm 5 is a side wing rocker arm active kinetic energy driving point 8; one end of the auxiliary kinetic energy driving connecting arm 7 is connected with the upper part of the double-wing auxiliary kinetic energy piezoelectric driver 4, the other end of the auxiliary kinetic energy driving connecting arm is connected with the side wing rocker arm 5, and the connecting part of the auxiliary kinetic energy driving connecting arm on the side wing rocker arm 5 is a side wing rocker arm auxiliary kinetic energy driving point 9; the active energy driving connecting arm 6 is provided with at least one main arm hinged part 10, the auxiliary kinetic energy driving connecting arm 7 is provided with at least one auxiliary arm hinged part 11, when the upper part of the double-wing active energy piezoelectric driver 3 and the upper part of the double-wing auxiliary kinetic energy piezoelectric driver 4 are relatively reciprocated, so that the active energy driving point 8 and the auxiliary energy driving point 9 of the side wing rocker arm generate forward and backward acting forces on the side wing rocker arm 5, the main arm hinged part 10 and the auxiliary arm hinged part 11 enable the active energy driving connecting arm 6 and the auxiliary kinetic energy driving connecting arm 7 to respectively generate corresponding bending motions, and the side wing rocker arm 5 can swing forward and backward; a pair of flank driving mechanisms with the same structure is symmetrically arranged on the left side and the right side of the kinetic energy driving structure; the lateral wing driving mechanism arranged on the left side of the kinetic energy driving structure is a left lateral wing driving mechanism; the lateral wing driving mechanism arranged on the right side of the kinetic energy driving mechanism is a right lateral wing driving mechanism;
the side wing rocker arm 5 integrally comprises a flapping wing connecting part and a flapping wing driving part, and the flapping wing connecting part is provided with a flapping wing connecting structure used for being connected with the flexible flapping wing 1; the flapping wing driving part is a part between a main kinetic energy driving point 8 of the side wing rocker arm and an auxiliary kinetic energy driving point 9 of the side wing rocker arm, and forms a side wing rocker arm driving arm so as to convert the forward and backward reverse displacement of the main kinetic energy driving point 8 of the side wing rocker arm and the auxiliary kinetic energy driving point 9 of the side wing rocker arm into the forward and backward swinging of the side wing rocker arm 5; the length of the driving arm of the side wing rocker arm is inversely related to the swing angle of the side wing rocker arm;
the flexible flapping wings 1 are connected with the side wing rocker arms 5 through the flapping wing connecting structure, so that the pair of flexible flapping wings 1 are arranged on the left side wing driving mechanism and the right side wing driving mechanism in a bilateral symmetry manner;
the front double-wing driving mechanism and the rear double-wing driving mechanism are respectively arranged in front of and behind the driving mechanism connecting frame 2, so that the two pairs of flexible flapping wings 1 are respectively arranged in bilateral symmetry and in front-rear symmetry.
The double-wing active energy piezoelectric driver 3 and the double-wing auxiliary energy piezoelectric driver 4 are arranged at intervals in the longitudinal direction of the driving mechanism connecting frame 2; the double-wing auxiliary kinetic energy piezoelectric driver 4 is arranged on one side of the double-wing active kinetic energy piezoelectric driver 3, which is far away from the side wing rocker arm 5; the driving point 8 of the side wing rocker arm is positioned at the inner side of the auxiliary driving point 9 of the side wing rocker arm.
The active energy driving connecting arm 6 is provided with two main arm hinging parts 10, and the two main arm hinging parts 10 are respectively positioned at 1/3 and 2/3 of the length of the active energy driving connecting arm 6; the auxiliary kinetic energy driving connecting arm 7 is provided with an auxiliary arm hinge part 11, and the auxiliary arm hinge part 11 is positioned at 1/2 of the length of the auxiliary kinetic energy driving connecting arm 7.
The active energy driving connecting arm 6 is formed by bonding three sections of strip-shaped vertical plates together through flexible polyimide films, and two flexible polyimide films of the active energy driving connecting arm 6 are hinged parts 10 of two main arms to form flexible hinge connection; the auxiliary kinetic energy driving connecting arm 7 is formed by bonding two sections of strip-shaped vertical plates together through a flexible polyimide film, and the flexible polyimide film part of the auxiliary kinetic energy driving connecting arm 7 is an auxiliary arm hinging part 11 so as to form flexible hinge connection.
A double-wing active energy piezoelectric driver bonding plate 12 is connected between the end part of the active energy driving connecting arm 6 of the left wing driving mechanism and the end part of the active energy driving connecting arm 6 of the right wing driving mechanism so as to be bonded with the upper part of the double-wing active energy piezoelectric driver 3; and a double-wing auxiliary kinetic energy piezoelectric driver bonding plate 13 is connected between the end part of the auxiliary kinetic energy driving connecting arm 7 of the left flank driving mechanism and the end part of the auxiliary kinetic energy driving connecting arm 7 of the right flank driving mechanism and is used for bonding with the upper part of the double-wing auxiliary kinetic energy piezoelectric driver 4.
The specific structure that the flexible flapping wing 1 is connected with the side wing rocker arm 5 through the flapping wing connecting structure is as follows: the flapping wing connecting groove is formed in the flapping wing connecting part of the side wing rocker arm 5, the connecting end of the flexible flapping wing 1 is connected into the flapping wing connecting groove through the flexible polyimide film, so that the flexible flapping wing 1 is connected with the side wing rocker arm 5 through a flexible hinge, and the wing surface of the side wing rocker arm 5 is subjected to passive torsional deformation under the action of aerodynamic force and inertial force.
The working principle is as follows:
the frequency and amplitude of relative reciprocating displacement (hereinafter referred to as flapping wing driving motion) between the double-wing active energy piezoelectric driver 3 and the double-wing auxiliary energy piezoelectric driver 4 are determined by the common superposition of the respective vibration frequency and amplitude and the phase difference between the vibration frequency and amplitude, the flapping wing driving motion drives the corresponding flexible flapping wing 1 to generate flapping wing motion through the side wing flapping mechanism, and the frequency of the flapping wing motion is consistent with the frequency of the flapping wing driving motion; the amplitude of its flapping motion was analyzed as follows: the performance parameters of the double-wing active energy piezoelectric driver 3 and the double-wing auxiliary energy piezoelectric driver 4 determine the amplitude range of the flapping wing driving motion, and the length of the side wing rocker arm driving arm is inversely related to the swing angle of the side wing rocker arm 5, so that the swing angle of the side wing rocker arm 5 can be adjusted by changing the length of the side wing rocker arm driving arm, and the flapping wing motion amplitude generated by the flexible flapping wing 1 in the amplitude range of the flapping wing driving motion is determined.
Therefore, the double-wing active energy piezoelectric drivers 3 of the front double-wing driving mechanism and the rear double-wing driving mechanism are used for providing flapping wing main driving signals with certain frequency voltage through the flight control system, so that the corresponding amplitude and vibration frequency can be controlled to be generated, the double-wing auxiliary driving signals with certain frequency voltage are provided for the double-wing auxiliary energy piezoelectric drivers 4, the frequency and amplitude of the flapping wing driving motion can be adjusted and controlled, and the amplitude and vibration frequency of the flapping wing motion of the pair of flexible flapping wings 1 can be controlled.
In the four-wing flapping wing aircraft, the design requirements of the flapping wing motion frequency and amplitude of each pair of flexible flapping wings 1 can be obtained through experiments, and are not described in detail herein.
The invention can realize the respective control of the amplitude and the vibration frequency of a pair of flapping wings of the front double-wing driving mechanism and the amplitude and the vibration frequency of a pair of flapping wings of the rear double-wing driving mechanism, when the flight control system controls the amplitude of a pair of flexible flapping wings 1 of the front double-wing driving mechanism under the same flapping wing motion frequency to be larger than or smaller than the amplitude of a pair of flexible flapping wings 1 of the rear double-wing driving mechanism under the same flapping wing motion frequency, the aircraft body generates head raising or head lowering moment, thereby causing pitching motion; when the flight control system controls the flapping motion amplitude and the vibration frequency of the pair of flexible flapping wings 1 of the front double-wing driving mechanism and the flapping motion amplitude and the vibration frequency of the pair of flexible flapping wings 1 of the rear double-wing driving mechanism to be synchronously and greatly increased or reduced, the aircraft can quickly take off and stably land.
Claims (6)
1. A flapping wing device for a four-wing flapping wing aircraft comprises a front double-wing driving mechanism, a rear double-wing driving mechanism and a driving mechanism connecting frame (2);
the front double-wing driving mechanism and the rear double-wing driving mechanism have the same structure: the device comprises a kinetic energy driving structure and a pair of flank driving mechanisms with the same structure;
the kinetic energy driving structure comprises a double-wing active energy piezoelectric driver (3) and a double-wing auxiliary kinetic energy piezoelectric driver (4);
the lower end of the double-wing active energy piezoelectric driver (3) is fixedly connected with the driving mechanism connecting frame (2), so that the double-wing active energy piezoelectric driver (3) is transversely arranged on the driving mechanism connecting frame (2);
the lower end of the double-wing auxiliary kinetic energy piezoelectric driver (4) is fixedly connected with the driving mechanism connecting frame (2), so that the double-wing auxiliary kinetic energy piezoelectric driver (4) is transversely arranged on the driving mechanism connecting frame (2);
the side wing driving mechanisms with the same structure comprise side wing flapping mechanisms and side wing rocker arms (5);
the side wing flapping mechanism comprises a main kinetic energy driving connecting arm (6) and an auxiliary kinetic energy driving connecting arm (7); the main kinetic energy driving connecting arm (6) and the auxiliary kinetic energy driving connecting arm (7) are arranged side by side in the front-back direction, one end of the main kinetic energy driving connecting arm (6) is connected with the upper part of the double-wing driving energy piezoelectric driver (3), the other end of the main kinetic energy driving connecting arm is connected with the side wing rocker arm (5), and the connecting part of the main kinetic energy driving connecting arm on the side wing rocker arm (5) is a side wing rocker arm driving energy driving point (8); one end of the auxiliary kinetic energy driving connecting arm (7) is connected with the upper part of the double-wing auxiliary kinetic energy piezoelectric driver (4), the other end of the auxiliary kinetic energy driving connecting arm is connected with the side wing rocker arm (5), and the connecting part of the auxiliary kinetic energy driving connecting arm on the side wing rocker arm (5) is a side wing rocker arm auxiliary kinetic energy driving point (9); the main kinetic energy driving connecting arm (6) is provided with at least one main arm hinged portion (10), the auxiliary kinetic energy driving connecting arm (7) is provided with at least one auxiliary arm hinged portion (11), when the upper portion of the double-wing driving energy piezoelectric driver (3) and the upper portion of the double-wing auxiliary kinetic energy piezoelectric driver (4) perform relative reciprocating displacement, so that the active energy driving point (8) of the side wing rocker arm and the auxiliary kinetic energy driving point (9) of the side wing rocker arm generate forward and backward acting forces on the side wing rocker arm (5), the main arm hinged portion (10) and the auxiliary arm hinged portion (11) enable the main kinetic energy driving connecting arm (6) and the auxiliary kinetic energy driving connecting arm (7) to respectively generate corresponding bending motions, and accordingly the side wing rocker arm (5) swings forwards and backwards; the side wing driving mechanisms with the same structure are symmetrically arranged on the left side and the right side of the kinetic energy driving structure; the lateral wing driving mechanism arranged on the left side of the kinetic energy driving structure is a left lateral wing driving mechanism; the lateral wing driving mechanism arranged on the right side of the kinetic energy driving mechanism is a right lateral wing driving mechanism;
the side wing rocker arm (5) integrally comprises a flapping wing connecting part and a flapping wing driving part, and the flapping wing connecting part is provided with a flapping wing connecting structure used for being connected with the flexible flapping wing (1); the flapping wing driving part is a part between the driving energy driving point (8) of the side wing rocker arm and the auxiliary energy driving point (9) of the side wing rocker arm, and forms a side wing rocker arm driving arm so as to convert the back-and-forth reverse direction displacement of the driving energy driving point (8) of the side wing rocker arm and the auxiliary energy driving point (9) of the side wing rocker arm into the back-and-forth direction swinging of the side wing rocker arm (5);
the front double-wing driving mechanism and the rear double-wing driving mechanism are respectively arranged in front of and behind the driving mechanism connecting frame (2).
2. The flapping wing apparatus of claim 1 wherein: the double-wing active energy piezoelectric driver (3) and the double-wing auxiliary energy piezoelectric driver (4) are arranged at intervals in the longitudinal direction of the driving mechanism connecting frame (2); the double-wing auxiliary kinetic energy piezoelectric driver (4) is arranged on one side, away from the side wing rocker arm (5), of the double-wing active energy piezoelectric driver (3); the driving energy driving point (8) of the side wing rocker arm is positioned on the inner side of the auxiliary energy driving point (9) of the side wing rocker arm.
3. The flapping wing apparatus of claim 1 or 2 wherein: the main kinetic energy driving connecting arm (6) is provided with two main arm hinged parts (10), and the two main arm hinged parts (10) are respectively positioned at 1/3 and 2/3 of the length of the main kinetic energy driving connecting arm (6); the auxiliary kinetic energy driving connecting arm (7) is provided with an auxiliary arm hinging part (11), and the auxiliary arm hinging part (11) is positioned at 1/2 of the length of the auxiliary kinetic energy driving connecting arm (7).
4. The flapping wing apparatus of claim 3 wherein: the main kinetic energy driving connecting arm (6) is formed by bonding three sections of strip-shaped vertical plates together through flexible polyimide films, and two main arm hinging parts (10) are arranged at the two flexible polyimide films of the main kinetic energy driving connecting arm (6) to form flexible hinge connection; the auxiliary kinetic energy driving connecting arm (7) is formed by bonding two sections of strip-shaped vertical plates together through a flexible polyimide film, and the flexible polyimide film part of the auxiliary kinetic energy driving connecting arm (7) is the auxiliary arm hinging part (11) so as to form flexible hinge connection.
5. The flapping wing apparatus of claim 4 wherein: a double-wing active energy piezoelectric driver bonding plate (12) is connected between the end part of the active energy driving connecting arm (6) of the left side wing driving mechanism and the end part of the active energy driving connecting arm (6) of the right side wing driving mechanism so as to be bonded with the upper part of the double-wing active energy piezoelectric driver (3); left side flank actuating mechanism assist the tip of kinetic energy drive linking arm (7) with right side flank actuating mechanism assist to be connected with the biplane between the tip of kinetic energy drive linking arm (7) and assist kinetic energy piezoelectric actuator bonding board (13), in order to be used for with the biplane is assisted the upper portion bonding of kinetic energy piezoelectric actuator (4).
6. The flapping wing apparatus of claim 5 wherein: in the side wing rocker arm (5), the flapping wing connecting part is provided with a flapping wing connecting structure used for being connected with the flexible flapping wing (1) and comprises the following components: the flapping wing connecting part of the side wing rocker arm (5) is provided with a flapping wing connecting groove, the connecting end of the flexible flapping wing (1) is connected into the flapping wing connecting groove through a flexible polyimide film, so that the flexible flapping wing (1) is connected with the side wing rocker arm (5) through a flexible hinge, and the wing surface of the side wing rocker arm (5) is subjected to passive torsional deformation under the action of aerodynamic force and inertial force.
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| CN113799981A (en) * | 2021-09-16 | 2021-12-17 | 西北工业大学太仓长三角研究院 | Flapping wing device for dragonfly-simulated flapping wing aircraft |
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| CN101323374A (en) * | 2007-06-11 | 2008-12-17 | 魏来 | Bionic insect minisize aerocraft |
| JP2011195050A (en) * | 2010-03-19 | 2011-10-06 | Uha Mikakuto Co Ltd | Small flight device |
| US8700233B1 (en) * | 2010-07-29 | 2014-04-15 | The United States Of America As Represented By The Secretary Of The Air Force | Method for shaping wing velocity profiles for control of flapping wing micro air vehicles |
| CN101934861A (en) * | 2010-09-22 | 2011-01-05 | 上海交通大学 | Piezoelectric biomimetic micro flapping flight device |
| CN110091987A (en) * | 2019-05-16 | 2019-08-06 | 西北工业大学太仓长三角研究院 | A kind of miniature vertical landing flapping wing aircraft |
| CN113799981A (en) * | 2021-09-16 | 2021-12-17 | 西北工业大学太仓长三角研究院 | Flapping wing device for dragonfly-simulated flapping wing aircraft |
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