Device for realizing steering capability of single-motor bionic butterfly

Abstract

The utility model provides a device for realizing steering capability of a single-motor bionic butterfly, which comprises a main rod, a front wing and a rear wing, wherein the front wing and the rear wing are hinged on the main rod and are connected through a front wing and rear wing connecting mechanism; the main rod is connected with a driving mechanism used for driving the front wings to flap and used for driving the rear wings to flap, and the front and rear wing connecting mechanism is of a deformable structure so that the front wings and the rear wings can not flap synchronously. The front wing and the rear wing are disconnected and then connected through the front and rear wing connecting mechanism, so that the rear wing can be driven to flap when the driving mechanism drives the front wing to flap, and the front and rear wing connecting mechanism is of a deformable structure, so that the front wing and the rear wing do not flap synchronously, and the front wing and the rear wing are closer to real butterfly bionic flight actions.

Description

Technical Field

[0001] The utility model relates to the technical field of aircraft, in particular to a device for realizing the turning ability of a single-motor bionic butterfly. Background Art

[0002] Most of the bionic butterflies that can fully imitate the flight function of butterflies on the market are controlled by servos or dual motors. Due to the too high response requirements for servos, the production cost is relatively high, and it is only applicable to butterflies with large wingspans. For the butterflies controlled by dual motors, the front and rear wings are connected in a rigid manner and flap at the same frequency, which does not conform to real butterflies. Moreover, the product has high precision requirements and great control difficulty. So far, there has been no low-cost device that can enable a single-motor bionic butterfly to achieve turning ability.

[0003] The Chinese invention patent with the publication date of March 12, 2024 and the publication number of CN116513516A discloses a bionic butterfly aircraft, which includes a frame, a pair of wings, a driving device, a pair of reset parts, a servo and a pair of traction mechanisms; the two wings are respectively located on opposite sides of the frame, each wing includes a front wing and a rear wing, the front wing is in front of the rear wing, and the front wing and the rear wing are fixed; the driving device is installed on the frame, and the driving device is connected to the wings and drives the wings to flap up and down; the reset parts correspond to the wings one by one, one end of the reset part is connected to the front wing, and the other end of the reset part is connected to the driving device or the frame, and the reset part pulls the front wing towards the frame; the servo is installed on the frame; the traction mechanisms correspond to the wings one by one, and the traction mechanisms are respectively connected to the servo and the rear wings; the servo pulls one of the rear wings towards the other rear wing through the traction mechanism and adjusts the size of the part of the rear wing inserted into the frame, so as to realize attitude control such as yaw and roll of the bionic butterfly aircraft. However, this patent not only has a complex structure, but also the front wing and the rear wing on each side are connected as a whole, and the front wing and the rear wing flap synchronously, which does not conform to real butterflies. Summary of the Invention

[0004] In view of the above technical problems, the utility model provides a device for realizing the turning ability of a single-motor bionic butterfly, which is used to solve the problem that the front wing and the rear wing of the bionic butterfly aircraft in the prior art flap synchronously and do not conform to real butterflies.

[0005] In order to achieve the above purpose, the technical solution of the utility model is realized as follows:

[0006] A device for realizing the bionic butterfly steering ability of a single motor, comprising a main rod, a front wing and a rear wing hinged to the main rod, and the front wing and the rear wing are connected by a front and rear wing connecting mechanism; a driving mechanism for driving the flapping of the front wing is connected to the main rod to drive the flapping of the rear wing, and the front and rear wing connecting mechanism is a deformable structure so that the front wing and the rear wing flap out of sync. The front wing and the rear wing of the utility model are connected by the front and rear wing connecting mechanism after being disconnected, so that when the driving mechanism drives the front wing to flap, the rear wing can be driven to flap, and the front and rear wing connecting mechanism is a deformable structure, so that the front wing and the rear wing flap out of sync, thus being closer to the real bionic butterfly flight action.

[0007] Further, the front and rear wing connecting mechanism includes a front wing connecting head rotatably connected to the front wing and a rear wing connecting assembly hinged to the front wing connecting head, and the other end of the rear wing connecting assembly is rotatably connected to the rear wing.

[0008] Further, the rear wing connecting assembly is ball-hinged to the front wing connecting head through a spherical rotatable electromagnetic head, and the front wing connecting head is provided with a spherical segment-shaped cavity sleeved outside the rotatable electromagnetic head and rotatably matched with the rotatable electromagnetic head; an electromagnetic sheet capable of electrically adsorbing the rotatable electromagnetic head is provided at the bottom of the spherical segment-shaped cavity.

[0009] Further, the rear wing connecting assembly includes a flexible shaft sleeve connected to the rotatable electromagnetic head and an electromagnetic pull rod connected to the rear wing. A cylindrical cavity is provided in the flexible shaft sleeve for sleeving a part of the rod body of the electromagnetic pull rod, and a spring is provided in the cylindrical cavity, and both ends of the spring are respectively abutted against the bottom of the cylindrical cavity and the end of the electromagnetic pull rod.

[0010] Further, the driving mechanism includes a driving bracket arranged at the front end of the main rod, a first gear and a second gear rotatably arranged on the driving bracket, and a driving gear set; one of the first gear and the second gear is meshed with the driving gear set, and connecting rods are eccentrically hinged to the first gear and the second gear respectively, and the two connecting rods are respectively hinged to the front wings on both sides of the main rod; and a motor for driving the driving gear set to rotate is provided on the driving bracket to drive the flapping of the front wing.

[0011] Further, the driving gear set includes a driving gear rotatably arranged on the driving bracket, a driven gear meshed with the driving gear, a small gear is connected to the gear shaft of the driven gear, and the small gear is meshed with the first gear.

[0012] Further, a rear wing assembly component for connecting the rear wing is further provided on the main rod. The rear wing assembly component includes an I-shaped limiting part sleeved on the main rod and rear wing fixing hinges arranged in the spaces on both sides of the I-shaped limiting part. The rear wing fixing hinges are connected to the rear wing, and the rear wing fixing hinges are hinged to the I-shaped limiting part or the main rod.

[0013] Further, the I-shaped limiting member includes an upper wing plate, a lower wing plate, and a connecting plate connecting the upper wing plate and the lower wing plate. The connecting plate is sleeved on the main rod; the end of the rear wing fixed hinge is hinged to the main rod, and the end of the rear wing fixed hinge is staggered from the connecting plate.

[0014] Further, a front wing fitting connected to the rear end of the front wing is also provided on the main rod. The middle of the front wing fitting is fixed to the main rod, and installation grooves for the rear end of the front wing to be embedded are provided on both sides.

[0015] Further, a controller and a battery are also provided on the main rod, and the controller is electrically connected to the driving mechanism and the front and rear wing connecting mechanisms.

[0016] Advantages of the present utility model:

[0017] 1. After the front wing and the rear wing of the present utility model are disconnected, they are connected by the front and rear wing connecting mechanism, so that when the driving mechanism drives the front wing to flap, the rear wing can be driven to flap, and the front and rear wing connecting mechanism is a deformable structure, so that the front wing and the rear wing flap out of sync, thus being closer to the real bionic flying action of a butterfly;

[0018] 2. By providing electromagnetic sheets in the front and rear wing connecting mechanism of the present utility model that can magnetically adsorb the electromagnetic pull rod and the rotatable electromagnetic head, when the power is off, the front and rear wing connecting mechanism can deform within a certain range, and when the power is on, the front and rear wing connecting mechanism is restricted from deforming, so that the flying action of the butterfly can be regulated. Description of the drawings

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 It is a schematic structural diagram of the present utility model.

[0021] Figure 2 It is a schematic structural diagram of the driving mechanism of the present utility model.

[0022] Figure 3 It is a side view structural diagram of the driving mechanism of the present utility model.

[0023] Figure 4 It is a schematic structural diagram of the front and rear wing connecting mechanism of the present utility model.

[0024] Figure 5 It is a cross-sectional structural diagram of the front and rear wing connecting mechanism of the present utility model.

[0025] Figure 6 This is a schematic structural diagram of the hind wing assembly component of the present utility model.

[0026] In the figure: 1, front wing; 11, front wing bone; 2, battery; 3, front and hind wing connection mechanism; 31, front wing connection head; 32, electromagnetic pull rod; 33, flexible shaft sleeve; 34, rotatable electromagnetic head; 35, spring; 36, electromagnetic sheet; 4, hind wing; 5, hind wing assembly component; 51, I-shaped limiting member; 52, hinge; 6, front wing fitting; 7, controller; 8, driving mechanism; 81, driving bracket; 82, driving gear; 83, connecting rod; 84, driven gear; 85, first gear; 86, second gear; 9, main rod. Specific embodiments

[0027] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0028] As Figures 1 to 6 shown, a device for realizing the bionic butterfly steering ability with a single motor in Embodiment 1 of the present utility model includes a main rod 9, a pair of front wings 1 and a pair of hind wings 4. The pair of front wings 1 are hinged on both sides of the front part of the main rod 9, and the pair of hind wings 4 are hinged on both sides of the rear part of the main rod 9. After the pair of front wings 1 and the pair of hind wings 4 are disconnected, the front wing 1 and the hind wing 4 on the same side of the main rod 9 are connected by the front and hind wing connection mechanism 3. A driving mechanism 8 is connected to the main rod 9 to drive the flapping of the front wings 1. Due to the function of the front and hind wing connection mechanism 3, the flapping of the front wings 1 can drive the flapping of the hind wings 4. At the same time, since the front and hind wing connection mechanism 3 is a deformable structure, the front wings 1 and the hind wings 4 flap out of sync.

[0029] Among them, each front wing 1 includes a front wing bone 11 and a hind wing piece fixedly arranged on the front wing bone 11. The front wing bone 11 is hinged to the main rod 9 so that the front wing 1 can swing. Each hind wing 4 includes a hind wing bone and a hind wing piece fixedly arranged on the hind wing bone.

[0030] Embodiment 2 is different from Embodiment 1 in that, as Figure 1 、 Figure 4 and Figure 5As shown, the front and rear wing connection mechanism 3 includes a front wing connection head 31 rotatably connected to the front wing bone 11 of the front wing 1 and a rear wing connection assembly hinged to the front wing connection head 31. The front end of the rear wing connection assembly is embedded in the front wing connection head 3, enabling the rear wing connection assembly to rotate relative to the front wing connection head 3 within a certain limited range. The other end of the rear wing connection assembly is rotatably connected to the rear wing bone of the rear wing 4. In this embodiment, a rotating sleeve is provided at the end of the front wing connection head 31 and sleeved on the front wing bone 11, and the rotating sleeve can rotate relative to the front wing bone 11. Since the rear wing connection assembly rotates relative to the front wing connection head 3 within a certain limited range, when the front wing 1 flaps, the front wing 1 can drive the rear wing 4 to rotate. At the same time, after a part of the flapping amplitude is offset, the front wing 1 and the rear wing 4 flap out of sync.

[0031] Further, as Figure 4 and Figure 5 shown, the front end of the rear wing connection assembly is ball-joint connected to the front wing connection head 31 through a spherical rotatable electromagnetic head 34. The front wing connection head 31 is provided with a spherical segment-shaped cavity sleeved outside the rotatable electromagnetic head 34 and rotationally matched with the rotatable electromagnetic head 34. The rotatable electromagnetic head 34 is in clearance fit with the spherical segment-shaped cavity, enabling the rotatable electromagnetic head 34 to rotate relative to a certain range. The rear wing connection assembly passes through the opening of the spherical segment-shaped cavity, and there is a gap between the rear wing connection assembly and the opening, enabling the rear wing connection assembly to rotate relative to the front wing connection head 31. An electromagnetic sheet 36 that can be electrically adsorbed to the rotatable electromagnetic head 34 is provided at the bottom of the spherical segment-shaped cavity.

[0032] When one side is energized, the electromagnetic sheet 36 on this side adsorbs the rotatable electromagnetic head 34 to restrict the rotation of the rotatable electromagnetic head 34. At this time, when the front wing 1 on this side flaps, the amplitude of driving the rear wing 4 is restricted, generating an air pressure difference on both sides of the wing, realizing the biased flight of the butterfly, and thus enabling the butterfly to achieve the turning function.

[0033] Embodiment 3, the difference from Embodiment 2 is that, as Figure 1 、 Figure 4 and Figure 5 shown, the rear wing connection assembly includes a flexible shaft sleeve 33 connected to the rotatable electromagnetic head 34 and an electromagnetic pull rod 32 connected to the rear wing 4. A cylindrical cavity is provided inside the flexible shaft sleeve 33 for sleeving on the front part of the rod body of the electromagnetic pull rod 32. The cylindrical cavity and the electromagnetic pull rod 32 are both arranged along the length direction of the flexible shaft sleeve 33. The electromagnetic pull rod 32 is in sliding fit with the cylindrical cavity. And a spring 35 is provided inside the cylindrical cavity, and both ends of the spring 35 are abutted against the bottom of the cylindrical cavity and the end of the electromagnetic pull rod 32 respectively. In this embodiment, a rotating sleeve is provided at the end of the electromagnetic pull rod 32 away from the rotatable electromagnetic head 34 and sleeved on the rear wing bone of the rear wing, and this rotating sleeve can rotate relative to the rear wing bone.

[0034] When one side is electrified, the electromagnetic sheet 36 on this side acquires magnetism. At this time, the electromagnetic sheet 36 on the corresponding side has a certain attracting ability to the electromagnetic pull rod 32, restricting the telescopic range of the spring 35. At this time, the amplitude of the front wing driving the rear wing to flap on this side decreases, creating an air pressure difference on both sides of the wings and realizing the deflection flight of the butterfly. The butterfly realizes the steering function.

[0035] Embodiment 4, the difference from Embodiment 1 is that, as Figure 1 , Figure 2 and Figure 3 shown, the driving mechanism 8 includes a driving bracket 81 arranged at the front end of the main rod 9, a first gear 85 and a second gear 86 rotatably arranged on the driving bracket 81, and a driving gear set. The upper part of the driving bracket 81 is fixed to the main rod 9, and the first gear 85 and the second gear 86 are arranged in the middle of the driving bracket 81. The driving gear set is arranged in the lower middle part of the driving bracket 81. One of the first gear 85 and the second gear 86 meshes with the driving gear set, and at positions deviating from their respective gear shafts on the first gear 85 and the second gear 86, connecting rods 83 are eccentrically hinged respectively. The upper ends of the two connecting rods 83 are respectively hinged to the front wing bones 11 of the corresponding front wings 1 on both sides of the main rod 9. A motor 87 for driving the driving gear set to rotate is arranged on the driving bracket 81 to drive the rotation of the first gear 85 and the second gear 86, so that the connecting rods 8 swing greatly to drive the flapping of the front wings 1.

[0036] Embodiment 5, the difference from Embodiment 4 is that, as Figure 2 and Figure 3 shown, the driving gear set includes a driving gear 82 rotatably arranged in the middle of the driving bracket 81 and a driven gear 84 rotatably arranged in the lower part of the driving bracket 81. The driven gear 84 meshes with the driving gear 82, a small gear is connected to the gear shaft of the driven gear 84, the small gear meshes with the first gear 85, and drives the second gear 86 to rotate through the rotation of the first gear 85. The motor 87 is connected to the gear shaft of the driving gear 82.

[0037] Embodiment 6, the difference from Embodiment 1 is that, as Figure 1 and Figure 6 shown, a rear wing assembly component 5 for connecting the rear wings 4 is further arranged on the main rod 9. The rear wing assembly component 5 includes an I-shaped limiting member 51 sleeved on the main rod 9 and rear wing fixing hinges 52 arranged in the spaces on both sides of the I-shaped limiting member 51. The rear wing fixing hinges 52 on both sides are respectively fixedly connected to the inner sides of the rear wings 4 on both sides, and the rear wing fixing hinges 52 are hinged to the I-shaped limiting member 51 or the main rod 9.

[0038] Specifically, as Figure 6As shown, the I-shaped limiting member 51 includes an upper wing plate, a lower wing plate, and a connecting plate connecting the upper wing plate and the lower wing plate. The connecting plate is sleeved on the main rod 9; the end of the rear wing fixed hinge 52 is hinged to the main rod 9, and the end of the rear wing fixed hinge 52 is staggered from the connecting plate. In this embodiment, there are two connecting plates, and the two connecting plates are fixedly sleeved on the main rod 9 at intervals. The end of the rear wing fixed hinge 52 extends between the two connecting plates and is then hinged to the main rod 9. And in this embodiment, the rear wing fixed hinges 52 on both sides are hinged to the main rod 9 through double-row cylindrical roller bearings.

[0039] Embodiment 7, the difference from Embodiment 1 is that, as Figure 1 and Figure 6 shown, a front wing fitting 6 connected to the rear end of the front wing 1 is further provided on the main rod 9. The middle part of the front wing fitting 6 is fixed to the main rod 9, and installation grooves for the rear end of the front wing 1 to be embedded are provided on both sides. The inner side of the rear end of the front wing 1 is fixedly arranged in the installation groove. Since the front wing 1 has a certain flexibility, it does not affect the swing of the front wing 1 relative to the front wing fitting.

[0040] Embodiment 8, the difference from Embodiment 5 is that, as Figure 1 and Figure 6 shown, a controller 7 and a battery 2 are further provided on the main rod 9, and the controller 7 is electrically connected to the motor 87 of the driving mechanism 8 and the electromagnetic sheet 36 of the front and rear wing connection mechanism 3.

[0041] When the flying device of the present invention is flying, the working process of the front and rear wing connection mechanism is as follows:

[0042] The first limiting method: limiting by the electromagnetic pull rod and the electromagnetic sheet

[0043] When no turning is required, the electromagnetic sheet 36 does not have magnetism and does not have an attracting ability for the electromagnetic pull rod 32, and the limiting function is small. At this time, the amplitude of the front wing flapping of the butterfly driving the rear wing flapping is larger, and large-amplitude flapping wing climbing can be realized to achieve the flying function;

[0044] When turning is required, the front and rear wing connection mechanism is electrified, and the electromagnetic sheet 36 obtains magnetism. At this time, the electromagnetic sheet 36 has a certain attracting ability for the electromagnetic pull rod 32, so that the telescopic range of the spring 35 is restricted. At this time, the amplitude of the front wing driving the rear wing flapping is reduced, so that an air pressure difference is generated on both sides of the wings, realizing the deflection flight of the butterfly. The butterfly realizes the turning function.

[0045] The second limiting method: limiting by the rotatable electromagnetic head and the electromagnetic sheet

[0046] When the front and rear wing connection mechanism is not powered on, the electromagnetic sheet 36 has no magnetic force to attract the rotatable electromagnetic head 34, and the rotatable electromagnetic head 34 can rotate freely. Therefore, when the amplitude of the flapping of the front wing 1 is transmitted to the electromagnetic pull rod 32 through the rotatable electromagnetic head 34, a part of it is offset by the rotation of the rotatable electromagnetic head 34, resulting in a decrease in the swing amplitude of the rear wing. It is precisely because of the time difference generated by the offset of the flapping amplitude that when the front wing 1 flaps to the highest point, the position of the rear wing 4 will be a little lower than that in the case where the front and rear wing connection mechanism is powered on. Then, during the downward flapping process of the front wing 1, it drives the rear wing 4, which has not reached the normal highest point, to flap downward. Similarly, this situation will generate a position difference, making the rear wing always have a different amplitude from that in the powered-on case, thus changing the flapping amplitude of the rear wing. In addition, the amplitude is controllable and can be controlled by changing the voltage supply of the front and rear wing connection mechanisms on both the left and right sides.

[0047] When the front and rear wing connection mechanism on one side is powered on, the electromagnetic sheet 36 on the corresponding side obtains magnetism. At this time, the electromagnetic sheet 36 has an attractive force on the rotatable electromagnetic head 34, making the rotatable electromagnetic head 34 unable to rotate after being in close contact with the electromagnetic sheet 36. At this time, when the front wing 1 on this side flaps, the amplitude of driving the rear wing 4 is limited, resulting in an air pressure difference on both sides of the wings, realizing the deflection flight of the butterfly, and thus enabling the butterfly to achieve the turning function.

[0048] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: Any modification to the technical solutions recorded in the foregoing embodiments, or any equivalent replacement of some or all of the technical features, and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and shall all be included in the protection scope of the present invention.

Claims

1. A device for realizing the bionic butterfly steering ability of a single motor, characterized in that, It includes a main rod (9), a front wing (1) and a rear wing (4) hinged to the main rod (9), and the front wing (1) and the rear wing (4) are connected by a front and rear wing connecting mechanism (3); a driving mechanism (8) for driving the flapping of the front wing (1) is connected to the main rod (9) to drive the flapping of the rear wing (4), and the front and rear wing connecting mechanism (3) is a deformable structure so that the front wing (1) and the rear wing (4) flap out of sync; The front and rear wing connecting mechanism (3) includes a front wing connecting head (31) rotatably connected to the front wing (1) and a rear wing connecting assembly hinged to the front wing connecting head (31), and the other end of the rear wing connecting assembly is rotatably connected to the rear wing (4); the rear wing connecting assembly is ball-joint connected to the front wing connecting head (31) through a spherical rotatable electromagnetic head (34), and the front wing connecting head (31) is provided with a spherical segment-shaped cavity sleeved outside the rotatable electromagnetic head (34) and rotatably matched with the rotatable electromagnetic head (34); an electromagnetic sheet (36) electrically adsorbable to the rotatable electromagnetic head (34) is provided at the bottom of the spherical segment-shaped cavity; The driving mechanism (8) includes a driving bracket (81) arranged at the front end of the main rod (9), a first gear (85) and a second gear (86) rotatably arranged on the driving bracket (81), and a driving gear set; one of the first gear (85) and the second gear (86) is meshed with the driving gear set, and connecting rods (83) are eccentrically hinged to the first gear (85) and the second gear (86) respectively, and the two connecting rods (83) are respectively hinged to the front wings (1) on both sides of the main rod (9); and a motor (87) for driving the driving gear set to rotate is arranged on the driving bracket (81) to drive the flapping of the front wing (1).

2. The device for realizing the bionic butterfly steering ability of a single motor according to claim 1, characterized in that, The rear wing connecting assembly includes a flexible shaft sleeve (33) connected to the rotatable electromagnetic head (34) and an electromagnetic pull rod (32) connected to the rear wing (4), a cylindrical cavity is arranged in the flexible shaft sleeve (33) for sleeving part of the rod body of the electromagnetic pull rod (32), and a spring (35) is arranged in the cylindrical cavity, and both ends of the spring (35) are abutted against the bottom of the cylindrical cavity and the end of the electromagnetic pull rod (32) respectively.

3. The device for realizing the bionic butterfly steering ability of a single motor according to claim 1 or 2, characterized in that, The driving gear set includes a driving gear (82) rotatably arranged on the driving bracket (81), a driven gear (84) meshed with the driving gear (82), a small gear is connected to the gear shaft of the driven gear (84), and the small gear is meshed with the first gear (85).

4. The device for realizing the bionic butterfly steering ability of a single motor according to claim 1 or 2, characterized in that A rear wing assembly component (5) for connecting the rear wing (4) is further arranged on the main rod (9), and the rear wing assembly component (5) includes an I-shaped limiting part (51) sleeved on the main rod (9) and rear wing fixing hinges (52) arranged in the spaces on both sides of the I-shaped limiting part (51), the rear wing fixing hinges (52) are connected to the rear wing (4), and the rear wing fixing hinges (52) are hinged to the I-shaped limiting part (51) or the main rod (9).

5. The device for realizing the bionic butterfly steering ability of a single motor according to claim 4, characterized in that, The I-shaped limiting part (51) includes an upper wing plate, a lower wing plate and a connecting plate connecting the upper wing plate and the lower wing plate, and the connecting plate is sleeved on the main rod (9); the end of the rear wing fixing hinge (52) is hinged to the main rod (9), and the end of the rear wing fixing hinge (52) is staggered from the connecting plate.

6. The device for realizing the bionic butterfly steering ability of a single motor according to claim 1 or 2 or 5, characterized in that, The main rod (9) is further provided with a front wing fitting (6) connected to the rear end of the front wing (1). The middle part of the front wing fitting (6) is fixed to the main rod (9), and installation grooves for the rear end of the front wing (1) to be inserted are provided on both sides.

7. The device for realizing the bionic butterfly steering ability of a single motor according to claim 1 or 2 or 5, characterized in that, The main rod (9) is further provided with a connected controller (7) and a battery (2), and the controller (7) is electrically connected to the driving mechanism (8) and the front and rear wing connecting mechanism (3).

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