CN114013645B - Four-wing ornithopter - Google Patents
Four-wing ornithopter Download PDFInfo
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- CN114013645B CN114013645B CN202111362033.7A CN202111362033A CN114013645B CN 114013645 B CN114013645 B CN 114013645B CN 202111362033 A CN202111362033 A CN 202111362033A CN 114013645 B CN114013645 B CN 114013645B
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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 four-wing ornithopter, and belongs to the technical field of ornithopters. The flapping wing 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: the device comprises a kinetic energy driving structure and a pair of wing driving mechanisms with the same structure; the kinetic energy driving structure comprises a double-wing active kinetic energy piezoelectric driver and a double-wing auxiliary kinetic energy piezoelectric driver; the lower end of the double-wing auxiliary kinetic energy piezoelectric driver is fixedly connected with a driving mechanism connecting frame, and a pair of wing driving mechanisms with the same structure comprise a wing flapping mechanism and a wing rocker arm; the flexible flapping wings are connected with the side wing rocker arms through the flapping wing connecting structures; 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 take-off and pitching actions, etc.
Description
Technical Field
The invention relates to the technical field of flapping wing aircrafts.
Background
The vibration frequency of the dragonfly wings is 30-40Hz, so that various flight modes such as stable hovering, rapid turning, continuous forward flight and the like can be realized, the wings can flap, twist, forward sweep and the like, and the flight attitude can be switched at will, which is the best reference template for the design and development of the miniature flapping-wing aircraft, however, the existing dragonfly-scale miniature flapping-wing aircraft is difficult to reproduce the flight capability of the dragonfly.
The dragonfly-imitating miniature flapping wing aircraft is an aircraft flying based on dragonfly serial wing motion mode. Different from bird-like aircraft, motor driving mode under the large scale is very limited under the dragonfly scale because the driving force and the efficiency of motor can show the decline under the small scale because of being influenced by surface force, and high transmission efficiency can not be guaranteed to axle and gear in traditional mechanical structure, and the processing degree of difficulty is very big.
The intelligent material is a new material capable of sensing environmental changes and realizing 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 the functions of driving, sensing, energy collection and the like, so that the piezoelectric intelligent composite structure has a very promising application in miniature ornithopters.
Research on domestic miniature ornithopters with insect scale has been carried out with a certain result. Chinese patent publication No. CN106081104a, application No. 201610574891.0 provides a piezoelectric driven ornithopter of insect scale. Chinese patent publication No. CN107284659a, application No. 201610200303.7 provides a method for changing the maximum amplitude of wings of a pico-type ornithopter based on a piezoelectric structure. Chinese patent publication No. CN105366050a, application No. 2015124649. X provides a piezoelectric dragonfly-like micro flapping wing aircraft. However, the current miniature flapping wing aircraft imitating insects, such as the aircraft disclosed in the patent publication No. CN106081104A, has the weight of sub-milligram, and can realize flapping motion of a pair of wings, but the flying posture is not easy to adjust. The direct attachment of the piezoelectric structure to the wing changes the wing maximum amplitude, but the deformation of the piezoelectric material is small and it is difficult to obtain a large deformation for this direct attachment arrangement, as previously disclosed in publication number CN107284659 a. The piezoelectric-driven dragonfly-like design proposed in the previous publication No. CN105366050A is also a piezoelectric composite structure directly connected with the wing, and large flapping amplitude is difficult to obtain.
Disclosure of Invention
The invention aims to solve the technical problem of providing a four-wing ornithopter which has the characteristics of light weight, compact structure, controllable take-off and pitching actions and the like.
In order to solve the technical problems, the invention adopts the following technical scheme:
a four-wing flapping wing aircraft comprises a flight control system, a flapping wing device and two pairs of flexible flapping wings, wherein the flapping wing 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: the device comprises a kinetic energy driving structure and a pair of wing driving mechanisms with the same structure;
the kinetic energy driving structure comprises a double-wing active kinetic 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 wing driving mechanisms with the same structure comprises a wing flapping mechanism and a wing rocker arm;
the side wing flapping mechanism comprises an active energy driving connecting arm and an auxiliary energy driving connecting arm; the driving energy driving connecting arm and the auxiliary energy driving connecting arm are arranged in parallel in the front-back direction, one end of the driving energy driving connecting arm is connected with the upper part of the double-wing driving energy piezoelectric driver, the other end of the driving energy driving connecting arm is connected with the flank rocker arm, and the connecting part of the driving energy driving connecting arm on the flank rocker arm is a flank rocker arm driving energy driving point; one end of the auxiliary energy driving connecting arm is connected with the upper part of the double-wing auxiliary energy piezoelectric driver, the other end of the auxiliary energy driving connecting arm is connected with the side wing rocker arm, and the connecting part of the auxiliary energy driving connecting arm on the side wing rocker arm is a side wing rocker arm auxiliary energy driving point; the main arm hinge part and the auxiliary arm hinge part enable the main energy driving connecting arm and the auxiliary energy driving connecting arm to respectively generate corresponding turning motions when the upper part of the double-wing main energy piezoelectric driver and the upper part of the double-wing auxiliary energy piezoelectric driver relatively reciprocate, so that the flank rocker arm active energy driving point and the flank rocker arm auxiliary energy driving point generate forward and backward reaction forces on the flank rocker arm, and the flank rocker arm can swing forwards and backwards; the pair of 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 flank driving mechanism arranged at the left side of the kinetic energy driving structure is a left flank driving mechanism; the flank driving mechanism arranged on the right side of the kinetic energy driving structure is a right flank driving mechanism;
the whole side wing rocker arm 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 for connecting with the flexible flapping wing; the flapping wing driving part is a part between the active energy driving point of the flank rocker arm and the auxiliary energy driving point of the flank rocker arm, and forms a flank rocker arm driving force arm so as to convert the forward and backward opposite displacement of the active energy driving point of the flank rocker arm and the auxiliary energy driving point of the flank rocker arm into forward and backward swing of the flank rocker arm; the length of the side wing rocker arm driving force arm is inversely related to the swing angle of the side wing rocker arm;
the flexible flapping wings are connected with the side wing rocker arms through the flapping wing connecting structures, so that a pair of flexible flapping wings are symmetrically arranged on the left side wing driving mechanism and the right side wing driving mechanism;
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, so that the two pairs of flexible flapping wings are respectively arranged in bilateral symmetry and in front-back symmetry.
The invention is further improved in 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 energy piezoelectric driver is arranged at one side of the double-wing active energy piezoelectric driver, which is far away from the side wing rocker arm; the flap rocker arm active energy driving point is located inside the flap rocker arm auxiliary energy driving point.
The active energy driving connecting arm is provided with two main arm hinging parts which are respectively positioned at 1/3 and 2/3 of the length of the active energy driving connecting arm; the auxiliary energy driving connecting arm is provided with an auxiliary arm hinge part, and the auxiliary arm hinge part is positioned at 1/2 of the length of the auxiliary energy driving connecting arm.
The driving energy driving connecting arm is formed by bonding three sections of strip-shaped vertical plates through flexible polyimide films, and two flexible polyimide film parts of the driving energy driving connecting arm are two main arm hinging parts so as to form flexible hinge connection; the auxiliary energy driving connecting arm is formed by bonding two sections of strip-shaped vertical plates through flexible polyimide films, and the flexible polyimide film part of the auxiliary 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 bond with the upper part of the double-wing active energy piezoelectric driver; the auxiliary energy driving connecting arm of the left flank driving mechanism and the auxiliary energy driving connecting arm of the right flank driving mechanism are connected with a double-wing auxiliary energy piezoelectric driver bonding plate between the end parts of the auxiliary energy driving connecting arm and the end parts of the auxiliary energy driving connecting arm of the right flank driving mechanism, so that the double-wing auxiliary energy piezoelectric driver bonding plate is used for bonding with the upper parts of the double-wing auxiliary energy piezoelectric drivers.
The flexible flapping wings are connected with the side wing rocker arms through the flapping wing connecting structures in the following specific structures: the flapping wing connecting part of the side wing rocker is provided with a flapping wing connecting groove, and the connecting end of the flexible flapping wing is connected in the flapping wing connecting groove through the flexible polyimide film, so that flexible hinge connection is formed between the flexible flapping wing and the side wing rocker, and the wing surface of the side wing rocker is subjected to passive torsion deformation under the action of aerodynamic force and inertia force.
The beneficial effects of adopting above-mentioned technical scheme to produce lie in:
the invention adopts the piezoelectric driver as power driving, the design structure of the front double-wing driving mechanism and the rear double-wing driving mechanism is compact, the volume and the weight of the aircraft are reduced, the vibration amplitude and the vibration frequency of a pair of flapping wings of the front double-wing driving mechanism 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 can generate pitching motion, the synchronous control of the front double-wing driving mechanism and the rear double-wing driving mechanism can be realized, the amplitude-variable motion of the aircraft can be realized, and in addition, the high-frequency output of the piezoelectric driver can be realized, and the quick take-off and the smooth landing of the aircraft body can be realized.
The device has the characteristics of light weight, compact structure, independent control of the amplitude and the frequency of the front and the rear double wings, and the like.
Drawings
FIG. 1 is a schematic illustration of the connection of a flapping wing device and two pairs of flexible flapping wings according to the present invention;
FIG. 2 is a schematic illustration of the connection of 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 of fig. 3.
In the drawings: 1. a flexible flapping wing; 2. a drive mechanism connecting frame; 3. a double-wing active energy piezoelectric driver; 4. a double-wing auxiliary kinetic energy piezoelectric driver; 5. a side wing rocker; 6. the connecting arm can be driven actively; 7. auxiliary energy drives the connecting arm; 8. the flank rocker arm active energy driving point; 9. auxiliary energy driving points of the flank rocker arms; 10. a main arm hinge; 11. an auxiliary arm hinge part; 12. double-wing active energy piezoelectric driver bonding plate; 13. double-wing auxiliary energy piezoelectric driver bonding plate.
Introduction to piezoelectric actuator:
the piezoelectric actuator is a composite structure composed of a piezoelectric ceramic material (PZT-5H) and a carbon fiber prepreg. The structure is 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 in a curing mode. The piezoelectric ceramic deforms under the action of an external electric field, and is a functional material capable of realizing the conversion of electric energy and mechanical energy. The deformation direction of the piezoelectric ceramic has a close relation with the direction of the applied electric field, namely, when the direction of the applied electric field is parallel to the polarization direction of the applied electric field, the piezoelectric ceramic generates elongation deformation perpendicular to the polarization direction, namely, the length direction of the piezoelectric ceramic, and otherwise, shrinkage deformation is generated, which utilizes the axial piezoelectric effect (namely, d31 piezoelectric effect) of the piezoelectric ceramic. When the deformation directions of the piezoelectric ceramics of the upper and lower layers of the whole actuator are opposite, the upper ceramic layer is elongated and the lower ceramic layer is contracted, then the whole actuator is bent downward, and vice versa.
In d31 mode, the drive can be made to swing up and down by changing the conditions of the applied voltage to provide a force source for the transmission mechanism.
Detailed Description
The invention will be described in further detail with reference to the drawings and the specific embodiments.
Standard parts used in the invention can be purchased from the market, special-shaped parts can be customized according to the description of the specification and the drawings, and the specific connection modes of the parts adopt conventional means such as mature bolts, rivets, welding, pasting and the like in the prior art, and the detailed description is omitted.
As can be seen from the embodiments shown in fig. 1 to 4, 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 wing driving mechanisms with the same structure;
the kinetic energy driving structure comprises a double-wing active kinetic 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 energy piezoelectric driver 4 is fixedly connected with the driving mechanism connecting frame 2, so that the double-wing auxiliary energy piezoelectric driver 4 is transversely arranged on the driving mechanism connecting frame 2;
the pair of wing driving mechanisms with the same structure comprises a wing flapping mechanism and a 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 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 flank rocker 5, and the connecting part of the active energy driving connecting arm on the flank rocker 5 is a flank rocker active energy driving point 8; one end of the auxiliary energy driving connecting arm 7 is connected with the upper part of the double-wing auxiliary energy piezoelectric driver 4, the other end of the auxiliary energy driving connecting arm is connected with the flank rocker 5, and the connecting part of the auxiliary energy driving connecting arm on the flank rocker 5 is a flank rocker auxiliary energy driving point 9; the active energy driving connecting arm 6 is provided with at least one main arm hinge part 10, the auxiliary energy driving connecting arm 7 is provided with at least one auxiliary arm hinge part 11, when the upper part of the double-wing active energy piezoelectric driver 3 and the upper part of the double-wing auxiliary energy piezoelectric driver 4 relatively reciprocate, the flank rocker arm active energy driving point 8 and the flank rocker arm auxiliary energy driving point 9 generate forward and backward reaction force on the flank rocker arm 5, the main arm hinge part 10 and the auxiliary arm hinge part 11 enable the active energy driving connecting arm 6 and the auxiliary energy driving connecting arm 7 to respectively generate corresponding turning motions, so that the flank rocker arm 5 generates forward and backward swinging; the pair of 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 flank driving mechanism arranged at the left side of the kinetic energy driving structure is a left flank driving mechanism; the flank driving mechanism arranged on the right side of the kinetic energy driving structure is a right flank driving mechanism;
the whole side wing rocker arm 5 comprises a flapping wing connecting part and a flapping wing driving part, wherein the flapping wing connecting part is provided with a flapping wing connecting structure for connecting with the flexible flapping wing 1; the flapping wing driving part is a part between the flank rocker arm active energy driving point 8 and the flank rocker arm auxiliary energy driving point 9, and forms a flank rocker arm driving force arm so as to convert the forward and backward opposite displacement of the flank rocker arm active energy driving point 8 and the flank rocker arm auxiliary energy driving point 9 into forward and backward swing of the flank rocker arm 5; the length of the side wing rocker arm driving force 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 a flapping wing connecting structure, so that a pair of flexible flapping wings 1 are symmetrically arranged on the left side wing driving mechanism and the right side wing driving mechanism;
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-back 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 energy piezoelectric driver 4 is arranged at one side of the double-wing active energy piezoelectric driver 3 away from the side wing rocker 5; the flank rocker arm actuation energy actuation point 8 is located inboard of the flank rocker arm auxiliary energy actuation point 9.
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 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 energy driving connecting arm 7.
The driving energy driving connecting arm 6 is formed by bonding three sections of strip-shaped vertical plates through flexible polyimide films, and two flexible polyimide film parts of the driving energy driving connecting arm 6 are two main arm hinging parts 10 so as to form flexible hinge connection; the auxiliary energy driving connecting arm 7 is formed by bonding two sections of strip-shaped risers together through flexible polyimide films, and the flexible polyimide film part of the auxiliary 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 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 bond with the upper part of the double-wing active energy piezoelectric driver 3; 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 side wing driving mechanism and the end part of the auxiliary kinetic energy driving connecting arm 7 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 4.
The flexible flapping wings 1 are connected with the side wing rocker arms 5 through the flapping wing connecting structures in the following concrete structure: the connecting ends of the flexible flapping wings 1 are connected in the connecting grooves of the flapping wings through flexible polyimide films, so that flexible hinge connection is formed between the flexible flapping wings 1 and the side wing swing arms 5, and the wing surfaces of the side wing swing arms 5 are subjected to passive torsional deformation under the action of aerodynamic force and inertia force.
Working principle:
the frequency and amplitude of the 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 joint superposition of the respective vibration frequency and amplitude and the phase difference between the vibration frequency and the amplitude, and the flapping wing driving motion drives the corresponding flexible flapping wing 1 to generate the 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 the flapping wing motion is 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 driving force arm is inversely related to the swing angle of the side wing rocker 5, so that the swing angle of the side wing rocker 5 can be adjusted by changing the length of the side wing rocker driving force 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 flapping wing main driving signals with certain frequency voltage are provided for the double-wing main kinetic energy piezoelectric drivers 3 of the front double-wing driving mechanism and the rear double-wing driving mechanism through the flight control system, so that the corresponding amplitude and vibration frequency can be controlled to be generated, the flapping wing auxiliary driving signals with certain frequency voltage are provided for the double-wing auxiliary kinetic energy piezoelectric drivers 4, the frequency and the amplitude of the flapping wing driving motion can be regulated and controlled, and the amplitude and the vibration frequency of the flapping wing motion of the pair of flexible flapping wings 1 are controlled.
In the four-wing flapping-wing aircraft, the design requirements of the flapping-wing motion frequency and the amplitude of each pair of flexible flapping wings 1 can be obtained through experiments, and are not repeated here.
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 the flapping wings of the pair of flexible flapping wings 1 of the front double-wing driving mechanism to be larger or smaller than the amplitude of the flapping wings of the pair of flexible flapping wings 1 of the rear double-wing driving mechanism under the same frequency, the aircraft body generates head-lifting or head-lowering moment, thereby causing pitching motion; when the flight control system controls the movement amplitude and vibration frequency of the pair of flexible flapping wings 1 of the front double-wing driving mechanism and the pair of flexible flapping wings 1 of the rear double-wing driving mechanism to be greatly increased or reduced synchronously, the quick take-off and the stable landing of the machine body can be realized.
Claims (5)
1. Four-wing flapping-wing aircraft, including flight control system, flapping wing device and two pairs of flexible flapping wings (1), its characterized in that: the flapping wing device 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 wing driving mechanisms with the same structure;
the kinetic energy driving structure comprises a double-wing active kinetic 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 energy piezoelectric driver (4) is fixedly connected with the driving mechanism connecting frame (2) so that the double-wing auxiliary 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 an active energy driving connecting arm (6) and an auxiliary energy driving connecting arm (7); the active energy driving connecting arm (6) and the auxiliary energy driving connecting arm (7) are arranged in parallel 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 flank rocker arm (5), and the connecting part of the active energy driving connecting arm on the flank rocker arm (5) is a flank rocker arm active energy driving point (8); one end of the auxiliary energy driving connecting arm (7) is connected with the upper part of the double-wing auxiliary energy piezoelectric driver (4), the other end of the auxiliary energy driving connecting arm is connected with the flank rocker arm (5), and the connecting part of the auxiliary energy driving connecting arm on the flank rocker arm (5) is a flank rocker arm auxiliary energy driving point (9); the driving energy driving connecting arm (6) is provided with at least one main arm hinge part (10), the auxiliary energy driving connecting arm (7) is provided with at least one auxiliary arm hinge part (11), the upper part of the double-wing driving energy piezoelectric driver (3) and the upper part of the double-wing auxiliary energy piezoelectric driver (4) relatively reciprocate, when the flank rocker arm driving energy driving point (8) and the flank rocker arm auxiliary energy driving point (9) generate forward and backward acting force on the flank rocker arm (5), the main arm hinge part (10) and the auxiliary arm hinge part (11) enable the driving energy driving connecting arm (6) and the auxiliary energy driving connecting arm (7) to respectively generate corresponding folding motions, so that the flank rocker arm (5) swings forward and backward; the 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 flank driving mechanism arranged at the left side of the kinetic energy driving structure is a left flank driving mechanism; the flank driving mechanism arranged on the right side of the kinetic energy driving structure is a right flank driving mechanism;
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); a double-wing auxiliary energy piezoelectric driver bonding plate (13) is connected between the end part of the auxiliary energy driving connecting arm (7) of the left side wing driving mechanism and the end part of the auxiliary energy driving connecting arm (7) of the right side wing driving mechanism and is used for bonding with the upper part of the double-wing auxiliary energy piezoelectric driver (4);
the side wing rocker arm (5) integrally comprises a flapping wing connecting part and a flapping wing driving part, wherein 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 flank rocker active energy driving point (8) and the flank rocker auxiliary energy driving point (9) and forms a flank rocker driving force arm so as to convert forward and backward opposite displacement of the flank rocker active energy driving point (8) and the flank rocker auxiliary energy driving point (9) into forward and backward swing of the flank rocker (5);
the flexible flapping wings (1) are connected with the side wing rocker arms (5) through the flapping wing connecting structures, so that the pair of flexible flapping wings (1) are symmetrically arranged on the left side wing driving mechanism and the right side wing driving mechanism;
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 two pairs of flexible flapping wings (1) are respectively arranged in bilateral symmetry and in front-back symmetry.
2. A four-wing ornithopter as claimed in 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 of the double-wing active kinetic energy piezoelectric driver (3) away from the side wing rocker arm (5); the flank rocker arm active energy driving point (8) is positioned at the inner side of the flank rocker arm auxiliary energy driving point (9).
3. A four-wing ornithopter according to claim 1 or 2, wherein: 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 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 energy driving connecting arm (7).
4. A four-wing ornithopter as claimed in claim 3, wherein: the driving energy driving connecting arm (6) is formed by bonding three sections of strip-shaped vertical plates through flexible polyimide films, and two flexible polyimide film parts of the driving energy driving connecting arm (6) are two main arm hinging parts (10) so as to form flexible hinge connection; the auxiliary energy driving connecting arm (7) is formed by bonding two sections of strip-shaped vertical plates through flexible polyimide films, and the flexible polyimide film part of the auxiliary energy driving connecting arm (7) is the auxiliary arm hinging part (11) so as to form flexible hinge connection.
5. A four-wing ornithopter as claimed in claim 4, wherein: the flexible flapping wing (1) is connected with the side wing rocker arm (5) through the flapping wing connecting structure, and the specific structure is as follows: 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 flexible hinge connection is formed between the flexible flapping wing (1) and the side wing rocker arm (5), and the wing surface of the side wing rocker arm (5) is subjected to passive torsion deformation under the action of aerodynamic force and inertia force.
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| CN202111362033.7A CN114013645B (en) | 2021-11-17 | 2021-11-17 | Four-wing ornithopter |
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| CN114013645B true CN114013645B (en) | 2023-09-26 |
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| KR100612772B1 (en) * | 2005-04-01 | 2006-08-22 | 건국대학교 산학협력단 | Flapping device |
| CN105366050A (en) * | 2015-11-24 | 2016-03-02 | 成都迈科高技术开发有限责任公司 | Piezoelectric dragonfly-imitating micro flapping-wing aircraft |
| CN109050911A (en) * | 2018-07-24 | 2018-12-21 | 东南大学 | A kind of processing method of multiple degrees of freedom driving type piezoelectric actuator micro flapping wing air vehicle and its transmission mechanism |
| CN113859528A (en) * | 2021-09-16 | 2021-12-31 | 西北工业大学太仓长三角研究院 | Dragonfly-like flapping wing aircraft |
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| NO20070810A (en) * | 2007-02-13 | 2008-03-17 | Proxflyer As | Flight direction control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100612772B1 (en) * | 2005-04-01 | 2006-08-22 | 건국대학교 산학협력단 | Flapping device |
| CN105366050A (en) * | 2015-11-24 | 2016-03-02 | 成都迈科高技术开发有限责任公司 | Piezoelectric dragonfly-imitating micro flapping-wing aircraft |
| CN109050911A (en) * | 2018-07-24 | 2018-12-21 | 东南大学 | A kind of processing method of multiple degrees of freedom driving type piezoelectric actuator micro flapping wing air vehicle and its transmission mechanism |
| CN113859528A (en) * | 2021-09-16 | 2021-12-31 | 西北工业大学太仓长三角研究院 | Dragonfly-like flapping wing aircraft |
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