Bionic butterfly aircraft

Abstract

The utility model discloses a bionic butterfly aircraft and belongs to the technical field of bionic machinery. The bionic butterfly aircraft comprises an aircraft body, an ornithopter reduction gear set fixedly installed on the aircraft body, bionic wings fixedly connected to the output end of the ornithopter reduction gear set and a control system fixedly installed on the aircraft body. The aircraft body comprises a main framework, a dual-motor system rack fixedly installed at the front end of the main framework, a fixed frame fixedly installed at the middle rear end of the main framework and a tail wing connecting frame fixedly installed at the tail end of the main framework. According to the bionic butterfly aircraft, a hollow cup motor and a cam structure are adopted to form an ornithopter reduction gear set to simulate the posture that the butterfly vibrates wings, a remote controller is held by hand to send signals, so that the butterfly changes the flapping angle and frequency of the wings on the two sides to achieve steering, and therefore the butterfly can fly according to the angle and path needed by people; and walking out a specific track.

Description

Technical Field

[0001] The utility model relates to the technical field of bionic machinery, in particular to a bionic butterfly aircraft. Background Art

[0002] With the increasing understanding of biological flight mechanisms and the rapid development of microelectronics, aerodynamics, and new materials, biomimetic flapping-wing aircraft have become a new research hotspot. These aircraft offer unique advantages, including the ability to take off from a stationary location or from a small area, excellent maneuverability and hovering performance, and low cost. By integrating lift, hovering, and propulsion into a single flapping-wing system, they can travel long distances using minimal energy.

[0003] Insect-inspired bionic flapping-wing aircraft have seen rapid development over the past three decades. Butterflies, as a distinctive insect, have garnered considerable attention from researchers. Bionic butterflies are biomimetic products designed and manufactured to mimic the morphology, structure, and functions of real butterflies. Numerous biomimetic studies and bionic aircraft developments have been conducted both domestically and internationally using butterflies as research subjects, with significant progress in the design and manufacture of bionic butterflies in particular over the past decade.

[0004] Researchers have achieved certain research results in the lift mechanism research, structural design and manufacturing, as well as drive and control of bionic butterflies; however, there are still research challenges in terms of size, flight flexibility, endurance, control robustness and bionic realism. Utility Model Content

[0005] The utility model provides a bionic butterfly aircraft, which aims to solve the problems raised in the background technology, such as the current research challenges of the bionic butterfly in terms of size, flight flexibility, endurance, control robustness and bionic realism.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a bionic butterfly aircraft, which includes a fuselage, a flapping-wing reduction gear set fixedly mounted on the fuselage, bionic wings fixedly connected to the output end of the flapping-wing reduction gear set, and a control system fixedly mounted on the fuselage; the fuselage includes a main frame, a dual-motor system rack fixedly mounted on the front end of the main frame, a fixed frame fixedly mounted on the middle and rear ends of the main frame, and a tail wing connecting frame fixedly mounted on the tail end of the main frame, the dual-motor system rack, the fixed frame The upper ends of the tail wing connecting frames are both provided with square slots that are compatible with the main frame; the flapping-wing aircraft reduction gear set includes two hollow cup motors fixedly installed at the lower end of the dual-motor system frame and a gear transmission structure connected to the output shaft of the hollow cup motor; the front wing frame and the rear wing frame of the bionic wing are symmetrically arranged, and the wing membranes are respectively adhered to the front wing frame and the rear wing frame; the control system includes a remote control fixedly installed on the inner side of the fixed frame and integrated with a main control chip and the same frequency as the main control board, and the output end of the main control board is electrically connected to the hollow cup motor.

[0007] By setting up a flapping-wing machine reduction gear set, two hollow cup motors simultaneously drive the gear transmission structure, which then drives the bionic wings to achieve flapping movements. Compared with brushed motors, hollow cup motors can improve control accuracy and linearity, and have a faster response speed. After the compiled program is uploaded to the main control board with an integrated main control chip and an external motor drive module, the main control board outputs to control the speed of the hollow cup motor, thereby realizing the flight of the bionic butterfly.

[0008] Preferably, the main skeleton is made of high-strength carbon fiber square rods.

[0009] Preferably, the gear transmission structure includes a micro gear fixedly connected to the output shaft of the hollow cup motor, a large gear meshing with the micro gear, a rocker rotatably connected to the front end face of the large gear, a traction rod having one end rotatably connected to the rocker and the middle rotatably connected to the upper end of the dual-motor system frame, and a wing connecting mechanism fixedly connected to the traction rod.

[0010] Preferably, the wing connection mechanism includes a connector fixedly connected to the end of the traction rod and a plurality of wing arm connecting rods fixedly connected to the outer wall of the connector and with hollow ends.

[0011] Preferably, the lower end of the dual-motor system frame is provided with symmetrically distributed mounting slots for installing hollow cup motors, the upper end of the mounting slots is provided with a hollow first boss for assembling a large gear, and a hollow second boss for assembling a traction rod is provided diagonally above the first boss.

[0012] Preferably, the main control chip adopts ATMEGA328P-AU single chip microcomputer, the main control chip is externally connected to tb6612 motor drive module, and the remote control is Fushi i6x remote control.

[0013] Preferably, the front wing frame and the rear wing frame are both made of carbon fiber rods, and the wing membrane 33 is made of P13N kite cloth.

[0014] Preferably, waist-shaped holes are symmetrically arranged at both ends of the tail wing connecting frame and are used to clamp the rear wing frame, and a notch is provided on the side of the waist-shaped hole close to the rear wing frame for clamping the edge of the wing membrane.

[0015] Preferably, a battery is fixedly mounted on the inner side of the fixed frame for supplying power to the two coreless cup motors and the main control board.

[0016] The bionic butterfly aircraft has a simple structure and is easy to use. By setting up a flapping-wing reduction gear set, two hollow cup motors simultaneously drive the gear transmission structure, which then drives the bionic wings to achieve flapping movements. Compared with brushed motors, hollow cup motors can improve control accuracy and linearity, and have a faster response speed. After the compiled program is uploaded to a main control board that integrates a main control chip and is externally connected to a motor drive module, the main control board outputs to control the speed of the hollow cup motors, thereby realizing the flight of the bionic butterfly; an i6x Fusi remote control is used to control the vibration amplitude and frequency of the butterfly wings to achieve the functions of controlling the flight height, angle, and speed of the bionic butterfly. The circuit is integrated to reduce external modules, minimize mass, and achieve lightweight. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the top view of a bionic butterfly aircraft;

[0018] Figure 2 This is a schematic diagram of the structure of a bionic butterfly aircraft when viewed from above;

[0019] Figure 3 A bionic butterfly aircraft Figure 2 A in the figure shows the enlarged structural diagram;

[0020] Figure 4 This is a schematic diagram of the structure of the fuselage of a bionic butterfly aircraft;

[0021] Figure 5 This is a schematic diagram of the structure of a dual-motor system frame in a bionic butterfly aircraft;

[0022] Figure 6 This is a schematic diagram of the structure of a fixed frame in a bionic butterfly aircraft;

[0023] Figure 7 This is a schematic diagram of the structure of the tail wing connecting frame of a bionic butterfly aircraft;

[0024] Figure 8 This is a schematic diagram of the control system in a bionic butterfly aircraft.

[0025] In the picture:

[0026] 1. Body;

[0027] 11. Main frame; 111. Square slot;

[0028] 12. Dual-motor system frame; 121. Mounting slot; 122. First boss; 123. Second boss;

[0029] 13. Fixed frame;

[0030] 14. Tail wing connecting frame; 141. Waist-shaped hole; 142. Notch;

[0031] 2. Ornithopter reduction gear set; 21. Coreless motor; 22. Gear transmission structure;

[0032] 221. Micro gear; 222. Large gear; 223. Rocker; 224. Traction rod; 225. Wing connection mechanism;

[0033] 2251, connector; 2252, wing arm connecting rod;

[0034] 3. Bionic wings; 31. Front wing skeleton; 32. Back wing skeleton; 33. Wing membrane;

[0035] 4. Control system; 41. Main control board; 42. Remote control;

[0036] 5. Battery. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0038] This embodiment provides a bionic butterfly aircraft, such as Figures 1 to 8As shown, the bionic butterfly aircraft includes a fuselage 1, a flapping-wing reduction gear set 2 fixedly mounted on the fuselage 1, a bionic wing 3 fixedly connected to the output end of the flapping-wing reduction gear set 2, and a control system 4 fixedly mounted on the fuselage 1; the fuselage 1 includes a main frame 11, a dual-motor system frame 12 fixedly mounted at the front end of the main frame 11, a fixed frame 13 fixedly mounted at the middle and rear end of the main frame 11, and a tail wing connecting frame 14 fixedly mounted at the tail end of the main frame 11. The upper ends of the dual-motor system frame 12, the fixed frame 13, and the tail wing connecting frame 14 are all provided with a connection to the main frame. 11 is adapted to a square slot hole 111; the flapping-wing aircraft reduction gear set 2 includes two hollow cup motors 21 fixedly mounted on the lower end of the dual-motor system frame 12 and a gear transmission structure 22 connected to the output shaft of the hollow cup motor 21; the front wing skeleton 31 and the rear wing skeleton 32 of the bionic wing 3 are symmetrically arranged, and the wing membrane 33 is respectively adhered to the front wing skeleton 31 and the rear wing skeleton 32; the control system 4 includes a main control board 41 with an integrated main control chip and an external motor drive module and a remote control 42 with the same frequency as the main control board 41, and the output end of the main control board 41 is electrically connected to the hollow cup motor 21.

[0039] By setting up a flapping-wing machine reduction gear set 2, two hollow cup motors 21 drive the gear transmission structure 22 to work at the same time, and the gear transmission structure 22 then drives the bionic wings 3 to realize flapping movements. Compared with brushed motors, the hollow cup motor 21 can improve control accuracy and linearity, and has a faster response speed. After the compiled program is uploaded to the main control board 41 which integrates the main control chip and is externally connected to the motor drive module, the main control board 41 outputs to control the speed of the hollow cup motor 21, thereby realizing the flight of the bionic butterfly.

[0040] In one embodiment, the main skeleton 11 is made of high-strength carbon fiber square rods.

[0041] In this embodiment, high-strength carbon fiber square rods are used as the main skeleton 11, which is light in weight and has sufficient toughness and rigidity.

[0042] In one embodiment, the gear transmission structure 22 includes a micro gear 221 fixedly connected to the output shaft of the hollow cup motor 21, a large gear 222 meshing with the micro gear 221, a rocker 223 rotatably connected to the front end face of the large gear 222, a traction rod 224 rotatably connected to the rocker 223 at one end and rotatably connected to the upper end of the dual-motor system frame 12 in the middle, and a wing connection mechanism 225 fixedly connected to the traction rod 224.

[0043] In this embodiment, referring to Figure 3The hollow cup motor 21 drives the micro gear 221 to rotate, and the micro gear 221 then drives the large gear 222. The large gear 222 then drives the traction rod 224 through the rocker 223 to reciprocate around the connection with the dual-motor system frame 12, thereby driving the wing connection mechanism 225 to complete the flapping flight action of the bionic butterfly.

[0044] In one embodiment, the wing connection mechanism 225 includes a connection piece 2251 fixedly connected to the end of the traction rod 224 and a plurality of wing arm connecting rods 2252 fixedly connected to the outer wall of the connection piece 2251 and having hollow ends.

[0045] In this embodiment, referring to Figure 1 and Figure 2 , lead out a carbon fiber rod of appropriate length from the root of the bionic wing 3, and then insert it into the groove of the wing arm connecting rod 2252, and at the same time, fix it with glue, and the connection between the bionic wing 3 and the gear transmission structure 22 is completed.

[0046] In one embodiment, the lower end of the dual-motor system frame 12 is provided with symmetrically distributed mounting slots 121 for mounting the hollow cup motor 21, the upper end of the mounting slot 121 is provided with a hollow first boss 122 for assembling the large gear 222, and the oblique upper part of the first boss 122 is provided with a hollow second boss 123 for assembling the traction rod 224.

[0047] In this embodiment, referring to Figure 4 and Figure 5 The mounting slot 121 is used to assemble the coreless motor 21 , the first boss 122 is used to assemble the large gear 222 , and the second boss 123 is used to assemble the traction rod 224 .

[0048] In one embodiment, the main control chip is an ATMEGA328P-AU single chip microcomputer, the motor drive module is a tb6612 motor drive module, and the remote control 42 is a Fusi i6x remote control.

[0049] In this embodiment, referring to Figure 8 The i6x Fusi remote control is used to control the vibration amplitude and frequency of the butterfly wings, so as to control the flight height, angle and speed of the bionic butterfly. The circuit is integrated to reduce the number of external modules, reduce the mass as much as possible, and achieve lightweight.

[0050] In one embodiment, the front wing frame 31 and the rear wing frame 32 are both made of carbon fiber rods, and the wing membrane 33 is made of P13N kite cloth.

[0051] In this embodiment, referring to Figure 1 and Figure 2By using carbon fiber rods as the front wing skeleton 31 and the rear wing skeleton 32, the P13N kite cloth is lightweight and has sufficient toughness and rigidity. It has good flexibility, low weight and good aerodynamic performance. The appearance also tries to imitate the shape of a butterfly. The shape of the bionic wing 3 adopts an arc shape that best fits the shape of a butterfly.

[0052] In one embodiment, the two ends of the tail wing connecting frame 14 are provided with symmetrically arranged contour frames for clamping the rear wing frame 32, and the side of the waist-shaped hole 141 close to the rear wing frame 32 is provided with a notch 142 for clamping the edge of the wing membrane 33.

[0053] In this embodiment, referring to Figure 7 The tail wing connecting frame 14 clamps the outline frame of the rear wing frame 32 and the edge of the wing membrane 33 through the waist-shaped hole 141.

[0054] In one embodiment, a battery 5 is fixedly mounted inside the fixed frame 13 for supplying power to the coreless motor 21 and the main control board 41 .

[0055] In this embodiment, referring to Figure 4 The battery 5 is used to supply power to the two coreless motors 21 and the main control board 41 .

[0056] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the present invention can make equivalent replacements or changes based on the technical solution and utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A bionic butterfly aircraft, comprising a fuselage (1), a flapping-wing reduction gear set (2) fixedly mounted on the fuselage (1), bionic wings (3) fixedly connected to an output end of the flapping-wing reduction gear set (2), and a control system (4) fixedly mounted on the fuselage (1); Its characteristics are: The fuselage (1) comprises a main frame (11), a dual-motor system frame (12) fixedly mounted at the front end of the main frame (11), a fixed frame (13) fixedly mounted at the middle and rear end of the main frame (11), and a tail wing connecting frame (14) fixedly mounted at the tail end of the main frame (11); the upper ends of the dual-motor system frame (12), the fixed frame (13), and the tail wing connecting frame (14) are all provided with square slots (111) adapted to the main frame (11); The ornithopter reduction gear set (2) comprises two coreless motors (21) fixedly mounted on the lower end of the dual-motor system frame (12) and a gear transmission structure (22) connected to the output shafts of the coreless motors (21); The bionic wing (3) comprises a front wing frame (31) and a rear wing frame (32) which are symmetrically arranged, and wing membranes (33) respectively bonded to the front wing frame (31) and the rear wing frame (32); The control system (4) comprises a main control board (41) fixedly mounted on the inner side of a fixed frame (13) and integrated with a main control chip, and a remote controller (42) with the same frequency as the main control board (41), wherein an output end of the main control board (41) is electrically connected to the coreless cup motor (21).

2. The bionic butterfly aircraft according to claim 1, characterized in that: The main frame (11) is made of high-strength carbon fiber square rods.

3. The bionic butterfly aircraft according to claim 1, characterized in that: The gear transmission structure (22) comprises a micro gear (221) fixedly connected to the output shaft of the coreless cup motor (21), a large gear (222) meshingly connected to the micro gear (221), a rocker (223) rotatably connected to the front end surface of the large gear (222), a traction rod (224) rotatably connected to the rocker (223) at one end and rotatably connected to the upper end of the dual-motor system frame (12) at the middle, and a wing connection mechanism (225) fixedly connected to the traction rod (224).

4. The bionic butterfly aircraft according to claim 3, characterized in that: The wing connection mechanism (225) comprises a connection piece (2251) fixedly connected to the end of the traction rod (224) and a plurality of wing arm connecting rods (2252) fixedly connected to the outer wall of the connection piece (2251) and having hollow ends.

5. The bionic butterfly aircraft according to claim 1, characterized in that: The lower end of the dual-motor system frame (12) is provided with symmetrically distributed mounting slots (121) for mounting the coreless cup motor (21); the upper end of the mounting slots (121) is provided with a hollow first boss (122) for mounting a large gear (222); and a hollow second boss (123) for mounting a traction rod (224) is provided obliquely above the first boss (122).

6. The bionic butterfly aircraft according to claim 1, characterized in that: The main control chip adopts ATMEGA328P-AU single chip microcomputer, the main control chip is externally connected to tb6612 motor drive module, and the remote control (42) is Fusi i6x remote control.

7. The bionic butterfly aircraft according to claim 1, characterized in that: The front wing frame (31) and the rear wing frame (32) are both made of carbon fiber rods, and the wing membrane (33) is made of P13N kite cloth.

8. The bionic butterfly aircraft according to claim 1, characterized in that: The two ends of the tail wing connecting frame (14) are provided with waist-shaped holes (141) symmetrically arranged and used to clamp the rear wing frame (32), and a notch (142) for clamping the edge of the wing membrane (33) is provided on the side of the waist-shaped hole (141) close to the rear wing frame (32).

9. The bionic butterfly aircraft according to any one of claims 1 to 8, characterized in that: A battery (5) is also fixedly mounted on the inner side of the fixed frame (13) for supplying power to the two coreless cup motors (21) and the main control board (41).

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