Bionic butterfly aircraft

Abstract

The invention provides a bionic butterfly aircraft and relates to the technical field of bionic aircrafts, the bionic butterfly aircraft comprises a trunk, two main wings, two ailerons and a coaxial double-chute transmission mechanism, the two main wings and the two ailerons are symmetrically connected to the two sides of the trunk and are rotatably connected with the trunk, the main wings and the ailerons located on the same side of the trunk are not in the same plane, and the main wings and the ailerons are located on the same side of the trunk. The free ends of the main wings are higher than the free ends of the ailerons, the main wings and the ailerons located on the two sides of the trunk rotate symmetrically, and the coaxial double-sliding-groove transmission mechanism is used for driving the main wings and the ailerons to rotate synchronously. The angle difference is set between the main wing and the aileron, so that the vortex generated by the main wing and the vortex generated by the aileron are staggered in space, airflow separation between the main wing and the aileron is smoother, turbulent flow and separation areas of airflow are reduced, airflow dispersion is facilitated, mutual interference of the vortexes generated in the upward flapping process of the main wing and the aileron is avoided, and the flapping efficiency of the main wing and the aileron is improved. The energy loss between vortexes is reduced, the flight efficiency is improved, and the stability of the aircraft is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic aircraft, and in particular to a bionic butterfly aircraft. Background Art

[0002] Micro air vehicles are small flying devices that can be used in military reconnaissance, environmental monitoring, disaster relief, and entertainment. Compared with traditional rotorcraft, flapping-wing aircraft designed based on bionic principles have low flight energy consumption, strong maneuverability, and good concealment. They have great research value and a wide range of application scenarios in both the defense and civilian fields. In order to replicate the flight of biological organisms and imitate all degrees of freedom, the mechanical structure of existing bionic aircraft is usually more complex. Aircraft will not be able to take off because of the overly complex mechanical structure. Summary of the invention

[0003] The problem to be solved by the present invention is how to simplify the structure of the aircraft to make it easier to fly.

[0004] To this end, the present invention provides a bionic butterfly aircraft, including a trunk, main wings, ailerons and a coaxial double-slot transmission mechanism, the two main wings and the two ailerons are symmetrically connected on both sides of the trunk and are rotatably connected to the trunk, the main wings and the ailerons located on the same side of the trunk are not in the same plane, the free ends of the main wings are higher than the free ends of the ailerons, the main wings and the ailerons located on both sides of the trunk rotate symmetrically, the coaxial double-slot transmission mechanism is connected to the trunk, and is used to drive the main wings and the ailerons to rotate synchronously.

[0005] Optionally, the included angle between the main wing and the aileron located on the same side of the trunk is between 25 degrees and 35 degrees.

[0006] Optionally, the two coaxial double-slot transmission mechanisms are symmetrically arranged on both sides of the trunk, and are respectively used to drive the main wing and the aileron on the corresponding side to rotate synchronously; the coaxial double-slot transmission mechanism includes a driving shaft, a main rocker and a secondary rocker, and connecting parts are provided on both sides of the trunk, and a first through hole and a second through hole parallel to each other are opened on the connecting part, and the first through hole is located between the second through hole and the trunk, and the driving shaft is passed through the first through hole and is rotatably connected to the first through hole, and the two ends of the driving shaft passing through the first through hole are respectively provided with a main connecting arm and a secondary connecting arm, one end of the main connecting arm is vertically connected to the driving shaft, and the main connecting arm A main connecting shaft is vertically provided at the other end of the arm, one end of the secondary connecting arm is vertically connected to the driving shaft, and a secondary connecting shaft is vertically provided at the other end of the secondary connecting arm, a main wing shaft and a main rocker with a main slide groove are provided at the root of the main wing, the main wing shaft and the main slide groove are perpendicular to each other, an aileron shaft and a secondary rocker with a secondary slide groove are provided at the root of the aileron, the aileron shaft and the secondary slide groove are perpendicular to each other, the main wing shaft and the aileron shaft are respectively inserted into the two ends of the second through hole and are rotatably connected to the second through hole, the main connecting shaft is inserted into the main slide groove and is slidably connected to the main slide groove, and the secondary connecting shaft is inserted into the secondary slide groove and is slidably connected to the secondary slide groove.

[0007] Optionally, the included angle between the main connecting arm and the secondary connecting arm is equal to the included angle between the main wing and the aileron.

[0008] Optionally, two motors are further included, and the two motors are correspondingly driven and connected to the two coaxial double-slide groove transmission mechanisms.

[0009] Optionally, it also includes a crank, one end of which is provided with a third through hole, and the other end of which is provided with a circular groove, the axes of the circular groove and the first through hole are arranged parallel, the shaft of the motor is inserted into the circular groove and fixedly connected to the crank, and one end of the main connecting shaft passes through the main slide groove or one end of the secondary connecting shaft passes through the secondary slide groove and is inserted into the third through hole and fixedly connected to the crank.

[0010] Optionally, fixing rings are further provided on both sides of the trunk, and the two motors are correspondingly inserted into the two fixing rings.

[0011] Optionally, a top screw is further included, a threaded hole is opened on the fixing ring, the top screw is passed through the threaded hole and abuts against the motor.

[0012] Optionally, an end of the connecting portion away from the torso extends upward relative to an end of the connecting portion close to the torso, and an angle between a plane where the connecting portion is located and a plane where the torso is located is between 14 degrees and 16 degrees.

[0013] Optionally, an angle between an extension direction of the first through hole located on either side of the trunk and an extension direction of the trunk is between 9 degrees and 11 degrees, and an end of the first through hole facing the main wing is closer to the trunk than an end facing the aileron.

[0014] Compared with the prior art, the beneficial effects of the bionic butterfly aircraft of the present invention are:

[0015] The present invention forms a bionic butterfly by arranging a trunk, main wings and ailerons, wherein two main wings are respectively connected to both sides of the front end of the trunk, and two ailerons are respectively connected to both sides of the rear end of the trunk to simulate the shape of a butterfly. The two main wings and the two ailerons are rotatably connected to the trunk and can rotate symmetrically relative to the trunk to flap in a manner simulating the flying of a butterfly. The main wings and the ailerons are not in the same plane, the main wings are located above the ailerons, that is, the free ends of the main wings are higher than the free ends of the ailerons, and there is a certain angle difference between the main wings and the ailerons, that is, they are arranged at an angle, and the angle is recorded as a. The coaxial double-slide transmission mechanism The main wing and ailerons on the same side can be driven to flap up and down at the same time. During the flapping process, the angle difference between the main wing and the aileron remains unchanged. The design of the main wing being higher than the aileron can make the vortex generated by the main wing and the vortex generated by the aileron staggered in space, making the airflow separation between the main wing and the aileron smoother, reducing the turbulence and separation area of ​​the airflow, helping to disperse the airflow, avoiding mutual interference between the vortices generated by the main wing and the aileron during the flapping process, reducing the energy loss between the vortices, improving flight efficiency, and making it more similar to the flight mode of a butterfly, facilitating the flight of the aircraft and enhancing the stability of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is one of the structural schematic diagrams of the bionic butterfly aircraft according to an embodiment of the present invention;

[0017] Figure 2 This is a second structural schematic diagram of the bionic butterfly aircraft according to an embodiment of the present invention;

[0018] Figure 3 for Figure 2 The enlarged image of point Ⅰ in the middle;

[0019] Figure 4 This is the third structural schematic diagram of the bionic butterfly aircraft according to the embodiment of the present invention;

[0020] Figure 5 This is a schematic diagram of the structure of the main connecting arm and the auxiliary connecting arm according to an embodiment of the present invention;

[0021] Figure 6 It is a schematic diagram of the trunk structure described in an embodiment of the present invention.

[0022] Description of reference numerals:

[0023] 1-trunk; 11-connecting part; 12-first through hole; 13-second through hole; 14-fixing ring; 15-top screw; 2-main wing; 21-main wing shaft; 22-main rocker; 23-main slide; 3-aileron; 31-aileron shaft; 32-secondary rocker; 33-secondary slide; 4-driving shaft; 41-main connecting arm; 42-main connecting shaft; 43-secondary connecting arm; 44-secondary connecting shaft; 45-crank; 5-motor. DETAILED DESCRIPTION

[0024] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0025] It should be noted that in the description of the present invention, the directions or positional relationships indicated by “up”, “down”, “left”, “right”, “top”, “bottom”, “front”, “back”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, it should not be understood as limiting the scope of protection of the present invention.

[0026] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0027] Moreover, although the present invention is described with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be designed without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the features of the various dependent claims and herein may be combined in a manner not described in the original claims. It may also be understood that the features described in conjunction with the individual embodiments may be used in other embodiments.

[0028] To solve the above problems, Figure 1 and Figure 2As shown, the present invention provides a bionic butterfly aircraft, comprising a trunk 1, main wings 2, ailerons 3 and a coaxial double-slot transmission mechanism, wherein the two main wings 2 and the two ailerons 3 are symmetrically connected to the two sides of the trunk 1 and are rotatably connected to the trunk 1, the main wings 2 and the ailerons 3 located on the same side of the trunk 1 are not in the same plane, the free end of the main wing 2 is higher than the free end of the aileron 3, the main wings 2 and the ailerons 3 located on the two sides of the trunk 1 rotate symmetrically, and the coaxial double-slot transmission mechanism is connected to the trunk (1) and is used to drive the main wings 2 and the ailerons 3 to rotate synchronously.

[0029] In this embodiment, a trunk 1, main wings 2 and ailerons 3 are provided to form a bionic butterfly, wherein two main wings 2 are respectively connected to both sides of the front end of the trunk 1, and two ailerons 3 are respectively connected to both sides of the rear end of the trunk 1 to simulate the shape of a butterfly. The two main wings 2 and the two ailerons 3 are rotatably connected to the trunk 1 and can rotate symmetrically relative to the trunk 1 to flap in a manner simulating the flight of a butterfly. The main wings 2 and the ailerons 3 are not in the same plane, and the main wings 2 are located above the ailerons 3, that is, the free ends of the main wings 2 are higher than the free ends of the ailerons 3. There is a certain angle difference between the main wings 2 and the ailerons 3, that is, they are arranged at an angle, and the angle is recorded as a. The slot transmission mechanism can drive the main wing 2 and aileron 3 on the same side to flap up and down at the same time. During the flapping process, the angle difference between the main wing 2 and the aileron 3 remains unchanged. The design of the main wing 2 being higher than the aileron 3 can make the vortex generated by the main wing 2 and the vortex generated by the aileron 3 staggered in space, and the airflow separation between the main wing 2 and the aileron 3 is smoother, reducing the turbulence and separation area of ​​the airflow, helping to disperse the airflow, avoiding mutual interference between the vortices generated by the main wing 2 and the aileron 3 during the flapping process, reducing the energy loss between the vortices, improving the flight efficiency, and being more similar to the flying mode of a butterfly, facilitating the flight of the aircraft and enhancing the stability of the aircraft.

[0030] Alternatively, if Figure 1 As shown, the included angle between the main wing 2 and the aileron 3 located on the same side of the trunk 1 is between 25 degrees and 35 degrees.

[0031] In this embodiment, by setting the angle a between the main wing 2 and the aileron 3 between 25 degrees and 35 degrees, the flight efficiency of the aircraft is better. When a is 30 degrees, the flight efficiency of the aircraft is optimal.

[0032] Alternatively, if Figures 2 to 6As shown, the two coaxial double-slot transmission mechanisms are symmetrically arranged on both sides of the trunk 1, and are respectively used to drive the main wing 2 and the aileron 3 on the corresponding side to rotate synchronously; the coaxial double-slot transmission mechanism includes a driving shaft 4, a main rocker 22 and a secondary rocker 32, and connecting parts 11 are provided on both sides of the trunk 1, and the connecting parts 11 are provided with first through holes 12 and second through holes 13 parallel to each other, and the first through holes 12 are located between the second through holes 13 and the trunk 1, and the driving shaft 4 is penetrated through the first through holes 12 and is rotatably connected to the first through holes 12, and the two ends of the driving shaft 4 passing through the first through holes 12 are respectively provided with a main connecting arm 41 and a secondary connecting arm 43, one end of the main connecting arm 41 is vertically connected to the driving shaft 4, and the other end of the main connecting arm 41 is vertically connected to the driving shaft 4. A main connecting shaft 42 is vertically provided, one end of the secondary connecting arm 43 is vertically connected to the driving shaft 4, and the other end of the secondary connecting arm 43 is vertically provided with a secondary connecting shaft 44, the root of the main wing 2 is provided with a main wing shaft 21 and the main rocker 22 with a main slide groove 23, the main wing shaft 21 and the main slide groove 23 are perpendicular to each other, the root of the aileron 3 is provided with an aileron shaft 31 and the secondary rocker 32 with a secondary slide groove 33, the aileron shaft 31 and the secondary slide groove 33 are perpendicular to each other, the main wing shaft 21 and the aileron shaft 31 are respectively inserted into the two ends of the second through hole 13, and are rotatably connected to the second through hole 13, the main connecting shaft 42 is inserted into the main slide groove 23, and is slidably connected to the main slide groove 23, the secondary connecting shaft 44 is inserted into the secondary slide groove 33, and is slidably connected to the secondary slide groove 33.

[0033] In this embodiment, a connecting portion 11 is provided on both sides of the trunk 1, and a first through hole 12 close to the trunk 1 and a second through hole 13 away from the trunk 1 are provided on the connecting portion 11. The first through hole 12 and the second through hole 13 are parallel to each other and extend substantially along the front-rear direction of the aircraft. A driving shaft 4 is provided in the first through hole 12. Two ends of the driving shaft 4 passing through the first through hole 12 are respectively provided with a main connecting arm 41 and a secondary connecting arm 43. The end of the driving shaft 4 facing the main wing 2 is the main connecting arm 41, and the end of the main connecting arm 41 away from the driving shaft 4 is provided with a main connecting arm 42 extending toward a side away from the driving shaft 4. The end of the driving shaft 4 facing the aileron 3 is the secondary connecting arm 43, and the end of the secondary connecting arm 43 away from the driving shaft 4 is provided with a secondary connecting arm 44 extending toward a side away from the driving shaft 4. When the driving shaft 4 rotates in the first through hole 12, it can drive the main connecting arm 41 and the secondary connecting arm 43 to rotate together. The connection between the main wing 2 and the trunk 1 is provided with a main wing shaft 21 and a main rocker 2 2, the main wing shaft 21 is inserted into the second through hole 13 and can rotate in the second through hole 13, the main rocker 22 is perpendicular to the main wing shaft 21 and extends toward the trunk 1, the main rocker 22 is provided with a main slide 23, the main connecting shaft 42 is inserted into the main slide 23, when the driving shaft 4 and the main connecting arm 41 rotate, the main connecting arm 41 can slide in the main slide 23, and drive the main wing 2 to flap up and down through the main rocker 22, in this process, the main wing shaft 21 rotates in the second through hole 13; similarly, An aileron shaft 31 and a secondary rocker 32 are provided at the connection between the aileron 3 and the trunk 1. The aileron shaft 31 is inserted into the second through hole 13 and can rotate in the second through hole 13. The secondary rocker 32 is perpendicular to the aileron shaft 31 and extends toward the trunk 1. A secondary slide groove 33 is opened on the secondary rocker 32, and a secondary connecting shaft 44 is inserted into the secondary slide groove 33. When the driving shaft 4 and the secondary connecting arm 43 rotate, the secondary connecting shaft 44 drives the aileron 3 to flap up and down. During this process, the aileron shaft 31 rotates in the second through hole 13.

[0034] Optionally, the included angle between the main connecting arm 41 and the secondary connecting arm 43 is equal to the included angle between the main wing 2 and the aileron 3 .

[0035] In this embodiment, since one end of the main connecting arm 41 and the auxiliary connecting arm 43 are fixedly connected to the horizontally arranged driving shaft 4 at the same time, and the other ends of the two are used to drive the main wing 2 and the aileron 3 respectively, the other ends of the main connecting arm 41 and the auxiliary connecting arm 43 are extended in different directions so that there is an angle between the main connecting arm 41 and the auxiliary connecting arm 43, and the angle is equal to the angle between the main wing 2 and the aileron 3, so that the driving shaft 4 can simultaneously drive the main wing 2 and the aileron 3 with an angle difference a to rotate simultaneously, and ensure that the angle a between the main wing 2 and the aileron 3 remains unchanged during the rotation process. The entire transmission structure is simple, the weight of the aircraft is reduced, and it is more convenient to transmit force and facilitate the flight of the aircraft.

[0036] Alternatively, if Figures 2 to 4 As shown, the bionic butterfly aircraft further comprises two motors 5, and the two motors 5 are correspondingly drivingly connected to the two coaxial double-slot transmission mechanisms.

[0037] In this embodiment, a motor 5 is provided and connected to the coaxial double-slot transmission mechanism to provide power for the aircraft. Since the coaxial double-slot transmission mechanism can drive the main wing 2 and the aileron 3 at the same time, only two motors 5 are provided to make the main wings 2 and the aileron 3 on both sides of the trunk 1 flap. Compared with providing four motors 5 to drive the two main wings 2 and the two ailerons 3 respectively, the weight of the aircraft is reduced and it is more convenient to fly.

[0038] Alternatively, if Figure 3 , Figure 4 and Figure 6 As shown, the bionic butterfly aircraft also includes a crank 45, one end of which is provided with a third through hole, and the other end is provided with a circular groove, the circular groove and the axis of the first through hole 12 are arranged parallel, the shaft of the motor 5 is inserted into the circular groove and fixedly connected to the crank 45, the main connecting shaft 42 passes through one end of the main slide groove 23 or the auxiliary connecting shaft 44 passes through one end of the auxiliary slide groove 33 and is inserted into the third through hole, and is fixedly connected to the crank 45.

[0039] In this embodiment, a crank 45 is provided, a third through hole is opened at one end of the crank 45, and a circular groove is opened at the other end, the shaft of the motor 5 is inserted in the circular groove, the motor 5 is fixedly connected to the crank 45, and the motor 5 can drive the crank 45 to rotate, and the end of the main connecting shaft 42 passes through the main slide groove 23 and is inserted into the third through hole, the main connecting shaft 42 is fixedly connected to the crank 45, and when the crank 45 rotates, the main connecting shaft 42, the main connecting arm 41 and the drive shaft 4 are driven to rotate together, because the circular groove is arranged parallel to the axis of the first through hole 12, that is, the shaft of the motor 5 is arranged parallel to the drive shaft 4, so that the motor 5 and the drive shaft 4 rotate coaxially, and the rotation is stable.

[0040] Alternatively, if Figure 2 , Figure 3 and Figure 6 As shown, fixing rings 14 are further provided on both sides of the trunk 1 , and the two motors 5 are correspondingly passed through the two fixing rings 14 .

[0041] In this embodiment, fixing rings 14 are provided on both sides of the trunk 1 , and the extending direction of the fixing rings 14 is the same as the direction of the first through hole 12 . The motor 5 is provided in the fixing rings 14 , providing an installation position for the motor 5 .

[0042] Alternatively, if Figure 3 and Figure 6As shown, the bionic butterfly aircraft further includes a top screw 15 . A threaded hole is formed on the fixing ring 14 . The top screw 15 is passed through the threaded hole and abuts against the motor 5 .

[0043] In this embodiment, a threaded hole is opened on the fixing ring 14, and the top screw 15 is screwed into the threaded hole. The end of the top screw 15 presses the motor 5 against the hole wall of the threaded hole, thereby improving the stability of the connection between the motor 5 and the drive.

[0044] Alternatively, if Figure 6 As shown, one end of the connecting portion 11 away from the trunk 1 extends upward relative to one end of the connecting portion 11 close to the trunk 1 , and the angle between the plane where the connecting portion 11 is located and the plane where the trunk 1 is located is between 14 degrees and 16 degrees.

[0045] In this embodiment, by tilting the connecting portion 11 upward, that is, tilting the main wing 2 and the aileron 3 upward, the height passed by the main wing 2 and the aileron 3 during flapping is smaller than the height passed by the downward flapping, the resistance generated by the upward flapping is smaller than the lift generated by the downward flapping, the lift is larger, and the flight of the aircraft is convenient. The upward offset angle of the connecting portion 11 is recorded as c, and c is between 14 and 16 degrees. When c is 15 degrees, the flight of the aircraft is most stable.

[0046] Alternatively, if Figure 6 As shown, the angle between the extension direction of the first through hole 12 located on either side of the trunk 1 and the extension direction of the trunk 1 is between 9 degrees and 11 degrees, and the end of the first through hole 12 facing the main wing 2 is closer to the trunk 1 than the end facing the aileron 3.

[0047] In this embodiment, the extension direction of the first through hole 12 is set at an angle with the extension direction of the trunk 1, and the angle is recorded as b. The end of the first through hole 12 facing the main wing 2 is closer to the trunk 1 than the end facing the aileron 3, that is, the drive shaft 4 and the motor 5 are both tilted, and there is an angle between the two drive shafts 4. When the main wing 2 and the aileron 3 flap up and down, the lift obtained has a torque relative to the center of mass of the aircraft, so that the aircraft rotates around the center of mass, that is, pitches, which fits the flying posture of a real butterfly. b is set between 9 degrees and 11 degrees. When b is 10 degrees, the flight of the aircraft is most stable.

[0048] Specifically, the wing surfaces of the main wing 2 and the aileron 3 are both made of PET material. By making the main wing 2 and the aileron 3 of PET material (Polyethylene Terephthalate), the main wing 2 and the aileron 3 have a certain flexibility, and can produce a certain passive deformation when the wings vibrate, so that the wings can obtain greater lift and forward momentum.

[0049] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A bionic butterfly aircraft, characterized in that: The invention comprises a trunk (1), a main wing (2), an aileron (3) and a coaxial double-slot transmission mechanism, wherein the two main wings (2) and the two ailerons (3) are symmetrically connected on both sides of the trunk (1) and are rotationally connected to the trunk (1), the main wings (2) and the ailerons (3) located on the same side of the trunk (1) are not in the same plane, the free end of the main wing (2) is higher than the free end of the aileron (3), the main wings (2) and the ailerons (3) located on both sides of the trunk (1) rotate symmetrically, and the coaxial double-slot transmission mechanism is connected to the trunk (1) and is used to drive the main wings (2) and the ailerons (3) to rotate synchronously.

2. The bionic butterfly aircraft according to claim 1, characterized in that: The included angle between the main wing (2) and the aileron (3) located on the same side of the trunk (1) is between 25 degrees and 35 degrees.

3. The bionic butterfly flying machine according to claim 1, characterized in that: The two coaxial double-slot transmission mechanisms are symmetrically arranged on both sides of the trunk (1) and are respectively used to drive the main wing (2) and the aileron (3) on the corresponding side to rotate synchronously; the coaxial double-slot transmission mechanism comprises a driving shaft (4), a main rocker (22) and a secondary rocker (32); a connecting portion (11) is provided on both sides of the trunk (1); a first through hole (12) and a second through hole (13) parallel to each other are opened on the connecting portion (11); the first through hole (12) is located between the second through hole (13) and the trunk (1); the driving shaft (4) is passed through the first through hole (12) and is rotatably connected to the first through hole (12); two ends of the driving shaft (4) passing through the first through hole (12) are respectively provided with a main connecting arm (41) and a secondary connecting arm (43); one end of the main connecting arm (41) is vertically connected to the driving shaft (4); and the other end of the main connecting arm (41) is vertically provided with a main connecting arm (43); The main wing (2) is provided with a main wing shaft (21) and a main rocker (22) provided with a main slide groove (23), the main wing shaft (21) and the main slide groove (23) are perpendicular to each other, the root of the aileron (3) is provided with an aileron shaft (31) and the aileron shaft (33) provided with a secondary slide groove (33), and the main wing shaft (21) and the main slide groove (23) are perpendicular to each other. Rod (32), the auxiliary wing shaft (31) and the auxiliary slide groove (33) are perpendicular to each other, the main wing shaft (21) and the auxiliary wing shaft (31) are respectively inserted into the two ends of the second through hole (13) and are rotatably connected to the second through hole (13), the main connecting shaft (42) is inserted into the main slide groove (23) and is slidably connected to the main slide groove (23), and the auxiliary connecting shaft (44) is inserted into the auxiliary slide groove (33) and is slidably connected to the auxiliary slide groove (33).

4. The bionic butterfly flying machine according to claim 3, characterized in that: The included angle between the main connecting arm (41) and the secondary connecting arm (43) is equal to the included angle between the main wing (2) and the aileron (3).

5. The bionic butterfly flying machine according to claim 3, characterized in that: It also comprises two motors (5), wherein the two motors (5) are correspondingly drivingly connected to the two coaxial double-slide groove transmission mechanisms.

6. The bionic butterfly flying machine according to claim 4, characterized in that: It also includes a crank (45), one end of which is provided with a third through hole, and the other end of which is provided with a circular groove, wherein the axes of the circular groove and the first through hole (12) are arranged in parallel, the shaft of the motor (5) is inserted into the circular groove and is fixedly connected to the crank (45), and one end of the main connecting shaft (42) passes through the main slide groove (23) or one end of the secondary connecting shaft (44) passes through the secondary slide groove (33) and is inserted into the third through hole and is fixedly connected to the crank (45).

7. The bionic butterfly flying machine according to claim 4, characterized in that: Fixed rings (14) are also provided on both sides of the trunk (1), and the two motors (5) are correspondingly inserted into the two fixed rings (14).

8. The bionic butterfly flying machine according to claim 6, characterized in that: It also includes a top screw (15). A threaded hole is provided on the fixing ring (14). The top screw (15) is passed through the threaded hole and abuts against the motor (5).

9. The bionic butterfly flying machine according to claim 4, characterized in that: An end of the connecting portion (11) away from the trunk (1) extends upward relative to an end of the connecting portion (11) close to the trunk (1), and an angle between a plane where the connecting portion (11) is located and a plane where the trunk (1) is located is between 14 degrees and 16 degrees.

10. The bionic butterfly flying machine according to claim 3, characterized in that: The included angle between the extension direction of the first through hole (12) located on either side of the trunk (1) and the extension direction of the trunk (1) is between 9 degrees and 11 degrees, and the end of the first through hole (12) facing the main wing (2) is closer to the trunk (1) than the end facing the aileron (3).

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