CN110816827A

CN110816827A - Bionic butterfly flapping wing aircraft

Info

Publication number: CN110816827A
Application number: CN201911116366.4A
Authority: CN
Inventors: 仲军; 朱跃; 张千壮
Original assignee: Changzhou Campus of Hohai University
Current assignee: Changzhou Campus of Hohai University
Priority date: 2019-11-15
Filing date: 2019-11-15
Publication date: 2020-02-21
Anticipated expiration: 2039-11-15
Also published as: CN110816827B

Abstract

The invention discloses a bionic butterfly flapping wing aircraft which comprises a flying component, a driving component, a main body component, a direction control component and a battery, wherein the driving component is installed at one end of the main body component, the direction control component is installed at the other end of the main body component, the battery provides electric energy for the driving component and the direction control component, the driving component drives the flying component to move, and the direction control component controls the direction of the aircraft; the bionic performance is high; the brushless motor is adopted for driving, the noise is low, the high-maneuverability flying can be carried out at low altitude, and the reconnaissance capability is realized.

Description

Bionic butterfly flapping wing aircraft

Technical Field

The invention relates to a bionic butterfly flapping wing aircraft, and belongs to the technical field of bionic flapping wing aircraft.

Background

The flapping wing aircraft is an aircraft which generates lift force and forward force by the active movement of wings like a bird, and is characterized in that: the wings are used as main motion, the counter force of flapping air by the wings is used as lift force and advancing force, and the flight direction is changed by changing the position motion of the tail wing.

The bionic flapping wing aircraft mainly imitates birds and insects in two directions at present, and most of the bionic flapping wing aircraft mainly adopt birds, such as smartair manufactured by FESTO company and Metafly developed by French aviation engineer Edwin Van Ruymbeke, which have achieved great success. However, the bionic butterfly flapping-wing robot known at present mainly comprises a piezoelectric-driven emottinobutyerfly of the FESTO and a novel bionic butterfly flapping aircraft (publication number: CN105947196A) of Beijing aerospace university, but both belong to double-wing independent drive and can only realize steering through a micro control system.

Disclosure of Invention

The invention aims to provide a bionic butterfly flapping wing aircraft, which aims to overcome the defects that the existing aircraft belongs to double-wing independent drive and can only realize steering through a micro control system.

The utility model provides a bionical butterfly flapping wing aircraft, includes flight subassembly, drive assembly, main truck subassembly, direction control subassembly and battery, the drive assembly is installed to the one end of main truck subassembly, and direction control subassembly is installed to the other end, the battery provides the electric energy for drive assembly and direction control subassembly, drive assembly drives the flight subassembly and moves, direction control subassembly control aircraft direction.

Preferably, the driving assembly comprises a brushless direct current motor and a rotating shaft, the brushless direct current motor is provided with a driving straight gear, the driving straight gear drives the rotating shaft through a driven gear, the rotating shaft is provided with a crank wheel and a crank I, and the rotating shaft drives the crank wheel to rotate so that the crank I moves up and down to drive the flying assembly to move up and down.

Preferably, the crank is connected with a front end frame, one end of the crank is hinged with the crank wheel, and the other end of the crank is inserted into a sliding block groove of the front end frame so as to be capable of moving up and down in the sliding block groove.

Preferably, the rotating shaft is provided with a shaft positioning frame, which is connected with the main trunk assembly.

Preferably, the flying assembly comprises a wing assembly, the wing assembly comprises a wing front connecting rod, a wing front fixing rod, a wing rear connecting rod and a wing, the wing front connecting rod is hinged with the front end frame, the wing front connecting rod is connected with the first crank through a sliding block groove in a translation manner, and the end surfaces of the wing front connecting rod and the wing rear connecting rod are connected with the front end surface of the wing; the wing rear connecting rod is hinged with the main body assembly, and the wing rear connecting rod and the wing rear fixing rod are connected with the rear end face of the wing.

Preferably, the direction control assembly comprises a lifting device and a steering device, the lifting device is connected with a lifting tail wing, and the steering device is provided with a steering tail wing.

Preferably, the lifting device comprises a first steering engine, a second crank, a first connecting rod and a first empennage connecting rod, one end of the second crank is hinged to a shaft of the first steering engine, the other end of the second crank is hinged to one end of the first connecting rod, the other end of the first connecting rod is connected with the first empennage connecting rod, and the first empennage connecting rod is connected with the lifting empennage.

Preferably, a sliding block groove is formed in the middle of the first connecting rod, and the first connecting rod is connected with the main trunk assembly in a translation mode through the sliding block groove.

Preferably, the steering device comprises a second steering engine, a third crank, a tail rack, a second tail connecting rod and a steering tail, wherein the third crank is hinged to a steering engine shaft of the second steering engine; the tail rack is connected with the crank tee in a translation manner; the steering tail wing is arranged at one end of the tail wing connecting rod II, and the other end of the tail wing connecting rod II is connected with the other end of the crank III.

Preferably, the flying assembly is provided with at least two groups.

Compared with the prior art, the invention has the following beneficial effects:

1. the invention discloses a bionic butterfly flapping wing aircraft, which has the advantages that the wingspan length is 100cm, the length is 22.5cm, the weight of the whole aircraft is about 300g, and the bionic butterfly flapping wing aircraft has high bionic performance; the brushless motor is adopted for driving, the noise is low, the high-maneuverability flying can be carried out at low altitude, and the reconnaissance capability is realized.

2. The invention relates to a bionic butterfly flapping wing aircraft, wherein a flight component adopts a crank slider mechanism design, and the B end of a crank is connected with a left wing component and a right wing component through translation simultaneously, so that the frequency and amplitude of the flaring of the left wing and the right wing are always kept consistent, the driving of the two wings is controlled by one motor simultaneously, and the deviation caused by the independent control of the two wings is avoided; by designing the length of each connecting rod assembly, the effect that the angle of flaring up and down the wings is about 90 degrees (60 degrees flaring up and 30 degrees flaring down) can be realized, so that the wing flaring device can generate enough advancing force and lifting force and realize the flight mode similar to the real butterfly.

3. The invention discloses a bionic butterfly flapping wing aircraft, which is characterized in that a lifting tail wing and a steering tail wing are respectively controlled by two independent steering engines, so that a butterfly can freely realize the functions of steering and lifting.

Drawings

FIG. 1 is a view of the appearance effect of a bionic butterfly ornithopter;

FIG. 2 is a front view of a bionic butterfly ornithopter;

FIG. 3 is an effect diagram of a drive assembly of the bionic butterfly ornithopter;

FIG. 4 is an effect diagram of a slider-crank mechanism of the bionic butterfly flapping-wing aircraft;

FIG. 5 is a diagram of the effect of a flight assembly of a bionic butterfly ornithopter;

FIG. 6 is an illustration of the effect of the directional control assembly of the bionic butterfly ornithopter;

FIG. 7 is an effect diagram of a lifting mechanism of a bionic butterfly flapping wing aircraft;

FIG. 8 is an effect diagram of a steering mechanism of a bionic butterfly ornithopter.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments. It will be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

As shown in figures 1-8, a bionic butterfly ornithopter is disclosed, which is composed of a driving component 3, a flying component 1, a direction control component 5 and a main trunk component 4 as shown in figure 1.

As shown in fig. 3, the brushless dc motor 12 is fixed to the motor fixing frame 11 by 4 bolts, and the axis of the output shaft of the motor is opposite to the horizontal center position, so as to ensure the symmetric arrangement of the two wings, and the noise of the brushless dc motor 12 is low, so that the butterfly has good concealment. The battery 25 is fixed to a battery holder 26. The driving straight gear 13 is directly connected to a motor shaft of the brushless direct current motor 12 through a set screw; the rotating shaft 2 is connected with the driven straight gear 14 through a set screw; the rotating shaft 2 is connected with the front end frame 8 and the shaft positioning frame 15 through a first bearing 16 and a second bearing 10 respectively.

As shown in fig. 4, the crank-slider mechanism comprises a crank wheel 7 and a crank I6, wherein the crank wheel 7 is connected to the rotating shaft 2 through a set screw; the A end of the crank I6 is hinged with a crank wheel 7, and the B end is inserted into a slide block groove of a front end frame 8.

As shown in fig. 5, the wings 21 include at least two, the left wing assembly and the right wing assembly include a front wing connecting rod 19, a front wing fixing rod 20, a rear wing fixing rod 17, a rear wing connecting rod 18, the front wing connecting rod 19 is hinged to the front end frame 8, one end of the front wing connecting rod is provided with a slider groove and is connected with the crank 6 through translation, the other end of the front wing connecting rod is glued with one surface of the front end of the wing, and the front wing fixing rod 20 is glued with the other surface of the front end of the wing to fix the front end of the wing; the wing rear connecting rod 18 is hinged with the frame connecting piece and glued with one surface of the rear end of the wing, and the wing rear fixing rod 17 is glued with the other surface of the rear end of the wing to fix the rear end of the wing.

The working process is as follows: after the brushless direct current motor 12 is electrified, the output shaft rotates to drive the driving straight gear 13 to rotate, the driving straight gear 13 drives the driven straight gear 14 to rotate, and the rotation speed ratio is 15: under the rotating speed ratio, the output speed is reduced, the torque is improved, and the inertia of the load is reduced; the rotation of the driven gear 14 simultaneously drives the rotating shaft 2 to rotate, the crank wheel 7 rotates accordingly and drives the first end 6A of the crank to rotate around the center of the crank wheel 7 in a fixed shaft manner, the end B moves up and down in the slide block groove, the up-and-down movement of the end B of the crank 6 simultaneously drives the left wing connecting rod 19 and the right wing connecting rod 19 to rotate around the point C and the point D in a fixed shaft manner, and the end B of the crank 6 is simultaneously connected with the left wing assembly and the right wing assembly in a translation manner, so that the frequency and amplitude of the excitation of the left wing and the right wing are always kept consistent, the driving of controlling two wings by one motor is realized, and the deviation caused by the; at this time, the left and right wings 21 are flaring up and down with an included angle of about 90 degrees (60 degrees upward flaring and 30 degrees downward flaring), and because the weight of the whole aircraft is only 300g and the area of the two wings is large enough, enough lifting force and advancing force can be generated to ensure that the aircraft can imitate the butterfly to fly forward.

As shown in fig. 6, the lifting device comprises a first steering engine 23, a second crank 28, a first connecting rod 29, a first empennage connecting rod 30 and a lifting empennage 9, wherein the end E of the second crank 28 is hinged to the steering engine shaft of the first steering engine 23, and the end F is hinged to the first connecting rod 29, wherein a sliding block groove is formed in the middle of the first connecting rod 29 and is connected with a rack connecting piece in a translation manner; the lifting tail wing 9 is adhered to one end of the tail wing connecting rod one 30, and the other end of the lifting tail wing connecting rod one 29 is directly inserted into the small hole at the F end of the connecting rod one 29. When lifting operation is needed, the first steering engine 23 can be started through remote control, an output shaft of the first steering engine rotates to drive the second crank 28 to rotate around the end E in a fixed shaft mode, the lifting tail wing 9 deflects upwards, aerodynamic force borne by the tail wing is downward, a head-up moment is generated when the tail wing falls, and the butterfly is lifted upwards. Conversely, if the tail deflects downward, the butterfly will bow under the influence of aerodynamic torque.

As shown in fig. 8, the steering device is composed of a second steering engine 22, a third crank 31, a second tail connecting rod 33 and a steering tail 27, wherein the third crank 31 is hinged on a steering engine shaft of the second steering engine 22; the tail frame 32 is connected with the crank third 31 through translation; the turning tail 27 is glued at one end of the tail connecting rod II 33, and the other end of the tail connecting rod II 33 is inserted into the small hole of the crank III 31. When the steering operation is needed, the steering engine 222 is started through remote control, the second rotating shaft of the steering engine drives the third crank 31 to rotate around the rotating shaft of the steering engine to make a fixed shaft, so that the steering tail wing 27 deflects on the horizontal plane, when the steering tail wing deflects leftwards, airflow blown from the front side enables the tail wing to generate an additional force, the direction points rightwards, the force and the center of gravity act together to generate a moment which enables the butterfly to yaw leftwards, and the flying direction of the butterfly deflects leftwards. Conversely, when the tail deflects to the left, the butterfly deflects to the right.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims

1. The utility model provides a bionical butterfly flapping wing aircraft, its characterized in that, includes flight subassembly (1), drive assembly (3), main truck subassembly (4), direction control subassembly (5) and battery (25), drive assembly (3) are installed to the one end of main truck subassembly (4), and direction control subassembly (5) are installed to the other end, battery (25) provide the electric energy for drive assembly (3) and direction control subassembly (5), drive assembly (3) drive flight subassembly (1) and move, direction control subassembly (5) control aircraft direction.

2. The bionic butterfly ornithopter of claim 1, characterized in that the driving assembly (3) comprises a brushless DC motor (12) and a rotating shaft (2), the brushless DC motor (12) is provided with a driving spur gear (13), the driving spur gear (13) drives the rotating shaft (2) through a driven gear (14), the rotating shaft (2) is provided with a crank wheel (7) and a crank I (6), and the rotating shaft (2) drives the crank wheel (7) to rotate, so that the crank I (6) moves up and down to drive the flying assembly (1) to move up and down.

3. The bionic butterfly ornithopter as claimed in claim 2, wherein the first crank (6) is connected with a front end frame (8), one end of the first crank (6) is hinged with a crank wheel (7), and the other end of the first crank is inserted into a slider groove of the front end frame (8) so as to be capable of moving up and down in the slider groove.

4. The bionic butterfly ornithopter according to claim 2, characterized in that the rotating shaft (2) is provided with a shaft positioning frame (15), the shaft positioning frame (15) being connected with the main trunk assembly (4).

5. The bionic butterfly ornithopter of claim 2, characterized in that the flying assembly (1) comprises a wing assembly, the wing assembly comprises a wing front connecting rod (19), a wing front fixing rod (20), a wing rear fixing rod (17), a wing rear connecting rod (18) and a wing (21), the wing front connecting rod (19) is hinged with the front end frame (8), the wing front connecting rod (19) is connected with the crank I (6) through a sliding block slot in a translational motion, and the end surfaces of the wing front connecting rod (19) and the wing rear connecting rod (18) are connected with the front end surface of the wing (21); the wing rear connecting rod (18) is hinged with the main body component (4), and the wing rear connecting rod (18) and the wing rear fixing rod (17) are connected with the rear end face of the wing (21).

6. The bionic butterfly ornithopter according to claim 1, characterized in that the direction control assembly (5) comprises a lifting device and a steering device, the lifting device is connected with a lifting tail (9), and the steering device is provided with a steering tail (27).

7. The bionic butterfly ornithopter as claimed in claim 6, wherein the lifting device comprises a first steering engine (23), a second crank (28), a first connecting rod (29) and a first empennage connecting rod (30), one end of the second crank (28) is hinged to a steering engine shaft of the first steering engine (23), the other end of the second crank is hinged to one end of the first connecting rod (29), the other end of the first connecting rod (29) is connected with the first empennage connecting rod (30), and the first empennage connecting rod (30) is connected with a lifting empennage (9).

8. The bionic butterfly ornithopter as claimed in claim 7, wherein a slider slot is arranged in the middle of the first connecting rod (29), and the first connecting rod (29) is connected with the main trunk component (4) in a translational manner through the slider slot.

9. The bionic butterfly ornithopter of claim 6, wherein the steering device comprises a second steering engine (22), a third crank (31), a tail rack (32), a second tail connecting rod (33) and a steering tail (27), and the third crank (31) is hinged to a steering engine shaft of the second steering engine (22); the tail frame (32) is connected with the crank III (31) through translation; the steering tail wing (27) is arranged at one end of the tail wing connecting rod II (33), and the other end of the tail wing connecting rod II (33) is connected with the other end of the crank III (31).

10. The bionic butterfly ornithopter according to claim 1, characterized in that said flying assembly (1) is provided in at least two groups.