Novel butterfly-imitating flapping-wing aircraft
阅读说明：本技术 一种新型仿蝴蝶扑翼飞行器 (Novel butterfly-imitating flapping-wing aircraft ) 是由 贺威 杨昆翰 刘宏星 黄海丰 付强 于 2019-10-29 设计创作，主要内容包括：本发明提供一种新型仿蝴蝶扑翼飞行器,包括：主躯干骨架、动力机构、传动机构、转向机构、翅膀、供电系统以及飞控系统；其中,动力机构设置在主躯干骨架的前端,传动机构与动力机构传动连接；翅膀包括左翅膀和右翅膀,左翅膀和右翅膀在主躯干骨架的两侧对称分布,并分别与传动机构连接；动力机构用于通过传动机构驱动左翅膀及右翅膀做扑翼运动；转向机构设置在主躯干骨架的后端,供电系统连接在转向机构后端,并与飞控系统电连接；飞控系统固定在主躯干骨架上；动力机构和转向机构分别与飞控系统电连接；本发明的新型仿蝴蝶扑翼飞行器实现了双翅对称驱动的扑翼结构,通过控制动力机构的转速和转向机构的摆角可实现飞行器的前飞、转向和俯仰动作。(The invention provides a novel butterfly-imitating ornithopter, which comprises: the device comprises a main body framework, a power mechanism, a transmission mechanism, a steering mechanism, wings, a power supply system and a flight control system; wherein, the power mechanism is arranged at the front end of the main body framework, and the transmission mechanism is in transmission connection with the power mechanism; the wings comprise a left wing and a right wing, and the left wing and the right wing are symmetrically distributed on two sides of the main body framework and are respectively connected with the transmission mechanism; the power mechanism is used for driving the left wing and the right wing to do flapping motion through the transmission mechanism; the steering mechanism is arranged at the rear end of the main body framework, and the power supply system is connected to the rear end of the steering mechanism and is electrically connected with the flight control system; the flight control system is fixed on the main body framework; the power mechanism and the steering mechanism are respectively electrically connected with the flight control system; the novel butterfly-like flapping wing aircraft realizes a flapping wing structure driven symmetrically by double wings, and the front flying, steering and pitching actions of the aircraft can be realized by controlling the rotating speed of the power mechanism and the swing angle of the steering mechanism.)
1. The utility model provides a novel imitative butterfly ornithopter aircraft which characterized in that includes: the device comprises a main body framework, a power mechanism, a transmission mechanism, a steering mechanism, wings, a power supply system and a flight control system; wherein the content of the first and second substances,
the power mechanism is arranged at the front end of the main body framework, and the transmission mechanism is in transmission connection with the power mechanism; the wings comprise a left wing and a right wing, and the left wing and the right wing are symmetrically distributed on two sides of the main body framework and are respectively connected with the transmission mechanism; the power mechanism is used for driving the left wing and the right wing to do flapping motion through the transmission mechanism;
the steering mechanism is arranged at the rear end of the main body framework, and the power supply system is connected to the rear end of the steering mechanism and is electrically connected with the flight control system; the flight control system is fixed on the main body framework; the power mechanism and the steering mechanism are respectively electrically connected with the flight control system; the power supply system is used for supplying power to the flight control system, and the flight control system is used for controlling the flight state of the novel butterfly-like flapping wing aircraft by changing the rotating speed of the power mechanism and the swing angle of the steering mechanism.
2. The novel butterfly ornithopter of claim 1, wherein the power mechanism comprises a motor bracket and a motor; the motor support is fixed at the front end of the main trunk framework, the motor is fixed on the motor support, the motor is electrically connected with the flight control system, and a rotating shaft of the motor is in transmission connection with the transmission mechanism.
3. The novel butterfly ornithopter of claim 2, wherein the transmission mechanism comprises a crank, a rocker, a left link, and a right link;
the left connecting rod and the right connecting rod are respectively fixed on the motor bracket through a fixing shaft; one end of the crank is sleeved on a rotating shaft of the motor, and the other end of the crank is hinged with the rocker; one end of the rocker is hinged with the crank, and the other end of the rocker is connected with the left connecting rod and the right connecting rod; the left wing is connected to the left connecting rod, and the right wing is connected to the right connecting rod;
the crank is driven by the motor to rotate along with the rotation of the motor, so that the rocker is pulled to reciprocate up and down, the left connecting rod and the right connecting rod are driven to reciprocate up and down by the rocker, and the left wing and the right wing are driven to flap.
4. The novel butterfly-imitating ornithopter according to claim 3, wherein a bearing hole is formed on the rocker at the joint of the rocker and the left connecting rod and the right connecting rod, and sliding grooves are respectively formed on the left connecting rod and the right connecting rod; and a connecting shaft penetrates through the bearing hole and the sliding chutes of the left connecting rod and the right connecting rod to connect the rocker with the left connecting rod and the right connecting rod.
5. The novel butterfly ornithopter of claim 1, wherein the steering mechanism comprises a steering gear and a connecting rod; the steering engine is fixed at the rear end of the main trunk framework, one end of the connecting rod is connected with a steering engine arm of the steering engine, and the other end of the connecting rod is connected with the power supply system.
6. The novel butterfly ornithopter of claim 4, wherein the wings comprise a wing skeleton and a membrane, the membrane covering the wing skeleton;
the wing framework of the left wing is connected with the left connecting rod through a left wing connecting piece, and the wing framework of the right wing is connected with the right connecting rod through a right wing connecting piece.
7. The novel butterfly ornithopter of claim 6, wherein the left wing and the right wing are the same in shape and size, and respectively comprise a front wing and a back wing, an overlapping portion exists between the front wing and the back wing, and the rigidity of the front wing is greater than that of the back wing.
8. The novel butterfly ornithopter simulated aircraft according to any one of claims 1 to 7, wherein the flight control system comprises a micro main control chip and an attitude sensor;
the micro main control chip is electrically connected with the power mechanism and the steering mechanism; the device is used for changing the rotating speed of the power mechanism and the swing angle of the steering mechanism; the attitude sensor is electrically connected with the micro main control chip and is used for sensing the flight attitude of the novel butterfly-imitating ornithopter.
9. The novel butterfly ornithopter of claim 8, wherein the attitude sensor comprises a three-axis accelerometer and a three-axis gyroscope for measuring three directional accelerations and three angular velocities of the novel butterfly ornithopter about an axis of rotation.
10. The novel butterfly ornithopter of claim 8, wherein the micro main control chip comprises a USART serial port interface, and the USART serial port interface is used for externally connecting a USART wireless serial port module, so as to realize information transmission between the flight control system and an upper computer.
Technical Field
The invention relates to the technical field of aircrafts, in particular to a novel butterfly-imitating ornithopter.
Background
The flapping wing aircraft is an aircraft with wings capable of flapping up and down, and can be divided into a bird-like flapping wing aircraft and an insect-like flapping wing aircraft, and because the current theoretical research on the flight mode of the flapping wing is still insufficient and the manufacturing process is highly complex, most of the current flapping wing aircraft can not reach the targets of miniaturization and high endurance, and the distance between the current flapping wing aircraft and military and commercial applications is still great.
The design of traditional small-size flapping wing aircraft generally divide into two kinds, and firstly two or a plurality of wings drive respectively and control, do not set up steering mechanism, and this kind of structure is favorable to improving flapping wing aircraft's flexibility, but the controllability is poor, the structure is redundant, is unfavorable for flapping wing aircraft's miniaturization and mechanical efficiency's promotion. And the left wing and the right wing flap in phase, and the turning action is realized by the tail wing with adjustable windward angle, and the structure is generally only used for the design of a bird-like flapping wing aircraft and is not suitable for the design of a bionic insect without a tail wing in shape.
The existing bionic butterfly flapping wing aircraft has heavier weight and low mechanical transmission efficiency, and a driving structure and a control mode need to be optimized and innovated if the flapping wing aircraft is further miniaturized.
Disclosure of Invention
The invention aims to provide a novel butterfly-like flapping wing aircraft, which realizes a flapping wing structure with symmetrically driven double wings, and can control the rotating speed of a power mechanism and the swing angle of a steering mechanism through a flight control system, thereby realizing various flight actions of the aircraft.
In order to solve the above technical problems, the present invention provides a novel butterfly-like flapping-wing aircraft, comprising: the device comprises a main body framework, a power mechanism, a transmission mechanism, a steering mechanism, wings, a power supply system and a flight control system;
the power mechanism is arranged at the front end of the main body framework, and the transmission mechanism is in transmission connection with the power mechanism; the wings comprise a left wing and a right wing, and the left wing and the right wing are symmetrically distributed on two sides of the main body framework and are respectively connected with the transmission mechanism; the power mechanism is used for driving the left wing and the right wing to do flapping motion through the transmission mechanism;
the steering mechanism is arranged at the rear end of the main body framework, and the power supply system is connected to the rear end of the steering mechanism and is electrically connected with the flight control system; the flight control system is fixed on the main body framework; the power mechanism and the steering mechanism are respectively electrically connected with the flight control system; the power supply system is used for supplying power to the flight control system, and the flight control system is used for controlling the flight state of the novel butterfly-like flapping wing aircraft by changing the rotating speed of the power mechanism and the swing angle of the steering mechanism.
Further, the power mechanism comprises a motor bracket and a motor; the motor support is fixed at the front end of the main trunk framework, the motor is fixed on the motor support, the motor is electrically connected with the flight control system, and a rotating shaft of the motor is in transmission connection with the transmission mechanism.
Further, the transmission mechanism comprises a crank, a rocker, a left connecting rod and a right connecting rod;
the left connecting rod and the right connecting rod are respectively fixed on the motor bracket through a fixing shaft; one end of the crank is sleeved on a rotating shaft of the motor, and the other end of the crank is hinged with the rocker; one end of the rocker is hinged with the crank, and the other end of the rocker is connected with the left connecting rod and the right connecting rod; the left wing is connected to the left connecting rod, and the right wing is connected to the right connecting rod;
the crank is driven by the motor to rotate along with the rotation of the motor, so that the rocker is pulled to reciprocate up and down, the left connecting rod and the right connecting rod are driven to reciprocate up and down by the rocker, and the left wing and the right wing are driven to flap.
Furthermore, at the joint of the rocker and the left and right connecting rods, a bearing hole is formed in the rocker, and sliding grooves are formed in the left and right connecting rods respectively; and a connecting shaft penetrates through the bearing hole and the sliding chutes of the left connecting rod and the right connecting rod to connect the rocker with the left connecting rod and the right connecting rod.
Further, the steering mechanism comprises a steering engine and a connecting rod; the steering engine is fixed at the rear end of the main trunk framework, one end of the connecting rod is connected with a steering engine arm of the steering engine, and the other end of the connecting rod is connected with the power supply system.
Further, the wing comprises a wing framework and a film, and the film is covered on the wing framework;
the wing framework of the left wing is connected with the left connecting rod through a left wing connecting piece, and the wing framework of the right wing is connected with the right connecting rod through a right wing connecting piece.
Further, the left wing and the right wing are the same in shape and size and respectively comprise a front wing and a rear wing, an overlapping part exists between the front wing and the rear wing, and the rigidity of the front wing is larger than that of the rear wing.
Furthermore, the flight control system comprises a micro main control chip and an attitude sensor;
the micro main control chip is electrically connected with the power mechanism and the steering mechanism; the device is used for changing the rotating speed of the power mechanism and the swing angle of the steering mechanism; the attitude sensor is electrically connected with the micro main control chip and is used for sensing the flight attitude of the novel butterfly-imitating ornithopter.
Furthermore, the attitude sensor comprises a triaxial accelerometer and a triaxial gyroscope, and is used for measuring the acceleration of the novel butterfly-like ornithopter in three directions and the angular velocity of the novel butterfly-like ornithopter in three axial rotation directions.
Furthermore, miniature main control chip includes USART serial port interface, USART serial port interface is used for external USART wireless serial port module to this information transmission who realizes between flight control system and the host computer.
The technical scheme of the invention has the following beneficial effects:
1. the invention realizes a novel flapping wing aircraft with double-wing symmetrical drive, flexible steering and high bionic property, and can be used in the fields of military reconnaissance, aerial monitoring and the like;
2. the invention adopts a novel mechanical structure for controlling the direction of the flapping wing aircraft by simulating the control strategy of the flying attitude of a butterfly in the nature, controls the steering of the flapping wing aircraft by changing the gravity center, has high imitative property and flexibility, and is very similar to the butterfly in the nature;
3. the invention adopts a simple and efficient crank transmission structure, can drive the left wing and the right wing by only one motor, has higher mechanical transmission efficiency compared with the traditional flapping wing aircraft, and is beneficial to reducing the overall weight of the aircraft body, so that the flapping wing aircraft can provide larger load capacity.
Drawings
FIGS. 1 and 2 are schematic structural diagrams of the novel butterfly-like ornithopter of the invention;
FIG. 3 is a schematic structural diagram of the transmission mechanism of the present invention;
FIGS. 4a, 4b and 4c are schematic structural views of the left and right links of the present invention;
FIG. 5 is a schematic view of the structure of the motor bracket of the present invention;
FIGS. 6a, 6b and 6c are schematic structural views of a left wing connecting member according to the present invention;
FIG. 7 is a schematic structural view of the steering mechanism of the present invention;
[ main component symbol description ]
1. A power mechanism; 2. a left wing attachment; 3. a right wing attachment; 4. a flight control system;
5. a left wing; 6. a right wing; 7. a steering mechanism; 8. a power supply system; 9. a main torso framework;
101. a crank; 102. a rocker; 103. a right connecting rod; 104. a left connecting rod; 105. a motor bracket;
106. a motor shaft; 103a, a chute; 103b, a first connecting rod fixing hole;
103c, wing connecting hole; 105a, a bracket fixing hole; 105b, a second connecting rod fixing hole;
105c, a motor fixing hole; 2a, a first hole position; 2b, a second hole site; 2c, a third hole site;
2d, a fourth hole site; 2e, a fifth hole site; 701. a steering engine; 702. a connecting rod.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 7, the present embodiment provides a novel butterfly-like ornithopter, as shown in fig. 1 and 2, including: the
the
The
Further, the power mechanism 1 includes a
Specifically, the structure of the transmission mechanism is shown in fig. 3, 4a to 4c, and includes a
the
the
Further, at the connection positions of the
The
The
Specifically, the wing of the embodiment comprises a wing framework and a film, wherein the wing framework is formed by a solid round carbon rod with the diameter of 0.8 mm; the film is covered on the wing framework; the wing framework of the
Further, the
Furthermore, the flight control system comprises a micro main control chip and an attitude sensor; the micro main control chip is electrically connected with the power mechanism and the steering mechanism; the device is used for changing the rotating speed of the power mechanism and the swing angle of the steering mechanism; the attitude sensor is electrically connected with the micro main control chip and is used for sensing the flight attitude of the novel butterfly-imitating ornithopter.
The micro main control chip is provided with three paths of PWM (Pulse Width Modulation) control output and a USART (Universal Synchronous Asynchronous Receiver Transmitter) serial port interface; which is connected with a
Attitude sensor is MPU9250, and it includes triaxial accelerometer and triaxial gyroscope, can measure the acceleration of the three direction of novel imitative butterfly ornithopter and the angular velocity of three pivoting direction.
The USART serial port interface can be externally connected with a USART wireless serial port module and is used for information transmission between the micro main control chip and the upper computer, and the micro main control chip can realize the actions of forward flight, steering, pitching and the like of the aircraft by changing the output pulse width values of the
The butterfly-imitating ornithopter of the embodiment is designed to have a wingspan of 50cm, a fuselage length of 30cm, a whole machine weight of 36g, double-wing symmetrical driving, steering of the ornithopter is controlled in a gravity center changing mode, the steering is flexible, forward flying, steering, pitching and other actions of the ornithopter can be completed by controlling the rotating speed of a servo motor and the swing angle of a tail end steering engine, and the butterfly-imitating ornithopter can be used in the fields of military reconnaissance, aerial monitoring and the like; two wings about just relying on single motor alright drive have higher mechanical transmission efficiency than traditional flapping wing aircraft, and light and simple mechanical structure still is favorable to the whole weight of fuselage to be reduced, can make flapping wing aircraft provide bigger load-carrying capacity.
Moreover, it is noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
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