Bionic butterfly robot

Abstract

The utility model belongs to the field of bionic robots, discloses a bionic butterfly robot, and aims to solve the problems that according to an existing bionic butterfly robot, wings on the two sides of a trunk can swing at different speeds by arranging a differential mechanism structure, speed control is carried out through friction plates, and the wings on one side can stop swinging through the friction plates. According to the technical scheme, the butterfly robot comprises a box body, two wings are arranged on the two sides of the box body respectively, through grooves are formed in the two sides of the box body respectively, the wings penetrate through the through grooves and are connected in a hinged mode, and the wings on the two sides of the box body are connected with the box body in a hinged mode. A driving motor is arranged in the box body, a first bevel gear is fixedly installed on the driving motor, the rotation of the third bevel gear is controlled, the speed difference of the two rotating shafts is achieved, the swing speed of the fins is further controlled, and therefore the fan is suitable for different airflow environments, and the control mode is simple and convenient.

Description

Technical Field

[0001] The utility model belongs to the field of bionic robots, and in particular relates to a bionic butterfly robot. Background Art

[0002] Birds and insects in nature have evolved a body structure that can fly freely in the air through continuous evolution. In the field of flapping-wing aircraft, humans have developed flapping-wing aircraft of different shapes by constantly learning from the body structure of animals in nature. Micro-aircraft can be widely used in both civilian and military fields in the future. In the civilian field, they can replace humans to enter dangerous areas such as nuclear contaminated areas to perform tasks, etc. In the military field, they can carry out future combat concepts such as low-altitude reconnaissance and urban combat.

[0003] In the prior art, a Chinese patent with a publication number of CN215968788U discloses a bionic butterfly robot capable of hovering. The prior art sets a differential structure so that the wings on both sides of the trunk can swing at different speeds, and controls the speed by means of a friction plate. The friction plate can stop the wings on one side from swinging, while the wings on the other side can swing at a faster speed. In actual use, this can easily cause the butterfly robot to quickly tip over, causing inconvenience in use. Utility Model Content

[0004] In order to solve the deficiencies in the above-mentioned prior art, the purpose of the present utility model is to provide a bionic butterfly robot, which controls the rotation of the third bevel gear to achieve the speed difference between the two rotating shafts, and then controls the swinging speed of the wings, so as to adapt to different airflow environments, and the control method is simple and convenient.

[0005] The technical solution adopted by this bionic butterfly robot to solve its technical problems is:

[0006] A bionic butterfly robot is provided, comprising a box body, two wing leaves are respectively arranged on both sides of the box body, through grooves are respectively opened on both sides of the box body, the wing leaves pass through the through grooves and are hingedly connected, a driving motor is arranged in the box body, a first bevel gear is fixedly installed on the driving motor, a second bevel gear is arranged in the box body, the second bevel gear is meshed with the first bevel gear, a mounting plate is fixedly installed on one side of the second bevel gear, a third bevel gear is rotatably installed on the mounting plate, two rotating shafts are rotatably installed in the box body, one of the rotating shafts passes through the second bevel gear and is rotatably connected, fourth bevel gears are fixedly installed on the proximal ends of the two rotating shafts, the fourth bevel gears are meshed with the third bevel gear, a fifth bevel gear coaxial with the third bevel gear is arranged on the mounting plate, a sixth bevel gear is rotatably installed in the box body, the sixth bevel gear is meshed with the fifth bevel gear, a control motor is arranged in the box body, a seventh bevel gear is fixedly installed on the output shaft of the control motor, the seventh bevel gear is meshed with the sixth bevel gear, a transmission structure is respectively arranged between the opposite ends of the shaft and the wing leaves, and the rotation of the rotating shaft can drive the wing leaves to swing back and forth through the transmission structure.

[0007] Furthermore, the transmission structure consists of a turntable, a slide rail and a slide column. The ends of the wings on the same side are hingedly connected to one side of the same slide rail. The turntable is fixedly installed at one end of the two rotating shafts away from each other. One end of the slide column is fixedly installed at the eccentric point of the turntable, and the other end of the slide column is located in the slide rail.

[0008] Furthermore, the slide rail is a limit slide rail, the slide column is a telescopic rod, and the movable end of the slide rail is a limit structure that cooperates with the slide rail.

[0009] Furthermore, the driving motor and the control motor are both servo motors.

[0010] Furthermore, a motor speed regulator is arranged in the box body, and the drive motor and the control motor are connected to the motor speed regulator circuit.

[0011] Furthermore, the motor speed regulator circuit is connected to a wireless connector.

[0012] Furthermore, the two rotating shafts are installed via a bearing seat.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] 1. A bionic butterfly robot exemplified by the utility model, in which a driving motor and a control motor are turned on, the output shaft of the driving motor rotates to drive the second bevel gear to rotate through the first bevel gear, and the output shaft of the control motor rotates to drive the sixth bevel gear to rotate through the seventh bevel gear. By controlling the rotation speed of the driving motor and the output shaft of the control motor, the angular velocity of the second bevel gear and the sixth bevel gear can be made the same, and then the third bevel gear and the fifth bevel gear can only perform orbital rotation, and then the rotation speeds of the two fourth bevel gears meshing with the third bevel gear can be made the same, and then the rotation speeds of the two rotating shafts can be made the same, and then the wings can be driven at the same speed through the transmission structure. The gears are swung at different speeds by the second bevel gear and the sixth bevel gear by changing the output shaft speeds of the driving motor and the controlling motor. Under the effect of the angular velocity difference, the third bevel gear and the fifth bevel gear can rotate while revolving. The rotation of the third bevel gear causes an angular velocity difference between the two fourth bevel gears, so that the wings on both sides of the box body can swing at different speeds, thereby adjusting the angle of the utility model. Compared with the prior art, the utility model controls the rotation of the third bevel gear to achieve the speed difference between the two rotating shafts, thereby controlling the swinging speed of the wings, thereby adapting to different airflow environments, and the control method is simple and convenient.

[0015] 2. A bionic butterfly robot according to an example of the utility model, the rotation of the rotating shaft can drive the turntable to rotate, the turntable can drive the sliding column to move, the sliding column can drive the slide rail to move up and down, and the up and down reciprocating movement of the slide rail can drive the wings to swing.

[0016] 3. A bionic butterfly robot in the example of the utility model, the limiting slide rail and the limiting structure can prevent the slide column from separating from the slide rail, and is more convenient to use.

[0017] 4. The bionic butterfly robot in the example of the utility model has a servo motor that controls speed more accurately and is more convenient to use compared to other types of motors.

[0018] 5. A bionic butterfly robot in the example of the utility model controls the rotation speed of the driving motor and the control motor through a motor speed regulator, which is more convenient to use.

[0019] 6. A bionic butterfly robot in the example of the utility model can remotely control the rotation speed of the driving motor and the control motor through a wireless connector.

[0020] 7. A bionic butterfly robot in the example of the present utility model has a bearing seat to install the rotating shaft more firmly, which can ensure the stability of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0022] Figure 1 It is a structural schematic diagram of the utility model.

[0023] In the figure: 1 box body; 2 wing leaf; 3 driving motor; 4 first bevel gear; 5 second bevel gear; 6 mounting plate; 7 third bevel gear; 8 rotating shaft; 9 fourth bevel gear; 10 fifth bevel gear; 11 sixth bevel gear; 12 control motor; 13 seventh bevel gear; 14 turntable; 15 slide rail; 16 slide column. DETAILED DESCRIPTION

[0024] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant utility model, rather than to limit the utility model. It is also necessary to explain that, for ease of description, only the parts related to the utility model are shown in the accompanying drawings.

[0025] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] like Figure 1As shown, a bionic butterfly robot comprises a box body 1, two wing leaves 2 are respectively arranged on both sides of the box body 1, through slots are respectively opened on both sides of the box body 1, the wing leaves 2 pass through the through slots and are hingedly connected, a driving motor 3 is arranged in the box body 1, a first bevel gear 4 is fixedly installed on the driving motor 3, a second bevel gear 5 is arranged in the box body 1, the second bevel gear 5 is meshed with the first bevel gear 4, a mounting plate 6 is fixedly installed on one side of the second bevel gear 5, a third bevel gear 7 is rotatably installed on the mounting plate 6, two rotating shafts 8 are rotatably installed in the box body 1, one of the rotating shafts 8 passes through the second bevel gear 5 and is rotatably connected, fourth bevel gears 9 are fixedly installed on the proximal ends of the two rotating shafts 8, and the fourth bevel gears 9 are both meshed with the first bevel gear 4. The third bevel gear 7 is meshed, and a fifth bevel gear 10 coaxial with the third bevel gear 7 is arranged on the mounting plate 6. A sixth bevel gear 11 is rotatably installed in the box body 1, and the sixth bevel gear 11 is rotatably installed on the rotating shaft 8 on the right side. The sixth bevel gear 11 is meshed with the fifth bevel gear 10. A control motor 12 is arranged in the box body 1, and a seventh bevel gear 13 is fixedly installed on the output shaft of the control motor 12. The seventh bevel gear 13 is meshed with the sixth bevel gear 11. The meshing manner of the sixth bevel gear 11 and the fifth and seventh bevel gears 10 and 13 is shown in the figure. Transmission structures are respectively arranged between the opposite ends of the rotating shaft 8 and the wing leaves 2. The rotation of the rotating shaft 8 can drive the wing leaves 2 to swing back and forth through the transmission structure. Turn on the drive motor 3 and the control motor 12. The output shaft rotation of the drive motor 3 can drive the second bevel gear 5 to rotate through the first bevel gear 4. The output shaft rotation of the control motor 12 can drive the sixth bevel gear 11 to rotate through the seventh bevel gear 13. By controlling the output shaft speeds of the drive motor 3 and the control motor 12, the angular velocities of the second bevel gear 5 and the sixth bevel gear 11 can be made the same, so that the third bevel gear 7 and the fifth bevel gear 10 can only perform orbital rotation, so that the speeds of the two fourth bevel gears 9 meshing with the third bevel gear 7 are the same, so that the speeds of the two rotating shafts 8 are the same, and the wings 2 are driven to swing at the same speed through the transmission structure. By changing the output shaft speed of the driving motor 3 and the control motor 12, an angular velocity difference can be created between the second bevel gear 5 and the sixth bevel gear 11. Under the action of the angular velocity difference, the third bevel gear 7 and the fifth bevel gear 10 can rotate while revolving. The rotation of the third bevel gear 7 causes an angular velocity difference between the two fourth bevel gears 9, so that the wings 2 on both sides of the box body 1 can swing at different speeds, thereby adjusting the angle of the utility model. Compared with the prior art, the utility model controls the rotation of the third bevel gear 7 to achieve the speed difference between the two rotating shafts 8, thereby controlling the swinging speed of the wings, thereby adapting to different airflow environments, and the control method is simple and convenient.

[0027] like Figure 1As shown, further preferably, the transmission structure is composed of a turntable 14, a slide rail 15 and a slide column 16, the ends of the wing leaves 2 on the same side are hingedly connected to one side of the same slide rail 15, the turntable 14 is fixedly installed at one end of the two rotating shafts 8 that are away from each other, one end of the slide column 16 is fixedly installed at the eccentric part of the turntable 14, and the other end of the slide column 16 is located in the slide rail 15. The rotation of the rotating shaft 8 can drive the turntable 14 to rotate, the turntable 14 can drive the slide column 16 to move, the slide column 16 can drive the slide rail 15 to move up and down, and the up and down reciprocating movement of the slide rail 15 can drive the wing leaves 2 to swing.

[0028] like Figure 1 As shown, further preferably, the slide rail 15 is a limit slide rail, the slide post 16 is a telescopic rod, and the movable end of the slide rail 16 is a limit structure matched with the slide rail 15. The limit slide rail and the limit structure can prevent the slide post 16 from separating from the slide rail 15, and the use is more convenient.

[0029] like Figure 1 As shown, further preferably, the driving motor 3 and the control motor 12 are both servo motors. Compared with other types of motors, servo motors are more accurate in speed control and more convenient to use.

[0030] like Figure 1 As shown, further preferably, a motor speed regulator is provided in the box body 1, and the drive motor 3 and the control motor 12 are connected to the motor speed regulator circuit. The motor speed regulator is used to control the speed of the drive motor 3 and the control motor 12, which is more convenient to use.

[0031] like Figure 1 As shown, further preferably, the motor speed regulator circuit is connected to a wireless connector. Through the wireless connector, the rotation speed of the drive motor 3 and the control motor 12 can be remotely controlled.

[0032] like Figure 1 As shown, further preferably, the two rotating shafts 8 are installed through a bearing seat. Installing the rotating shaft 8 through the bearing seat is more secure and can ensure the stability of the utility model.

[0033] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the utility model involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the concept of the utility model. For example, the above features are replaced with the technical features with similar functions disclosed in the present application (but not limited to) by each other to form a technical solution.

[0034] Except for the technical features described in the specification, the other technical features are known technologies to those skilled in the art. In order to highlight the innovative features of the present utility model, the other technical features will not be described in detail here.

Claims

1. A bionic butterfly robot, comprising a box body (1), two wings (2) are respectively arranged on both sides of the box body (1), through grooves are respectively opened on both sides of the box body (1), and the wings (2) pass through the through grooves and are hingedly connected, wherein: A driving motor (3) is arranged in the box body (1), a first bevel gear (4) is fixedly mounted on the driving motor (3), a second bevel gear (5) is arranged in the box body (1), the second bevel gear (5) meshes with the first bevel gear (4), a mounting plate (6) is fixedly mounted on one side of the second bevel gear (5), a third bevel gear (7) is rotatably mounted on the mounting plate (6), two rotating shafts (8) are rotatably mounted in the box body (1), one of the rotating shafts (8) passes through the second bevel gear (5) and is rotatably connected, fourth bevel gears (9) are fixedly mounted on the adjacent ends of the two rotating shafts (8), and the fourth bevel gears (9) are both meshed with the third bevel gears. The housing (1) is provided with a fifth bevel gear (10) coaxial with the third bevel gear (7), a sixth bevel gear (11) is rotatably mounted in the housing (1), the sixth bevel gear (11) is meshed with the fifth bevel gear (10), a control motor (12) is arranged in the housing (1), a seventh bevel gear (13) is fixedly mounted on the output shaft of the control motor (12), the seventh bevel gear (13) is meshed with the sixth bevel gear (11), and transmission structures are respectively arranged between the opposite ends of the rotating shaft (8) and the wing leaf (2), and the rotation of the rotating shaft (8) can drive the wing leaf (2) to swing back and forth through the transmission structure.

2. The bionic butterfly robot according to claim 1, characterized in that: The transmission structure is composed of a turntable (14), a slide rail (15) and a slide column (16); the ends of the wing leaves (2) on the same side are hingedly connected to one side of the same slide rail (15); the turntable (14) is fixedly mounted on one end of the two rotating shafts (8) that are away from each other; one end of the slide column (16) is fixedly mounted at an eccentric position of the turntable (14); and the other end of the slide column (16) is located in the slide rail (15).

3. The bionic butterfly robot according to claim 2, characterized in that: The slide rail (15) is a limit slide rail, the slide column (16) is a telescopic rod, and the movable end of the slide column (16) is a limit structure that matches the slide rail (15).

4. The bionic butterfly robot according to claim 1, characterized in that: The driving motor (3) and the control motor (12) are both servo motors.

5. The bionic butterfly robot according to claim 4, characterized in that: A motor speed regulator is arranged in the box body (1), and the drive motor (3) and the control motor (12) are connected to the motor speed regulator circuit.

6. The bionic butterfly robot according to claim 5, characterized in that: The motor speed regulator circuit is connected to the wireless connector.

7. The bionic butterfly robot according to claim 1, characterized in that: The two rotating shafts (8) are installed via a bearing seat.

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