Bionic flapping wing vehicle based on broken structure and thickness asymmetry of butterfly wing

Abstract

The application discloses a kind of based on butterfly wing broken structure and thickness asymmetry's bionic flapping-wing aircraft, the bionic flapping-wing aircraft includes: frame, along the longitudinal axis of the bionic flapping-wing aircraft extends;Servo is arranged on the frame, the servo is used to drive swing arm rotation;Swing arm is connected with the servo, for driving wing rotation;Connecting piece is used to connect the swing arm and wing;Wing is connected with the servo by connecting piece, for catching and utilizing air power;Wherein, the wing is constructed using thickness asymmetry structure, and the wing is provided with concave-convex and wrinkle.Therefore, the bionic flapping-wing aircraft disclosed in the application can effectively reduce the aerodynamic drag during flight by guiding airflow and reducing vortex generation, thereby improving flight efficiency.

Description

Technical Field

[0001] This invention relates to the field of biomimetic flapping-wing aircraft, and more particularly to a biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of butterfly wings. Background Technology

[0002] Currently, aircraft are increasingly used in daily life, including ornithopter aircraft. However, many aircraft experience significant aerodynamic drag during flight due to airflow and vortices, which reduces flight efficiency and affects flight stability.

[0003] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0004] The main objective of this invention is to provide a biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of butterfly wings, aiming to solve the problem in the prior art that the presence of airflow and vortices during flight leads to greater aerodynamic drag, reducing flight efficiency and affecting flight stability.

[0005] To achieve the above objectives, the present invention provides a biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of a butterfly wing, the biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of a butterfly wing comprising: The frame extends along the longitudinal axis of the biomimetic flapping-wing aircraft; A servo motor is mounted on the frame and is used to drive the swing arm to rotate. The swing arm, connected to the servo motor, is used to drive the wings to rotate; Connector for connecting the swing arm and the wing; The wings, connected to the servo motor via connectors, are used to capture and utilize aerodynamic forces; The wings are constructed with a thickness asymmetry structure and have concave and convex features and folds.

[0006] Optionally, the servo motor includes a first servo motor and a second servo motor, the swing arm includes a first swing arm and a second swing arm, the connector includes a first connector and a second connector, and the wing includes a first wing and a second wing.

[0007] Optionally, the first servo is disposed on one side of the frame, the first swing arm is connected to the first servo, and the first swing arm and the first wing are connected by the first connector; The second servo is located on one side of the frame and on the opposite side of the first servo. The second swing arm is connected to the second servo and is connected to the second wing via the second connector.

[0008] Optionally, the first wing and the second wing include wing veins and a membrane; The material used to make the wing veins is one or more of carbon fiber prepreg, glass fiber, and nylon. The material used to make the film is one or more of nylon, silk, non-woven fabric, and plastic film. The plastic film includes polyethylene, polyvinyl chloride, polyester film, and polyimide. The first wing and the second wing are respectively provided with concave and convex and pleats.

[0009] Optionally, the leading edge thickness of the wing is 0.025 mm, the trailing edge thickness of the wing is 0.0125 mm, and the thickness of the wing decreases uniformly from the leading edge to the trailing edge.

[0010] Optionally, when the film is placed on the fin vein, one of the following methods can be used: sleeve connection method and carbon fiber curing method; The sleeve connection method involves designing a connecting sleeve and folds at the junction of the wing veins, attaching the sleeve to the corresponding position of the film with glue, and then inserting the wing veins into the sleeve. The carbon fiber curing method uses the carbon fiber prepreg as the material for the fins. According to the resin system impregnated on the surface of the carbon fiber in the prepreg, the fins are glued onto the polyester film according to the preset distribution scheme, sealed in a vacuum bag, placed in a constant temperature box, a vacuum environment is formed inside the bag by a vacuum pump, and cured under pressure and heating.

[0011] Optionally, the frame and the connector are manufactured using either 3D printing direct molding or laser cutting manufacturing methods.

[0012] Optionally, the material used to make the connector is one or more of ABS resin, aluminum alloy, and titanium alloy.

[0013] Optionally, the frame may be made of one or more of carbon fiber sheets, fiberglass sheets, and aluminum alloys.

[0014] Furthermore, to achieve the above objectives, the present invention also provides a flight control method for a biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of a butterfly wing, wherein the flight control method for the biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of a butterfly wing includes: Obtain flight requirements and adjust the servo motor swing center position according to the flight requirements; When the flight requirement is to perform stable flight, the position of the control servo swing center is set to the horizontal direction; When the flight requirement is to perform pitch motion, the servo swing center position is set upwards during up-leaping flight and downwards during down-leaping flight.

[0015] In this invention, a biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of a butterfly wing includes: a frame extending along the longitudinal axis of the biomimetic flapping-wing aircraft; a servo motor mounted on the frame, the servo motor being used to drive the swing arm to rotate; a swing arm connected to the servo motor, used to drive the wing to rotate; a connector for connecting the swing arm and the wing; and a wing connected to the servo motor via the connector, used to capture and utilize aerodynamic forces; wherein the wing is constructed using a thickness asymmetry structure, and the wing has concave-convex and folded features. The biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of a butterfly wing provided by this invention has the following beneficial effects: (1) In this invention, the linkage between the servo motor and the wings is realized through the design of the servo motor, the swing arm and the connecting parts. This structure is simple and compact, and can effectively transmit the motion of the servo motor to the wings, so that the wings can generate lift through vibration. (2) The convex and concave wing surface of the biomimetic flapping wing aircraft in this invention can reduce the generation of vortices by guiding airflow, effectively reducing aerodynamic drag during flight and thus improving flight efficiency; secondly, this structure makes the wing surface closer to the shape of a real butterfly wing, which not only enhances the stability and maneuverability of the aircraft, but also optimizes its aerodynamic performance, making flight more flexible and controllable; in addition, the concave and concave wing surface increases the surface area, thereby enhancing the aircraft's ability to capture and utilize aerodynamic forces when flapping its wings, increasing lift, and making it easier for the aircraft to take off and maintain flight status; (3) The wings of the biomimetic flapping wing aircraft in this invention have a thickness asymmetric structure, which can achieve efficient energy utilization by changing the flapping mode and frequency, thereby improving the endurance of the aircraft. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of a biomimetic flapping-wing aircraft structure based on the broken structure and thickness asymmetry of a butterfly wing according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the wing morphology of the Great Blue Morpho butterfly with a symmetrical broken structure according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the convex and concave surface and wrinkles of a biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of butterfly wings according to an embodiment of the present invention. Figure 4 This is a schematic diagram illustrating the thickness difference of the wings of a biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of butterfly wings, according to an embodiment of the present invention. Figure 5 This is a schematic diagram of the servo structure of a biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of a butterfly wing according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the flapping arm structure of a biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of butterfly wings according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the connection of a biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of a butterfly wing after being connected to the servo motor and the swing arm according to an embodiment of the present invention. Figure 8 This is a schematic diagram showing the front and rear thickness comparison of the wings of a biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of butterfly wings according to an embodiment of the present invention. Figure 9 This is a schematic diagram of the flapping wing horizontal direction of a biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of butterfly wings according to an embodiment of the present invention; Figure 10 This is a schematic diagram of the flapping wing of a biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of a butterfly wing, with the flapping wing pointing upwards at 45°, according to an embodiment of the present invention. Figure 11 This is a schematic diagram of the flapping wing of a biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of a butterfly wing, according to an embodiment of the present invention, at a downward 45° angle. Detailed Implementation

[0017] This invention provides a biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of a butterfly wing. The flapping-wing aircraft and biomimetic flapping-wing aircraft described below are both biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of a butterfly wing provided in this invention. To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0019] The symmetrical structure of butterfly wings is primarily manifested in the irregularities and folds on the wing surface. Functionally, these irregularities and folds play a crucial supporting role in butterfly flight. They increase the roughness of the wing surface, generating greater friction when the wings interact with the air. This friction helps the butterfly better control its flight posture and direction, achieving more agile flight maneuvers. Simultaneously, the irregularities and folds effectively disperse the impact force of air on the wings, reducing drag and thus improving flight efficiency. Furthermore, these structures influence the flexibility and durability of butterfly wings. The presence of irregularities and folds allows the wings to deform to a certain extent when subjected to external forces, absorbing and dispersing impact forces and protecting the wings from damage. This flexibility not only helps butterflies cope with various complex environmental conditions during flight but also allows the wings to better adapt to different flight requirements. The thicker leading edge of the butterfly wing generates greater lift during flight, while the thinner trailing edge helps reduce drag; this asymmetry in thickness is key to its flight mechanism. This structure is lightweight, high-strength, and endows the butterfly with a unique flight mechanism. Firstly, the lightweight characteristic primarily stems from the material and structure of the wings. Butterfly wings are mainly composed of chitin, a material that is both light and strong, providing structural support within the organism. Furthermore, the wings possess a complex internal network structure that effectively distributes loads, maintaining overall wing strength. The thicker leading edge enhances the wing's rigidity and stability, enabling it to withstand various loads generated during flight, while the thinner trailing edge helps maintain flexibility and reduces unnecessary weight. This combination of symmetrical structure and asymmetrical thickness design allows the butterfly wing to maintain both lightness and sufficient strength. Therefore, constructing an aircraft based on the wings of the Great Blue Morpho butterfly can result in flapping-wing aircraft with higher maneuverability, stability, and controllability.

[0020] Among them, such as Figure 2 As shown, the upper surface of the butterfly's wings has irregularities and folds 21, and it has a thicker leading edge 22 and a thinner trailing edge 23, thus allowing for the construction of... Figure 3 The flapping-wing aircraft shown features wing surfaces with certain irregularities and wrinkles 31. This broken symmetry structure effectively reduces aerodynamic drag during flight by guiding airflow and reducing vortex generation, thereby improving flight efficiency. Secondly, this structure makes the wing surface more closely resemble the shape of a real butterfly wing, enhancing the aircraft's stability and maneuverability, optimizing its aerodynamic performance, and making flight more flexible and controllable. Furthermore, the irregularities and wrinkles on the wing surface increase the surface area, thereby enhancing the aircraft's ability to capture and utilize aerodynamic forces when flapping its wings, increasing lift, and making it easier for the aircraft to take off and maintain flight. In addition, as... Figure 4As shown, the flapping-wing aircraft is equipped with a thickness asymmetric wing with a thicker leading edge and a thinner trailing edge. The thicker leading edge 41 creates a pressure difference between the upper and lower surfaces of the wing during flight, providing lift, while the thinner trailing edge 42 reduces drag. This helps to achieve more complex and flexible flight maneuvers and improves the flight stability of the aircraft to a certain extent, thereby improving flight efficiency. The broken symmetry structure of the wing and the asymmetry of its thickness can better utilize wind power and achieve a low-energy-consumption and low-noise flight mode.

[0021] The preferred embodiment of the present invention describes a biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of a butterfly wing, such as... Figure 1 As shown, the biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of butterfly wings includes: Frame 5 extends along the longitudinal axis of the biomimetic flapping-wing aircraft; Servo motor 1 is mounted on the frame and is used to drive the swing arm to rotate. The swing arm 2 is connected to the servo motor and is used to drive the wings to rotate; Connector 3 is used to connect the swing arm and the wing; Wing 4, connected to the servo motor via a connector, is used to capture and utilize aerodynamic forces; The wings are constructed with a thickness asymmetry structure and have concave and convex features and folds.

[0022] The servo motor 1 includes a first servo motor 1-1 and a second servo motor 1-2; the swing arm 2 includes a first swing arm 2-1 and a second swing arm 2-2; the connector 3 includes a first connector 3-1 and a second connector 3-2; and the wing 4 includes a first wing 4-1 and a second wing 4-2.

[0023] Each wing on each side of the frame is connected to a servo motor, which is linked by a swing arm and connecting parts. This allows two servos to control the movement of the left and right wings respectively. When the servos reciprocate, the swing arm drives the wings to move together, thus creating the vibration of butterfly wings and enabling the aircraft to fly. For yaw, the two servos simply need to create a speed difference, resulting in different lift on the left second wing, which in turn enables turning and yaw.

[0024] Furthermore, in the aircraft of the present invention, the first servo is disposed on one side of the frame, the first swing arm is connected to the first servo, and the first swing arm and the first wing are connected through the first connector; the second servo is disposed on one side of the frame, and on the opposite side of the first servo, the second swing arm is connected to the second servo, and the second swing arm and the second wing are connected through the second connector.

[0025] The first wing and the second wing include wing veins and a membrane; The material used to make the wing veins is one or more of carbon fiber prepreg, glass fiber, and nylon. The material used to make the film is one or more of nylon, silk, non-woven fabric, and plastic film. The plastic film includes polyethylene, polyvinyl chloride, polyester film, and polyimide. The first wing and the second wing are respectively provided with concave and convex and pleats.

[0026] like Figure 1 As shown, the wings of the biomimetic flapping-wing aircraft consist of wing veins 4-3 and a membrane 4-4. The wing veins primarily utilize materials such as carbon fiber prepreg, glass fiber, and nylon. These materials not only possess good structural strength but are also relatively lightweight, contributing to reduced overall aircraft weight and improved flight efficiency. The membrane's main materials include nylon silk, silk fabric, non-woven fabric, and plastic film. Plastic films, particularly polyethylene, polyvinyl chloride, polyester film, and polyimide, are widely used due to their good strength, corrosion resistance, and ease of processing.

[0027] In addition, nylon, polyester, polyethylene film, and polyester film are all materials that can be used to make films. Nylon is a lightweight and durable synthetic fiber material with high strength and tear resistance, as well as good extensibility and stability. Nylon kite fabric can be dyed or printed to achieve a variety of colorful patterns and can be used as a film. Polyester is another synthetic fiber material commonly used in kite fabric. It has high strength and durability, and good abrasion resistance. Polyester kite fabric also has good waterproof properties, making it suitable for use in humid environments. Polyethylene film has high tear resistance and good weather resistance, and is not easily damaged by sun exposure. Polyethylene film is usually used to make simple single-line kites. Polyester film is a high-strength, tear-resistant material, also commonly used to make kite fabric. It has good stability and printability, making it suitable for making kites with complex patterns or special designs.

[0028] When the wings are designed with an asymmetrical thickness structure, the leading edge thickness is 0.025 mm and the trailing edge thickness is 0.0125 mm. The leading edge thickness is exactly twice that of the trailing edge, and the wing thickness decreases uniformly from the leading edge to the trailing edge. Specifically, as shown below... Figure 8 As shown, the thicker leading edge generates greater lift during flight, while the thinner trailing edge helps reduce drag. Under specific flight conditions, the asymmetry in wing thickness can improve energy efficiency by altering the flapping pattern and frequency, thereby enhancing the aircraft's endurance.

[0029] The performance of a biomimetic flapping-wing aircraft largely depends on the manufacturing of its wings, making the proper application of the wing membrane to the wing veins crucial. Furthermore, the wing surface needs to incorporate the necessary contours and folds adapted to the specific flight mission. While directly attaching the wings using transparent or double-sided tape is the most straightforward method, it is unsuitable for complex wing structures, offering questionable strength and durability, and is also aesthetically unappealing. Excessive tape can interfere with the wing's mechanical properties, hindering subsequent flight maneuvers.

[0030] Therefore, in this invention, when the film is placed on the fin vein, one of the following methods is adopted: sleeve connection method and carbon fiber curing method; In the sleeve connection method, a connecting sleeve and folds are designed at the junction of the fins and veins. The sleeve is glued to the corresponding position of the film, and then the fins and veins are inserted into the sleeve. In this method, the film is designed and manufactured in advance to meet the surface unevenness and fold position, and the glue is made to fit the fin film as closely as possible. The glue used is a high-strength glue.

[0031] The carbon fiber curing method uses the carbon fiber prepreg as the material for the wing veins. Based on the resin system impregnated on the carbon fiber surface in the prepreg, the wing veins, distributed according to a pre-defined pattern, are adhered to a polyester film, sealed in a vacuum bag, and placed in a constant temperature chamber. A vacuum environment is created inside the bag using a vacuum pump, and the material is cured under pressure and heat. The cured carbon fiber prepreg has high strength and adheres firmly to the PET film (polyester film), thus obtaining a complete wing. The formed wing, supported by the wing veins, possesses a certain rigidity and stable shape, preventing easy folding or deformation in the wing's plane. It is lightweight, the molding process is more controllable, and it is less affected by manual precision.

[0032] Furthermore, in this invention, as Figure 5 The diagram shows a schematic of the servo motors. In this invention, an independent servo motor is installed on each side of the frame, and each wing is connected to an independent servo motor, achieving independent control of both wings. Compared to a dual-wing drive design, the design of this invention gives the aircraft higher maneuverability and controllability, enabling more complex flight maneuvers and turns.

[0033] like Figure 6 The diagram shows the swing arm of the biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of a butterfly wing according to the present invention. The swing arm is used to connect to the servo motor. A swing arm is set on the servo motor on each side of the frame to drive the wing to move. Figure 7 As shown, the first connector 3-1 is connected to the first swing arm 2-1. The swing arm is connected to the servo motor and also to the connector, thereby controlling the wings through the connector.

[0034] Furthermore, in the biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of butterfly wings, the connecting parts are made of one or more of ABS resin, aluminum alloy, and titanium alloy. These materials possess both sufficient strength and a relatively light weight, while also being easy to process and install. The frame is made of one or more of carbon fiber sheet, fiberglass sheet, and aluminum alloy. These materials have excellent strength and stiffness, ensuring the stability and safety of the aircraft during flight.

[0035] The frame and the connecting parts are manufactured using either 3D printing direct molding or laser cutting manufacturing. The 3D printing direct molding method is suitable for parts with complex three-dimensional structures, while the laser cutting manufacturing method involves laser cutting carbon fiber sheets that have been cured and molded with prepreg.

[0036] Therefore, the biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of butterfly wings disclosed in this invention has the following beneficial effects: Using butterflies, lepidopteran insects, as biomimetic research samples, the flight mode and wing vibration mechanism of butterflies were simulated. This biomimetic design makes the aircraft closer to the flight principles in nature and enables it to fly more efficiently in the air. By connecting each wing to an independent servo motor, independent control of both wings is achieved. Compared to the traditional dual-wing joint drive design, the innovative design of this invention enables the aircraft to have higher maneuverability and controllability, allowing for more complex flight maneuvers and turns; The design of the swing arm and connecting parts enables the linkage between the servo motor and the wings. This structure is simple and compact, and can effectively transmit the motion of the servo motor to the wings, allowing the wings to generate lift through vibration. The butterfly wing-like structure can alter the aerodynamic characteristics of an aircraft during flight. When the wings flap asymmetrically—that is, during wing vibration, by adjusting the amplitude and frequency of the vibration of the upper and lower wing surfaces, making the vibrations of the two wings less than perfectly symmetrical—and by using different speeds, angles, and forces on different flapping phases or on the wings on each side, complex airflows are generated around the aircraft. These airflows not only produce lift but also lateral forces and torque. By adjusting the degree of asymmetry in wing movement, robots can achieve precise control over flight direction, speed, and stability. The symmetrical, broken structure of the wing surface, with its concave and folded features, effectively reduces aerodynamic drag and improves flight efficiency by guiding airflow and reducing vortex generation. Secondly, this structure makes the wing surface more closely resemble the shape of a real butterfly wing, enhancing the aircraft's stability and maneuverability while optimizing its aerodynamic performance, making flight more flexible and controllable. Furthermore, the concave and folded features increase the surface area, thereby enhancing the aircraft's ability to capture and utilize aerodynamic forces during wing flapping, increasing lift, and making takeoff and flight maintenance easier. The butterfly wing structure also helps aircraft optimize energy during flight. The asymmetry in wing thickness, with a thicker leading edge and a thinner trailing edge, allows for efficient energy utilization by altering the flapping pattern and frequency, thereby improving the aircraft's endurance.

[0037] Based on the above-mentioned biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of butterfly wings, this embodiment of the invention also provides a flight control method for the biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of butterfly wings. The flight control method for the biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of butterfly wings includes: Obtain flight requirements and adjust the servo motor swing center position according to the flight requirements; When the flight requirement is to perform stable flight, the position of the control servo swing center is set to the horizontal direction; When the flight requirement is to perform pitch motion, the servo swing center position is set upwards during up-leaping flight and downwards during down-leaping flight.

[0038] Specifically, when the servo motor reciprocates, the servo motor and the swing arm drive the wings to move together, thus creating vibration. For yaw, simply creating a speed difference between the left and right servos results in a difference in lift for the left second wing, achieving yaw. During stable flight, such as... Figure 9 As shown, the red line indicates the frame position, while the black line represents the servo swing center, which is set horizontally. The area covered by the yellow line represents the range of arm movement driven by the servo. When the servo reciprocates, the arm moves along with the wings, achieving stable flight. During upward flapping flight, as... Figure 10 As shown, the vertical red line indicates the frame position, the horizontal red line indicates the horizontal direction, the black line is the servo swing center, and the area within the yellow line is the range of arm movement driven by the servo. By setting the servo swing center position upwards, the corresponding arm movement range is set upwards, and the aircraft will gradually flap upwards. During downward flapping flight, as... Figure 11 As shown, the vertical red line indicates the frame position, the horizontal red line indicates the horizontal direction, the black line is the servo swing center, and the area of ​​the yellow line is the range of the swing arm movement driven by the servo. By setting the servo swing center position to downward, the corresponding swing arm movement range is set to downward, and the aircraft will gradually flap downward.

[0039] During flight, the symmetrical, broken structure of the wing surface—with its concave and convex features and folds—helps reduce aerodynamic drag. As air flows over the wing surface, the concave and folds guide the airflow, reducing vortex generation and thus lowering drag and improving flight efficiency. Secondly, the symmetrical, broken structure makes the wing surface more closely resemble the shape of a real butterfly wing, enhancing the aircraft's stability and maneuverability. This structure optimizes the aircraft's aerodynamic performance, making it more flexible and controllable during flight. Furthermore, the concave and folded features increase the wing surface area, increasing lift. During flapping, the concave and convex structure better captures and utilizes aerodynamic forces, generating greater lift, making takeoff and flight maintenance easier. The asymmetry in the thickness of aircraft wings also brings many benefits. The thicker leading edge forms an upward angle relative to the butterfly's body during upward vibration. During this process, the airflow speed on the back of the wing increases, resulting in a decrease in air pressure on the back; while the airflow speed on the ventral side of the wing decreases, resulting in an increase in air pressure on the ventral side. This difference in airflow speed and air pressure is particularly significant in the leading edge of the wing. This difference generates upward lift, helping the butterfly rise or maintain its flight altitude. The thinner trailing edge helps reduce drag. During flight, the thinner trailing edge reduces the drag encountered when the aircraft wings cut through the air, allowing the aircraft to fly in an efficient and stable manner.

[0040] In summary, this invention provides a biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of a butterfly wing, and a flight control method for the same aircraft. The aircraft achieves linkage between the servo motor and the wings through the design of servo motors, swing arms, and connectors. This structure is simple and compact, and effectively transmits the motion of the servo motor to the wings, enabling the wings to generate lift through vibration. The convex and concave surfaces and folds of the wing surface guide airflow, reducing vortex generation and effectively lowering aerodynamic drag during flight, thereby improving performance. Firstly, this structure improves flight efficiency. Secondly, it makes the wing surface more closely resemble the shape of a real butterfly wing, which not only enhances the stability and maneuverability of the aircraft but also optimizes its aerodynamic performance, making flight more flexible and controllable. In addition, the concave and convex surfaces and folds increase the surface area, thereby enhancing the aircraft's ability to capture and utilize aerodynamic forces when flapping its wings, increasing lift, and making it easier for the aircraft to take off and maintain flight. Furthermore, the asymmetrical thickness structure of the wings in the biomimetic flapping wing aircraft can achieve efficient energy utilization by changing the flapping mode and frequency, thereby improving the aircraft's endurance.

[0041] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of a butterfly wing, characterized in that, The biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of butterfly wings includes: The frame extends along the longitudinal axis of the biomimetic flapping-wing aircraft; A servo motor is mounted on the frame and is used to drive the swing arm to rotate. The swing arm, connected to the servo motor, is used to drive the wings to rotate; Connector for connecting the swing arm and the wing; The wings, connected to the servo motor via connectors, are used to capture and utilize aerodynamic forces; The wings are constructed with a thickness asymmetry structure and have concave and convex features and folds. The thickness of the wings decreases uniformly from the leading edge to the trailing edge; The servo includes a first servo mounted on one side of the frame and a second servo mounted on the other side of the frame; the swing arm includes a first swing arm mounted on the first servo and a second swing arm mounted on the second servo; the connector includes a first connector mounted on the first swing arm and a second connector mounted on the second swing arm; and the wing includes a first wing mounted on the first connector and a second wing mounted on the second connector. The first wing and the second wing include wing veins and a membrane; The material used to make the wing veins is one or more of carbon fiber prepreg, glass fiber and nylon. The material used to make the film is one or more of nylon, silk, non-woven fabric and plastic film. The plastic film includes polyethylene, polyvinyl chloride, polyester film and polyimide. The first wing and the second wing are respectively provided with concave and convex and pleats. When the film is placed on the fin vein, one of the following methods is used: sleeve connection method and carbon fiber curing method. The sleeve connection method involves designing a connecting sleeve and folds at the junction of the wing veins, attaching the sleeve to the corresponding position of the film with glue, and then inserting the wing veins into the sleeve. The step of attaching the sleeve to the corresponding position of the film with adhesive includes: Design and manufacture a film in advance to meet the surface unevenness and wrinkle position, and make the adhesive fit the fin film. Use high-strength adhesive to stick the sleeve to the corresponding position of the film. The carbon fiber curing method uses the carbon fiber prepreg as the material for the wing veins. According to the resin system impregnated on the surface of the carbon fiber in the prepreg, the wing veins are glued onto the polyester film according to the preset distribution scheme, sealed in a vacuum bag, placed in a constant temperature box, and a vacuum environment is created inside the bag by a vacuum pump. The wing veins are then cured under pressure and heat. The cured carbon fiber prepreg is firmly bonded to the PET film, and the formed wings are supported by the wing veins. The frame is equipped with an independent servo motor on each side, and each wing is connected to an independent servo motor, thus enabling independent control of the two wings. The independent control of the two wings includes: By adjusting the vibration amplitude and frequency of the upper and lower wing surfaces, the vibration of the two wings is not completely symmetrical. Different movement speeds, angles and forces are used in different flapping phases or on the wings on both sides, and the degree of asymmetry of wing movement is adjusted. The leading edge thickness of the wing is 0.025 mm, and the trailing edge thickness of the wing is 0.0125 mm.

2. The biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of a butterfly wing according to claim 1, characterized in that, The first servo is disposed on one side of the frame, the first swing arm is connected to the first servo, and the first swing arm and the first wing are connected by the first connector; the second servo is disposed on one side of the frame and on the opposite side of the first servo, the second swing arm is connected to the second servo, and the second swing arm and the second wing are connected by the second connector.

3. The biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of a butterfly wing according to claim 1, characterized in that, The frame and the connector are manufactured using either 3D printing direct molding or laser cutting manufacturing methods.

4. The biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of a butterfly wing according to claim 1, characterized in that, The connector is made of one or more of the following materials: ABS resin, aluminum alloy, and titanium alloy.

5. The biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of a butterfly wing according to claim 1, characterized in that, The frame is made of one or more of the following materials: carbon fiber board, fiberglass board, and aluminum alloy.

6. A flight control method for a biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of a butterfly wing as described in any one of claims 1-5, characterized in that, The flight control method for the biomimetic flapping-wing aircraft based on the broken structure and thickness asymmetry of butterfly wings includes: Obtain flight requirements and adjust the servo motor swing center position according to the flight requirements; When the flight requirement is to perform stable flight, the position of the control servo swing center is set to the horizontal direction; When the flight requirement is to perform pitch motion, the servo swing center position is set upwards during up-flare flight and downwards during down-flare flight.

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