Bionic butterfly based on flapping wing structure

Abstract

The utility model relates to the technical field of aircrafts, in particular to a bionic butterfly based on a flapping wing structure. The bionic butterfly based on the flapping wing structure comprises butterfly wing-shaped carbon fiber frameworks, kite cloth, a driving assembly, a small lithium battery and a remote controller, the driving assembly is wirelessly and remotely controlled through the remote controller, and the driving assembly is fixedly connected with the two butterfly wing-shaped carbon fiber frameworks wrapped with the kite cloth. The remote controller is operated to control the two butterfly wing-shaped carbon fiber skeletons to move, so that the whole bionic butterfly is driven to fly, and the technical problems that in the prior art, a bionic butterfly is not small enough, the thrust-weight ratio is small, and the control difficulty is large are solved. The purposes of optimizing the wing shape of the bionic butterfly, reducing the overall weight of the bionic butterfly and conveniently adjusting the motion posture of the bionic butterfly are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of aircraft, in particular to a bionic butterfly based on a flapping wing structure. Background Art

[0002] The butterfly is a relatively small creature in nature, yet it possesses remarkable flight capabilities. The lightness and flexibility of its wings allow it to soar freely through the air, providing both maneuverability and stability. With advances in science and technology, bionics has become a hot research field. It studies the morphology, function, and behavior of organisms and applies this knowledge to engineering design and technological applications, playing a vital role in a wide range of fields. From a bionics perspective, the wing structure and flapping motion of insects, birds, and bats have been analyzed, further elucidating the high-lift mechanisms that enable flight in natural flying organisms. Bionic robotics is the field of mimicking the structure, function, and behavior of organisms into mechanical systems. Fish and birds have been important sources of inspiration for bionic robotics design.

[0003] However, the path to innovation is uncertain and arduous. Butterflies are generally small in size and weight; the heaviest butterfly in the world weighs a mere 12 grams and is 28 centimeters wide. Therefore, lightweighting and miniaturization are the first design challenges for a bionic butterfly. A butterfly's wings can flap at a frequency of up to 10Hz during flight, but choosing a suitable power source while maintaining a low weight is a second challenge. The third challenge is maintaining a low weight while also ensuring the butterfly's endurance. Utility Model Content

[0004] The utility model provides a bionic butterfly based on a flapping wing structure, which is used to solve the technical problems in the prior art that bionic butterflies are not miniaturized enough, have a low thrust-to-weight ratio and are difficult to control, thereby achieving the purposes of optimizing the shape of the bionic butterfly's wings, reducing the overall weight of the bionic butterfly and facilitating the adjustment of the bionic butterfly's movement posture.

[0005] The utility model provides a bionic butterfly based on a flapping wing structure, comprising:

[0006] Butterfly wing-shaped carbon fiber frames, two of which are symmetrically arranged;

[0007] Kite cloth, wrapped around the outside of the butterfly wing-shaped carbon fiber frame;

[0008] A drive assembly is provided in the middle of the two butterfly wing-shaped carbon fiber frames, and the drive assembly is fixedly connected to the two butterfly wing-shaped carbon fiber frames respectively;

[0009] a small lithium battery, fixedly disposed adjacent to the drive assembly, the small lithium battery being electrically connected to the drive assembly;

[0010] A remote controller is wirelessly connected to the driving component.

[0011] According to the bionic butterfly based on flapping wing structure provided by the utility model: the driving component includes a driving motor, a first single-chip microcomputer, a wireless receiving module and a magnetic encoder, the wireless receiving module and the magnetic encoder are integrated on the first single-chip microcomputer, the driving motor is electrically connected to the first single-chip microcomputer, the first single-chip microcomputer is electrically connected to the small lithium battery, the two butterfly wing-shaped carbon fiber skeletons are arranged on both sides of the first single-chip microcomputer, and there are two driving motors in total, and the output ends of the two driving motors are respectively fixedly connected to the two butterfly wing-shaped carbon fiber skeletons.

[0012] According to the bionic butterfly based on flapping wing structure provided by the utility model: the driving motor includes a hollow cup motor, a planetary reducer and a motor starter, the hollow cup motor is electrically connected to the planetary reducer, and the planetary reducer is electrically connected to the hollow cup motor and the first single-chip microcomputer respectively.

[0013] According to the bionic butterfly based on flapping wing structure provided by the utility model: the remote control includes an operating joystick, an LED screen, a shell, a wireless transmission module and a second single-chip microcomputer, the shell is arranged on the outside of the second single-chip microcomputer, the second single-chip microcomputer is integrated with the wireless transmission module, the LED screen is embedded in one side of the shell, and there are two operating joysticks in total, which are arranged on both sides of the LED screen, and the operating joystick and the LED screen are both electrically connected to the second single-chip microcomputer.

[0014] The beneficial effects produced by the utility model are:

[0015] The utility model provides a bionic butterfly based on a flapping-wing structure, comprising a butterfly wing-shaped carbon fiber skeleton, kite cloth, a drive assembly, a small lithium battery and a remote controller. The drive assembly is wirelessly remotely controlled by the remote controller, and the drive assembly is fixedly connected to two butterfly wing-shaped carbon fiber skeletons covered with kite cloth. The two butterfly wing-shaped carbon fiber skeletons are controlled to move by operating the remote controller, thereby driving the entire bionic butterfly to fly. The utility model solves the technical problems in the prior art that the bionic butterfly is not miniaturized enough, has a low thrust-to-weight ratio and is difficult to control, and achieves the purposes of optimizing the shape of the bionic butterfly wings, reducing the overall weight of the bionic butterfly and facilitating adjustment of the bionic butterfly's movement posture.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description and will become apparent from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of a bionic butterfly based on flapping wing structure;

[0019] Figure 2 This is a top view of the butterfly wing-shaped carbon fiber skeleton;

[0020] Figure 3 This is a top view of the butterfly wing-shaped carbon fiber frame covered with kite cloth;

[0021] Figure 4 It is a three-dimensional structural diagram of the remote control;

[0022] Figure 5 This is the circuit diagram of the first single-chip microcomputer;

[0023] Figure 6 This is the circuit diagram of the magnetic encoder.

[0024] Reference numerals:

[0025] 1. Butterfly wing-shaped carbon fiber frame; 2. Kite fabric; 3. Drive assembly; 301. Drive motor; 4. Small lithium battery; 5. Remote control; 501. Operation joystick; 502. LED screen; 503. Casing. DETAILED DESCRIPTION

[0026] To make the purpose, technical solutions, and advantages of the present invention more clear, the following will be combined with the accompanying drawings to clearly and completely describe the technical solutions of the present invention. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0027] In the description of the embodiments of the present invention, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the embodiments of the present invention and to simplify the description. They do not indicate or imply that the mechanisms or components referred to must have a specific direction, be constructed, or operate in a specific direction. Therefore, they should not be construed as limiting the embodiments of the present invention. In addition, the terms "first," "second," etc., etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0028] In the description of the embodiments of the present invention, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on specific circumstances.

[0029] In the embodiments of the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," or "above" a second feature may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below," "below," or "below" a second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is lower in level than the second feature.

[0030] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the utility model. In this specification, the schematic expressions of the above terms do not refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0031] The following combination Figures 1 to 6 The embodiment shown describes the technical solution of the utility model:

[0032] The utility model provides a bionic butterfly based on a flapping wing structure, comprising: two butterfly wing-shaped carbon fiber skeletons 1, symmetrically arranged; a kite cloth 2, wrapped around the outside of the butterfly wing-shaped carbon fiber skeletons 1; a driving component 3, arranged in the middle position of the two butterfly wing-shaped carbon fiber skeletons 1, and the driving components 3 are respectively fixedly connected to the two butterfly wing-shaped carbon fiber skeletons 1; a small lithium battery 4, fixedly arranged at an adjacent position of the driving component 3, and the small lithium battery 4 is electrically connected to the driving component 3; and a remote control 5, wirelessly connected to the driving component 3.

[0033] It can be understood that the bionic butterfly based on the flapping wing structure provided by the present invention has a skeleton made of carbon fiber material, and the bionic butterfly skeleton is covered with kite cloth 2 to reduce the weight of the released butterfly. A driving component 3 is provided in the middle position of the two wings of the butterfly to facilitate the control of the running speed and direction of the wings on both sides, and to facilitate the adjustment of the flight posture of the released butterfly to ensure that the bionic butterfly can fly stably. The small lithium battery 4 serves as the power source of the driving component 3, and the remote control 5 can wirelessly operate the driving component 3 to adjust the flight posture of the bionic butterfly, so as to facilitate the bionic butterfly to fly better in complex environments and improve the practicality of the bionic butterfly.

[0034] The bionic butterfly wing-shaped carbon fiber in the present invention includes two butterfly wing-shaped skeletons made of carbon fiber. The two wing skeletons are axially symmetrically arranged. The adjacent sides of the two wing skeletons are connected to a carbon fiber rod through a carbon fiber rod. After the connection is completed, the drive component 3 is fixed to the carbon fiber rod in the middle. While ensuring that the butterfly wings can fly, we will continuously reduce the proportion of the wings, reduce the details on the wings, simplify the shape of the wings and reduce the curves to a degree that does not conform to the actual proportion through multiple tests. In the present invention, a carbon fiber rod with a diameter of 0.4mm is selected, and the final wing size is 28.5cm×18cm, so that the wings are both lightweight and miniaturized relative to the butterfly as a whole. In addition to fitting a circle according to the shape of the butterfly wings, the butterfly wing-shaped carbon fiber rod is also provided with two reinforcing ribs in the middle to improve the stability of the bionic butterfly flight.

[0035] In the present invention, the kite cloth 2 is covered on the outside of the butterfly wing-shaped carbon fiber frame 1. The kite cloth 2 is selected as P31n kite cloth 2, which controls the material of the butterfly wing surface to the greatest extent, reduces the overall weight of the released butterfly, and thus improves the thrust-to-weight ratio.

[0036] In the present invention, the driving assembly 3 is arranged in the middle position of the two butterfly wing-shaped carbon fiber skeletons 1. The driving assembly 3 is fixedly connected to the two butterfly wing-shaped carbon fiber skeletons 1 respectively, and is used to drive the two butterfly wing-shaped carbon fiber skeletons 1 to fly in various different postures. It is the core equipment of the bionic butterfly. The small lithium battery 4 is fixedly arranged in the adjacent position of the driving assembly 3. The small lithium battery 4 is electrically connected to the driving assembly 3. The small lithium battery 4 serves as the power source of the driving assembly 3. Because the driving assembly 3 and the small lithium battery 4 both need to be arranged on the bionic butterfly body, the lighter driving assembly 3 and small lithium battery 4 are selected. The small lithium battery 4 selected in the present invention is model 301012, weighs 1.5g, has a voltage of 3.7V, a capacity of 40mAh, and a maximum discharge rate of 20C. This type of lithium battery is compact in design, convenient for use in competitions and easy to carry. It uses lightweight materials and a specific optimized electrode design to achieve weight reduction while maintaining capacity. In addition, the lightweighting of the battery shell 503 and the packaging material also helps to reduce the overall weight of the butterfly, which not only reduces weight but also ensures maximum endurance. Lithium batteries not only provide the power source for the bionic butterfly but also support a lightweight design, reducing the overall weight. This maximizes flight time, with high energy density providing more power within the same volume and weight. Rapid recharging reduces time required for frequent test flights, resulting in significant time savings. Precise voltage and current control and efficient power management make the bionic butterfly's power more efficient, optimizing flight time and performance.

[0037] The remote controller 5 in the present invention is a remote controller 5 for remote wireless operation. The remote controller 5 is wirelessly connected to the driving assembly 3, so as to facilitate remote control of the bionic butterfly.

[0038] The bionic butterfly based on the flapping wing structure provided by the utility model can improve lift and drag reduction and reduce the overall weight of the bionic butterfly by optimizing the wing shape, adjusting the wing surface structure and controlling the wing surface configuration, thereby improving the thrust-to-weight ratio.

[0039] According to the bionic butterfly based on flapping wing structure provided by the utility model: the driving component 3 includes a driving motor 301, a first single-chip microcomputer, a wireless receiving module and a magnetic encoder, the wireless receiving module and the magnetic encoder are integrated on the first single-chip microcomputer, the driving motor 301 is electrically connected to the first single-chip microcomputer, the first single-chip microcomputer is electrically connected to the small lithium battery 4, two butterfly wing-shaped carbon fiber skeletons 1 are arranged on both sides of the first single-chip microcomputer, and there are two driving motors 301 in total. The output ends of the two driving motors 301 are respectively fixedly connected to the two butterfly wing-shaped carbon fiber skeletons 1.

[0040] According to the bionic butterfly based on flapping wing structure provided by the utility model: the driving motor 301 includes a hollow cup motor, a planetary reducer and a motor starter, the hollow cup motor is electrically connected to the planetary reducer, and the planetary reducer is electrically connected to the hollow cup motor and the first single chip microcomputer respectively.

[0041] In the utility model, the driving component 3 includes a driving motor 301, a first single-chip microcomputer, a wireless receiving module and a magnetic encoder. The wireless receiving module and the magnetic encoder are integrated on the first single-chip microcomputer, and the driving motor 301 is electrically connected to the first single-chip microcomputer. For the selection of the power source, in addition to considering the amount of power it provides, controlling its weight is also one of the factors that need to be considered. The driving motor 301 is an autonomously partitioned PID driving motor 301, and is specifically selected as a 610 hollow cup motor with small size, light weight, high driving efficiency, low noise and high precision. The 3.7g 610 hollow cup motor is selected to provide the power source, which further optimizes the weight of the butterfly and also provides sufficient power for the butterfly to fly.

[0042] The Bionic Butterfly is a robot designed to simulate the flight characteristics of a butterfly. This utility model utilizes the STC8H1K28-36I-LQFN32 embedded system microcontroller control circuit, and incorporates control algorithms, PID control, and state feedback. The DRV8212PDSGR driver circuit converts control signals into actual movements. The CH9143 control chip communication circuit uses a wireless communication module to remotely control the Bionic Butterfly and record flight data for subsequent debugging and analysis.

[0043] Two drive motors 301 are provided, one on each side of the first single-chip microcomputer. The PID control logic for controlling these two motors in the bionic butterfly is primarily implemented through a timer interrupt service routine. This routine first reads the value from the magnetic encoder to determine the actual motor position, then calculates the position deviation and speed. Finally, based on the PID control algorithm, it calculates the PWM output to adjust the motor's motion. This control logic demonstrates how PID control theory can be used to achieve precise control of motor speed and position. Incremental PID and positional PID are two common implementations of PID control algorithms, differing in how they process control instructions and in their application scenarios. During flight, the PID control system ensures the stability of the butterfly's flight attitude and trajectory. Proportional, integral, and differential control help correct for flight deviations caused by airflow, power fluctuations, or other factors. The PID control system allows the butterfly to adjust its flight trajectory, including adjusting flight direction, speed, or altitude to achieve a specific flight pattern or route. The butterfly's flight attitudes include rising, falling, and turning, and the PID control system can adjust these attitudes based on sensor feedback to maintain stable flight and enable a series of complex flight maneuvers. By adjusting the PID parameters, the bionic butterfly can achieve highly precise control. When the bionic butterfly simulates complex butterfly movements during flight, the PID control system ensures smooth and accurate movement. The planetary reducer in this utility model is a three-stage planetary reducer, along with a 610 coreless motor and a three-stage planetary reducer. This combination provides sufficient power and torque. The motor's closed-loop control allows the motor to continuously check its position or speed as it rotates, comparing it to its intended target. The motor's current position or speed is then fed back to the control system, allowing the control system to understand the motor's condition and make more accurate adjustments.

[0044] The STC8H1K28-36I-LQFN32 chip is a single-chip microcomputer chip commonly used in embedded system design. This is the first single-chip microcomputer chip control circuit designed using the STC8H1K28-36I-LQFN32 embedded system, and the design involves control algorithms, PID control, and state feedback.

[0045] In this utility model, the wireless transmission module is selected as the CH9143 control chip integrated on the first single-chip microcomputer, the BLE / UART / USB three-way chip, which realizes data transmission between Bluetooth, USB interface and serial port interface. The communication circuit uses the wireless communication module to remotely control the bionic butterfly and record the butterfly flight data, which is convenient for subsequent debugging and analysis.

[0046] In the utility model, the first single-chip microcomputer is electrically connected to the small lithium battery 4. The first single-chip microcomputer is fixedly set in the middle position of the butterfly wing-shaped carbon fiber frame 1. The DRV8212PDSGR drive circuit is responsible for converting the control signal into actual action. It is a motor driver launched. It is an integrated three-phase DC motor driver, mainly used to drive DC motors. The driver can provide a peak phase current of up to 3A and a continuous phase current of 1.5A, which makes it suitable for driving motors that require larger currents.

[0047] The AS5600 magnetic encoder was chosen. Its ratiometric output can be mapped to the output angle of a potentiometer. This means that users can replace potentiometers with AS5600-based designs without having to modify the application code running on the original microcontroller. The AS5600 provides 360-degree 12-bit resolution, enabling it to measure angular displacement in any application that uses a potentiometer, including rotary knobs and dials. Capable of position feedback and control, the AS5600 can be used as a position feedback sensor in many automation and control systems, enabling precise angular adjustment and positioning. By default, the output ranges from 0 to 360 degrees. A smaller output range can be defined by programming a zero angle (starting position) and a maximum angle (stopping position), enabling fine-tuning of the flight angle and enhancing the practicality of the bionic butterfly.

[0048] According to the bionic butterfly based on flapping wing structure provided by the utility model: the remote control 5 includes an operating joystick 501, an LED screen 502, a shell 503, a wireless transmission module and a second single-chip microcomputer, the shell 503 is arranged on the outside of the second single-chip microcomputer, the second single-chip microcomputer is integrated with the wireless transmission module, the LED screen 502 is embedded in one side of the shell 503, there are two operating joysticks 501, the two operating joysticks 501 are arranged on both sides of the LED screen 502, and the operating joystick 501 and the LED screen 502 are both electrically connected to the second single-chip microcomputer.

[0049] In the utility model, the bionic butterfly uses a remote controller 5 for wireless control to realize wing movement and flight. The remote controller 5 includes an operating joystick 501, an LED screen 502, a shell 503, a wireless transmission module and a second single-chip microcomputer. The shell 503 is mounted on the outside of the second single-chip microcomputer. The second single-chip microcomputer is integrated with the wireless transmission module. The LED screen 502 is embedded in one side of the shell 503. There are two operating joysticks 501. The two operating joysticks 501 are arranged on both sides of the LED screen 502. The operating joystick 501 and the LED screen 502 are both electrically connected to the second single-chip microcomputer.

[0050] The remote controller 5 is implemented by moving the left and right joysticks to realize functions. The middle LED screen 502 displays relevant data. The left joystick is for power control. We control the vibration frequency of the butterfly during flight by moving the left joystick up and down. The right joystick is for steering function and attitude adjustment. By moving the right joystick left and right, we control the amplitude difference of the left and right wings to achieve steering, and by moving it up and down, we change the flying attitude of the wings.

[0051] The working principle of the utility model is as follows: carbon fiber rods are used as the skeleton to make two butterfly wing-shaped carbon fiber skeletons 1, and kite cloth 2 is wrapped on the outside. The two butterfly wing-shaped carbon fiber skeletons 1 are symmetrically arranged about the driving component 3, and the driving component 3 is wirelessly connected to the remote control 5. The state of the driving component 3 can be adjusted by remotely operating the remote control 5, thereby changing the state of the two butterfly wing-shaped carbon fiber skeletons 1, thereby driving the bionic butterfly to fly in different environments.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A bionic butterfly based on a flapping wing structure, characterized in that: include: Butterfly wing-shaped carbon fiber skeletons (1), two of which are symmetrically arranged; Kite cloth (2) wrapped around the outside of the butterfly wing-shaped carbon fiber frame (1); A drive assembly (3) is arranged in the middle of the two butterfly wing-shaped carbon fiber skeletons (1), and the drive assembly (3) is fixedly connected to the two butterfly wing-shaped carbon fiber skeletons (1) respectively; A small lithium battery (4) is fixedly arranged at a position adjacent to the drive assembly (3), and the small lithium battery (4) is electrically connected to the drive assembly (3); A remote controller (5) is wirelessly connected to the driving component (3).

2. The bionic butterfly based on flapping wing structure according to claim 1, characterized in that: The driving component (3) includes a driving motor (301), a first single-chip microcomputer, a wireless receiving module, and a magnetic encoder. The wireless receiving module and the magnetic encoder are integrated on the first single-chip microcomputer. The driving motor (301) is electrically connected to the first single-chip microcomputer. The first single-chip microcomputer is electrically connected to the small lithium battery (4). The two butterfly wing-shaped carbon fiber skeletons (1) are arranged on both sides of the first single-chip microcomputer. There are two driving motors (301) in total. The output ends of the two driving motors (301) are fixedly connected to the two butterfly wing-shaped carbon fiber skeletons (1) respectively.

3. The bionic butterfly based on flapping wing structure according to claim 2, characterized in that: The drive motor (301) comprises a coreless motor, a planetary reducer and a motor starter, the coreless motor is electrically connected to the planetary reducer, and the planetary reducer is electrically connected to the coreless motor and the first single chip microcomputer respectively.

4. The bionic butterfly based on flapping wing structure according to claim 1, characterized in that: The remote controller (5) comprises an operating rocker (501), an LED screen (502), a housing (503), a wireless transmitter module, and a second single-chip microcomputer. The housing (503) is mounted on the outside of the second single-chip microcomputer. The wireless transmitter module is integrated on the second single-chip microcomputer. The LED screen (502) is embedded in one side of the housing (503). Two operating rockers (501) are provided. The two operating rockers (501) are provided on both sides of the LED screen (502). The operating rocker (501) and the LED screen (502) are both electrically connected to the second single-chip microcomputer.

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