Efficient bionic butterfly flapping-wing robot

Abstract

The utility model relates to a bionic butterfly flapping-wing air vehicle, which is inspired from flight characteristics of a butterfly in nature, and designs a flapping-wing air vehicle with high flight efficiency, strong maneuverability, good concealment and low flight noise by simulating a wing structure and a flight mode of the butterfly. The high-density lithium battery supplies current to the strong magnetic motor through the pcb circuit board, the strong magnetic motor rotates to drive the transmission gear to rotate, power output by the strong magnetic motor is transmitted to the double-crank double-rocker mechanism through gear meshing, and finally the double-crank double-rocker mechanism drives the four-bar linkage to move to simulate the wing flapping behavior of the butterfly wing. The aircraft adopts a miniaturized power system, bionic wing design and novel lightweight materials, so that the aircraft has wide application prospects in multiple fields such as environment monitoring, agricultural pollination, military reconnaissance and the like. The utility model has the characteristics of high precision, high efficiency, energy conservation, portability, simplicity and safety, adopts the carbon fiber rods as the skeleton of the wings, and has light weight and long service life.

Description

Technical Field

[0001] The utility model relates to a robot, in particular to a high-efficiency bionic butterfly flapping robot, belonging to the technical field of bionic robots. Background Art

[0002] As an interdisciplinary field, bionics provides a new direction for the development of human technology by imitating the characteristics of organisms in nature. In aircraft design, the flight characteristics of butterflies are valued for their high efficiency, flexibility and low noise. Combined with the progress of miniaturization technology, modern engineers are able to design small and powerful bionic butterfly flapping wing robots. These robots can not only operate flexibly in small or complex environments, but also perform a variety of tasks, such as environmental monitoring and agricultural pollination. The application of new lightweight materials has greatly improved the performance of bionic butterfly flapping wing robots. These materials not only reduce the weight of the aircraft and improve flight efficiency, but also enhance the stability and durability of its structure. At the same time, with the development of energy technology, especially the application of high-density lithium batteries, robots are provided with lasting power support, making long-term and long-distance flights possible. These technological advances have laid a solid foundation for the practical application of bionic butterfly flapping wing robots. Modern control technology, including advanced sensors and precise algorithms, enables bionic butterfly flapping wing robots to achieve precise flight control and navigation. The application of these technologies not only improves the operating accuracy of the robot, but also expands its application prospects in various fields. From environmental monitoring to agricultural pollination to military reconnaissance, the potential uses of butterfly-inspired flapping-wing robots are wide-ranging and are expected to play an important role in multiple industries in the future. As technology continues to advance and costs decrease, these robots will play an increasingly important role in our lives in the future.

[0003] To this end, the utility model is a highly efficient bionic butterfly flapping wing robot, the wing structure of which imitates the shape and texture of butterflies in nature in detail, achieving a high degree of bionic performance, and driving with a brushless motor to achieve low noise and high maneuverability flight. It is suitable for application in many fields such as environmental monitoring, agricultural pollination, and military reconnaissance. Summary of the invention

[0004] To achieve the above purpose, the utility model proposes a high-efficiency bionic butterfly flapping-wing robot. The power is driven by a strong magnetic 615 motor to drive the small gear in the front to rotate, and the power is transmitted to the double wings through the meshing transmission of the gear set, and the double rockers of the double crank rocker mechanism are used to transmit the power to the double wings. Then the wings on both sides of the wings simulate the flapping behavior of the butterfly, thereby realizing the flight of the butterfly's double wings.

[0005] The technical solution of the utility model is achieved in this way:

[0006] A highly efficient bionic butterfly flapping-wing robot, comprising: wings, flapping-wing machine, strong magnetic 615 motor with driving gear, high-density lithium battery, PCB circuit board, containing four innovative structures of wing structure, wing movement, power system and transmission mechanism; characterized in that: the flapping-wing machine is composed of gear I, pinion, gear II, eccentric crank I, pin shaft I I, connecting rod I, pin shaft I II, wing I, pin shaft III, carbon rod frame, wing II, pin shaft II II, connecting rod II, pin shaft II I, eccentric crank II, gear III, cylinder II , cylinder Ⅰ; the carbon rod frame is used to support the overall structure; the power is powered by a high-density lithium battery to rotate the strong magnetic 615 motor with a driving gear; the strong magnetic 615 motor with a driving gear is fixed on the carbon rod frame, and is meshed with gear Ⅰ through the driving gear thereon, and drives gear Ⅰ to rotate; gear Ⅰ is coaxial with the pinion, and its shaft is fixed on the carbon rod frame; the pinion is meshed with gear Ⅱ, and the gear Ⅱ shaft is fixed on the carbon rod frame; gear Ⅱ is meshed with gear Ⅲ, and the gear Ⅲ shaft is fixed on the carbon rod frame; A cylinder I is welded on the bottom surface of one end of wing I as a hinge hole, and is hinged with pin III in the middle part; a cylinder II is welded on the bottom surface of one end of wing II as a hinge hole, which is staggered a distance before and after wing I, and is also hinged with pin III in the middle part, and pin III is fixed on the carbon rod frame; one end of connecting rod I is hinged with pin IⅠ at the eccentric position of gear II, and the other end is hinged with cylinder I using pin IⅡ; one end of connecting rod II is hinged with pin IIⅠ at the eccentric position of gear III, and the other end is hinged with pin IIⅡ at the eccentric position of cylinder II; eccentric crank I, Connecting rod Ⅰ, wing Ⅰ, wing Ⅱ, connecting rod Ⅱ, and eccentric crank Ⅱ form a double crank rocker mechanism; the four wings are connected to the two ends of wing Ⅰ and wing Ⅱ by gluing; the rotation of the strong magnetic 615 motor with a driving gear is converted into the reciprocating swing of the rocker of the double crank rocker mechanism through the gear set transmission, driving the wings to flap, using the wings to simulate the flapping behavior of the butterfly and realize the flight of the butterfly's two wings; the PCB circuit board is installed and fixed on the carbon rod rack for program writing and butterfly flapping robot control.

[0007] Compared with the prior art, the advantages of the utility model are obvious, mainly manifested in:

[0008] 1. Wing structure: Imitate the shape, texture and color of butterfly wings in nature to achieve highly bionic performance.

[0009] 2. Power system: It adopts micro motor and precision transmission mechanism, including strong magnetic motor and two-stage gear reduction box, to achieve efficient flapping.

[0010] 3. Transmission mechanism: Through the meshing of the small gear and the large gear, and the double crank double rocker mechanism, the power is transmitted to the planar four-bar linkage to simulate the flapping behavior of a butterfly.

[0011] 4. Lightweight materials: Innovative application of ultra-lightweight materials such as 1mm carbon rods to reduce the weight of the aircraft and improve flight efficiency.

[0012] 5. Power supply selection: Use 3.7V 100mAh high-density lithium battery to ensure long-term flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The present invention has attached Figure 5 Of which:

[0014] Figure 1 It is a schematic diagram of the top view structure of the utility model;

[0015] Figure 2 This is a schematic diagram of the structure of the utility model when viewed right and rotated 90 degrees;

[0016] Figure 3 It is a rear view structural schematic diagram of the utility model;

[0017] Figure 4 for Figure 1 2. Schematic diagram of the main structure of the flapping-wing aircraft;

[0018] Figure 5 for Figure 1 Schematic diagram of the structure of the flapping-wing aircraft from the left side.

[0019] Among them, 1. wing, 2. flapping-wing aircraft, 21. gear Ⅰ, 22. pinion, 23. gear Ⅱ, 24. eccentric crank Ⅰ, 25. pin ⅠⅠ, 26. connecting rod Ⅰ, 27. pin ⅠⅡ, 28. wing Ⅰ, 29. pin Ⅲ, 210. frame, 211. wing Ⅱ, 212. pin ⅡⅡ, 213. connecting rod Ⅱ, 214. pin ⅡⅠ, 215. eccentric crank Ⅱ, 216. gear Ⅲ, 217. cylinder Ⅱ, 218. cylinder Ⅰ, 3. strong magnetic 615 motor with driving gear, 4. high-density lithium battery, 5. pcb circuit board. DETAILED DESCRIPTION

[0020] like Figure 1 , 2, 3, 4, 5, a high-efficiency bionic butterfly flapping-wing robot, comprising: a wing 1, a flapping-wing machine 2, a strong magnetic 615 motor 3 with a driving gear, a high-density lithium battery 4, a PCB circuit board 5, and containing four innovative structures: wing structure, wing movement, power system and transmission mechanism; characterized in that: the flapping-wing machine 2 is composed of a gear Ⅰ21, a pinion 22, a gear Ⅱ23, an eccentric crank Ⅰ24, a pin ⅠⅠ25, a connecting rod Ⅰ26, a pin ⅠⅡ27, a wing Ⅰ28, a pin Ⅲ29, a carbon rod frame 210, a wing Ⅱ211, a pin ⅡⅡ212, a connecting rod Ⅱ213, a pin ⅡⅠ214, an eccentric crank Ⅱ215, The carbon rod frame 210 is composed of a gear III 216, a cylinder II 217, and a cylinder I 218; the carbon rod frame 210 is used to support the overall structure; the power is supplied by a high-density lithium battery 4 to rotate the strong magnetic 615 motor 3 with a driving gear; the strong magnetic 615 motor 3 with a driving gear is fixed on the carbon rod frame 210, and is meshed with the gear I 21 through the driving gear thereon, and drives the gear I 21 to rotate; the gear I 21 is coaxial with the pinion 22, and its axis is fixed on the carbon rod frame 210; the pinion 22 is meshed with the gear II 23, and the gear II 23 axis is fixed on the carbon rod frame 210; the gear II 23 is meshed with the gear III 216, and the gear III 216 axis Fixed on the carbon rod rack 210; a cylinder Ⅰ218 is welded on the bottom surface of one end of the wing Ⅰ28 as a hinge hole, and is hinged with the pin shaft Ⅲ29 in the middle part; a cylinder Ⅱ217 is welded on the bottom surface of one end of the wing Ⅱ211 as a hinge hole, which is staggered a distance before and after the wing Ⅰ28, and is also hinged with the pin shaft Ⅲ29 in the middle part, and the pin shaft Ⅲ29 is fixed on the carbon rod rack 210; one end of the connecting rod Ⅰ26 is hinged with the eccentric position of the gear Ⅱ23, which shares the pin shaft ⅠⅠ25, and the other end is hinged with the cylinder Ⅰ218, which shares the pin shaft ⅠⅡ27; one end of the connecting rod Ⅱ213 is hinged with the eccentric position of the gear Ⅲ216, which shares the pin shaft ⅡⅠ214, and the other end is hinged with the cylinder Ⅱ217 The pin II II 212 is hinged; the eccentric crank I 24, the connecting rod I 26, the wing I 28, the wing II 211, the connecting rod II 213, and the eccentric crank II 215 form a double crank rocker mechanism; the four wings 1 are connected to the two ends of the wing I 28 and the wing II 211 by gluing; the rotation of the strong magnetic 615 motor 3 with the driving gear is converted into the reciprocating swing of the rocker of the double crank rocker mechanism through the gear set transmission, driving the wings to flap, and using the wing 1 to simulate the flapping behavior of the butterfly to realize the flight of the butterfly's two wings; the PCB circuit board 5 is installed and fixed on the carbon rod frame 210, which is used for program writing and butterfly flapping robot control.

Claims

1. An efficient bionic butterfly flapping robot, comprising: The invention discloses a wing (1), a flapping-wing machine (2), a strong magnetic 615 motor with a driving gear (3), a high-density lithium battery (4), and a PCB circuit board (5), which contain four innovative structures: a wing structure, a wing movement, a power system, and a transmission mechanism; the invention is characterized in that the flapping-wing machine (2) is composed of a gear I (21), a pinion (22), a gear II (23), an eccentric crank I (24), a pin shaft I I (25), a connecting rod I (26), a pin shaft I II (27), a wing I (28), a pin shaft III (29), a carbon rod frame (210), a wing II (211), a pin shaft II II (212), a connecting rod II (213), a pin shaft II I (214), an eccentric crank II (215), a gear III (216), a cylinder II (2 17) and cylinder I (218); the carbon rod frame (210) is used to support the overall structure; the power is supplied by a high-density lithium battery (4) to rotate the strong magnetic 615 motor (3) with a driving gear; the strong magnetic 615 motor (3) with a driving gear is fixed on the carbon rod frame (210), and is meshed with the gear I (21) through the driving gear thereon, and drives the gear I (21) to rotate; the gear I (21) is coaxial with the pinion (22), and its axis is fixed on the carbon rod frame (210); the pinion (22) is meshed with the gear II (23), and the gear II (23) axis is fixed on the carbon rod frame (210); the gear II (23) is meshed with the gear III (216), and the gear III (216) axis is fixed on the carbon rod frame (210); The rod frame (210) is provided with a cylinder I (218) as a hinge hole on the bottom surface of one end of the wing I (28), and is hinged to the pin III (29) at the middle part; the bottom surface of one end of the wing II (211) is welded with a cylinder II (217) as a hinge hole, which is staggered a distance before and after the wing I (28), and is also hinged to the pin III (29) at the middle part, and the pin III (29) is fixed on the carbon rod frame (210); one end of the connecting rod I (26) is hinged to the eccentric position of the gear II (23) by sharing the pin I I (25), and the other end is hinged to the cylinder I (218) by sharing the pin I II (27); one end of the connecting rod II (213) is hinged to the eccentric position of the gear III (216) by sharing the pin II I (214), and the other end is hinged to the cylinder II (217) ) are hinged by a common pin shaft II II (212); an eccentric crank I (24), a connecting rod I (26), a wing I (28), a wing II (211), a connecting rod II (213), and an eccentric crank II (215) form a double crank rocker mechanism; the four wings (1) are connected to the two ends of the wing I (28) and the wing II (211) by gluing; the rotation of the strong magnetic 615 motor (3) with a driving gear is converted into a reciprocating swing of the rocker of the double crank rocker mechanism through a gear group transmission, driving the wings to flap, using the wings (1) to simulate the flapping behavior of a butterfly, and realizing the flight of the butterfly's two wings; a PCB circuit board (5) is installed and fixed on a carbon rod frame (210) for writing programs and controlling the butterfly flapping robot.

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