A variable-amplitude bionic butterfly aircraft

Abstract

The present invention discloses a variable-amplitude bionic butterfly aircraft, which relates to the technical field of aircraft, and includes a differential system, a variable-amplitude system, a direction control system, a flexible wing system and a power control system. The two output ends of the variable-amplitude system are respectively connected to the two wings of the flexible wing system and respectively adjust the amplitudes of the two wings. The differential system is drivingly connected to the variable-amplitude system and can drive the wings to vibrate. The direction control system is connected to the outer frame of the differential system and can drive the flexible wing system to achieve steering. Both the differential system and the direction control system are electrically connected to the power control system. The lift adjustment and steering of the present invention are more flexible.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft, and particularly to a variable-amplitude bionic butterfly aircraft. Background Art

[0002] Flapping wings are an important structure of a new type of aircraft designed and manufactured based on the bionics principle by imitating the flight of birds and insects. Compared with fixed wings and rotors, the main feature of flapping wings is that they integrate the functions of lifting, hovering, and propulsion into a flapping wing system, enabling long-distance flight with very little energy. At the same time, they have strong maneuverability.

[0003] Current bionic flapping wing mechanisms are all non-variable amplitude flapping wing mechanisms. However, the size of the amplitude directly determines the lift of the aircraft. Moreover, the current bionic flapping wing mechanisms use a dual servo structure for steering, which cannot achieve the steering function, and thus there are problems such as poor flexibility, complex algorithms, and slow system response. Summary of the Invention

[0004] The object of the present invention is to provide a variable-amplitude bionic butterfly aircraft to solve the problems existing in the above-mentioned prior art and make the lift adjustment and steering more flexible.

[0005] To achieve the above object, the present invention provides the following solution:

[0006] The present invention provides a variable-amplitude bionic butterfly aircraft, including a differential system, a variable amplitude system, a direction control system, a flexible wing system, and a power control system. The two output ends of the variable amplitude system are respectively connected to the two wings of the flexible wing system and respectively adjust the amplitudes of the two wings. The differential system is drivingly connected to the variable amplitude system and can drive the wings to vibrate. The direction control system is connected to the outer frame of the differential system and can drive the flexible wing system to achieve steering. The differential system and the direction control system are both electrically connected to the power control system.

[0007] Preferably, the differential system includes the outer frame, a differential drive motor, and a gear set. The differential drive motor is installed on the outer wall of the outer frame. The gear set is installed inside the outer frame. The output shaft of the differential drive motor passes through the side wall of the outer frame and is connected to the input end of the gear set. The two output ends of the gear set respectively extend out through the two symmetric side walls of the outer frame and are respectively connected to the two input ends of the variable amplitude system, and the gear set can drive the variable amplitude system to act.

[0008] Preferably, the gear set includes a driving bevel gear, a driven large gear, a first side small gear, an intermediate small gear, and a second side small gear. The driving bevel gear is connected to the output shaft of the differential drive motor. The axis of the bevel gear is perpendicular to that of the driven large gear, and the bevel gear meshes with the driven large gear. The driven large gear is coaxially connected to the first side small gear. The axis of the first side small gear is perpendicular to that of the intermediate small gear, and the first side small gear meshes with the intermediate small gear. The axis of the intermediate small gear is perpendicular to that of the second side small gear, and the intermediate small gear meshes with the second side small gear. The first side small gear and the second side small gear are symmetrically arranged, and the rotating shafts of the first side small gear and the second side small gear are respectively connected to the two input ends of the luffing system.

[0009] Preferably, the luffing system includes two luffing units with the same structure. The luffing unit includes a luffing micro motor, a rotary disc, a limiting rod, a movable rod, and a rocker arm. The two rotary discs are respectively located on both sides of the outer frame, and the two rotary discs are respectively coaxially connected to the two output shafts of the gear set. The limiting rod is eccentrically connected to the side of the rotary disc away from the outer frame. The luffing micro motor is installed on the outer wall of the outer frame, and the luffing micro motor is connected to a screw rod. A slider is sleeved on the outer periphery of the screw rod. When the luffing micro motor drives the screw rod to rotate, the slider can move on the screw rod. The slider is connected to the movable rod, and the movable rod is also movably connected to the rocker arm and the limiting rod. One end of the rocker arm is rotatably connected to the outer frame, and the other end of the rocker arm is connected to the wing.

[0010] Preferably, the movable rod is a V-shaped rod. The V-shaped rod includes a first rod and a second rod. The first ends of the first rod and the second rod are fixedly connected to form a connection end. The connection end is slidably connected to the limiting rod and can reciprocate along the length direction of the limiting rod. The second end of the first rod is movably connected to the rocker arm, and the second end of the second rod is connected to the slider, and the second rod can be telescopic.

[0011] Preferably, a chute is provided on one side of the rocker arm. The second end of the first rod is movably connected to the chute through a ball hinge and can rotate and slide in the chute.

[0012] Preferably, the luffing micro motor is electrically connected to the power control system.

[0013] Preferably, the direction control system includes a direction control long rod, a direction control micro motor and a gravity hammer, one end of the direction control long rod is connected to the outer frame, and the other end of the direction control long rod extends to the rear between the two wings, the direction control micro motor is installed on the direction control long rod, and the output shaft of the direction control micro motor is connected to the gravity hammer through a connecting rod, and the direction control micro motor can drive the gravity hammer to swing.

[0014] Preferably, the wing system includes two connecting blocks and two wings, the two connecting blocks and the two wings correspond one to one, and the connecting block is connected to the output end of the amplitude variation system, and one side of the wing is connected to the connecting block.

[0015] Preferably, the wings are made by bonding carbon fiber rods and thermoplastic polyester films.

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

[0017] The variable amplitude bionic butterfly aircraft provided by the present invention has two output ends of the variable amplitude system respectively connected to the two wings of the flexible wing system, so that the amplitude of the two wings can be adjusted through the action of the variable amplitude system, so that the lift regulation is more flexible and the adaptability is improved. The differential system is connected to the variable amplitude system through transmission and can drive the wings to vibrate and adjust the vibration frequency of the wings. The direction control system is connected to the outer frame of the differential system and can drive the flexible wing system to achieve steering, thereby achieving self-steering and improving flight flexibility. The differential system and the direction control system are both electrically connected to the power control system, so that automatic control can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the structure of the variable amplitude bionic butterfly flying vehicle in the present invention;

[0020] Figure 2 It is a schematic diagram of the structure of the variable amplitude bionic butterfly aircraft of the present invention when the wing system is removed;

[0021] Figure 3 It is an enlarged schematic diagram of the structure of the direction control system in the present invention;

[0022] In the figure: 1-differential system, 11-outer frame, 12-differential drive motor, 13-driving bevel gear, 14-driven large gear, 15-first side small gear, 16-middle small gear, 17-second side small gear; 2-length change system, 21-rotating disc, 22-limiting rod, 23-rocker arm, 24-length change micro motor, 25-slider, 26-screw, 27-movable rod, 28-first rod, 29-second rod; 3-direction control system, 31-direction control long rod, 32-direction control micro motor, 33-gravity hammer, 34-connecting rod, 4-flexible wing system. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] The purpose of the present invention is to provide a variable amplitude bionic butterfly aircraft to solve the problems existing in the prior art and make lift adjustment and steering more flexible.

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] like Figures 1-3 As shown, this embodiment provides a variable amplitude bionic butterfly aircraft, including a differential system 1, a variable amplitude system 2, a direction control system 3, a flexible wing system 4 and a power control system. The two output ends of the variable amplitude system 2 are respectively connected to the two wings of the flexible wing system 4, so that the amplitude of the two wings can be adjusted through the action of the variable amplitude system 2, so that the lift adjustment is more flexible and the adaptability is improved. The differential system 1 is connected to the variable amplitude system 2 by transmission, and can drive the wings to vibrate and adjust the vibration frequency of the wings. The direction control system 3 is connected to the outer frame 11 of the differential system 1, and can drive the flexible wing system 4 to achieve steering, thereby achieving self-steering and improving flight flexibility. The differential system 1 and the direction control system 3 are both electrically connected to the power control system, so that automatic control can be achieved.

[0027] Specifically, the differential system 1 includes an outer frame 11, a differential drive motor 12, and a gear set. The outer frame 11 serves as a connection and encapsulation component. The differential drive motor 12 is installed on the outer wall of the outer frame 11. The gear set is installed inside the outer frame 11. The output shaft of the differential drive motor 12 passes through the side wall of the outer frame 11 and is connected to the input end of the gear set. Then, the gear set is driven to rotate by the differential drive motor 12. The two output ends of the gear set extend out through the two symmetric side walls of the outer frame 11 and are respectively connected to the two input ends of the luffing system 2. Thus, the rotation of the gear set is transmitted to the luffing system 2, and the wings are driven to vibrate up and down by the luffing system 2. At the same time, by adjusting the rotation speed of the differential drive motor 12, the vibration frequency can be adjusted.

[0028] The gear set includes a driving bevel gear 13, a driven large gear 14, a first side small gear 15, an intermediate small gear 16, and a second side small gear 17. The driving bevel gear 13 is connected to the output shaft of the differential drive motor 12. The axis of the bevel gear is perpendicular to that of the driven large gear 14, and the bevel gear meshes with the driven large gear 14. The driven large gear 14 is coaxially connected to the first side small gear 15. The axis of the first side small gear 15 is perpendicular to that of the intermediate small gear 16, and the first side small gear 15 meshes with the intermediate small gear 16. The axis of the intermediate small gear 16 is perpendicular to that of the second side small gear 17, and the intermediate small gear 16 meshes with the second side small gear 17. The first side small gear 15 and the second side small gear 17 are symmetrically arranged, and the rotating shafts of the first side small gear 15 and the second side small gear 17 are respectively connected to the two input ends of the luffing system 2. Then, the driving bevel gear 13 is driven to rotate by the differential drive motor 12. The driving bevel gear 13 drives the meshing driven large gear 14 to rotate. The driven large gear 14 drives the coaxial first side small gear 15 to rotate. At the same time, the driven large gear 14 and the coaxial first side small gear 15 also drive the corresponding side of the luffing system 2 to act. The first side small gear 15 drives the intermediate small gear 16 to rotate. The intermediate small gear 16 drives the second side small gear 17 to rotate. The second side small gear 17 drives the corresponding side of the luffing system 2 to act. Finally, the vibration of the two wings is achieved.

[0029] The amplitude variation system 2 includes two amplitude variation units with the same structure. The amplitude variation unit includes an amplitude variation micro-motor 24, a rotary disk 21, a limit rod 22, a movable rod 27, and a rocker arm 23. The two rotary disks 21 are respectively located on both sides of the outer frame 11, and the two rotary disks 21 are respectively coaxially connected to the two output shafts of the gear set. Then, the two rotary disks 21 are driven to rotate by the gear set. The limit rod 22 is eccentrically connected to the rotary disk 21 on the side away from the outer frame 11, so as to facilitate driving the subsequent structure to act through the eccentric rotation of the limit rod 22 and realize the vibration of the wings. The amplitude variation micro-motor 24 is installed on the outer wall of the outer frame 11, and the amplitude variation micro-motor 24 is connected to a screw rod 26. A slider 25 is sleeved on the outer circumference of the screw rod 26. When the amplitude variation micro-motor 24 drives the screw rod 26 to rotate, the slider 25 can move on the screw rod 26. At the same time, the slider 25 is connected to the movable rod 27, so that when the slider 25 moves, it can drive the movable rod 27 to move. The movable rod 27 is also movably connected to the rocker arm 23 and the limit rod 22. One end of the rocker arm 23 is rotatably connected to the outer frame 11. Thus, the movable rod 27 can move along the length direction of the rocker arm 23 and the length direction of the limit rod 22. Through the above design, the connection point between the movable rod 27 and the rocker arm 23 changes. Then, when the movable rod 27 drives the rocker arm 23 to swing, the swing amplitude changes, realizing the adjustment of the amplitude and improving the flexibility. The other end of the rocker arm 23 is connected to the wings, thus driving the wings to vibrate.

[0030] The movable rod 27 is a V-shaped rod. The V-shaped rod includes a first rod 28 and a second rod 29. The first end of the first rod 28 and the first end of the second rod 29 are fixedly connected to form a connection end. The connection end is slidably connected to the limit rod 22 and can reciprocally move along the length direction of the limit rod 22. The second end of the first rod 28 is movably connected to the rocker arm 23, and the second end of the second rod 29 is connected to the slider 25, and the second rod 29 can expand and contract, so that the movable rod 27 can adapt to the rotation of the rotary disk 21. When the rotary disk 21 rotates driven by the gear set, the rotary disk 21 drives the limit rod 22 to rotate. At the same time, since the limit rod 22 is connected to the connection end of the V-shaped rod, it drives the V-shaped rod to swing. And since the second end of the first rod 28 is movably connected to the rocker arm 23, with the swing of the V-shaped rod, the first rod 28 drives the rocker arm 23 to rotate around its rotation connection point, realizing the swing of the rocker arm 23. And because the second end of the second rod 29 is connected to the slider 25, the second rod 29 can expand and contract to ensure its connection state.

[0031] A chute is provided on one side of the rocker arm 23. The second end of the first rod 28 is movably connected to the chute through a spherical hinge and can rotate and slide in the chute, ensuring the normal swing of the rocker arm 23 and realizing the vibration of the wings.

[0032] The amplitude variation micro-motor 24 is electrically connected to the power control system, facilitating automatic control.

[0033] The direction control system 3 includes a direction control long rod 31, a direction control micro motor 32 and a gravity hammer 33. One end of the direction control long rod 31 is connected to the outer frame 11 to fix the direction control long rod 31. The other end of the direction control long rod 31 extends backward between the two wings so that when the gravity hammer 33 swings, it can drive the overall turning. The direction control micro motor 32 is installed on the direction control long rod 31, and the output shaft of the direction control micro motor 32 is connected to the gravity hammer 33 through a connecting rod 34. Thus, driven by the direction control micro motor 32, the gravity hammer 33 can be driven to swing to achieve the turning function. The linkage of the differential system 1 and the amplitude variation system 2 forms a flapping wing system. The essence of the flapping wing implementation mechanism simplified is a four-bar mechanism. The fixed hinge support of the four-bar mechanism is adjusted by a micro push rod to adjust the angle of the rocker arm 23 (i.e., the amplitude of the wing).

[0034] Through the above design in this embodiment, according to the principle of the butterfly ascending flight, increasing the wing amplitude can achieve ascending flight. Moreover, due to the "quick-return characteristic" of the four-bar mechanism, a low-pressure area is formed on the wing, thereby forming an upward lifting force. Without complex algorithms, compared with the traditional double-servo mechanism scheme, the adjustment accuracy is higher, and the mechanical structure self-balancing control is used to make the response speed faster.

[0035] The wing system includes two connecting blocks and two wings. The two connecting blocks and the two wings correspond one by one, and the connecting blocks are connected to the output ends of the amplitude variation system 2. One side of the wing is connected to the connecting block.

[0036] The wing is made by bonding a carbon fiber rod and a thermoplastic polyester film. The carbon fiber rod has a small density, low hardness and high strength, making the wing have good flexibility.

[0037] In this embodiment, the adjustment of the differential system 1 is an automatic adjustment, which involves the "principle of minimum energy consumption", that is, all objects on the earth tend to be in the state of minimum energy consumption. For example, when a bean is put into a bowl, the bean will automatically stay at the bottom of the bowl and will never stay on the bowl wall, because the bottom of the bowl is the position with the lowest energy (potential energy), and it automatically chooses to be stationary (minimum kinetic energy) instead of moving continuously. Similarly, when the variable-amplitude bionic butterfly aircraft flying straight normally turns right, the gravity hammer 33 swings to the right, and at this time, the variable-amplitude bionic butterfly aircraft tilts to the right by a certain angle. When turning right, the left wing mainly provides a large normal force as the turning driving force, and the right wing mainly provides the vertical lift. The left wing and the right wing respectively adjust the wing amplitude through the amplitude-changing system 2, and the left amplitude is about 20% greater than the right amplitude. At the same time, during the right turn, the windward area of the right wing is larger than that of the left wing, and the resistance increases. At this time, under the action of the "principle of minimum energy consumption", the rotation speed of the shaft on the right side of the differential system 1 slows down, thereby reducing the frequency of the right wing. Therefore, the frequency of the right wing is lower than that of the left wing, making the normal force on the left side larger, so as to achieve turning. The reason why the force of the right wing cannot be too large is that the torques formed by the vertical force and the normal force will cancel each other out, resulting in a turning failure. When the turning is completed and the horizontal position is restored, the wings will return to synchronous flapping and straight flight again.

[0038] In the present invention, specific examples are used to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A variable-amplitude bionic butterfly aircraft, characterized in that: It includes a differential system, a luffing system, a direction control system, a flexible wing system and a power control system. Two output ends of the luffing system are respectively connected to two wings of the flexible wing system and respectively adjust the amplitudes of the two wings. The differential system is drivingly connected to the luffing system and can drive the wings to vibrate. The direction control system is connected to the outer frame of the differential system and can drive the flexible wing system to turn. Both the differential system and the direction control system are electrically connected to the power control system; The differential system includes the outer frame, a differential drive motor and a gear set. The differential drive motor is installed on the outer wall of the outer frame. The gear set is installed inside the outer frame. The output shaft of the differential drive motor passes through the side wall of the outer frame and is connected to the input end of the gear set. Two output ends of the gear set respectively extend out through two symmetric side walls of the outer frame and are respectively connected to two input ends of the luffing system, and the gear set can drive the luffing system to act; The luffing system includes two luffing units with the same structure. The luffing unit includes a luffing micro-motor, a rotary disk, a limiting rod, a movable rod and a rocker arm. The two rotary disks are respectively located on both sides of the outer frame, and the two rotary disks are respectively coaxially connected to two output shafts of the gear set. The limiting rod is eccentrically connected to the side of the rotary disk away from the outer frame. The luffing micro-motor is installed on the outer wall of the outer frame, and the luffing micro-motor is connected to a screw rod. A slider is sleeved on the outer periphery of the screw rod. When the luffing micro-motor drives the screw rod to rotate, the slider can move on the screw rod. The slider is connected to the movable rod, and the movable rod is also movably connected to the rocker arm and the limiting rod. One end of the rocker arm is rotatably connected to the outer frame, and the other end of the rocker arm is connected to the wing.

2. The variable-amplitude bionic butterfly aircraft according to claim 1, wherein: The gear set includes a driving bevel gear, a driven large gear, a first side small gear, an intermediate small gear and a second side small gear. The driving bevel gear is connected to the output shaft of the differential drive motor. The axis of the driving bevel gear is perpendicular to that of the driven large gear, and the driving bevel gear meshes with the driven large gear. The driven large gear is coaxially connected to the first side small gear. The axis of the first side small gear is perpendicular to that of the intermediate small gear, and the first side small gear meshes with the intermediate small gear. The axis of the intermediate small gear is perpendicular to that of the second side small gear, and the intermediate small gear meshes with the second side small gear. The first side small gear and the second side small gear are symmetrically arranged, and the rotating shafts of the first side small gear and the second side small gear are respectively connected to two input ends of the luffing system.

3. The variable-amplitude bionic butterfly aircraft according to claim 1, wherein: The movable rod is a V-shaped rod. The V-shaped rod includes a first rod and a second rod. The first ends of the first rod and the second rod are fixedly connected to form a connection end. The connection end is slidably connected to the limiting rod and can reciprocate along the length direction of the limiting rod. The second end of the first rod is movably connected to the rocker arm. The second end of the second rod is connected to the slider, and the second rod can be telescopic.

4. The variable-amplitude bionic butterfly aircraft according to claim 3, characterized in that: A chute is provided on one side of the rocker arm. The second end of the first rod is movably connected to the chute through a ball hinge and can rotate and slide in the chute.

5. The variable-amplitude bionic butterfly aircraft according to claim 1, characterized in that: The luffing micro-motor is electrically connected to the power control system.

6. The variable-amplitude bionic butterfly aircraft according to claim 1, characterized in that: The direction control system includes a direction control long rod, a direction control micro-motor and a gravity hammer. One end of the direction control long rod is connected to the outer frame. The other end of the direction control long rod extends backward between the two wings. The direction control micro-motor is installed on the direction control long rod, and the output shaft of the direction control micro-motor is connected to the gravity hammer through a connecting rod. The direction control micro-motor can drive the gravity hammer to swing.

7. The variable-amplitude bionic butterfly aircraft according to claim 1, wherein: The wing system includes two connecting blocks and two wings. The two connecting blocks and the two wings correspond one by one. The connecting block is connected to the output end of the luffing system, and one side of the wing is connected to the connecting block.

8. The variable-amplitude bionic butterfly aircraft according to claim 7, characterized in that: The wing is made by bonding a carbon fiber rod and a thermoplastic polyester film.

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