CN110816827B

CN110816827B - Bionic butterfly flapping-wing aircraft

Info

Publication number: CN110816827B
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: 2023-08-29
Anticipated expiration: 2039-11-15
Also published as: CN110816827A

Abstract

The invention discloses a bionic butterfly ornithopter which comprises a flight assembly, a driving assembly, a main trunk assembly, a direction control assembly and a battery, wherein one end of the main trunk assembly is provided with the driving assembly, the other end of the main trunk assembly is provided with the direction control assembly, the battery provides electric energy for the driving assembly and the direction control assembly, the driving assembly drives the flight assembly to move, and the direction control assembly controls the direction of the aircraft; the bionic performance is high; adopt brushless motor drive, the noise is little, can carry out the flight of high mobility in the low latitude, has certain reconnaissance ability.

Description

Bionic butterfly flapping-wing aircraft

Technical Field

The invention relates to a bionic butterfly ornithopter, and belongs to the technical field of bionic ornithopters.

Background

Flapping wing aircraft refers to an aircraft which looks like a bird and generates lift force and forward force through active motion of wings, and is characterized in that: the wing is taken as a main motion, the counterforce of the wing beating air is taken as a lifting force and a forward force, and the flying direction is changed by changing the position motion of the tail wing.

The bionic ornithopter at the present stage mainly imitates birds and insects, and most of the bionic ornithopters mainly adopt bird ornithopters, such as smartbird produced by FESTO company and Metafly developed by French aviation engineer Edwin Van Ruymbeke, have been successful. However, the bionic flapping-wing aircraft taking insects as prototypes, in particular to the flapping-wing aircraft taking butterflies as prototypes, has great defects in theoretical research and structural design, and the known bionic butterfly flapping-wing robots at present mainly comprise an electronic button driven by piezoelectricity of FESTO and a novel bionic butterfly aircraft independently driven by double wings of Beijing aviation aerospace university (publication number: CN 105947196A), but belong to double-wing independent driving and can only realize steering through a micro control system.

Disclosure of Invention

The invention aims to provide a bionic butterfly ornithopter, which aims to solve the defects that the bionic butterfly ornithopter belongs to double-wing independent driving and can only realize steering through a micro control system in the prior art.

The utility model provides a bionical butterfly flapping wing aircraft, includes flight subassembly, drive assembly, main truck subassembly, direction control subassembly and battery, the one end installation drive assembly of main truck subassembly, the other end installation direction control subassembly, the battery provides the electric energy for drive assembly and direction control subassembly, drive assembly drives 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 first crank is connected with the front end frame, one end of the first crank is hinged with the crank wheel, and the other end of the first crank is inserted into the sliding block groove of the front end frame so that the first crank can move 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 component comprises a wing component, the wing component comprises a wing front connecting rod, a wing front fixing rod, a wing rear connecting rod and wings, the wing front connecting rod is hinged with the front end frame, the wing front connecting rod is connected with the crank through a sliding block groove in a translation way, and the end surfaces of the wing front connecting rod and the wing rear connecting rod are connected with the front end surfaces of the wings; the wing rear connecting rod is hinged with the main trunk component, and the wing rear connecting rod and the wing rear fixing rod are connected with the wing rear end face.

Preferably, the direction control assembly comprises a lifting device and a steering device, wherein 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 steering engine I, a crank II, a connecting rod I and a tail wing connecting rod I, one end of the crank II is hinged to a steering engine shaft of the steering engine I, the other end of the crank II is hinged to one end of the connecting rod I, the other end of the connecting rod I is connected with the tail wing connecting rod I, and the tail wing connecting rod I is connected with a lifting tail wing.

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 translational mode through the sliding block groove.

Preferably, the steering device comprises a steering engine II, a crank III, a tail rack, a tail fin connecting rod II and a steering tail fin, wherein the crank III is hinged to a steering engine shaft of the steering engine II; the tail frame is connected with the crank tee in a translational manner; the steering tail wing is arranged at one end of a 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 flight assembly is provided with at least two sets.

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

1. the invention relates to a bionic butterfly ornithopter, which has the advantages of 100cm long span, 22.5cm length, 300g weight of the whole machine and higher bionic performance; adopt brushless motor drive, the noise is little, can carry out the flight of high mobility in the low latitude, has certain reconnaissance ability.

2. The invention relates to a bionic butterfly flapping wing aircraft, wherein a flying component adopts a crank sliding block mechanism design, and a crank B end is connected with a left wing component and a right wing component in a translational way, so that the frequency and the amplitude of flaring of the left wing and the right wing are always consistent, the driving of one motor for simultaneously controlling the two wings is realized, and the deviation caused by independent control of the two wings is avoided; by designing the length of each connecting rod assembly, the effect that the wing is up-down moved at an angle of about 90 degrees (up-moved at 60 degrees and down-moved at about 30 degrees) can be achieved, so that enough advancing force and lifting force can be generated, and a flight mode similar to that of a real butterfly and a real butterfly can be achieved.

3. The invention relates to a bionic butterfly ornithopter, which controls a lifting tail wing and a steering tail wing respectively through two independent steering engines, so that the butterfly can freely realize steering and lifting functions.

Drawings

FIG. 1 is an appearance effect diagram of a bionic butterfly ornithopter;

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

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

FIG. 4 is an effect diagram of a crank slider mechanism of the bionic butterfly ornithopter;

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

FIG. 6 is an effect diagram of a direction control assembly of the bionic butterfly ornithopter;

FIG. 7 is an effect diagram of a lifting mechanism of the bionic butterfly ornithopter;

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

Detailed Description

The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand. It is to be understood that the terms "center," "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are directional or positional relationships as indicated based on the drawings, merely to facilitate describing the invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

As shown in fig. 1-8, a bionic butterfly ornithopter is disclosed, and as shown in fig. 1, the bionic butterfly ornithopter consists of a driving component 3, a flight component 1, a direction control component 5 and a main trunk component 4.

As shown in fig. 3, the brushless dc motor 12 and the motor fixing frame 11 are fixed by 4 bolts, and the axis of the motor output shaft is opposite to the horizontal center position, so as to ensure symmetrical arrangement of two wings, and the brushless dc motor 12 has small noise, so that the butterfly has good concealment. The battery 25 is fixed to the battery holder 26. The driving straight gear 13 is directly connected to the motor shaft of the brushless DC motor 12 through a set screw; the rotating shaft 2 is connected with the driven spur 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 end A of the crank I6 is hinged with the crank wheel 7, and the end B is inserted into a slide block groove of the front end frame 8.

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

The working process comprises the following steps: after the brushless direct current motor 12 is electrified, the output shaft rotates to drive the driving spur gear 13 to rotate, the driving spur gear 13 drives the driven spur gear 14 to rotate, and the rotation speed ratio is 15:8, at the speed ratio, not only the output speed is reduced, but also the torque is improved, and meanwhile, the inertia of the load is reduced; the rotation of the driven gear 14 drives the rotation shaft 2 to rotate at the same time, the crank wheel 7 rotates, the end 6A of the crank is driven to rotate around the center of the crank wheel 7 to perform fixed axis rotation, the end B moves up and down in the sliding block groove, the end 6B of the crank moves up and down and simultaneously drives the left wing connecting rod 19 and the right wing connecting rod 19 to perform fixed axis rotation around the point C and the point D respectively, and the end 6B of the crank is connected with the left wing component and the right wing component in a translation way, so that the frequency and the amplitude of the flaring of the left wing and the right wing are always consistent, the driving of the two wings is controlled by one motor at the same time, and the deviation caused by independent control of the two wings is avoided; at this time, the left and right wings 21 are up and down-flaring at an angle of about 90 ° (up-flaring at 60 °) and down-flaring at about 30 °), since the weight of the whole aircraft is only 300g and the area of the two wings is large enough, enough lift force and forward force can be generated to ensure that the aircraft can simulate the butterfly to fly forward.

As shown in fig. 6, the lifting device consists of a steering engine I23, a crank II 28, a connecting rod I29, a tail wing connecting rod I30 and a lifting tail wing 9, wherein the E end of the crank II 28 is hinged on a steering engine shaft of the steering engine I23, the F end is connected with the connecting rod I29 through a hinge, a sliding block groove is arranged in the middle of the connecting rod I29, and the sliding block groove is connected with a frame connecting piece through translation; the lifting tail 9 is adhered to one end of the tail connecting rod I30, and the other end of the lifting tail is directly inserted into a small hole at the end 29F of the connecting rod I. When lifting operation is needed, the steering engine I23 is started through remote control, the steering engine I output shaft rotates to drive the crank II 28 to rotate around the fixed shaft of the E end, the lifting tail 9 deflects upwards, aerodynamic force born by the tail is downwards, a head-lifting moment is generated when the tail falls, and the butterfly is lifted upwards. Conversely, if the tail deflects downward, the butterfly will lower its head under the action of the aerodynamic moment.

As shown in fig. 8, the steering device consists of a steering engine II 22, a crank III 31, a tail connecting rod II 33 and a steering tail 27, wherein the crank III 31 is hinged on the steering engine shaft of the steering engine II 22; the tail frame 32 is connected with the crank III 31 through translation; the steering 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 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 fix the shaft, so that the steering tail 27 deflects on the horizontal plane, when the steering tail deflects leftwards, airflow blown from the front side enables the tail to generate an additional force, the direction is directed rightwards, and the force and the gravity center act together to generate a moment for enabling the butterfly to yaw leftwards, so that the butterfly flying direction deflects leftwards. Conversely, when the tail deflects to the left, the butterfly will deflect to the right.

The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.

Claims

1. The bionic butterfly ornithopter is characterized by comprising a flight assembly (1), a driving assembly (3), a main trunk assembly (4), a direction control assembly (5) and a battery (25), wherein one end of the main trunk assembly (4) is provided with the driving assembly (3), the other end of the main trunk assembly is provided with the direction control assembly (5), the battery (25) provides electric energy for the driving assembly (3) and the direction control assembly (5), the driving assembly (3) drives the flight assembly (1) to move, and the direction control assembly (5) controls the direction of the aircraft;

the driving assembly (3) comprises a brushless direct current motor (12) and a rotating shaft (2), wherein the brushless direct current motor (12) is provided with a driving straight gear (13), the driving straight 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;

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 wings (21), the wing front connecting rod (19) is hinged with the front end frame (8), the wing front connecting rod (19) is connected with a crank I (6) through a sliding block groove in a translation mode, and the end faces of the wing front connecting rod (19) and the wing rear connecting rod (18) are connected with the front end faces of the wings (21); the wing rear connecting rod (18) is hinged with the main trunk assembly (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);

the direction control assembly (5) comprises a lifting device and a steering device, wherein the lifting device is connected with a lifting tail wing (9), and the steering device is provided with a steering tail wing (27);

the lifting device comprises a steering engine I (23), a crank II (28), a connecting rod I (29) and a tail wing connecting rod I (30), one end of the crank II (28) is hinged to a steering engine shaft of the steering engine I (23), the other end of the crank II is hinged to one end of the connecting rod I (29), the other end of the connecting rod I (29) is connected with a tail wing connecting rod I (30), and the tail wing connecting rod I (30) is connected with a lifting tail wing (9).

2. A bionic butterfly ornithopter as claimed in claim 1, wherein the crank one (6) is connected with a front end frame (8), one end of the crank one (6) is hinged with the crank wheel (7), and the other end is inserted into a slide block groove of the front end frame (8) so that the crank one can move up and down in the slide block groove.

3. Bionic butterfly ornithopter according to claim 1, wherein the rotary shaft (2) is provided with a shaft positioning frame (15), the shaft positioning frame (15) being connected with the main torso assembly (4).

4. A bionic butterfly ornithopter as claimed in claim 1, wherein a slider slot is provided in the middle of the first link (29), and the first link (29) is connected with the main trunk assembly (4) in a translational motion through the slider slot.

5. The bionic butterfly ornithopter of claim 1, wherein the steering device comprises a steering engine two (22), a crank three (31), a tail frame (32), a tail connecting rod two (33) and a steering tail (27), wherein the crank three (31) is hinged on a steering engine shaft of the steering engine two (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 a 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 a crank III (31).

6. Bionic butterfly ornithopter according to claim 1, wherein said flight assembly (1) is provided with at least two groups.