An autonomous take-off and landing bionic butterfly flapping-wing aircraft

Abstract

The application relates to an autonomous take-off and landing type bionic butterfly flapping aircraft. The autonomous take-off and landing type bionic butterfly flapping aircraft comprises a front end frame, a rear end frame, a pair of wings arranged on the two sides of the front end frame, a battery fixed on the rear end frame, a steering engine connected with the wings, and elastic leg mechanisms arranged at the bottom of the front end frame and the rear end frame and used for being contracted to generate elastic potential energy when the wings flap downward and being expanded to release the elastic potential energy when the wings flap upward. The elastic leg mechanisms are contracted to generate the elastic potential energy when the wings flap downward and are expanded to release the elastic potential energy when the wings flap upward, the elastic potential energy and the lift generated by the wings jointly act on the aircraft body, the aircraft completes the autonomous take-off similar to the butterfly take-off type, and the problem that the aircraft is difficult to take off and crashes due to insufficient lift if the throwing angle is incorrect is avoided.

Description

Technical Field

[0001] This application relates to the field of biomimetic aircraft technology, and in particular to an autonomous take-off and landing biomimetic butterfly flapping-wing aircraft. Background Technology

[0002] Butterflies possess superb flying abilities. Compared to other flapping-winged animals, they have a smaller wingspan chord ratio, a larger flapping amplitude, and a high degree of coupling between wing and body movement. The mainstream flapping-wing aircraft schemes are as follows: (1) Crank-slider drive scheme: The crank rotates around a fixed axis, and the slider reciprocates along the central axis through the connecting rod. Since the connecting rod is connected to the slider, the slider drives the connecting rod to achieve flapping motion during the up-and-down reciprocating motion. This mechanism is composed of a rotary joint and a sliding joint; (2) Cam buffer spring drive scheme: A disc cam rotates around a fixed axis, pushing the lower top plate connected to the buffer spring to move up and down reciprocally. The rockers on both sides are hinged to the two ends of the top plate, and the connecting rod can flap up and down under the drive of the top plate; (3) Double crank double rocker drive scheme: This mechanism is completely symmetrical. The motor drives the left and right cranks to rotate in opposite directions around two fixed points. The cranks rotate around a fixed axis, and the upper connecting rod drives the lower connecting rod to achieve up-and-down flapping motion.

[0003] Traditional biomimetic butterfly flapping-wing aircraft typically require hand-launching to impart an initial airspeed and pitch angle to the aircraft, enabling it to generate lift for takeoff. However, if the launch angle is incorrect, the aircraft may fail to take off due to insufficient lift, resulting in a crash. Summary of the Invention

[0004] To address or partially address the problems existing in related technologies, this application provides an autonomous take-off and landing biomimetic butterfly flapping-wing aircraft.

[0005] To achieve the above objectives, this application employs the following technical solution:

[0006] An autonomous take-off and landing biomimetic butterfly flapping-wing aircraft includes a front frame, a rear frame, a pair of wings located on both sides of the front frame, and a battery fixed to the rear frame. The autonomous take-off and landing biomimetic butterfly flapping-wing aircraft also includes:

[0007] The servo motors connected to the wings are used to adjust the flapping amplitude of the wings by rotating them;

[0008] The elastic leg mechanisms located at the bottom of the front and rear frames are used to contract to generate elastic potential energy when the wings flap downwards and to expand to release elastic potential energy when the wings flap upwards.

[0009] Optionally, the servo includes a left servo and a right servo fixed to both sides of the front frame;

[0010] The output shaft of the left servo motor is connected to one end of the first traction rod;

[0011] The output shaft of the right servo motor is connected to one end of the second traction rod.

[0012] Optionally, the wing includes a forewing and a rearwing connected to the forewing;

[0013] The front wing located on the left side of the front frame is connected to the other end of the first traction rod;

[0014] The front wing located on the right side of the front frame is connected to the other end of the second traction rod.

[0015] Optionally, the flexible leg mechanism includes an arcuate bar and barbs;

[0016] The upper end of the arc-shaped rod is wound around the bottom of the front and rear frames, the lower end of the arc-shaped rod is connected to a barb, the middle part of the arc-shaped rod is wound to form a buffer spring, and the tail of the arc-shaped rod is provided with a barb.

[0017] Optionally, the autonomous take-off and landing biomimetic butterfly flapping-wing aircraft also includes an abdominal joint mechanism;

[0018] The abdominal joint mechanism includes a first connector, a second connector, and a driven frame;

[0019] The front end of the first connector is fixed to the middle of the front frame. The rear end of the first connector is hinged to the front end of the second connector via a pin. The rear end of the second connector passes through the rear frame and is hinged to the middle of the driven frame. The two ends of the driven frame are respectively hinged to a pair of rear wings via flexible hinges.

[0020] Optionally, the autonomous take-off and landing biomimetic butterfly flapping-wing aircraft also includes a ground terminal and a flight control device fixed to the rear frame and located above the battery;

[0021] The flight control unit includes a camera, a left servo drive module, a right servo drive module, an MPU6050 module, and a communication module;

[0022] Cameras are used to acquire flight attitude image data of aircraft;

[0023] The left servo drive module is used to control the rotation angle of the output shaft of the left servo.

[0024] The right servo drive module is used to control the output shaft rotation angle of the right servo.

[0025] The MPU6050 module is used to detect the acceleration and angular velocity of an aircraft and calculate its direction and angle.

[0026] The communication module is used to transmit the flight attitude image data to the ground terminal.

[0027] Optionally, the flight control unit may also include a receiver module and a voltage regulator module;

[0028] The receiver module is used to receive the remote control signal sent by the ground terminal and send the signal to the left servo drive module and the right servo drive module;

[0029] A voltage regulator module is used to keep the input and output voltages stable.

[0030] Optionally, the autonomous take-off and landing biomimetic butterfly flapping-wing aircraft also includes a buffer antenna set on the front frame, with the front end of the buffer antenna curled up to form a buffer ring.

[0031] Optionally, both the curved rod and the buffered antennae are made of spring steel.

[0032] Optionally, the ground terminal is a remote controller.

[0033] The beneficial effects of this application are as follows: By setting up an elastic leg mechanism, this application allows the wing to contract to generate elastic potential energy when it flaps downwards and expand to release elastic potential energy when it flaps upwards. This elastic potential energy, together with the lift generated by the wing, acts on the aircraft body, enabling the aircraft to complete an autonomous take-off similar to a butterfly's jump. This avoids the problem of hand-launched take-off, where if the launch angle is incorrect, the aircraft will have difficulty taking off due to insufficient lift and may crash.

[0034] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0035] The above and other objects, features and advantages of this application will become more apparent from the more detailed description of exemplary embodiments thereof in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments thereof.

[0036] Figure 1 This is a front view of the autonomous take-off and landing biomimetic butterfly flapping-wing aircraft shown in the embodiments of this application;

[0037] Figure 2 This is an axonometric view of an autonomous take-off and landing biomimetic butterfly flapping-wing aircraft shown in an embodiment of this application;

[0038] Figure 3 This is an axonometric view of the torso of an autonomous take-off and landing biomimetic butterfly flapping-wing aircraft shown in the embodiments of this application;

[0039] Figure 4 This is a schematic diagram of the elastic leg mechanism of the autonomous take-off and landing biomimetic butterfly flapping-wing aircraft shown in the embodiments of this application;

[0040] Figure 5This is a schematic diagram of the abdominal joint structure of an autonomous take-off and landing biomimetic butterfly flapping-wing aircraft, as shown in an embodiment of this application.

[0041] Reference numerals: 11 Front frame, 12 Rear frame, 2 Wing, 3 Battery, 4 Servo, 41 Left servo, 42 Right servo, 411 First tow stick, 421 Second tow stick, 5 Elastic leg mechanism, 51 Arc rod, 52 Barb, 53 Buffer spring, 54 Barb, 6 Abdominal joint mechanism, 61 First connector, 62 Second connector, 63 Follower frame, 7 Flight control device, 8 Buffer antenna, 81 Buffer ring. Detailed Implementation

[0042] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0043] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0044] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention as the specific circumstances dictate.

[0045] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0046] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0047] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

[0048] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0049] To make the objectives, technical solutions, and beneficial effects of this application clearer, the preferred embodiments of this application will be described in detail below with reference to the accompanying drawings, so as to facilitate understanding by those skilled in the art.

[0050] Example 1:

[0051] See Figure 1 , Figure 2 and Figure 3 An autonomous take-off and landing biomimetic butterfly flapping-wing aircraft includes a front frame 11, a rear frame 12, a pair of wings 2 located on both sides of the front frame 11, and a battery 3 fixed on the rear frame 12. The autonomous take-off and landing biomimetic butterfly flapping-wing aircraft also includes:

[0052] The servo motor 4, which is connected to the wing 2, is used to adjust the flapping amplitude of the wing 2 by rotating it;

[0053] The elastic leg mechanism 5, located at the bottom of the front frame 11 and the rear frame 12, is used to contract to generate elastic potential energy when the wing 2 flaps downward and to expand to release elastic potential energy when the wing 2 flaps upward.

[0054] Specifically, battery 3 is connected to the input end of servo motor 4 via wires to provide power to servo motor 4; servo motor 4 is mounted on the front frame 11, and the angle of servo motor 4 is controlled to control the wing angle of wing 2. The larger the wing angle, the greater the flapping amplitude of wing 2, and the greater the lift generated. During takeoff, the wing 2 is controlled to flap significantly to increase lift and ensure its takeoff performance.

[0055] The elastic leg mechanism 5 is made of elastic material. Before takeoff and after landing, the stationary elastic leg mechanism 5 can support the aircraft. During takeoff, the end of the elastic leg mechanism 5 contacts the ground. When the wing 2 flaps downward, the elastic leg mechanism 5 will contract and generate elastic deformation, thereby generating elastic potential energy. As the contraction continues, the elastic potential energy continues to increase and is released when the wing 2 flaps upward. The released elastic potential energy is converted into the upward kinetic energy of the wing 2. This kinetic energy works together with the lift generated by the flapping of the wing 2 to enable the aircraft to complete an autonomous takeoff similar to a butterfly jump.

[0056] In addition, during flight and landing, the flapping amplitude of the wing 2 is reduced by decreasing the angle of the servo motor 4, thereby reducing energy consumption and ensuring a smooth and stable landing to avoid damage to the aircraft.

[0057] In this embodiment, by setting up an elastic leg mechanism 5, it contracts to generate elastic potential energy when the wing 2 flaps downward and expands to release elastic potential energy when the wing 2 flaps upward. This elastic potential energy and the lift generated by the wing 2 work together on the aircraft body, enabling the aircraft to complete an autonomous take-off similar to a butterfly take-off, thereby avoiding the problem of hand-thrown take-off, where if the throwing angle is incorrect, the aircraft will have difficulty taking off due to insufficient lift and will crash.

[0058] By utilizing a dual-servo drive power system with direct controllability, differentiated flapping of the two wings (2) can be achieved, adjusting the amplitude to reach different flight attitudes, thus enabling automatic takeoff and landing. Dual-servo drive also significantly simplifies structural complexity, greatly reduces assembly precision requirements, and improves structural reliability.

[0059] Example 2:

[0060] See Figure 3 Based on Embodiment 1, optionally, the servo motor 4 includes a left servo motor 41 and a right servo motor 42 fixed on both sides of the front frame 11.

[0061] Specifically, the left servo motor 41 and the right servo motor 42 are symmetrically arranged. The left servo motor 41 and the right servo motor 42 are circumferentially fixed to the front frame 11 by internal gears and axially fixed by screws. The front frame 1 adopts a hollow design, which can protect key components while minimizing weight. The included angle of the front frame 11 is designed according to the pressure center of the wing 2. The elasticity of the wing 2 can be used to complete both the up-and-down flapping and twisting movements with a single prime mover, which greatly reduces the weight of the mechanism.

[0062] The output shaft of the left servo motor 41 is connected to one end of the first traction rod 411;

[0063] Specifically, the output shaft can rotate in both forward and reverse directions, and its speed is adjustable. This configuration allows the output shaft of the left servo motor 41 to drive the first traction rod 411 to rotate synchronously when it rotates at a certain angle and speed.

[0064] The output shaft of the right servo motor 42 is connected to one end of the second traction rod 421.

[0065] Specifically, the output shaft can rotate in both forward and reverse directions, and its speed is adjustable. This configuration allows the output shaft of the right servo motor 42 to drive the second traction rod 421 to rotate synchronously when it rotates at a certain angle and speed.

[0066] Wing 2 includes a forewing 21 and a rearwing 22 connected to the forewing 21;

[0067] The front wing 21 located on the left side of the front frame 11 is connected to the other end of the first traction rod 411;

[0068] This configuration allows the first traction rod 411 to rotate with the output shaft of the left servo motor 41, thereby causing the forewing 21 located on the left side of the front frame 11 to flap, which in turn causes the rear wing 22 to flap synchronously.

[0069] The front wing 21 located on the right side of the front frame 11 is connected to the other end of the second traction rod 421.

[0070] This configuration allows the second traction rod 421 to rotate with the output shaft of the right servo motor 42, thereby causing the forewing 21 located on the right side of the front frame 11 to flap, which in turn causes the rear wing 22 to flap synchronously.

[0071] The wings 2 generate lift through the synchronized flapping of the forewing 21 and the hindwing 22.

[0072] Furthermore, the wing 2 is made of 0.0125mm PET film. The forewing 21 is covered by a 0.8mm carbon rod and a 0.5mm carbon rod support frame, while the rearwing 22 is covered by a 0.8mm carbon rod support frame. The carbon rod connection uses a 0.2mm carbon plate as the base plate. The left servo 41 and the right servo 42 can be controlled separately or synchronously. The forewing 21 and rearwing 22 have a distinct butterfly shape, and within a small overall aircraft area, the largest possible wing area and a smaller wingspan are achieved, allowing it to fly in smaller spaces and improving stealth.

[0073] When the aircraft is in takeoff, landing, or straight flight, the output shafts of the left servo motor 41 and the right servo motor 42 are controlled to have the same rotation angle and speed, but opposite rotation directions. This ensures that the flapping amplitude of the two forewings 21 is consistent, thereby maintaining consistent lift on both sides of the aircraft and keeping it stable. When the aircraft needs to turn, taking a left turn as an example, the output shaft angle of the left servo motor 41 is controlled to be smaller than that of the right servo motor 42. This results in the flapping amplitude of the forewing 21 located on the left side of the front frame 11 being smaller than that of the forewing 21 located on the right side of the front frame 11. Consequently, the lift generated on the right side of the aircraft is greater than that generated on the left side. This unbalanced torque causes the fuselage to rotate, thus enabling the aircraft to turn.

[0074] It should be noted that the upper limit of the rotation angle of the output shafts of the left servo motor 41 and the right servo motor 42 is 180° and the lower limit is 0°. Controlling the rotation angle within this range can prevent the wings 2 from colliding with each other due to excessive flapping.

[0075] See Figure 4 Optionally, the flexible leg mechanism 5 includes an arc-shaped rod 51 and a barb 52;

[0076] The elastic leg mechanism 5 is made of 0.4mm spring steel and then shaped and bent. It consists of a pair of front legs, a pair of middle legs, and a pair of rear legs. The pair of front legs are located at the bottom of the front frame 11, and the pair of middle legs and the pair of rear legs are located at the bottom of the rear frame 12. The fixing method is as follows:

[0077] The upper end of the arc-shaped rod 51 is wound around the bottom of the front frame 11 and the rear frame 12 and fixed with screws. The lower end of the arc-shaped rod 51 is connected to the barb 52. The middle part of the arc-shaped rod 51 is wound to form a buffer spring 53. The tail of the arc-shaped rod 51 is provided with a barb 54.

[0078] The curved rod 51 is designed in imitation of butterfly legs, with a certain curvature. The middle part of the curved rod 51 is wound to form a buffer spring 53. The buffer spring 53 can absorb the impact and vibration energy with its elasticity, so that the elastic leg mechanism 5 is cushioned when it is impacted, thereby avoiding damage to the fuselage due to excessive impact. The lower end of the curved rod 51 is connected to the barb 52, and the tail of the curved rod 51 is provided with a barb 54. By setting the barb 52 and the barb 54, the friction between the leg and the ground or rough wall is increased, so that the aircraft can better adapt to landing on various complex terrains such as flat ground and rough walls, and improve the landing flexibility of the aircraft.

[0079] Example 3:

[0080] See Figure 3 and Figure 5 Based on Embodiment 1, the autonomous take-off and landing biomimetic butterfly flapping-wing aircraft may optionally also include an abdominal joint mechanism 6;

[0081] The abdominal joint mechanism 6 includes a first connector 61, a second connector 62, and a driven frame 63;

[0082] The abdominal joint mechanism 6 is integrally printed and assembled in the center of the main body using nylon carbon fiber. The second connector 62 at the tail of the body is 3D printed using PLA and then connected to the hind wing 22.

[0083] Specifically, the front end of the first connector 61 is fixed to the middle of the front frame 11, the rear end of the first connector 61 is hinged to the front end of the second connector 62 through a pin, the rear end of the second connector 62 passes through the rear frame 12 and is hinged to the middle of the driven frame 63, and the two ends of the driven frame 63 are respectively hinged to a pair of hindwings 22 through flexible hinges. The abdominal joint mechanism 6 can be designed with corresponding limiting dimensions according to the abdominal pitch angle of different types of butterflies. This setting allows the hindwings 22 to drive the first connector 61 and the second connector 62 to rotate through the driven frame 63, thereby achieving passive pitching without the need for an active component, thus reducing weight.

[0084] In this embodiment, by setting up the abdominal joint mechanism 6, the biomimetic effect of the pitching motion of the butterfly's abdomen is achieved. During flight, the angle of attack is continuously changed, the deformation of the wing 2 is increased, the flight efficiency is increased, and the abdomen connected by the movable hinge is conducive to adjusting the flight attitude and is more conducive to landing on complex contact surfaces.

[0085] Example 4:

[0086] See Figure 3 Based on Embodiment 1, the autonomous take-off and landing biomimetic butterfly flapping-wing aircraft may optionally include a ground terminal and a flight control device 7 fixed to the rear frame 12 and located above the battery 3.

[0087] Flight control unit 7 includes a camera, a left servo drive module, a right servo drive module, an MPU6050 module, and a communication module;

[0088] A camera is used to acquire flight attitude image data of the aircraft; a left servo drive module is used to control the output shaft rotation angle of the left servo 41; a right servo drive module is used to control the output shaft rotation angle of the right servo 42; an MPU6050 module is used to detect the acceleration and angular velocity of the aircraft and calculate the direction and angle of the aircraft; and a communication module is used to transmit the flight attitude image data to a ground terminal, which is a remote controller.

[0089] Flight control unit 7 also includes a receiver module and a voltage regulator module;

[0090] The receiver module is used to receive the remote control signal sent by the ground terminal and send the signal to the left servo drive module and the right servo drive module; the voltage regulator module is used to keep the input voltage and output voltage stable.

[0091] Specifically, the left servo drive module, right servo drive module, MPU6050 module, communication module receiver module, and voltage regulator module are all integrated on a self-made flight control board based on the Arduino development board. The Arduino development board is a smart hardware development board based on the ATMEGA328P-AU microcontroller chip. It is small in size and powerful in function. Use a Type B cable to connect battery 3 to the Arduino development board to power the Arduino development board.

[0092] The left servo 41 and the right servo 42 each have three wires: a power wire, a ground wire, and a PWM signal wire. The power wire is usually red and is connected to the 5V pin on the Arduino board. The ground wire is usually black or brown and is connected to the GND pin on the Arduino board. The PWM signal wire is usually yellow, orange, or white and is connected to the digital pin on the Arduino board.

[0093] The remote controller and receiver communicate wirelessly. The control stick on the remote controller is converted into radio waves and sent to the receiver. The receiver receives the radio waves, reads the reading of the control stick on the remote controller, converts it into a digital signal and sends it to the ATMEGA328P-AU microcontroller. The ATMEGA328P-AU microcontroller processes the PWM pulse signal to control the angular position of the left servo motor 41 and the right servo motor 42, while realizing wireless communication.

[0094] The aircraft's flight attitude image data is wirelessly transmitted to the remote controller via the communication module and displayed on the remote controller. Ground technicians adjust the aircraft's flight attitude based on this image data, thereby achieving closed-loop control.

[0095] In this embodiment, flight attitude control is achieved by setting up a flight control device 7 and a ground terminal to control the autonomous take-off and landing, pitch, speed and turn of the aircraft.

[0096] Example 5:

[0097] See Figure 3 Based on Embodiment 1, optionally, the autonomous take-off and landing biomimetic butterfly flapping-wing aircraft also includes a buffer antenna 8 disposed on the front frame 11, the front end of the buffer antenna 8 being wound to form a buffer ring 81.

[0098] Both the arc-shaped rod 51 and the buffer antenna 8 are made of spring steel.

[0099] This design allows the buffer ring 81 to absorb impact and vibration energy when the aircraft's nose is hit, thereby preventing damage to critical parts of the nose and extending the aircraft's lifespan.

[0100] Spring steel has high elasticity, and can return to its original shape after being bent or stretched. It can withstand heavy loads without breaking and can resist weathering and wear over time. Spring steel has high corrosion resistance and is suitable for use in harsh conditions.

[0101] In summary, this application, by setting up an elastic leg mechanism 5, allows the wing 2 to contract and generate elastic potential energy when flapping downwards, and expand and release elastic potential energy when flapping upwards. This elastic potential energy, together with the lift generated by the wing 2, acts on the aircraft body, enabling the aircraft to complete an autonomous takeoff similar to a butterfly's jump. This avoids the problem of insufficient lift and crashes caused by manual launches if the launch angle is incorrect. Furthermore, this application utilizes a dual-servo drive power system, leveraging its direct controllability to achieve differentiated flapping of the two wings 2, adjusting the amplitude to achieve different flight attitudes, thus enabling automatic takeoff and landing. The dual-servo drive also greatly simplifies the structural complexity, significantly reduces assembly precision requirements, and improves structural reliability. Finally, this application, by setting up barbs 52 and barbs 54, increases the leg's... Friction from the ground or rough walls allows the aircraft to better adapt to landing on various complex terrains, including flat ground and rough walls, improving its landing flexibility. This application incorporates an abdominal joint mechanism 6 to mimic the pitching motion of a butterfly's abdomen, continuously changing the angle of attack during flight, increasing the deformation of the wing 2, and enhancing flight efficiency. Furthermore, the use of a movable hinge connecting the abdomen facilitates adjusting flight attitude, making landing on complex contact surfaces easier. This application controls the aircraft's autonomous takeoff and landing, pitch, speed, and steering through a flight control device 7 and a ground terminal, thereby achieving control over its flight attitude. Finally, by incorporating a buffer antenna 8, the aircraft's head can absorb impact and vibration energy through its elasticity when struck, preventing damage to critical head components and extending the aircraft's lifespan.

[0102] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made to it in form and detail without departing from the scope defined by the claims of this application; the dimensions of the drawings are not related to the specific physical object, and the physical object dimensions can be arbitrarily changed.

Claims

1. An autonomous take-off and landing biomimetic butterfly flapping-wing aircraft, comprising a front frame (11), a rear frame (12), a pair of wings (2) located on both sides of the front frame (11), and a battery (3) fixed on the rear frame (12), characterized in that, The autonomous take-off and landing biomimetic butterfly flapping-wing aircraft also includes: The servo motor (4) connected to the wing (2) is used to adjust the flapping amplitude of the wing (2) by rotating it; The elastic leg mechanism (5) is located at the bottom of the front frame (11) and the rear frame (12). The elastic leg mechanism (5) is made of elastic material. Before takeoff and after landing, the stationary elastic leg mechanism (5) can support the aircraft. During takeoff, the end of the elastic leg mechanism (5) contacts the ground and is used to contract to generate elastic potential energy when the wing (2) flaps downward and to expand to release elastic potential energy when the wing (2) flaps upward. The released elastic potential energy is converted into the upward kinetic energy of the wing (2). This kinetic energy works together with the lift generated by the flapping of the wing (2) to enable the aircraft to complete an autonomous takeoff similar to a butterfly jump. The elastic leg mechanism (5) includes an arc-shaped rod (51) and a barb (52); The upper end of the arc rod (51) is wound around the bottom of the front frame (11) and the rear frame (12), the lower end of the arc rod (51) is connected to the barb (52), the middle part of the arc rod (51) is wound to form a buffer spring (53), and the tail of the arc rod (51) is provided with a barb (54). By setting the barb (52) and the barb (54), the friction between the leg and the ground or rough wall surface is increased.

2. The autonomous take-off and landing biomimetic butterfly flapping-wing aircraft as described in claim 1, characterized in that, The servo (4) includes a left servo (41) and a right servo (42) fixed on both sides of the front frame (11). The output shaft of the left servo motor (41) is connected to one end of the first traction rod (411); The output shaft of the right servo motor (42) is connected to one end of the second traction rod (421).

3. The autonomous take-off and landing biomimetic butterfly flapping-wing aircraft as described in claim 1, characterized in that, The wing (2) includes a forewing (21) and a rearwing (22) connected to the forewing (21); The front wing (21) located on the left side of the front frame (11) is connected to the other end of the first traction rod (411); The front wing (21) located on the right side of the front frame (11) is connected to the other end of the second traction rod (421).

4. The autonomous take-off and landing biomimetic butterfly flapping-wing aircraft as described in claim 1, characterized in that, The autonomous take-off and landing biomimetic butterfly flapping-wing aircraft also includes an abdominal joint mechanism (6). The abdominal joint mechanism (6) includes a first connector (61), a second connector (62), and a driven frame (63). The front end of the first connector (61) is fixed to the middle of the front frame (11). The rear end of the first connector (61) is hinged to the front end of the second connector (62) through a pin. The rear end of the second connector (62) passes through the rear frame (12) and is hinged to the middle of the driven frame (63). The two ends of the driven frame (63) are respectively hinged to a pair of rear wings (22) through flexible movable hinges.

5. The autonomous take-off and landing biomimetic butterfly flapping-wing aircraft as described in claim 1, characterized in that, The autonomous take-off and landing biomimetic butterfly flapping-wing aircraft also includes a ground terminal and a flight control device (7) fixed to the rear frame (12) and located above the battery (3). The flight control unit (7) includes a camera, a left servo drive module, a right servo drive module, an MPU6050 module, and a communication module; Cameras are used to acquire flight attitude image data of aircraft; The left servo drive module is used to control the output shaft rotation angle of the left servo (41); The right servo drive module is used to control the output shaft rotation angle of the right servo (42); The MPU6050 module is used to detect the acceleration and angular velocity of an aircraft and calculate its direction and angle. The communication module is used to transmit the flight attitude image data to the ground terminal.

6. The autonomous take-off and landing biomimetic butterfly flapping-wing aircraft as described in claim 5, characterized in that, The flight control unit (7) also includes a receiver module and a voltage regulator module; The receiver module is used to receive the remote control signal sent by the ground terminal and send the signal to the left servo drive module and the right servo drive module; A voltage regulator module is used to keep the input and output voltages stable.

7. The autonomous take-off and landing biomimetic butterfly flapping-wing aircraft as described in claim 1, characterized in that, The autonomous take-off and landing biomimetic butterfly flapping-wing aircraft also includes a buffer antenna (8) set on the front frame (11), and the front end of the buffer antenna (8) is rolled up to form a buffer ring (81).

8. The autonomous take-off and landing biomimetic butterfly flapping-wing aircraft as described in claim 1 or 7, characterized in that, Both the arc rod (51) and the buffer antenna (8) are made of spring steel.

9. The autonomous take-off and landing biomimetic butterfly flapping-wing aircraft as described in claim 5, characterized in that, The ground terminal is a remote controller.

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