阅读说明：本技术 一种仿蜻蜓扑翼飞行器用扑翼装置 (Flapping wing device for dragonfly-simulated flapping wing aircraft ) 是由 宣建林 汪亮 孙中超 宋笔锋 杨晓君 张明昊 稂鑫雨 杨驰 刘恒 张弘志 于 2021-09-16 设计创作，主要内容包括：本发明公开了一种仿蜻蜓扑翼飞行器用扑翼装置,属于扑翼飞行器技术领域。包括前双翼驱动机构,后双翼驱动机构和驱动机构连接架；前双翼驱动机构和后双翼驱动机构结构相同：其包括双翼主动能压电驱动器和一对结构相同的侧翼驱动机构；双翼主动能压电驱动器的下端与驱动机构连接架固定连接；一对结构相同的侧翼驱动机构包括侧翼辅助动能压电驱动器和侧翼扑动机构；侧翼辅助动能压电驱动器的下端与驱动机构连接架固定连接；侧翼扑动机构包括侧翼扑动结构和侧翼摇臂；侧翼摇臂整体包括扑动翼连接部和扑动翼驱动部,前双翼驱动机构和后双翼驱动机构分别设置在驱动机构连接架的前方和后方。它具有重量轻,结构紧凑,四翼振幅和振频单独控制等特点。(The invention discloses a flapping wing device for an dragonfly-simulated 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: the double-wing active energy piezoelectric driver comprises a double-wing active energy piezoelectric driver and a pair of wing driving mechanisms with the same structure; the lower end of the double-wing active energy piezoelectric driver is fixedly connected with the driving mechanism connecting frame; the pair of side wing driving mechanisms with the same structure comprises a side wing auxiliary kinetic energy piezoelectric driver and a side wing flapping mechanism; the lower end of the flank auxiliary kinetic energy piezoelectric driver is fixedly connected with the driving mechanism connecting frame; the side wing flapping mechanism comprises a side wing flapping structure and a side wing rocker 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, independent control of four-wing amplitude and vibration frequency, and the like.)

1. A flapping wing device for an imitated dragonfly 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 double-wing active energy piezoelectric actuator comprises a double-wing active energy piezoelectric actuator (3) and a pair of wing driving mechanisms with the same structure;

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 pair of side wing driving mechanisms with the same structure comprises a side wing auxiliary kinetic energy piezoelectric driver (4) and side wing flapping mechanisms, and the two side wing flapping mechanisms are symmetrically arranged on the left side and the right side of the double-wing active energy piezoelectric driver (3);

the lower end of the flank auxiliary kinetic energy piezoelectric driver (4) is fixedly connected with the driving mechanism connecting frame (2), so that the flank auxiliary kinetic energy piezoelectric driver (4) is transversely arranged on the driving mechanism connecting frame (2);

the side wing flapping mechanism comprises a side wing flapping structure and a side wing rocker arm (5);

the side wing flapping structure 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 flank auxiliary kinetic energy piezoelectric driver (4), the other end of the auxiliary kinetic energy driving connecting arm is connected with the flank rocker arm (5), and the connecting part of the auxiliary kinetic energy driving connecting arm on the flank rocker arm (5) is a flank 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 flank auxiliary kinetic energy piezoelectric driver (4) are relatively reciprocated, so that the flank rocker arm driving energy driving point (8) and the flank rocker arm auxiliary kinetic energy driving point (9) generate forward and backward acting forces on the flank 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 flank rocker arm (5) swings forwards and backwards; the lateral wing flapping mechanism arranged on the left side of the double-wing active energy piezoelectric driver (3) is a left lateral wing flapping mechanism, and the left lateral wing flapping mechanism and a lateral wing auxiliary energy piezoelectric driver (4) connected with the left lateral wing flapping mechanism form a left lateral wing driving mechanism; the lateral wing flapping mechanism arranged on the right side of the double-wing active energy piezoelectric driver (3) is a right-side wing flapping mechanism, and the right-side wing flapping mechanism and a lateral wing auxiliary energy piezoelectric driver (4) connected with the right-side wing flapping mechanism form a right-side 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 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, and forms a side wing rocker arm driving arm so as to convert the back-and-forth reverse direction displacement of 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 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 device of claim 1, wherein the flapping wing device comprises: the flank auxiliary kinetic energy piezoelectric driver (4) of the left flank driving mechanism and the flank auxiliary kinetic energy piezoelectric driver (4) of the right flank driving mechanism are respectively arranged on one side of the double-wing active energy piezoelectric driver (3) far away from the flank rocker arm (5) in a bilateral symmetry manner; the driving energy driving point (8) of the side wing rocker arm is positioned on the inner side of the auxiliary kinetic energy driving point (9) of the side wing rocker arm.

3. The flapping wing device of the dragonfly-like flapping wing aircraft according to 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 device of claim 3, wherein the flapping wing device comprises: 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 device of claim 4, wherein the flapping wing device comprises: 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); 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 are respectively provided with a flank auxiliary kinetic energy piezoelectric driver bonding plate (13) for bonding with the upper part of the flank auxiliary kinetic energy piezoelectric driver (4).

6. The flapping wing device of claim 5, wherein the flapping wing device comprises: the flapping wing connecting part of the side wing rocker arm (5) is provided with a flapping wing connecting structure which is used for connecting the flexible flapping wing (1) and comprises: 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.

Technical Field

The invention relates to the technical field of flapping wing aircrafts.

Background

The vibration frequency of the dragonfly wings is 30-40Hz, and multiple flight modes such as stable hovering, quick turning, continuous forward flying and the like can be realized, which has great relation with the independent control of the dragonfly wings. The dragonfly-like flapping wing aircraft is the best template for the design and development of a micro flapping wing aircraft, however, most of the current dragonfly-like flapping wing aircraft have the problems that the independent control of wings is difficult to realize, or the flapping amplitude is small and the like.

The flapping wing aircraft with large scale is driven by the motor, but the driving force and efficiency of the motor can be obviously reduced under small scale, the shaft and the gear in the traditional mechanical structure can not ensure high transmission efficiency, and the processing difficulty is very high.

Chinese patent publication No. CN106081104A and application No. 201610574891.0 provide an insect-scale piezoelectric-driven flapping wing micro air vehicle. However, the flapping wing aircraft in the form can not realize independent control of the wings and cannot realize the conversion of flight attitude.

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. Although independent control of individual wings can be achieved by directly connecting the piezoelectric material to the wing, the displacement of the piezoelectric material is limited, and the amplitude of the flapping wings is limited.

Disclosure of Invention

The invention aims to provide an flapping wing device for an imitated dragonfly flapping wing aircraft, which has the characteristics of light weight, compact structure, independent control of amplitude and vibration frequency of four wings 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 an imitated dragonfly 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 double-wing active energy piezoelectric driver comprises a double-wing active energy piezoelectric driver and a pair of wing driving mechanisms with the same structure;

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 two wing flapping mechanisms are symmetrically arranged on the left side and the right side of the double-wing active energy piezoelectric driver;

the lower end of the flank auxiliary kinetic energy piezoelectric driver is fixedly connected with the driving mechanism connecting frame, so that the flank auxiliary kinetic energy piezoelectric driver is transversely arranged on the driving mechanism connecting frame;

the side wing flapping mechanism comprises a side wing flapping structure and a side wing rocker arm;

the side wing flapping structure comprises a driving energy driving connecting arm and an auxiliary kinetic energy driving connecting arm; the active energy driving connecting arm and the auxiliary kinetic 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 on 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 flank auxiliary kinetic energy piezoelectric driver, the other end of the auxiliary kinetic energy driving connecting arm is connected with the flank rocker arm, and the connecting part of the auxiliary kinetic energy driving connecting arm on the flank rocker arm is a flank 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 kinetic energy driving connecting arm to respectively generate corresponding bending motion when the active energy driving point of the double-wing active energy piezoelectric driver and the auxiliary kinetic energy driving point of the side wing rocker 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; the lateral wing flapping mechanism arranged on the left side of the double-wing active energy piezoelectric driver is a left-side wing flapping mechanism, and the left-side wing flapping mechanism and the lateral wing auxiliary energy piezoelectric driver connected with the left-side wing flapping mechanism form a left-side wing driving mechanism; the lateral wing flapping mechanism arranged on the right side of the double-wing active energy piezoelectric driver is a right-side wing flapping mechanism, and the right-side wing flapping mechanism and the lateral wing auxiliary kinetic energy piezoelectric driver connected with the right-side wing flapping mechanism form a right-side 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 driving energy 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, and the length of the side wing rocker arm driving arm is inversely related to the swinging 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 side wing auxiliary kinetic energy piezoelectric driver of the left side wing driving mechanism and the side wing auxiliary kinetic energy piezoelectric driver of the right side wing driving mechanism are respectively arranged on one side of the double-wing active energy piezoelectric driver, which is far away from the side wing rocker arm, in a bilateral symmetry manner; the driving point of the main kinetic energy of the side wing rocker arm is positioned at the inner side of the driving point of the auxiliary kinetic energy 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 driven connecting arm is provided with an auxiliary arm hinge part which is positioned at 1/2 of the length of the auxiliary kinetic energy driven 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 the end part of the auxiliary kinetic energy driving connecting arm of the left flank driving mechanism and the end part of the auxiliary kinetic energy driving connecting arm of the right flank driving mechanism are respectively provided with a flank auxiliary kinetic energy piezoelectric driver bonding plate for bonding with the upper parts of the respective flank auxiliary kinetic energy piezoelectric drivers.

The flapping wing connecting part of the side wing rocker arm is provided with a flapping wing connecting structure used for being connected with the flexible flapping wing, and the flapping wing connecting structure comprises: 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 drive mechanism and the rear double-wing drive mechanism are designed to have compact structures, the volume and the weight of the aircraft are reduced, the control on the amplitude and the vibration frequency of a single wing can be realized, the synchronous control on the amplitude and the vibration frequency of the double wings can also be realized, the aircraft body generates pitching, yawing and rolling actions, and in addition, the high-frequency output of the piezoelectric driver is added, the rapid 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 four-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 side wing flapping mechanisms of 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 lateral wing assists the piezoelectric actuator of kinetic energy; 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 lateral wings assist the kinetic energy piezoelectric driver to adhere to the plate.

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 invention is described in detail by taking an artificial dragonfly flapping wing aircraft as an embodiment.

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 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 double-wing active energy piezoelectric actuator comprises a double-wing active energy piezoelectric actuator 3 and a pair of wing driving mechanisms with the same structure;

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 two wing flapping mechanisms are symmetrically arranged on the left side and the right side of the double-wing active energy piezoelectric driver 3;

the lower end of the flank auxiliary kinetic energy piezoelectric driver 4 is fixedly connected with the driving mechanism connecting frame 2, so that the flank auxiliary kinetic energy piezoelectric driver 4 is transversely arranged on the driving mechanism connecting frame 2;

the side wing flapping mechanism comprises a side wing flapping structure and a side wing rocker arm 5;

the side wing flapping structure comprises a driving energy driving connecting arm 6 and an auxiliary kinetic 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 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 flank auxiliary kinetic energy piezoelectric driver 4, the other end of the auxiliary kinetic energy driving connecting arm is connected with the flank rocker arm 5, and the connecting part of the auxiliary kinetic energy driving connecting arm on the flank rocker arm 5 is a flank 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, the upper parts of the double-wing active energy piezoelectric driver 3 and the flank auxiliary kinetic energy piezoelectric driver 4 are relatively displaced in a reciprocating manner, so that when the active energy driving point 8 and the flank rocker arm auxiliary kinetic energy driving point 9 of the flank rocker arm generate forward and backward acting forces on the flank 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 flank rocker arm 5 can swing forward and backward; the lateral wing flapping mechanism arranged on the left side of the double-wing active energy piezoelectric driver 3 is a left-side wing flapping mechanism, and the left-side wing flapping mechanism and the lateral wing auxiliary energy piezoelectric driver 4 connected with the left-side wing flapping mechanism form a left-side wing driving mechanism; the lateral wing flapping mechanism arranged on the right side of the double-wing active energy piezoelectric driver 3 is a right-side wing flapping mechanism, and the right-side wing flapping mechanism and the lateral wing auxiliary energy piezoelectric driver 4 connected with the right-side wing flapping mechanism form a right-side 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, and the length of the side wing rocker arm driving arm is inversely related to the swinging angle of the side wing rocker arm 5;

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 flapping mechanism and the right side wing flapping 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 flank auxiliary kinetic energy piezoelectric driver 4 of the left flank driving mechanism and the flank auxiliary kinetic energy piezoelectric driver 4 of the right flank driving mechanism are respectively arranged on one side of the double-wing active energy piezoelectric driver 3 away from the flank rocker arm 5 in a bilateral symmetry manner; the driving point 8 of the main kinetic energy of the side wing rocker arm is positioned at the inner side of the driving point 9 of the auxiliary kinetic energy 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 driven connecting arm 7 is provided with an auxiliary arm hinge 11, and the auxiliary arm hinge 11 is positioned at 1/2 of the length of the auxiliary kinetic energy driven 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; 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 are respectively provided with a flank auxiliary kinetic energy piezoelectric driver bonding plate 13 for bonding with the upper parts of the respective flank auxiliary kinetic energy piezoelectric drivers 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 active energy piezoelectric driver 3 and the flank auxiliary kinetic 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 flank 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 active energy piezoelectric driver 3 and the flank auxiliary kinetic energy piezoelectric driver 4 determine the amplitude range of the flapping wing driving motion, and the length of the flank rocker arm driving arm is inversely related to the swing angle of the flank rocker arm 5, so that the swing angle of the flank rocker arm 5 can be adjusted by changing the length of the flank 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 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 flapping wing amplitude and vibration frequency adjusting signals with certain frequency voltage are provided for the wing auxiliary kinetic 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 each flexible flapping wing 1 can be controlled.

In the dragonfly-imitating flapping-wing aircraft, the design requirements of the flapping-wing motion frequency and amplitude of each flexible flapping wing 1 can be obtained through experiments, and are not described in detail herein.

The invention can realize the four-wing individual control of the dragonfly-simulated flapping-wing aircraft, when the flight control system controls the amplitude of the pair of flexible flapping wings 1 of the front double-wing driving mechanism under the same flapping-wing motion frequency to be larger or smaller than the amplitude of the 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 amplitude of the left flexible flapping wing 1 under the same flapping wing motion frequency to be larger or smaller than the amplitude of the right flexible flapping wing 1 under the same flapping wing motion frequency, the aircraft generates corresponding rolling torque; when the flight control system controls the frequency of the left flexible flapping wing 1 under the same flapping wing motion amplitude to be integral multiple of the right flexible flapping wing 1, the aircraft generates yaw 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.