Bionic flapping wing aircraft

Abstract

The invention relates to the technical field of bionic robots, and particularly discloses a bionic flapping wing aircraft. The aircraft comprises a main body module and two wing modules, the aircraft comprises an aircraft body, two driving assemblies and two rotating assemblies, each rotating assembly comprises a main body unit and a swing unit, the main body units are rotationally connected to the swing units, and each driving assembly can be in transmission fit with one main body unit to enable the rotating assemblies to swing around a first axis; the two wing modules are located on the two sides of the machine body respectively, each wing module comprises a wing main body, each swing unit is connected with one wing main body, the main body unit is used for driving the swing units to swing around a second axis so as to drive the wing main bodies to move close to or away from the machine body, and the first axis and the second axis are not parallel and do not intersect. The aircraft simulates flapping of wings of insects such as butterflies through a unique double-axis swinging design, the bionic performance is improved, and the flying stability and maneuverability are enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic robots, in particular to a bionic flapping-wing aircraft. Background Art

[0002] With the rapid development of science and technology, bionics, a discipline that explores the morphology, function, and behavior of living things and applies them to engineering design and technological innovation, is gaining increasing attention and in-depth research. Among the many research subjects in bionics, the bionic butterfly, due to its unique wing structure and flight method, has become a particularly valuable research direction.

[0003] As a familiar symbol of the insect world, butterflies have long captivated people with their wing structure and flight methods. Research on biomimetic butterflies primarily focuses on wing structure and flight mechanisms. Butterfly wings are characterized by lightness, toughness, and flexibility, enabling them to achieve rapid and agile flight. Existing technologies are dedicated to analyzing the structure and morphology of butterfly wings, drawing on these characteristics to improve engineering design and technological applications, thereby enhancing the performance and efficiency of aircraft.

[0004] However, current bionic flapping-wing aircraft on the market still have shortcomings when it comes to simulating butterfly flight. Most aircraft struggle to achieve the complex motion patterns of butterfly wings and cannot accurately reproduce the complex wing motions of a butterfly in flight. This results in poor bionic effects, limited flight flexibility, and room for improvement in stability and maneuverability. Summary of the Invention

[0005] The purpose of the present invention is to provide a bionic flapping-wing aircraft that simulates the flapping of the wings of insects such as butterflies through a unique dual-axis swinging design, improves bionic performance, and enhances flight stability and maneuverability.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] A bionic flapping-wing aircraft comprises a main body module and two wing modules; the main body module comprises an aircraft body, two drive assemblies and two rotating assemblies, the rotating assembly comprises a main unit and a swinging unit, the main unit is rotatably connected to the swinging unit, each of the drive assemblies can cooperate with a main body unit in transmission to make the rotating assembly swing around a first axis; the two wing modules are separated on both sides of the aircraft body, the wing module comprises a wing body, each of the swinging units is connected to a wing body, the main unit is used to drive the swinging unit to swing around a second axis to drive the wing body to move closer to or away from the aircraft body, wherein the first axis and the second axis are not parallel and do not intersect.

[0008] As an optional technical solution for a bionic flapping-wing aircraft, a power storage unit is provided on the body, which is used to supply power to the main unit and the drive component; the wing module also includes a power recovery component provided on the wing body, which is electrically connected to the power storage unit to provide power to the power storage unit.

[0009] As an optional technical solution for bionic flapping-wing aircraft, the power recovery component includes a photoelectric film and a photoelectric conversion element. The photoelectric film is attached to the surface of the wing body, the photoelectric film is electrically connected to the photoelectric conversion element, and the photoelectric conversion element is electrically connected to the power storage unit.

[0010] As an optional technical solution for bionic flapping-wing aircraft, the power recovery component includes a piezoelectric film and two piezoelectric electrodes. One end of the piezoelectric film is connected to the surface of the wing body, and the other end is connected to the main unit. The two piezoelectric electrodes are respectively connected to the two ends of the piezoelectric film, and the two piezoelectric electrodes are respectively electrically connected to the power storage unit.

[0011] As an optional technical solution for a bionic flapping-wing aircraft, a control unit is also provided on the body, and the power storage unit is electrically connected to the control unit for supplying power to the control unit. The control unit is respectively communicated with the main unit and the drive component for controlling the main unit and the drive component.

[0012] As an optional technical solution for the bionic flapping-wing aircraft, the power recovery component is arranged on a side of the wing body close to the power storage unit.

[0013] As an optional technical solution for the bionic flapping-wing aircraft, the rotating assembly can be detachably mounted on the body.

[0014] As an optional technical solution for a bionic flapping-wing aircraft, the main unit includes a follower and a flapping servo fixed to the follower, the follower is in transmission cooperation with the drive assembly, and the output end of the flapping servo is in transmission cooperation with the swing unit.

[0015] As an optional technical solution for a bionic flapping-wing aircraft, the body includes a cover and a fuselage, the cover and the fuselage form a receiving cavity, the follower is installed in the receiving cavity, and the cover is detachably connected to the fuselage.

[0016] As an optional technical solution for a bionic flapping-wing aircraft, the driven member includes a driven gear; the driving assembly includes a rotary servo and a gear unit, the rotary servo is arranged on the body and the output end of the rotary servo is connected to the gear unit, and the gear unit can engage and link with the driven gear.

[0017] Beneficial effects of the present invention:

[0018] The main module of this bionic flapping-wing aircraft is capable of driving the wings to swing along two different axes. This unique dual-axis swing design enables the wings to execute complex motion patterns. The main unit drives the swing unit to swing about a second axis, driving the wings toward or away from the body, enabling more complex and diverse flight postures. This allows the bionic flapping-wing aircraft to more realistically simulate the flapping of the wings of insects such as butterflies during flight, enhancing the biomimetic effect. The drive assembly causes the rotation assembly to swing about a first axis that is non-parallel to and non-intersecting with the second axis, controlling the wing body to twist or rotate the wing surface during flapping, achieving complex motion patterns. This multi-dimensional motion enables simultaneous wing surface rotation while the wing body flaps up and down, further recreating the complex wing motion behavior of a butterfly in flight. This makes the bionic flapping-wing aircraft compact, coordinated, and flexible in flight. This achieves flapping-coupled wing surface rotation, enhancing the bionic performance of the bionic flapping-wing aircraft, making its flight posture more flexible and closer to that of natural flight, and increasing its flight stability and maneuverability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a top view of a bionic flapping-wing aircraft provided by an embodiment of the present invention;

[0020] Figure 2 1 is a front view of a bionic flapping-wing aircraft provided by an embodiment of the present invention;

[0021] Figure 3 is a side view of a bionic flapping-wing aircraft provided by an embodiment of the present invention;

[0022] Figure 4 is a side view of the rotating assembly of the bionic flapping-wing aircraft provided by an embodiment of the present invention at the front extreme position;

[0023] Figure 5 1 is a side view of the rotating assembly of the bionic flapping-wing aircraft provided by an embodiment of the present invention at the rear extreme position;

[0024] Figure 6 Schematic diagram of the structure of the main module and the piezoelectric film provided by an embodiment of the present invention;

[0025] Figure 7 is an exploded view of the main module and the piezoelectric film provided in an embodiment of the present invention;

[0026] Figure 8 It is a cross-sectional view of the main body module provided by an embodiment of the present invention.

[0027] In the picture:

[0028] 10. Main module; 11. Cover; 12. Fuselage; 13. Rotating assembly; 131. Driven gear; 132. Flapping servo; 133. Swing unit; 14. Rotating servo; 15. Gear shaft; 16. Driving gear; 17. Transmission gear; 18. Storage unit; 19. Control unit;

[0029] 20. Wing module; 21. Piezoelectric film; 22. Photoelectric film; 23. Wing body. DETAILED DESCRIPTION

[0030] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0031] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature being "above", "above" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0032] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0033] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0034] like Figures 1 to 8 As shown, this embodiment provides a bionic flapping-wing aircraft, including a main body module 10 and two wing modules 20; the main body module 10 includes a body, two drive components and two rotating components 13, the rotating component 13 includes a main unit and a swing unit 133, the main unit is rotatably connected to the swing unit 133, each drive component can be transmitted and cooperated with a main unit to make the rotating component 13 swing around a first axis; the two wing modules 20 are separated on both sides of the body, the wing module 20 includes a wing body 23, each swing unit 133 is connected to a wing body 23, the main unit is used to drive the swing unit 133 to swing around a second axis to drive the wing body 23 to move closer to or away from the body, wherein the first axis and the second axis are not parallel and do not intersect.

[0035] The main module 10 of the bionic flapping-wing aircraft is capable of driving the wing bodies 23 to swing about two different axes. This unique dual-axis swing design enables the wing bodies 23 to execute complex motion patterns. The main unit drives the swing unit 133 to swing about the second axis, driving the wing bodies 23 to move toward or away from the aircraft body, enabling more complex and diverse flight postures, allowing the bionic flapping-wing aircraft to more realistically simulate the flapping of the wings of insects such as butterflies during flight, and enhancing the bionic effect. The drive assembly causes the rotation assembly 13 to swing about a first axis that is non-parallel to and non-intersecting with the second axis, controlling the wing bodies 23 to twist or rotate their wing surfaces during flapping, thus achieving complex motion patterns. This multi-dimensional movement can achieve wing surface rotation while the wing body 23 flaps up and down, thereby more realistically restoring the compound wing movement behavior of a butterfly in flight, making the bionic flapping-wing aircraft compact in structure, coordinated in movement, and flexible in control during flight, achieving flapping-coupled wing surface rotation, improving the bionic performance of the bionic flapping-wing aircraft, making the flight posture of the bionic flapping-wing aircraft more flexible and closer to the flight of natural organisms, and enhancing the stability and maneuverability of the flight.

[0036] By twisting or rotating the wing surface, the leading edge angle of attack or twist angle of the wing body 23 can be adjusted, thereby achieving aerodynamic regulation of the wing surface at different flapping stages.

[0037] When the wing body 23 flaps toward the fuselage, the wing surface can be swept back slightly (i.e., to increase lift); when the wing body 23 flaps away from the fuselage, the wing surface is swept forward or twisted slightly (i.e., to reduce drag), thereby forming a coordinated regulation of lift and thrust.

[0038] In this embodiment, the wing body 23 is provided with a wing frame and a wing membrane bonded to the surface of the wing frame. In other implementations of this embodiment, the wing body 23 is provided with only the wing frame.

[0039] like Figure 4 and Figure 5 As shown, the rotating assembly 13 swings around the first axis between a front limit position and a rear limit position.

[0040] Continue to refer Figures 1 to 8 In this embodiment, a power storage unit 18 is provided on the body, and the power storage unit 18 is used to supply power to the main unit and the drive component; the wing module 20 also includes a power recovery component provided on the wing body 23, and the power recovery component is electrically connected to the power storage unit 18 to provide power to the power storage unit 18.

[0041] A power storage unit 18 is installed on the fuselage to power the main unit and drive components, ensuring the bionic flapping-wing aircraft's power source. Furthermore, a power recovery component is installed on the wing body 23 to provide power to the power storage unit 18. This recovers excess energy during flight and replenishes it back into the power storage unit 18. This achieves energy recovery and reuse, improves energy utilization efficiency, reduces energy waste, effectively alleviates the pressure of power consumption during high-intensity flight missions, extends the flight endurance of the bionic flapping-wing aircraft, ensures flight endurance, and reduces dependence on external power sources.

[0042] Furthermore, the power recovery component includes a photovoltaic film 22 and a photovoltaic converter. The photovoltaic film 22 is attached to the surface of the wing body 23 . The photovoltaic film 22 is electrically connected to the photovoltaic converter, and the photovoltaic converter is electrically connected to the power storage unit 18 .

[0043] The photovoltaic film 22 in the power recovery component continuously absorbs ambient light energy under sunlight, converts it into electrical energy through the photovoltaic converter, and transmits it to the power storage unit 18, providing additional power for the bionic flapping-wing aircraft. This solar energy supplementation method increases the energy recovery method, utilizing renewable solar energy to achieve the conversion of light energy into electrical energy, further improving the energy recovery efficiency and autonomous flight capabilities of the bionic flapping-wing aircraft.

[0044] Moreover, the photoelectric film 22 is attached to the surface of the wing body 23, which will not have a significant impact on the aerodynamic shape of the wing body 23 and the aerodynamic performance of the bionic flapping-wing aircraft. At the same time, it ensures that the photoelectric film 22 can fully utilize the surface area of the wing to absorb light energy.

[0045] Specifically, the photovoltaic film 22 is made of a flexible photovoltaic thin film material, which not only has a good strength-to-weight ratio but also has a stable light energy conversion efficiency.

[0046] Exemplarily, the power recovery component includes a piezoelectric film 21 and two piezoelectric electrodes. One end of the piezoelectric film 21 is connected to the surface of the wing body 23, and the other end is connected to the main unit. The two piezoelectric electrodes are respectively arranged at both ends of the piezoelectric film 21, and the two piezoelectric electrodes are respectively electrically connected to the storage unit 18.

[0047] One end of the piezoelectric film 21 is connected to the surface of the wing body 23, and the other end is connected to the main unit. Each time the wing body 23 flaps and elastically deforms, the piezoelectric film 21 is driven to generate a microvoltage, enabling the bionic flapping-wing aircraft to convert the wing's flapping kinetic energy into electrical energy during flapping motion. The voltage is then rectified by the piezoelectric electrodes and transmitted to the storage unit 18, achieving continuous recovery of the flapping kinetic energy and replenishing the storage unit 18 with electrical energy. This energy recovery method, which utilizes the piezoelectric effect, fully utilizes the energy generated during the wing's flapping motion. Together with the photoelectric film 22's recovery of light energy, it forms a multi-energy complementary energy supply path, improving the overall energy utilization efficiency and flight endurance. Furthermore, the connection method of the piezoelectric film 21 enables it to adapt well to the movement of the wing body 23, preventing damage due to the frequent wing swinging, thus ensuring the stability of energy recovery. Specifically, the piezoelectric film 21 is made of a flexible piezoelectric composite film material that conforms naturally to the wing body 23 without affecting the aerodynamic performance of the wing module 20.

[0048] In this embodiment, a control unit 19 is further provided on the body, and the power storage unit 18 is electrically connected to the control unit 19 for supplying power to the control unit 19. The control unit 19 is respectively communicated with the main unit and the drive component for controlling the main unit and the drive component.

[0049] The power storage unit 18 supplies power to the control unit 19 , so that the control unit 19 can accurately regulate the actions of the main unit and the drive assembly, thereby ensuring the normal operation of the control unit 19 .

[0050] The control unit 19 is respectively communicated with the main unit and the drive assembly, and can synchronously control the actions of the two main units and the two drive assemblies, so that timing coupling is achieved between the main unit and the drive assembly, thereby realizing coordinated control of lift and thrust, ensuring that the flight attitude and performance of the bionic flapping-wing aircraft are precisely controlled, improving the flight stability and controllability of the bionic flapping-wing aircraft, and thus realizing intelligent control.

[0051] Exemplarily, the power recovery component is provided on a side of the wing body 23 close to the power storage unit 18 .

[0052] Positioning the power recovery assembly on the side of the wing body 23 near the power storage unit 18 shortens the distance of power transmission and facilitates connection between the power recovery assembly and the power storage unit 18. This simple structure and ease of wiring reduce power loss during transmission and improve energy recovery efficiency. This layout also makes the bionic flapping-wing aircraft more compact and rational, reduces wiring complexity, and facilitates its overall design and maintenance.

[0053] In this embodiment, the rotating assembly 13 is detachably mounted on the machine body.

[0054] The rotating assembly 13 is removably mounted on the fuselage. If a single wing module 20 is damaged, it can be quickly removed and replaced along with the corresponding rotating assembly 13, without the need for complex tools. This significantly improves the maintainability and on-site maintenance efficiency of the bionic flapping-wing aircraft, reducing maintenance costs and time, facilitating the integrated assembly of the bionic flapping-wing aircraft, and contributing to the modular design of the overall structure.

[0055] Furthermore, the main unit includes a follower and a flapping servo 132 fixedly connected to the follower. The follower is in transmission cooperation with the driving assembly, and the output end of the flapping servo 132 is in transmission cooperation with the swing unit 133.

[0056] The output end of the flapping servo 132 in the main unit cooperates with the swing unit 133 to precisely control the swing unit 133's swinging motion about the second axis, thereby controlling the up and down flapping motion of the wing body 23. The driven member cooperates with the drive assembly to transmit the drive assembly's power to the rotating assembly 13, causing the rotating assembly 13 to swing about the first axis. This structure clarifies the functions of each component and the power transmission path, ensuring precise control of the movement of the wing body 23 and achieving synchronous, symmetrical, or asymmetrical flapping of both wings. This better simulates the lift generation process during butterfly flapping and improves the lift control accuracy of the bionic flapping-wing aircraft.

[0057] Furthermore, the machine body includes a machine cover 11 and a machine body 12 , the machine cover 11 and the machine body 12 form a receiving cavity, the follower is installed in the receiving cavity, and the machine cover 11 is detachably connected to the machine body 12 .

[0058] The aircraft body employs a structure in which a housing 11 and a fuselage 12 enclose a chamber, within which the follower is mounted, protecting it. The housing 11 is detachably connected to the fuselage 12, facilitating disassembly, assembly, commissioning, and maintenance of the follower and other components within the chamber. This reduces maintenance effort, improves efficiency, and further enhances the maintainability of the bionic flapping-wing aircraft.

[0059] In this embodiment, the driven member includes a driven gear 131; the driving assembly includes a rotary servo 14 and a gear unit, the rotary servo 14 is arranged on the body and the output end of the rotary servo 14 is connected to the gear unit, and the gear unit can engage and link with the driven gear 131.

[0060] The driven member adopts a driven gear 131, and the rotary servo 14 of the driving assembly is engaged with the driven gear 131 through a gear unit. This gear transmission method can ensure that the power of the rotary servo 14 is stably transmitted to the driven member, so that the rotating assembly 13 and the wing body 23 can accurately move according to the control instructions. It has the characteristics of high transmission accuracy and good stability, so that the rotary servo 14 can effectively control the movement of the driven member, and then realize precise control of the movement of the wing body 23, thereby enhancing the accuracy and reliability of the motion control of the bionic flapping-wing aircraft.

[0061] Furthermore, the gear unit includes a meshing driving gear 16 and a transmission gear 17. The driving gear 16 is coaxially fixed to the output end of the rotary servo 14. A gear shaft 15 is fixed to the fuselage 12. The transmission gear 17 is rotatably connected to the gear shaft 15 and meshes with the driven gear 131.

[0062] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A bionic flapping-wing aircraft, characterized in that: include: A main body module (10) comprises a body, two drive assemblies and two rotating assemblies (13), wherein the rotating assembly (13) comprises a main body unit and a swing unit (133), wherein the main body unit is rotatably connected to the swing unit (133), and each of the drive assemblies can be driven and matched with one of the main body units to cause the rotating assembly (13) to swing around a first axis; Two wing modules (20) are located on both sides of the body, the wing modules (20) include a wing body (23), each of the swing units (133) is connected to a wing body (23), and the body unit is used to drive the swing unit (133) to swing around a second axis to drive the wing body (23) to move closer to or away from the body, wherein the first axis and the second axis are not parallel and do not intersect.

2. The bionic flapping-wing aircraft according to claim 1, characterized in that: The body is provided with a power storage unit (18), and the power storage unit (18) is used to supply power to the main unit and the drive component; the wing module (20) also includes a power recovery component provided on the wing body (23), and the power recovery component is electrically connected to the power storage unit (18) to provide power to the power storage unit (18).

3. The bionic flapping-wing aircraft according to claim 2, characterized in that: The power recovery component includes a photoelectric film (22) and a photoelectric conversion element. The photoelectric film (22) is attached to the surface of the wing body (23). The photoelectric film (22) is electrically connected to the photoelectric conversion element. The photoelectric conversion element is electrically connected to the power storage unit (18).

4. The bionic flapping-wing aircraft according to claim 2, characterized in that: The power recovery component includes a piezoelectric film (21) and two piezoelectric electrodes, one end of the piezoelectric film (21) is connected to the surface of the wing body (23), and the other end is connected to the main unit, the two piezoelectric electrodes are respectively arranged at the two ends of the piezoelectric film (21), and the two piezoelectric electrodes are respectively electrically connected to the storage unit (18).

5. The bionic flapping-wing aircraft according to claim 2, characterized in that: The machine body is further provided with a control unit (19), the power storage unit (18) is electrically connected to the control unit (19) and is used to supply power to the control unit (19), and the control unit (19) is respectively connected to the main unit and the drive assembly for controlling the main unit and the drive assembly.

6. The bionic flapping-wing aircraft according to claim 2, characterized in that: The power recovery component is arranged on a side of the wing body (23) close to the power storage unit (18).

7. The bionic flapping-wing aircraft according to claim 1, characterized in that: The rotating assembly (13) is detachably mounted on the machine body.

8. The bionic flapping-wing aircraft according to claim 7, characterized in that: The main body unit comprises a driven member and a flapping servo (132) fixedly connected to the driven member, the driven member is in transmission cooperation with the driving assembly, and the output end of the flapping servo (132) is in transmission cooperation with the swing unit (133).

9. The bionic flapping-wing aircraft according to claim 8, characterized in that: The machine body comprises a machine cover (11) and a machine body (12), wherein the machine cover (11) and the machine body (12) enclose a receiving cavity, the driven member is installed in the receiving cavity, and the machine cover (11) is detachably connected to the machine body (12).

10. The bionic flapping-wing aircraft according to claim 8, characterized in that: The driven member includes a driven gear (131); the driving assembly includes a rotary steering gear (14) and a gear unit, the rotary steering gear (14) is arranged on the body, and the output end of the rotary steering gear (14) is connected to the gear unit, and the gear unit can be meshed and linked with the driven gear (131).

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