Dual-motor flapping wing bionic butterfly and flight control system

Abstract

The invention provides a double-motor flapping wing bionic butterfly and a flight control system, and aims to solve the problems that an existing bionic butterfly aircraft is complex in structure, poor in flexibility, high in cost, incapable of turning flexibly and the like. Comprising a motor base, motors and limiting structures are arranged on the two sides of the motor base respectively, output shafts of the motors are connected with wing connecting pieces, the wing connecting pieces are used for being connected with wings, and the limiting structures can physically limit the upper portion and the lower portion of the wing connecting pieces so that the wing connecting pieces can flap within the up-down A angle range. According to the scheme, double-motor driving is combined with physical limiting, the structure is simplified, the cost is reduced, and meanwhile the flight flexibility and the bionic effect are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of bionic aircraft, and particularly relates to a double-motor flapping-wing bionic butterfly and a flight control system. Background Art

[0002] With the development of robotics and bionics, bionic aircraft, especially devices that mimic the flight mechanism of butterflies, have received extensive attention. These devices have great application potential in military reconnaissance, environmental monitoring, and the entertainment industry. Currently, there are mainly the following types of bionic butterfly aircraft: double-servo-driven, single-motor gear-group-driven, and double-motor-driven.

[0003] For double-servo-driven bionic butterflies, the performance requirements for servos are very high, the cost is high, and due to the specifications of the servos themselves, it is impossible to make a small aircraft. For single-motor gear-group-driven bionic butterflies, the power is relatively sufficient, but the flapping frequency is too high, and the flight attitude is quite different from that of real butterflies. Since the left and right wings are synchronized, turning can only be achieved by adjusting the center of gravity, etc., which is not very flexible. And because of the size and weight limitations, the cost of small and precise gear groups is quite high. For double-motor-driven bionic butterflies, a matching drive structure is required to achieve back-and-forth flapping. Using a connecting rod mechanism, etc. will increase energy loss and weight, and turning cannot be achieved either. In view of the above situation, it is necessary to develop a bionic butterfly with a simple structure, good bionic effect, and low cost. Summary of the Invention

[0004] In view of this, the present invention provides a double-motor flapping-wing bionic butterfly and a flight control system to solve the problems of complex structure, poor flexibility, high cost, and inability to turn flexibly existing in single-motor gear-group-driven and double-motor-driven bionic butterfly aircraft in the prior art.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A double-motor flapping-wing bionic butterfly includes a motor base. On both sides of the motor base, there are respectively provided a motor and a limiting structure. The output shaft of the motor is connected to a wing connecting member, and the wing connecting member is used to connect the wings. The limiting structure can physically limit the up and down movement of the wing connecting member, so that the wing connecting member can flap within an up and down A-angle range.

[0007] In this technical solution, it should be noted that the wings refer to the shape of a butterfly in nature. The motor is used to drive the wing connector to swing up and down reciprocally and rotate, thereby driving the wings to swing up and down reciprocally. Among them, due to the setting of the limiting structure, physical limits can be imposed on the wing connector up and down, achieving a limiting effect of about 45° of up and down flapping. The shape design of the wings imitates a real butterfly to enhance the aerodynamic performance during flight. The motor is connected to the wing connector through its output shaft, converting rotational motion into the up and down flapping of the wings. The limiting structure ensures that the wing connector will not exceed the set angle range during the movement process, thereby realizing a stable and efficient flight attitude. This design enables the bionic butterfly to simulate the flight actions of a real butterfly while maintaining the structural stability and motion accuracy. The movement mode of the butterfly has unique advantages compared with other bionic aircraft.

[0008] Preferably, the limiting structure includes an arc-shaped plate provided on the motor base. The motor is installed inside the arc-shaped plate, and the wing connector is located inside the arc-shaped plate. When the wing connector rotates, the two ends of the arc-shaped plate can limit the wing connector.

[0009] In this technical solution, it should be noted that the motor is bonded to the inside of the arc-shaped plate by adhesive. This bonding method is not only firm and reliable but also can effectively absorb the vibration generated during the operation of the motor and reduce noise. The arc-shaped plate is circular arc-shaped, and its arc radius is precisely calculated to match the movement trajectory of the wing connector, ensuring that the installation position of the motor on the arc-shaped plate can provide the best power output angle. The shape design of the arc-shaped plate enables it to provide sufficient installation space for the motor, and at the same time, its inner surface is finely processed to ensure that the contact surface with the motor is flat, further enhancing the installation stability.

[0010] The upper and lower ends of the arc-shaped plate are designed as limiting surfaces. These two limiting surfaces are smoothly transitioned with the arc surface of the arc-shaped plate to form a complete limiting structure. When the wing connector rotates to the limit position, its end will contact the limiting surface of the arc-shaped plate, thereby stopping the movement and realizing the limit. This limiting method can accurately control the movement range of the wing connector, ensuring that it always moves within the range defined by the arc-shaped groove, and avoiding the over-rotation of the wing connector resulting in structural damage or flight attitude out of control.

[0011] This structural design not only realizes the precise control of the wing flapping angle but also ensures the stability and consistency of the aircraft during flight. By precisely controlling the wing flapping angle, the aircraft can simulate the flight attitude of a real butterfly and achieve a more natural and efficient flight. In addition, the introduction of this limiting structure enables the aircraft to realize efficient energy utilization and flexible flight control while maintaining a simple structure, improving the overall performance and service life of the aircraft.

[0012] Preferably, the included angle between the two motors is 60 degrees.

[0013] In this technical solution, it should be noted that a 60° included angle between the motors is beneficial for the flapping wings to generate upward and forward forces. Specifically, when the two motors are installed at a 60° included angle, the rotation direction and force of their output shafts can form a better resultant force angle, enabling the wings to generate more efficient lift and thrust during the flapping process. This angle setting not only optimizes the flapping trajectory of the wings but also ensures that the power outputs of the two motors form an effective synergy in space, thereby improving the overall flight efficiency of the aircraft. In addition, the 60° included angle design can also keep the wings in a relatively stable state during the flapping process, reducing energy loss and further enhancing the endurance and flight performance of the aircraft.

[0014] Preferably, the wing includes a first wing surface and a second wing surface respectively located on both sides of the wing connector. The edge of the first wing surface is provided with a first contour rod, a support rod, and a main rod. The first contour rod is located at the edge of the first wing surface, and one end of the first contour rod is connected to the wing connector. One end of the support rod is connected to the first contour rod, and the other end is connected to the end of the first wing surface relative to the first contour rod. One end of the main rod is connected to the wing connector, and the other end is connected to the first contour rod. The second wing surface is provided with a third contour rod and a fourth contour rod, and the third contour rod and the fourth contour rod are respectively located on both sides of the edge of the second wing surface, and one ends of the third contour rod and the fourth contour rod are connected to the wing connector.

[0015] In this technical solution, it should be noted that the area of the first wing surface is larger than that of the second wing surface. The first wing surface is supported by the first contour rod, the support rod, and the main rod, while the second wing surface is only supported by the third contour rod and the fourth contour rod. Compared with the first wing surface, the second wing surface is softer. Through the design of a larger front and a smaller rear and a softer rear wing, the operability is greatly improved, and the turning radius is reduced. This design enables the aircraft to adjust its attitude more flexibly during flight, achieve a smaller turning radius, and enhance the maneuverability of the aircraft. At the same time, the larger area and solid support structure of the first wing surface can provide sufficient lift, while the softness and smaller area of the second wing surface help to reduce flight resistance and improve flight efficiency. This asymmetrical design of the front and rear wing surfaces takes into account multiple factors such as lift, thrust, and flexibility, enabling the aircraft to be more realistic and efficient when simulating butterfly flight.

[0016] Preferably, the main rod is perpendicular to the main shaft of the motor.

[0017] In this technical solution, it should be noted that the main rod is perpendicularly arranged to the main shaft of the motor, such that the main rod serves as the main supporting structure of the wing. Its perpendicular installation manner with the motor main shaft enables the wing to generate greater lift and thrust during the flapping process. Moreover, it also helps to optimize the flapping efficiency of the wing. Due to the supporting effect of the main rod, the wing can remain stable during the flapping process, reducing unnecessary energy loss.

[0018] Preferably, the support rod, the first contour rod, the third contour rod, and the fourth contour rod are all made of elastic materials.

[0019] In this technical solution, it should be noted that the support rod, the first contour rod, the third contour rod, and the fourth contour rod are all made of elastic materials, specifically carbon fiber rods, which have good flexibility and elasticity. This design enables the support rod and the contour rods to undergo appropriate deformation during the wing flapping process, thereby generating more effective aerodynamic forces during flight. First of all, the elastic characteristics of the carbon fiber rods allow the wing to bend and deform to a certain extent during the flapping process. This deformation can increase the contact area between the wing and the air, improve the aerodynamic efficiency, and thus generate greater lift and thrust. For example, when the wing flaps downward, the elasticity of the support rod and the contour rods enables the wing to form a curved surface more conducive to air flow, increasing the force exerted by the air on the wing. Secondly, the relatively soft carbon fiber rods can absorb and release energy during flight. During the wing flapping process, the deformation of the elastic material can store part of the energy and release it when the wing rebounds, thereby improving the flight efficiency and reducing energy loss. This recycling of energy enables the aircraft to maintain stable flight with lower energy consumption. In addition, the use of elastic materials also improves the adaptability and flexibility of the aircraft. In the face of different flight conditions, such as wind speed changes or the need for rapid turning, the relatively soft support rod and contour rods can enable the wing to adjust its shape more quickly to adapt to the new airflow conditions, thereby maintaining a stable flight attitude. In summary, the design of using elastic carbon fiber rods for the support rod, the first contour rod, the third contour rod, and the fourth contour rod optimizes the aerodynamic performance through appropriate deformation, improves the flight efficiency and flexibility, and at the same time enhances the adaptability of the aircraft in complex environments.

[0020] Preferably, a flight control board is provided above the motor base. A main carbon rod is provided in the middle of the flight control board. One end of the main carbon rod extends in a direction away from the included angle formed by the two motors, and a battery is provided on the main carbon rod.

[0021] In this technical solution, it should be noted that the flight control board is installed above the motor mount. As the control center of the aircraft, it is responsible for receiving signals and controlling the operation of the motors. A main carbon rod is provided in the middle of the flight control board. As the main support structure of the aircraft, one end of the main carbon rod extends in a direction away from the included angle formed by the two motors. This design helps to optimize the center-of-gravity distribution and structural stability of the aircraft. A battery is provided on the main carbon rod. The battery provides the necessary power support for the entire flight system. Its position on the main carbon rod helps to balance the weight distribution of the aircraft and ensure balance and stability during flight. This layout design enables the aircraft to maintain good balance and stability during flight. At the same time, the extension direction of the main carbon rod and the position setting of the battery are both carefully considered to ensure the performance and efficiency of the aircraft.

[0022] A flight control system for a double-motor flapping bionic butterfly includes a signal receiving system and a control system;

[0023] The signal receiving system includes a wireless receiving module and a single-chip microcomputer. The wireless receiving module communicates with the remote control and communicates with the single-chip microcomputer through the Spi interface. After receiving the instruction, the single-chip microcomputer executes the corresponding control action;

[0024] The control system consists of a 50mAh 3.7V lithium battery, a planetary reduction motor, and a motor drive chip, and controls the rotation of the motor through the PWM signal sent by the single-chip microcomputer;

[0025] When the single-chip microcomputer receives a given throttle signal, it will give a corresponding current to control the forward and reverse rotation of the motor;

[0026] When the single-chip microcomputer receives the climb and descent signal, it will change the driving frequencies of the two wings;

[0027] When the single-chip microcomputer receives the steering signal, it will change the downward and upward flapping times of the two wings in the same cycle.

[0028] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0029] 1. In the present invention, due to the setting of the limiting structure, physical up-and-down limitation can be performed on the wing connecting piece, achieving a limiting effect of approximately 45° of up-and-down flapping. The motor is connected to the wing connecting piece through its output shaft, converting rotational motion into up-and-down flapping of the wings. The limiting structure ensures that the wing connecting piece does not exceed the set angle range during movement, thereby realizing a stable and efficient flight attitude. This design enables the bionic butterfly to simulate the flight actions of real butterflies while maintaining structural stability and movement accuracy.

[0030] 2. In the present invention, the arc-shaped plate is circular arc-shaped, and its arc radius is precisely calculated to match the movement trajectory of the wing connecting member, ensuring that the installation position of the motor on the arc-shaped plate can provide the optimal power output angle. The shape design of the arc-shaped plate enables it to provide sufficient installation space for the motor, and at the same time, its inner surface is finely processed to ensure that the contact surface with the motor is flat, further enhancing the installation stability.

[0031] 3. In the present invention, the included angle of the motors is 60°, which is beneficial for the flapping wings to generate upward and forward forces. Specifically, when the two motors are installed at an included angle of 60°, the rotation direction and force of their output shafts can form a better resultant force angle, enabling the wings to generate more efficient lift and thrust during the flapping process. This angle setting not only optimizes the flapping trajectory of the wings but also ensures that the power outputs of the two motors form an effective synergy in space, thereby improving the overall flight efficiency of the aircraft. In addition, the 60° included angle design can also keep the wings in a relatively stable state during the flapping process, reducing energy loss and further enhancing the endurance and flight performance of the aircraft.

[0032] 4. In the present invention, the main rod is arranged perpendicular to the main shaft of the motor, making the main rod the main support structure of the wing. Its perpendicular installation method with the main shaft of the motor can enable the wing to generate greater lift and thrust during the flapping process. Moreover, it also helps to optimize the flapping efficiency of the wing. Due to the support of the main rod, the wing can remain stable during the flapping process, reducing unnecessary energy loss.

[0033] 5. In the present invention, the support rod, the first contour rod, the third contour rod, and the fourth contour rod are all made of elastic materials, specifically carbon fiber rods, which have good flexibility and elasticity. This design enables the support rod and the contour rods to undergo appropriate deformation during the flapping process of the wings, thereby generating more effective aerodynamic forces during flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention will be described by way of examples with reference to the accompanying drawings, wherein:

[0035] Figure 1 is the schematic diagram of the overall structure of the present invention;

[0036] Figure 2 is the schematic diagram of the structure of the fuselage of the present invention;

[0037] Figure 3 is the top view of the wing of the present invention;

[0038] Figure 4 is the partial structure diagram of the motor seat of the present invention;

[0039] Wherein: 1 - motor base, 2 - motor, 3 - wing connecting piece, 4 - main rod, 6 - carbon rod, 7 - flight control board, 8 - battery, 9 - support rod, 10 - first contour rod, 11 - fourth contour rod, 12 - third contour rod, 13 - arc-shaped plate, 14 - first wing surface, 15 - second wing surface. Detailed implementation mode

[0040] To make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Usually, the components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various different configurations.

[0041] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0042] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0043] It should be noted that like reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0044] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include direct contact between the first and second features, or may include indirect contact between the first and second features through additional features therebetween. Moreover, the first feature being "above", "over" and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being "below", "under" and "beneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature.

[0045] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0046] Embodiment 1

[0047] As Figures 1-4As shown in the figure, an embodiment of the present invention discloses a double-motor flapping-wing bionic butterfly, which includes a motor base 1. On both sides of the motor base 1, there are respectively provided a motor 2 and a limiting structure. The output shaft of the motor 2 is connected to a wing connecting member 3, and the wing connecting member 3 is used to connect the wings. The limiting structure can physically limit the up and down movement of the wing connecting member 3, so that the wing connecting member 3 can flap within an up and down angle range of A. It should be noted that the wings refer to the shape of a natural butterfly. The motor 2 is used to drive the wing connecting member 3 to swing up and down reciprocally, and then drive the wings to swing up and down reciprocally. Among them, due to the setting of the limiting structure, the up and down physical limitation of the wing connecting member 3 can be achieved, and the limiting effect of about 45° of up and down flapping can be achieved. The shape design of the wings imitates a real butterfly to enhance the aerodynamic performance during flight. The motor 2 is connected to the wing connecting member 3 through its output shaft, converting the rotational motion into the up and down flapping of the wings. The limiting structure ensures that the wing connecting member 3 does not exceed the set angle range during the movement process, thereby realizing a stable and efficient flight attitude. This design enables the bionic butterfly to simulate the flight actions of a real butterfly while maintaining the structural stability and movement accuracy. The movement mode of the butterfly has unique advantages compared with other bionic aircraft.

[0048] As Figure 2As shown, in this embodiment, the limiting structure includes an arc-shaped plate 13 provided on the motor base 1. The motor 2 is installed inside the arc-shaped plate 13. The wing connecting member 3 is located within the arc-shaped plate 13. When the wing connecting member 3 rotates, both ends of the arc-shaped plate 13 can limit the wing connecting member. It should be noted that the motor 2 is adhesively bonded to the inside of the arc-shaped plate 13. This bonding method is not only firm and reliable but also can effectively absorb the vibration generated during the operation of the motor 2 and reduce noise. The arc-shaped plate 13 is circular-arc shaped, and its arc radius is precisely calculated to match the movement trajectory of the wing connecting member 3, ensuring that the installation position of the motor 2 on the arc-shaped plate 13 can provide the optimal power output angle. The shape design of the arc-shaped plate 13 enables it to provide sufficient installation space for the motor 2, and at the same time, its inner surface is finely processed to ensure that the contact surface with the motor 2 is flat, further enhancing the installation stability. The upper and lower ends of the arc-shaped plate 13 are designed as limiting surfaces, and these two limiting surfaces are smoothly transitioned with the arc surface of the arc-shaped plate 13 to form a complete limiting structure. When the wing connecting member 3 rotates to the extreme position, its end will contact the limiting surface of the arc-shaped plate 13, thereby stopping the movement and achieving the limit. This limiting method can precisely control the movement range of the wing connecting member 3, ensuring that it always moves within the range defined by the arc-shaped groove, and preventing the wing connecting member 3 from over-rotating, which may cause structural damage or flight attitude loss of control. This structural design not only realizes the precise control of the flapping angle of the wings but also ensures the stability and consistency of the aircraft during flight. By precisely controlling the flapping angle of the wings, the aircraft can simulate the flight attitude of a real butterfly and achieve more natural and efficient flight. In addition, the introduction of this limiting structure enables the aircraft to achieve efficient energy utilization and flexible flight control while maintaining a simple structure, improving the overall performance and service life of the aircraft.

[0049] As Figure 2 shown, in this embodiment, the included angle between the two motors 2 is 60 degrees. It should be noted that an included angle of 60° between the motors 2 is beneficial for the flapping wings to generate upward and forward forces. Specifically, when the two motors 2 are installed at an included angle of 60°, the rotation direction and force of their output shafts can form a better resultant force angle, enabling the wings to generate more efficient lift and thrust during the flapping process. This angle setting can not only optimize the flapping trajectory of the wings but also ensure that the power outputs of the two motors 2 form an effective synergistic effect in space, thereby improving the overall flight efficiency of the aircraft. In addition, the 60° included angle design can also keep the wings in a relatively stable state during the flapping process, reduce energy loss, and further enhance the endurance and flight performance of the aircraft.

[0050] As Figure 3As shown, in this embodiment, the wings include a first wing surface 14 and a second wing surface 15 respectively located on both sides of the wing connector 3. The edge of the first wing surface 14 is provided with a first contour rod 10, a support rod 9, and a main rod 4. The first contour rod 10 is located at the edge of the first wing surface 14, and one end of the first contour rod 10 is connected to the wing connector 3. One end of the support rod 9 is connected to the first contour rod 10, and the other end is connected to one end of the first wing surface relative to the first contour rod 10. One end of the main rod 4 is connected to the wing connector 3, and the other end is connected to the first contour rod 10. The second wing surface is provided with a third contour rod 12 and a fourth contour rod 11. The third contour rod 12 and the fourth contour rod 11 are respectively located on both sides of the edge of the second wing surface, and one end of the third contour rod 12 and the fourth contour rod 11 is connected to the wing connector 3. It should be noted that the area of the first wing surface is larger than that of the second wing surface. The first wing surface is supported by the first contour rod 10, the support rod 9, and the main rod 4, while the second wing surface is only supported by the third contour rod 12 and the fourth contour rod 11. Relatively speaking, the second wing surface is softer. Through the design of the front wing being larger and the rear wing being softer, the maneuverability is greatly improved, and the turning radius is reduced. This design enables the aircraft to adjust its attitude more flexibly during flight, achieve a smaller turning radius, and enhance the maneuverability of the aircraft. At the same time, the larger area and strong support structure of the first wing surface can provide sufficient lift, while the softness and smaller area of the second wing surface help to reduce flight resistance and improve flight efficiency. This asymmetric design of the front and rear wing surfaces, taking into account multiple factors such as lift, thrust, and flexibility, enables the aircraft to be more realistic and efficient when simulating butterfly flight.

[0051] As Figure 4 shown, in this embodiment, the main rod 4 is perpendicular to the main shaft of the motor 2. It should be noted that setting the main rod 4 perpendicular to the main shaft of the motor 2 enables the main rod 4 to be the main support structure of the wing. Its perpendicular installation method with the main shaft of the motor 2 can enable the wing to generate greater lift and thrust during the flapping process. Moreover, it also helps to optimize the flapping efficiency of the wing. Due to the support of the main rod 4, the wing can remain stable during the flapping process, reducing unnecessary energy loss.

[0052] In this embodiment, the support rod 9, the first contour rod 10, the third contour rod 12, and the fourth contour rod 11 are all made of elastic materials.

[0053] It should be noted that the support rod 9, the first contour rod 10, the third contour rod 12, and the fourth contour rod 11 are all made of elastic materials, specifically carbon fiber rods, which have good flexibility and elasticity. This design enables the support rod 9 and the contour rods to undergo appropriate deformations during the flapping of the wings, thereby generating more effective aerodynamic forces during flight. First of all, the elastic properties of the carbon fiber rods allow the wings to bend and deform to a certain extent during the flapping process. This deformation can increase the contact area between the wings and the air, improve the aerodynamic efficiency, and thus generate greater lift and thrust. For example, when the wings flap downward, the elasticity of the support rod 9 and the contour rods enables the wings to form a curved surface that is more conducive to air flow, increasing the force exerted by the air on the wings. Secondly, the relatively soft carbon fiber rods can absorb and release energy during flight. During the flapping of the wings, the deformation of the elastic material can store part of the energy and release it when the wings rebound, thereby improving the flight efficiency and reducing energy loss. This recycling of energy enables the aircraft to maintain stable flight with lower energy consumption. In addition, the use of elastic materials also improves the adaptability and flexibility of the aircraft. In the face of different flight conditions, such as changes in wind speed or the need for rapid turning, the relatively soft support rod 9 and the contour rods can enable the wings to adjust their shapes more quickly to adapt to the new airflow conditions, thereby maintaining a stable flight attitude. In summary, the design of using elastic carbon fiber rods for the support rod 9, the first contour rod 10, the third contour rod 12, and the fourth contour rod 11 optimizes the aerodynamic performance through appropriate deformations, improves the flight efficiency and flexibility, and at the same time enhances the adaptability of the aircraft in complex environments.

[0054] As Figure 2 shown, in this embodiment, a flight control board 7 is provided above the motor base 1. A main carbon rod 6 is provided in the middle of the flight control board 7. One end of the main carbon rod 6 extends in a direction away from the included angle formed by the two motors 2. A battery 8 is provided on the main carbon rod 6. It should be noted that the flight control board 7 is installed above the motor base 1 and serves as the control center of the aircraft, responsible for receiving signals and controlling the operation of the motors 2. A main carbon rod 6 is provided in the middle of the flight control board 7. The main carbon rod 6 serves as the main support structure of the aircraft, and one end of it extends in a direction away from the included angle formed by the two motors 2. This design helps to optimize the center-of-gravity distribution and structural stability of the aircraft. A battery 8 is provided on the main carbon rod 6. The battery 8 provides the necessary power support for the entire flight system. Its position is set on the main carbon rod 6, which helps to balance the weight distribution of the aircraft and ensure balance and stability during flight. This layout design enables the aircraft to maintain good balance and stability during flight. At the same time, the extension direction of the main carbon rod 6 and the position setting of the battery 8 are both carefully considered to ensure the performance and efficiency of the aircraft.

[0055] The working principle of this embodiment is as follows:

[0056] Signal reception and processing: The signal sent by the remote control is received by the A7105 RF chip and communicated with the single-chip microcomputer through the Spi interface. After receiving the instruction, the single-chip microcomputer performs corresponding control actions.

[0057] Flapping process: When receiving a given throttle signal, the flight control board will give a corresponding current to control the forward and reverse rotation of Motor 2. The rotation of Motor 2 drives the wing connecting piece 3, which drives the main rod 4 to rotate around the axis of Motor 2. The main rod 4 drives the support rod 9 and the contour rod to lift the wing surface to generate airflow. The angle between Motor 2 is 60°, which is beneficial for the flapping wing to generate upward and forward forces.

[0058] Level flight process: When flapping upward in each cycle, the two wings will be aligned by the physical limit of the motor base 1 to achieve stable flight, and the flight attitude is natural with good bionic effect.

[0059] Climbing and descending process: When receiving the climbing and descending signal, the flight control board will change the driving frequencies of the two wings.

[0060] Steering process: When receiving the steering signal, the flight control board will change the downward and upward flapping times of the two wings in the same cycle. This scheme directly changes the flapping amplitude of the left and right wings, with a small turning radius, simulating the real steering method of a butterfly.

[0061] Embodiment 2

[0062] This embodiment provides a flight control system for a bionic butterfly with two motors, including a signal reception system and a control system;

[0063] The signal reception system includes a wireless reception module and a single-chip microcomputer. The wireless reception module communicates with the remote control and communicates with the single-chip microcomputer through the Spi interface. After receiving the instruction, the single-chip microcomputer performs corresponding control actions;

[0064] The control system consists of a 50mah 3.7V lithium battery, a planetary reduction motor, and a motor drive chip, and controls the rotation of the motor through the PWM signal sent by the single-chip microcomputer;

[0065] When the single-chip microcomputer receives a given throttle signal, it will give a corresponding current to control the forward and reverse rotation of the motor;

[0066] When the single-chip microcomputer receives the climbing and descending signal, it will change the driving frequencies of the two wings;

[0067] When the single-chip microcomputer receives the steering signal, it will change the downward and upward flapping times of the two wings in the same cycle.

[0068] The circuits, electronic components, and modules involved are all existing technologies, which can be fully realized by those skilled in the art without further elaboration. The content protected by the present invention does not involve improvements to software and methods either.

[0069] In the present specification, the various embodiments are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference may be made to each other.

[0070] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A double-motor flapping-wing bionic butterfly, characterized in that It includes a motor base (1), with a motor (2) and a limiting structure respectively provided on both sides of the motor base (1). The output shaft of the motor (2) is connected to a wing connecting piece (3), and the wing connecting piece (3) is used to connect the wings. The limiting structure can physically limit the up and down movement of the wing connecting piece (3), so that the wing connecting piece (3) can flap within an up and down angle range of A degrees.

2. The bionic butterfly with flapping wings having two motors according to claim 1, wherein The limiting structure includes an arc-shaped plate (13) provided on the motor base (1). The motor (2) is installed inside the arc-shaped plate (13), and the wing connecting piece (3) is located inside the arc-shaped plate (13). When the wing connecting piece (3) rotates, both ends of the arc-shaped plate (13) can limit the wing connecting piece.

3. The bionic butterfly with flapping wings having two motors according to claim 1, wherein The included angle between the two motors (2) is 60 degrees.

4. A double-motor flapping-wing bionic butterfly according to claim 1, characterized in that, The wings include a first wing surface (14) and a second wing surface (15) respectively located on both sides of the wing connecting piece (3).

5. A double-motor flapping-wing bionic butterfly according to claim 4, characterized in that, The first wing surface (14) is provided with a first contour rod (10), a support rod (9) and a main rod (4). The first contour rod (10) is located at the edge of the first wing surface (14), and one end of the first contour rod (10) is connected to the wing connecting piece (3). One end of the support rod (9) is connected to the first contour rod (10), and the other end is connected to the end of the first wing surface (14) relative to the first contour rod (10). One end of the main rod (4) is connected to the wing connecting piece (3), and the other end is connected to the first contour rod (10).

6. The bionic butterfly with flapping wings having two motors according to claim 5, characterized in that, The main rod (4) is perpendicular to the main shaft of the motor (2).

7. A double-motor flapping-wing bionic butterfly according to claim 5, characterized in that The second wing surface (15) is provided with a third contour rod (12) and a fourth contour rod (11). The third contour rod (12) and the fourth contour rod (11) are respectively located on both sides of the edge of the second wing surface (15), and one end of the third contour rod (12) and the fourth contour rod (11) is connected to the wing connecting piece (3).

8. A double-motor flapping-wing bionic butterfly according to claim 7, characterized in that, The support rod (9), the first contour rod (10), the third contour rod (12) and the fourth contour rod (11) are all made of elastic materials.

9. The double-motor flapping-wing bionic butterfly according to claim 3, characterized in that, Above the motor base (1) is provided a flight control board (7). In the middle of the flight control board (7) is provided a main carbon rod (6). One end of the main carbon rod (6) extends in a direction away from the included angle formed by the two motors (2), and a battery (8) is provided on the main carbon rod (6).

10. A flight control system for a bionic butterfly with double motors and flapping wings, characterized in that, The flight control system is installed on the flight control board of a double-motor flapping-wing bionic butterfly as claimed in claim 9, and includes a signal receiving system and a control system; The signal receiving system includes a wireless receiving module and a single-chip microcomputer. The wireless receiving module communicates with the remote control and communicates with the single-chip microcomputer through the Spi interface. After receiving the instruction, the single-chip microcomputer performs corresponding control actions; The control system consists of a 50mah 3.7V lithium battery that can drive the motor to rotate, a planetary reduction motor, and a motor drive chip, and controls the rotation of the motor through the PWM signal sent by the single-chip microcomputer; When the single-chip microcomputer receives a given throttle signal, it will give a corresponding current to control the forward and reverse rotation of the motor; When the single-chip microcomputer receives a climb and descent signal, it will change the driving frequencies of the two wings; When the single-chip microcomputer receives the steering signal, it will change the downward and upward flapping times of the two wings in the same cycle.

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