Butterfly-imitating aircraft driven by ultrasonic motor

Abstract

The invention discloses a butterfly-like aircraft driven by ultrasonic motors, which comprises a fuselage skeleton, and a driving mechanism is arranged on the bottom side of the fuselage skeleton; the driving mechanism comprises a linear ultrasonic motor arranged at the bottom of the machine body framework, an output rod is arranged at the output end of the linear ultrasonic motor and connected with a connecting rod, a rotating shaft seat is hinged to the middle of the connecting rod, the tail end of the connecting rod is rotationally connected with a rotating rod, and a left rocker and a right rocker are connected to an inner sliding rod of the rotating rod; the left rocker is rotationally connected with a left front framework, and the right rocker is rotationally connected with a right front framework. The left front framework and the right front framework are rotationally connected with the two sides of the rotating shaft seat respectively; front wings are arranged on the left front framework and the right front framework; the two sides of the rear end of the machine body framework are further rotationally connected with a left rear framework and a right rear framework correspondingly. Rear wings are arranged on the left rear framework and the right rear framework; and the middle parts of the rear wing and the front wing are flexibly connected. The unmanned aerial vehicle is light in weight, small in size, simple in structure and high in flight efficiency. In addition, the invention also has flexible steering capability.

Description

Technical Field

[0001] The invention relates to the technical field of aircraft, and in particular to a butterfly-like aircraft driven by an ultrasonic motor. Background Art

[0002] Bionics research has long been the focus of human research. A large number of detailed observations and studies have been conducted on the flapping of wings of flying organisms (especially insect wings), and it has been found that it can produce a higher aerodynamic lift coefficient. Inspired by the flapping of birds' wings to obtain better flying ability, flapping-wing drones have many advantages such as high flexibility, small factors affecting takeoff and landing, strong concealment, and easy to carry, and have broad application prospects. As a type of flying insect, butterflies mainly generate upward lift and forward momentum in the air through the upward and flapping movements of their wings. Their flight is characterized by low frequency and low sound, and the wings only vibrate 4-10 times per second. At the same time, compared with birds, the huge flexible wings of butterflies allow them to take off quickly, improve flight efficiency, and give butterflies high flexibility.

[0003] Ultrasonic motors have only entered the public's field of vision since the 1980s and have developed rapidly for more than 40 years. They are micro motors that use the inverse piezoelectric effect of piezoelectric materials. Their working mechanism is to apply high-frequency AC excitation to the stator composed of piezoelectric materials, thereby stimulating it to produce corresponding resonance and using friction transmission to achieve the movement of the mover. In essence, it converts the micro-vibration of the stator into the rotation or linear motion of the mover, thereby realizing the energy conversion between mechanical energy and electrical energy. It has many advantages such as light weight, large torque, simple structure, conducive to miniaturization, and strong anti-interference.

[0004] Therefore, how to use butterflies as bionic flying objects and combine them with ultrasonic motors to achieve a compact and flexible aircraft with high flight efficiency has become a technical problem that the applicant needs to solve urgently. Summary of the invention

[0005] The object of the present invention is to provide a butterfly-like flying vehicle driven by an ultrasonic motor. The present invention is not only light in weight, small in size, simple in structure, but also has high flying efficiency. In addition, the present invention also has flexible steering capability.

[0006] The technical solution of the present invention is as follows: a butterfly-like aircraft driven by an ultrasonic motor comprises a fuselage frame, wherein a driving mechanism is arranged on the bottom side of the fuselage frame; the driving mechanism comprises a linear ultrasonic motor arranged at the bottom of the fuselage frame, an output rod is arranged at the output end of the linear ultrasonic motor, the output rod is movably connected with a connecting rod, a rotating shaft seat is hinged in the middle part of the connecting rod, the end of the connecting rod is rotatably connected with the rotating seat, and a sliding rod inside the rotating seat is connected with a left rocker and a right rocker; the left rocker is rotatably connected with a left front frame, and the right rocker is rotatably connected with a right front frame; the left front frame and the right front frame are rotatably connected with both sides of the rotating shaft seat respectively; the left front frame and the right front frame are both provided with front wings; the rear end of the fuselage frame is also rotatably connected with a left rear frame and a right rear frame respectively; the left rear frame and the right rear frame are both provided with rear wings; the rear wings are flexibly connected with the middle part of the front wings.

[0007] The butterfly-like flying vehicle driven by the ultrasonic motor is characterized in that a rotating opening is provided in the middle of the connecting rod; the rotating shaft seat is passed through the rotating opening and connected via the rotating shaft; short sliding rods are respectively provided on both sides of the end of the output rod; a long strip-shaped sliding hole is provided on the connecting rod; the short sliding rod is arranged in the sliding hole and is movably connected.

[0008] In the aforementioned butterfly-like aircraft driven by an ultrasonic motor, the left rocker and the inner end hole of the left front frame form a revolving pair through a short pin; the right rocker and the inner end hole of the right front frame form a revolving pair through a short pin; the inner ends of the left front frame and the right front frame are both provided with sleeve holes to form a revolving pair with the fuselage frame through short pins.

[0009] The aforementioned butterfly-like aircraft driven by an ultrasonic motor, the fuselage frame includes an extension rod, and the two sides of the rear end of the extension rod are respectively supported by rods; the left rear frame and the right rear frame are respectively rotatably connected to the corresponding support rods.

[0010] In the aforementioned butterfly-like aircraft driven by an ultrasonic motor, a bifurcated rod is provided below the middle of the extension rod, and the bifurcated rod is connected to a steering mechanism.

[0011] The aforementioned butterfly-like aircraft driven by an ultrasonic motor, the steering mechanism includes a servo seat connected to a forked rod, carbon rods are connected to both sides of the servo seat respectively, and a fixed rod is arranged between the rear ends of the carbon rods; a linear servo is arranged on the servo seat, and a servo connecting rod is connected to the output end of the linear servo; a rotating rod is rotatably connected to the lower middle part of the fixed rod via a pin; the servo connecting rod forms a sliding pair with a short pin connected to the front end slide groove of the rotating rod through a circular hole at the end; a flight control board and a battery are arranged at the rear end of the rotating rod.

[0012] In the aforementioned butterfly-like aircraft driven by an ultrasonic motor, the rotating rod is fixedly connected to the flight control board and the battery by means of adhesive tape.

[0013] In the aforementioned butterfly-like flying vehicle driven by an ultrasonic motor, the rotation angle of the rotating rod is controlled within a range of -20° to 20°.

[0014] The aforementioned ultrasonic motor-driven butterfly-like aircraft, the left front frame, right front frame, left rear frame and right rear frame are all made of carbon fiber; the fuselage frame, connecting rod, left rocker, right rocker, shaft seat, servo seat, fixing rod, servo connecting rod, rotating rod and flight control board are all made of 3D printed materials.

[0015] The aforementioned butterfly-like aircraft driven by an ultrasonic motor, wherein both the hind wings and the front wings are made of P31N kite cloth.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The butterfly-like flying machine of the present invention is controlled by a single composite linear ultrasonic motor, and has the characteristics of high positioning and speed control accuracy, large torque, low production and maintenance costs, and can realize miniaturization and light weight of the device. The present invention uses a linear ultrasonic motor to greatly reduce the weight of the fuselage, simplify the power mechanism, and ensure that the wings on both sides flap at the same frequency.

[0018] 2. The steering of the butterfly-like aircraft of the present invention is achieved by adjusting the center of gravity, and the position of the flight control board and the battery relative to the fuselage is adjusted by using a linear servo and a rotating rod to achieve steering. The present invention changes the traditional steering method of changing the shape of the wing and the frequency of the wing flapping. In contrast, the steering method of the present invention is flexible, rapid and stable, and will not interfere with the flapping of the wing.

[0019] 3. The basic structure of the present invention can be made of 3D materials, which can significantly reduce the weight of the fuselage while improving the strength of key components.

[0020] 4. The front wings and hind wings of the present invention are flexibly connected. When the front wings flap, the hind wings are driven to move. There is a phase difference during the movement, which is beneficial to the air flow during the flight and provides flight lift.

[0021] 5. The flight control board of the present invention has a self-stabilizing function, and can automatically adjust the center of gravity according to the flight attitude during straight flight, ensuring stability during straight flight and rapid return to normal after turning. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the driving mechanism part and the wing driving part in the present invention;

[0024] Figure 3A schematic diagram of the drive mechanism and the fuselage frame of the present invention;

[0025] Figure 4 It is a schematic diagram of the overall structure of the fuselage in the present invention;

[0026] Figure 5 is a schematic diagram of the steering mechanism in the present invention;

[0027] Figure 6 It is a schematic diagram of the wing structure of the present invention.

[0028] The markings in the accompanying drawings are:

[0029] 1. Front wing; 2. Driving mechanism; 3. Steering mechanism; 4. Rear wing; 5. Fuselage frame; 6. Sliding hole; 7. Sliding short rod; 20. Output rod; 21. Connecting rod; 22. Rotating shaft seat; 23. Linear ultrasonic motor; 24. Left joystick; 25. Left front frame; 26. Right joystick; 27. Right front frame; 28. Rotating mouth; 29. ​​Rotating seat; 31. Servo seat; 32. Linear servo; 33. Servo connecting rod; 34. Rotating rod; 35. Fixed rod; 36. Flight control board; 37. Battery; 51. Extension rod; 52. Forked rod; 53. Carbon rod; 54. Left rear frame; 55. Right rear frame; 56. Support rod. DETAILED DESCRIPTION

[0030] The present invention is further described below in conjunction with the accompanying drawings and examples, but they are not intended to limit the present invention.

[0031] Embodiment: A butterfly-like flying vehicle driven by an ultrasonic motor, such as Figure 1-6 As shown, it includes a fuselage frame 5, and a driving mechanism 2 is arranged on the bottom side of the fuselage frame 5; Figure 2 and Figure 3As shown, the driving mechanism 2 includes a linear ultrasonic motor 23 arranged at the bottom of the fuselage frame 5. The linear ultrasonic motor 23 has high positioning and speed control accuracy, large torque generated, low production and maintenance costs, flexible structural design, and can adopt a variety of shapes to achieve miniaturization and lightweight of the device. The linear ultrasonic motor 23 used in this embodiment has a maximum no-load speed of 165mm / s and a maximum load of 60g in an open-loop state, so that the aircraft of this embodiment can achieve a flapping frequency of 4-10Hz without the need for a reduction gear. It can realize the requirements of small volume and high-speed flight of the aircraft; the output end of the linear ultrasonic motor 23 is provided with an output rod 20, and the output rod 20 is movably connected with a connecting rod 21; wherein, sliding short rods 7 are respectively provided on both sides of the end of the output rod 20; a long sliding hole 6 is opened on the connecting rod 21; the sliding short rod 7 is arranged in the sliding hole 6 and is movably connected; a rotating opening 28 is opened in the middle of the connecting rod 21, and a rotating shaft seat 22 is passed through the rotating opening 28, and the rotating shaft is rotatably connected with the inner side wall of the rotating opening 28 through the rotating shaft; the end of the connecting rod 21 is rotatably connected with a rotating seat 29, and the internal sliding rod of the rotating seat 29 connects the left rocker 24 and the right rocker 26, and the left rocker 24 and the right rocker 26 are combined in a V shape; the upper end of the left rocker 24 is rotatably connected with the left front frame 25, and the right rocker 26 The upper end is rotatably connected with the right front frame 27; the left front frame 25 and the right front frame 27 are rotatably connected with the two sides of the rotating shaft seat 22 respectively; the left rocker 24 and the inner end hole of the left front frame 25 form a rotating pair through a short pin; the right rocker 26 and the inner end hole of the right front frame 27 form a rotating pair through a short pin; the inner ends of the left front frame 25 and the right front frame 27 are both provided with sleeve holes to form a rotating pair with the fuselage frame 5 through short pins; the left front frame 25 and the right front frame 27 are both provided with front wings 1; the rear ends of the fuselage frame 5 are also rotatably connected with the left rear frame 54 and the right rear frame 55 respectively; preferably, the fuselage frame 5 includes an extension rod 51, and the rear ends of the extension rod 51 are respectively supported by support rods 56; the left rear frame 54 and the right rear frame 55 are respectively rotatably connected with the corresponding support rods 56. The left front frame 25, the right front frame 27, the left rear frame 54 and the right rear frame 55 are all made of carbon fiber; the rear wing 4 and the front wing 1 are both made of P31N kite cloth to achieve the lightweight requirements of the entire structure. Figure 6 As shown, in this embodiment, the front wing 1 and the hind wing 4 are a pair of wings that are symmetrical on both sides. The wingspan of the front wing 1 is much larger than that of the hind wing 4, and the flexible connection at the end of the front wing 1 covers the hind wing 4, so that the front wing 1 can drive the hind wing 4 to flap, and at the same time, it can also make the forewing 1 that actively flaps the wings have a larger amplitude of up and down beating, thereby providing greater lift for the flight of the aircraft.

[0032] In this embodiment, the reciprocating linear motion of the linear ultrasonic motor 23 drives the output rod 20 to make one end of the connecting rod 21 reciprocate up and down. At this time, the middle part of the connecting rod 21 is hinged to the rotating shaft seat 22, and the connecting rod 21 will rotate around the rotating shaft seat 22. The front end of the connecting rod 21 is hinged to the rotating seat 29. The up and down reciprocating motion formed by the front end of the connecting rod 21 and the rotating seat 29 drives the right front frame 27 and the left front frame 25 to flap up and down through the right rocker 26 and the left rocker 24, so that the front wing 1 can realize flapping motion. At the same time, the front wing 1 can drive the rear wing 4 hinged to the extension rod 51 through a flexible connection to realize flapping motion at a corresponding angle, thereby further improving the lift.

[0033] Furthermore, a bifurcated rod 52 is provided below the middle of the extension rod 51, and the bifurcated rod 52 is connected to the steering mechanism 3. Figure 4 and Figure 5 As shown, the steering mechanism 3 includes an H-shaped steering gear seat 31 connected to a bifurcated rod 52, and carbon rods 53 are connected to both sides of the steering gear seat 31, and a fixed rod 35 is arranged between the rear ends of the carbon rods 53; a linear steering gear 32 is arranged on the steering gear seat 31 through screws, and a steering gear connecting rod 33 is fixed on the output slider of the linear steering gear 32; a rotating rod 34 is rotatably connected to the lower middle part of the fixed rod 35 through a pin; the steering gear connecting rod 33 forms a sliding pair with the front end slide groove of the rotating rod 34 through a short pin connected to the end circular hole; a flight control board 36 and a battery 37 are arranged at the rear end of the rotating rod 34, and the battery 37 improves the power source of the aircraft. The rotating rod 34 is fixedly connected to the flight control board 36 and the battery 37 through adhesive tape. The rotation angle of the rotating rod 34 is controlled to be between -20° and 20°. Through the operation of the linear steering gear 32, the steering rod is driven to adjust the relative position of the flight control board 36 and the battery 37 to the fuselage, so as to realize the steering function of the aircraft. The linear motion of the linear servo 32 in the present invention is converted into the swinging motion of the rotating rod 34 through the servo connecting rod 33. By controlling the spatial position of the flight control board 36 and the battery 37 fixed to the rear end of the rotating rod 34, the left and right center of gravity of the fuselage is changed, so that the fuselage changes its flight attitude to one side during flight, thereby realizing the left and right steering function of the aircraft. After the steering is completed, the servo connecting rod 33 automatically returns to the center under the control of the flight control board 36, and continues to maintain straight flight.

[0034] In this embodiment, the fuselage frame 5, connecting rod 21, output rod 20, rotating seat 29, left rocker 24, right rocker 26, shaft seat 22, servo seat 31, fixing rod 35, servo connecting rod 33, rotating rod 34 and flight control board 36 can all be made of 3D printed materials, thereby greatly reducing the weight of the fuselage while improving the strength of key components.

[0035] Working principle:

[0036] The output rod 20 of the linear ultrasonic motor 23 of the present invention forms a rotating pair with one end of the right rocker 26 and the left rocker 24 through the connecting rod 21 and the rotating rod 28. The other ends of the right rocker 26 and the left rocker 24 are respectively hinged to the right front frame 27 and the left front frame 25, driving the front wing 1 to achieve up and down movement, and converting the linear reciprocating motion output by the linear ultrasonic motor 23 into the flapping motion of the wing. At the same time, the flapping motion of the front wing 1 will also cause the hind wing 4 to flap, thereby obtaining the power for forward flight. The linear servo 32 of the present invention drives the servo connecting rod 33 to perform linear motion, and a rotating rod 34 fixed by a pin is provided on the fixed rod 35. The connecting rod 21 on the servo connecting rod 33 is inserted into the slide groove of the rotating rod 34, and the linear motion of the servo is converted into the left and right rotation of the rotating rod 34, which is used to adjust the position of the flight control board 36 and the battery 37 relative to the fuselage to achieve steering. The present invention adopts a composite linear ultrasonic motor 23 as a power source, which has a simple structure, stable and rapid flight, and not only has a strong endurance capability, but also has a high flight efficiency.

Claims

1. A butterfly-like flying vehicle driven by an ultrasonic motor, characterized in that: The invention comprises a fuselage frame (5), wherein a driving mechanism (2) is arranged on the bottom side of the fuselage frame (5); the driving mechanism (2) comprises a linear ultrasonic motor (23) arranged at the bottom of the fuselage frame (5); an output rod (20) is arranged at the output end of the linear ultrasonic motor (23); the output rod (20) is movably connected to a connecting rod (21); a rotating shaft seat (22) is hinged at the middle of the connecting rod (21); the end of the connecting rod (21) is rotatably connected to a rotating seat (29); a sliding rod inside the rotating seat (29) is connected to a left rocker (24) and a right rocker (26); the left rocker (24) is rotatable The left front frame (25) is connected, and the right rocker (26) is rotatably connected to the right front frame (27); the left front frame (25) and the right front frame (27) are rotatably connected to the two sides of the rotating shaft seat (22); the left front frame (25) and the right front frame (27) are both provided with front wings (1); the two sides of the rear end of the fuselage frame (5) are also rotatably connected to the left rear frame (54) and the right rear frame (55); the left rear frame (54) and the right rear frame (55) are both provided with rear wings (4); the rear wings (4) are flexibly connected to the middle part of the front wings (1).

2. The butterfly-like flying vehicle driven by an ultrasonic motor according to claim 1, characterized in that: A rotating opening (28) is provided in the middle of the connecting rod (21); the rotating shaft seat (22) is inserted into the rotating opening (28) and connected via the rotating shaft; short sliding rods (7) are respectively provided on both sides of the end of the output rod (20); a long strip-shaped sliding hole (6) is provided on the connecting rod (21); the short sliding rod (7) is arranged in the sliding hole (6) and is movably connected.

3. The butterfly-like flying machine driven by an ultrasonic motor according to claim 2, characterized in that: The left rocker (24) and the inner end hole of the left front frame (25) form a rotating pair through a short pin; the right rocker (26) and the inner end hole of the right front frame (27) form a rotating pair through a short pin; the inner ends of the left front frame (25) and the right front frame (27) are both provided with sleeve holes to form a rotating pair with the fuselage frame (5) through short pins.

4. The butterfly-like flying vehicle driven by an ultrasonic motor according to claim 1, characterized in that: The fuselage frame (5) comprises an extension rod (51), and support rods (56) are respectively provided on both sides of the rear end of the extension rod (51); the left rear frame (54) and the right rear frame (55) are respectively rotatably connected to the corresponding support rods (56).

5. The butterfly-like flying machine driven by an ultrasonic motor according to claim 4, characterized in that: A bifurcated rod (52) is provided below the middle of the extension rod (51), and the bifurcated rod (52) is connected to a steering mechanism (3).

6. The butterfly-like flying vehicle driven by an ultrasonic motor according to claim 5, characterized in that: The steering mechanism (3) comprises a steering gear seat (31) connected to a bifurcated rod (52), the two sides of the steering gear seat (31) are respectively connected to carbon rods (53), and a fixed rod (35) is arranged between the rear ends of the carbon rods (53); a linear steering gear (32) is arranged on the steering gear seat (31), and the output end of the linear steering gear (32) is connected to a steering gear connecting rod (33); the lower middle part of the fixed rod (35) is rotatably connected to a rotating rod (34) via a pin; the steering gear connecting rod (33) forms a sliding pair with a front end sliding groove of the rotating rod (34) through a short pin connected to the end circular hole; and a flight control board (36) and a battery (37) are arranged at the rear end of the rotating rod (34).

7. The butterfly-like flying vehicle driven by an ultrasonic motor according to claim 6, characterized in that: The rotating rod (34) is fixedly connected to the flight control board (36) and the battery (37) by means of adhesive tape.

8. The butterfly-like flying vehicle driven by an ultrasonic motor according to claim 6, characterized in that: The rotation angle of the rotating rod (34) is controlled within a range of -20° to 20°.

9. The butterfly-like flying machine driven by an ultrasonic motor according to claim 1, characterized in that: The left front frame (25), the right front frame (27), the left rear frame (54) and the right rear frame (55) are all made of carbon fiber material.

10. The butterfly-like flying vehicle driven by an ultrasonic motor according to claim 1, characterized in that: The hind wing (4) and the front wing (1) are both made of P31N kite cloth.

Images