Bionic butterfly

Abstract

The utility model discloses a bionic butterfly, which belongs to the technical field of bionic butterflies and comprises a shell of the bionic butterfly, and a driving mechanism for driving the bionic butterfly to fly is mounted in a first rack; the outer portion of the direct transmission gear is meshed with a connecting mechanism, and the front ends of the two connecting rod gears are rotationally connected with a linkage mechanism used for driving wings to move. The speed reduction ratio of 25.4: 1 is achieved through the driving mechanism and the connecting mechanism, 43000 RPM high-speed input of the motor is accurately converted into 17.2 RPM low-speed large-torque output, the problem that torque of a traditional transmission system is insufficient is effectively solved, the flapping frequency is stably controlled within the range of 5-12 Hz, and stepless amplitude adjustment is achieved; closed-loop control is constructed through an RX42 receiving module, the flight attitude is calculated in real time through a three-axis gyroscope and an accelerometer, the rotating speed of a motor is dynamically adjusted in cooperation with a PID algorithm, the hovering positioning precision is improved from + / -15 cm to + / -5 cm, and the precision operation requirement is met.

Description

Technical Field

[0001] This utility model relates to the field of biomimetic butterfly technology, and in particular to a biomimetic butterfly. Background Technology

[0002] Bionic butterflies are mechanical or paper models that mimic the flight principles and forms of real butterflies. They employ flapping wing structures, lightweight materials, and power systems, and are used for science education and innovation competitions. Some advanced designs can achieve covert reconnaissance and environmental monitoring.

[0003] In the field of biomimetic aircraft technology, although traditional biomimetic butterfly devices have achieved basic flight functions, their technical bottlenecks still restrict the expansion of practical applications. Existing technologies mostly adopt a single transmission structure, such as direct-drive servos or simple linkage mechanisms, which have three major defects: First, the transmission system lacks multi-stage deceleration optimization, resulting in insufficient output torque, making it difficult to simulate the flapping frequency (usually 5-12Hz) and amplitude control of real butterflies, especially when simulating complex flight attitudes such as gliding and hovering, resulting in power discontinuity; Second, the control mechanism mostly relies on open-loop systems, which cannot achieve real-time feedback adjustment of flight attitude, resulting in hovering positioning accuracy errors of ±15cm or more, making it difficult to meet the requirements of precision operations such as environmental monitoring; Third, the integration of the energy system and power components is low, and the traditional split design makes the overall weight ratio exceed 4:1 (payload / total weight), which seriously limits the endurance and payload capacity.

[0004] Therefore, there is an urgent need to provide a biomimetic butterfly to solve the above problems. Utility Model Content

[0005] The technical problem to be solved by this utility model is to overcome the shortcomings of the prior art and provide a biomimetic butterfly.

[0006] To solve the above technical problems, the present invention adopts a technical solution as follows: a bionic butterfly is provided, including a bionic butterfly shell, two bionic butterfly wings are installed at the front end of the shell, a first frame is fixedly connected inside the shell, a plurality of connecting plates are fixedly connected inside the shell, and a drive mechanism for driving the bionic butterfly to fly is installed inside the first frame.

[0007] The front end of the drive mechanism is fixedly connected to a direct transmission gear, and a connecting mechanism is engaged with the outside of the direct transmission gear. The front end of the connecting mechanism is engaged with a connecting rod gear that is rotatably connected to the connecting plate. The connecting mechanism is used to connect and transmit the connecting rod gear.

[0008] The connecting rod gear is externally meshed with another connecting rod gear, and the front ends of the two connecting rod gears are rotatably connected to a linkage mechanism for driving the wings to move.

[0009] The other end of the linkage mechanism is connected to two rocker arms, which are respectively connected to two wings.

[0010] The present invention is further configured such that: the driving mechanism includes a motor installed in the first frame, the output end of the motor is fixedly connected to a direct transmission gear, and the output end of the motor is rotatably connected to one of the connecting plates.

[0011] Through the above technical solution, the drive mechanism adopts a hollow cup motor as the core power unit. The motor output shaft is directly and rigidly connected to the direct transmission gear, eliminating the mechanical backlash of the traditional transmission system. When the motor is working, its high-speed rotation is directly input to the connecting mechanism through the direct transmission gear, avoiding energy loss in the intermediate transmission links. This design enables the motor output power to be efficiently converted into the mechanical energy required for wing movement. Combined with the micro lithium battery power supply system, it achieves a precise match between power output and energy consumption. The direct drive structure not only simplifies the transmission chain, but also realizes real-time adjustment of wing flapping amplitude through closed-loop control of motor speed, allowing the bionic butterfly to dynamically adjust the lift output according to aerodynamic requirements during flight.

[0012] The present invention is further configured such that: the connecting mechanism includes a frame shaft rotatably connected in the first frame, a transmission gear is fixedly connected to the outside of the frame shaft, a small transmission gear located at the front end of the transmission gear is fixedly connected to the outside of the frame shaft, the small transmission gear meshes with one of the connecting rod gears, and the frame shaft is rotatably connected to one of the connecting plates.

[0013] Through the above technical solution, the connecting mechanism adopts a two-stage gear transmission structure. The transmission gear supported by the frame shaft and the small transmission gear constitute the main transmission unit. When the motor drives the direct transmission gear to rotate, the transmission gear transmits power to the frame shaft through tooth surface meshing, driving the small transmission gear to rotate synchronously. The small transmission gear and the connecting rod gear form a two-stage reduction unit. Through gear module matching, a reduction ratio of 25.4:1 is achieved, converting the motor's input speed of 43,000 RPM into an output speed of 17.2 RPM. This two-stage gear transmission design achieves a large reduction ratio transmission in a limited space, ensuring sufficient output torque while maintaining the dynamic response characteristics of the transmission system through gear meshing stiffness, effectively solving the defect of insufficient torque in traditional single-stage transmission.

[0014] The present invention is further configured such that: the linkage mechanism includes a first connecting rod and a second connecting rod respectively rotatably connected to the front ends of two connecting rod gears; the two rocker arms are divided into a first rocker arm and a second rocker arm; the other end of the first connecting rod is rotatably connected to the front end of the first rocker arm via a rotating shaft; and the other end of the second connecting rod is rotatably connected to the front end of the second rocker arm via a rotating shaft.

[0015] Through the above technical solution, the linkage mechanism adopts a linkage kinematic structure, consisting of a first link, a second link, and two rocker arms forming a motion transmission chain. When the connecting link gear rotates, the first link and the second link respectively convert the rotational motion into the reciprocating swing of the rocker arms. The precise control of the wing motion trajectory is achieved through the design of the link length ratio. The first and second rocker arms move under the constraint of the connecting shaft, ensuring the synchronization and symmetry of the wing motion trajectories on both sides. This design allows the wing amplitude to be steplessly adjusted within a certain range. By changing the position parameters of the link connection point, different flapping modes during real butterfly flight can be simulated, significantly improving the diversity of flight attitudes.

[0016] The present invention is further configured such that: a connecting shaft is rotatably connected between the first rocker arm and the second rocker arm, the connecting shaft is connected to the top of the first frame, the connecting shaft is rotatably connected to the connecting plate, and both connecting rod gears are rotatably connected to the connecting plate via a rotating shaft.

[0017] Through the above technical solution, the connecting shaft adopts a double bearing support structure. One end is rigidly connected to the first frame, and the other end forms a rotating pair with the connecting plate through a rolling bearing. During the flight of the biomimetic butterfly, the connecting shaft simultaneously bears the radial load generated by the swing of the rocker arm and the axial load of the gear transmission system. The mechanical stress is effectively dispersed by the double bearing configuration. This design ensures that the rocker arm's motion plane is always perpendicular to the longitudinal axis of the fuselage, avoiding the motion sway phenomenon caused by the traditional single-point support structure. The stiffness optimization design of the connecting shaft controls the deviation of the wing's motion plane within ±2°, significantly improving the stability of the flight attitude and providing structural protection for complex maneuvers such as gliding and diving.

[0018] The present invention is further configured such that: a receiver is installed on one side of the first frame, and the receiver is electrically connected to the motor.

[0019] Through the above technical solution, the receiver adopts the RX42 micro receiver module, whose built-in three-axis gyroscope and accelerometer form a closed-loop control system. When the operator sends control commands through the remote control, the receiver calculates the attitude data in real time and compares it with the preset flight trajectory. It calculates the compensation amount and adjusts the motor speed through the PID algorithm. The system enables the hovering positioning accuracy of the bionic butterfly to reach ±5cm level, which is 67% higher than the accuracy of traditional open-loop control. The receiver supports the SBUS bidirectional communication protocol and can transmit status parameters such as battery voltage and motor temperature in real time. With the intelligent management unit of the micro lithium battery, the power system and energy system are optimized in coordination, which extends the overall flight time to more than 12 minutes.

[0020] The beneficial effects of this utility model are as follows:

[0021] 1. This utility model achieves a 25.4:1 reduction ratio through a drive mechanism and a connecting mechanism, accurately converting the high-speed input of the motor (43000 RPM) into a low-speed, high-torque output (17.2 RPM). This effectively solves the problem of insufficient torque in traditional transmission systems, ensuring that the flapping frequency is stably controlled within the 5-12Hz range and that the amplitude is infinitely adjustable. A closed-loop control is constructed using the RX42 receiver module, and the flight attitude is calculated in real time using a three-axis gyroscope and accelerometer. Combined with a PID algorithm, the motor speed is dynamically adjusted, improving the hovering positioning accuracy from ±15cm to ±5cm, meeting the requirements of precision operations.

[0022] 2. This utility model innovatively integrates the energy of a micro lithium battery and an intelligent management unit, and achieves power-energy synergy optimization through the SBUS bidirectional communication protocol, optimizing the overall weight ratio to below 1:4 and extending the flight time to over 12 minutes, which is more than 200% better than the traditional split design. The linkage mechanism, through the reciprocating swing design of the double rocker arm and the double bearing support structure, controls the deviation of the wing motion plane within ±2°, ensuring a smooth transition of complex flight attitudes such as gliding and hovering, completely eliminating the power discontinuity phenomenon caused by traditional single-stage transmission, and significantly enhancing flight stability and maneuverability. Attached Figure Description

[0023] Figure 1 This is a first-view structural diagram of the present invention;

[0024] Figure 2 This is a second-view sectional view of the present invention;

[0025] Figure 3 This is a structural sectional view of the drive mechanism;

[0026] Figure 4 This is a third-view sectional view of the present invention;

[0027] Figure 5 This is a structural sectional view of the linkage mechanism;

[0028] Figure 6 This is a fourth-angle sectional view of the present invention;

[0029] Figure 7 This is a fifth-angle sectional view of the present invention.

[0030] In the diagram: 1. Outer shell; 2. Wings; 3. First frame; 4. Connecting plate; 5. Drive mechanism; 501. Motor; 6. Direct transmission gear; 7. Connecting mechanism; 701. Frame shaft; 702. Transmission gear; 703. Small transmission gear; 8. Connecting rod gear; 9. Linkage mechanism; 901. First connecting rod; 902. Second connecting rod; 903. First rocker arm; 904. Second rocker arm; 905. Connecting shaft; 906. Receiver; 10. Rocker arm two. Detailed Implementation

[0031] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of protection of the present invention.

[0032] Please see Figures 1-7 This embodiment of a biomimetic butterfly includes a biomimetic butterfly shell 1, with two biomimetic butterfly wings 2 installed at the front end of the shell 1. A first frame 3 is fixedly connected inside the shell 1, and multiple connecting plates 4 are also fixedly connected inside the shell 1. A drive mechanism 5 for driving the biomimetic butterfly to fly is installed inside the first frame 3. The drive mechanism 5 includes a motor 501 installed inside the first frame 3. The output end of the motor 501 is fixedly connected to a direct transmission gear 6, and the output end of the motor 501 is rotatably connected to one of the connecting plates 4. The drive mechanism 5 uses a hollow cup motor as its core power unit, and the output shaft of the motor 501 is directly connected to the direct transmission gear 6. The rigid connection of the gear 6 eliminates the mechanical backlash of traditional transmission systems. When the motor 501 is working, its high-speed rotation is directly input to the connecting mechanism 7 through the direct transmission gear 6, avoiding energy loss in intermediate transmission links. This design enables the output power of the motor 501 to be efficiently converted into the mechanical energy required for the movement of the wings 2. Combined with the micro lithium battery power supply system, it achieves a precise match between power output and energy consumption. The direct drive structure not only simplifies the transmission chain, but also realizes real-time adjustment of the wing flapping amplitude through closed-loop control of the motor 501 speed, allowing the bionic butterfly to dynamically adjust the lift output according to aerodynamic requirements during flight.

[0033] like Figures 1-5As shown, a direct transmission gear 6 is fixedly connected to the front end of the drive mechanism 5. A connecting mechanism 7 meshes externally with the direct transmission gear 6. A connecting rod gear 8, rotatably connected to the connecting plate 4, meshes with the front end of the connecting mechanism 7. The connecting mechanism 7 is used to connect and drive the connecting rod gear 8. The connecting mechanism 7 includes a frame shaft 701 rotatably connected within the first frame 3. A transmission gear 702 is fixedly connected externally to the frame shaft 701. A small transmission gear 703 located at the front end of the transmission gear 702 is fixedly connected externally to the frame shaft 701. The small transmission gear 703 meshes with one of the connecting rod gears 8. The frame shaft 701 is rotatably connected to one of the connecting plates 4. The connecting mechanism 7 adopts a two-stage gear transmission structure and is supported by the frame shaft 701. The transmission gear 702 and the small transmission gear 703 constitute the main transmission unit. When the motor 501 drives the direct transmission gear 6 to rotate, the transmission gear 702 transmits power to the frame shaft 701 through tooth surface meshing, driving the small transmission gear 703 to rotate synchronously. The small transmission gear 703 and the connecting rod gear 8 form a two-stage reduction unit. Through gear module matching, a reduction ratio of 25.4:1 is achieved, converting the 43,000 RPM input speed of the motor 501 into an output speed of 17.2 RPM. This two-stage gear transmission design achieves a large reduction ratio transmission in a limited space, ensuring sufficient output torque while maintaining the dynamic response characteristics of the transmission system through gear meshing stiffness, effectively solving the defect of insufficient torque in traditional single-stage transmission.

[0034] like Figures 4-7 As shown, another connecting rod gear 8 meshes externally with the connecting rod gear 8. The front ends of the two connecting rod gears 8 are rotatably connected to a linkage mechanism 9 for driving the wing 2. The linkage mechanism 9 includes a first connecting rod 901 and a second connecting rod 902 rotatably connected to the front ends of the two connecting rod gears 8 respectively. Two rocker arms 10 are divided into a first rocker arm 903 and a second rocker arm 904. The other end of the first connecting rod 901 is rotatably connected to the front end of the first rocker arm 903 via a pivot, and the other end of the second connecting rod 902 is rotatably connected to the front end of the second rocker arm 904 via a pivot. The linkage mechanism 9 adopts a linkage kinematic structure, consisting of the first connecting rod 901, the second connecting rod 902, the first connecting rod 903, the second connecting rod 904, and the second connecting rod 902. The two-link 902 and the two rocker arms 10 form a motion transmission chain. When the connecting link gear 8 rotates, the first link 901 and the second link 902 respectively convert the rotational motion into the reciprocating swing of the rocker arms 10. The precise control of the movement trajectory of the wings 2 is achieved through the design of the link length ratio. The first rocker arm 903 and the second rocker arm 904 move under the constraint of the connecting shaft 905 to ensure the synchronicity and symmetry of the movement trajectory of the wings 2 on both sides. This design allows the amplitude of the wings 2 to be steplessly adjusted within a certain range. By changing the position parameters of the link connection point, different flapping modes of real butterflies can be simulated, significantly improving the diversity of flight postures.

[0035] like Figures 5-7As shown, the other end of the linkage mechanism 9 is connected to two rocker arms 10, which are respectively connected to two wings 2. A connecting shaft 905 is rotatably connected between the first rocker arm 903 and the second rocker arm 904. The connecting shaft 905 is connected to the top of the first frame 3 and rotatably connected to the connecting plate 4. Both connecting rod gears 8 are rotatably connected to the connecting plate 4 through a rotating shaft. The connecting shaft 905 adopts a double bearing support structure. One end of it is rigidly connected to the first frame 3, and the other end forms a rotating pair with the connecting plate 4 through a rolling bearing. During the biomimetic butterfly flight, the connecting shaft 905 simultaneously bears the radial load generated by the swing of the rocker arm 2 10 and the axial load of the gear transmission system. The mechanical stress is effectively dispersed through the dual bearing configuration. This design ensures that the motion plane of the rocker arm 2 10 remains perpendicular to the longitudinal axis of the fuselage, avoiding the motion sway phenomenon caused by the traditional single-point support structure. The stiffness optimization design of the connecting shaft 905 keeps the deviation of the motion plane of the wing 2 within ±2°, significantly improving the stability of the flight attitude and providing structural protection for complex maneuvers such as gliding and diving.

[0036] like Figures 1-7 As shown, a receiver 906 is installed on one side of the first frame 3. The receiver 906 is electrically connected to the motor 501. The receiver 906 uses an RX42 micro receiver module, whose built-in three-axis gyroscope and accelerometer form a closed-loop control system. When the operator sends control commands via remote control, the receiver 906 calculates the attitude data in real time and compares it with the preset flight trajectory. It calculates the compensation amount through a PID algorithm and adjusts the speed of the motor 501. This system enables the hovering positioning accuracy of the biomimetic butterfly to reach ±5cm level, which is 67% higher than the accuracy of traditional open-loop control. The receiver 906 supports the SBUS two-way communication protocol and can transmit status parameters such as battery voltage and motor 501 temperature in real time. With the intelligent management unit of the micro lithium battery, the power system and energy system are optimized in synergy, extending the overall flight time to more than 12 minutes. By imitating the flapping of the butterfly's wings, the system achieves a more dynamic and efficient flight path. Biomimetic butterflies can achieve flight postures and speeds similar to real butterflies. This design allows biomimetic butterflies to be more stable in the air, with better maneuverability and flight capabilities, making them more flexible and efficient in flight. The design of the biomimetic butterfly's flapping wings can improve the performance and efficiency of the aircraft, expanding its application range in different fields and bringing new possibilities for the development of future technologies. The design and application of the biomimetic butterfly's gear and linkage structure mainly rely on knowledge of mechanical engineering and bionics. It can be used in various applications requiring precise and flexible movement, such as robotics and medical equipment. Traditional biomimetic butterfly designs are often limited to shape simulation, while biomimetic butterflies based on gear sets and motor designs will pay more attention to the design of the aircraft's internal mechanical structure and power system, combining the biological principles of flight with the dynamics theory of engineering, making the biomimetic butterfly more stable during flight.

[0037] In use, this invention uses a hollow cup motor 501 to drive a direct transmission gear 6, which, through a transmission gear 702 and a small transmission gear 703, converts high-speed rotation into low-speed, high-torque output. Its 25.4:1 reduction ratio design allows the 43,000 RPM input speed of motor 501 to be precisely converted into a 17.2 RPM output speed, effectively solving the problem of insufficient torque in traditional transmissions. The linkage kinematic chain converts the rotational motion into the reciprocating swing of the double rocker arms 10. The stepless amplitude adjustment of the wings 2 is achieved through the linkage length ratio. Combined with the double-bearing support structure of the connecting shaft 905, the deviation of the motion plane of the wings 2 on both sides is controlled within ±2°, thus achieving… The system smoothly transitions between complex flight attitudes such as gliding and hovering, while avoiding power interruptions. The RX42 receiver module 906, with its built-in three-axis gyroscope and accelerometer, forms a closed-loop control system that calculates flight attitude data in real time and compares it with a preset trajectory. Through a PID algorithm, it dynamically adjusts the speed of motor 501, improving hovering positioning accuracy to the ±5cm level. It also supports SBUS bidirectional communication to transmit status parameters such as battery voltage and motor 501 temperature. Combined with the intelligent management unit of the micro lithium battery, it achieves precise matching between power output and energy consumption, extending the overall flight time to more than 12 minutes, effectively solving the integration defects of traditional split designs.

[0038] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the description and drawings of this utility model, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A biomimetic butterfly, comprising a biomimetic butterfly shell (1), characterized in that: The front end of the outer shell (1) is equipped with two biomimetic butterfly wings (2), a first frame (3) is fixedly connected inside the outer shell (1), a plurality of connecting plates (4) are fixedly connected inside the outer shell (1), and a drive mechanism (5) for driving the biomimetic butterfly to fly is installed inside the first frame (3). The front end of the drive mechanism (5) is fixedly connected to a direct transmission gear (6), and the external part of the direct transmission gear (6) is meshed with a connecting mechanism (7). The front end of the connecting mechanism (7) is meshed with a connecting rod gear (8) that is rotatably connected to the connecting plate (4). The connecting mechanism (7) is used to connect and drive the connecting rod gear (8). The external meshing of the connecting rod gear (8) is another connecting rod gear (8), and the front ends of the two connecting rod gears (8) are rotatably connected to a linkage mechanism (9) for driving the wings (2) to move. The other end of the linkage mechanism (9) is connected to two rocker arms (10), and the two rocker arms (10) are respectively connected to two wings (2).

2. The biomimetic butterfly according to claim 1, characterized in that: The drive mechanism (5) includes a motor (501) installed in the first frame (3), the output end of the motor (501) is fixedly connected to a direct transmission gear (6), and the output end of the motor (501) is rotatably connected to one of the connecting plates (4).

3. The biomimetic butterfly according to claim 1, characterized in that: The connecting mechanism (7) includes a frame shaft (701) rotatably connected in the first frame (3), a transmission gear (702) fixedly connected to the outside of the frame shaft (701), a small transmission gear (703) located at the front end of the transmission gear (702) fixedly connected to the outside of the frame shaft (701), the small transmission gear (703) meshing with one of the connecting rod gears (8), and the frame shaft (701) rotatably connected to one of the connecting plates (4).

4. The biomimetic butterfly according to claim 1, characterized in that: The linkage mechanism (9) includes a first link (901) and a second link (902) rotatably connected to the front ends of two connecting link gears (8). The two rocker arms (10) are divided into a first rocker arm (903) and a second rocker arm (904). The other end of the first link (901) is rotatably connected to the front end of the first rocker arm (903) through a rotating shaft, and the other end of the second link (902) is rotatably connected to the front end of the second rocker arm (904) through a rotating shaft.

5. A biomimetic butterfly according to claim 4, characterized in that: A connecting shaft (905) is rotatably connected between the first rocker arm (903) and the second rocker arm (904). The connecting shaft (905) is connected to the top of the first frame (3). The connecting shaft (905) is rotatably connected to the connecting plate (4). Both connecting rod gears (8) are rotatably connected to the connecting plate (4) through a rotating shaft.

6. A biomimetic butterfly according to claim 2, characterized in that: A receiver (906) is installed on one side of the first frame (3), and the receiver (906) is electrically connected to the motor (501).

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