A biomimetic butterfly robot

Abstract

The utility model relates to a kind of bionic butterfly robot, to solve the problems of complex structure, high cost of similar products existing.The robot includes H-shaped rack, its two sides are provided with baffle, and there is accommodating cavity in middle part, driving assembly is arranged in accommodating cavity, and driving H-shaped rack two sides output shaft.Output shaft is connected with rotating shaft through crank one, sliding rod, slide column, crank two, and rotating shaft two ends are arranged on baffle and fixed wing.H-shaped rack top is provided with battery to power supply for driving assembly.The utility model uses H-shaped rack, middle accommodating cavity installs driving assembly, two sides are arranged crank etc., and make full use of space.Compared with traditional double rudder independent control left and right wing, it reduces the weight of machine body, prolongs flight endurance time, reduces the amount of rudder use, reduces procurement cost, more with price advantage, conducive to market promotion, especially suitable for student group and teaching popularization application.

Description

Technical Field

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

[0002] In the fields of education and scientific research, biomimetic butterfly robots have irreplaceable value. They can serve as an ideal experimental platform for universities and research institutions to conduct interdisciplinary research in bionics, robotics, control theory, and other fields. By participating in the design, fabrication, and debugging of biomimetic butterfly robots, students can gain a deeper understanding of bionic principles, mechanical structures, electronic circuits, programming control, and other related knowledge, thereby cultivating practical skills and innovative thinking.

[0003] However, most existing biomimetic butterfly robots are expensive and complex in structure, severely limiting their widespread application among students. Take, for example, the common servo-driven biomimetic butterfly robot. This driving method requires a servo motor on each side of the robot, resulting in a large weight and complex structure. The increased weight also significantly increases energy consumption. Because they require more energy to maintain flight, these robots generally have weak endurance and cannot meet the needs of long-duration, long-distance flight.

[0004] Furthermore, servo motors, as precision drive components, are inherently expensive, keeping the price of servo-driven biomimetic butterfly robots high. During student use, due to unfamiliarity with operation or unexpected situations, the robots frequently crash. Once crashed, the two servo motors are easily damaged, and the high repair costs further increase operating costs, placing a significant financial burden on students and schools.

[0005] Furthermore, the complex structure of the biomimetic butterfly not only increases manufacturing difficulty and cost but also affects its reliability and stability. Assembly and debugging require specialized technicians and complex tools, which is challenging for students and hinders its widespread application in teaching. Moreover, the complex structure increases the probability of robot malfunctions, making repair and troubleshooting extremely difficult once a failure occurs.

[0006] In summary, existing biomimetic butterfly robots suffer from high costs and complex structures, failing to meet the needs of students for low-cost, easy-to-operate, and readily accessible teaching methods. Therefore, it is necessary to develop a low-cost, simple-structured biomimetic butterfly robot. Utility Model Content

[0007] To address the aforementioned technical problems, the purpose of this invention is to provide a biomimetic butterfly robot. The robot employs an H-shaped frame with a central cavity for mounting the drive assembly. Side panels are provided, and cranks, sliding rods, etc., can be symmetrically arranged on both sides. The central drive assembly drives a symmetrical linkage mechanism to achieve synchronous movement of the wings on both sides. This design simplifies the overall structure of the biomimetic butterfly robot, reduces its weight, lowers procurement costs, and the central cavity protects the drive assembly in the event of a crash, reducing damage and maintenance costs.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] A biomimetic butterfly robot includes an H-shaped frame with two baffles on each side and a receiving cavity in the middle. A drive assembly is housed within the receiving cavity, which drives output shafts movably mounted on both sides of the H-shaped frame. Each output shaft is fixedly connected to one end of a crank, the other end of which is movably connected to one end of a sliding rod, which is movably connected to a sliding column. Both ends of the sliding column are movably connected to one end of a second crank, the other end of which is fixedly connected to a rotating shaft. The two ends of the rotating shaft are movably mounted on the two baffles on both sides of the H-shaped frame, and wings are fixedly mounted on the rotating shaft. A battery is located at the top of the H-shaped frame, supplying power to the drive assembly.

[0010] In some embodiments, the drive assembly includes a motor, a worm gear, and a turbine; one end of the worm gear is connected to the crossbeam of the H-shaped frame via a bearing, and the other end is fixedly connected to the output shaft of the motor; the worm gear meshes with the turbine, which drives the output shaft movably disposed on both sides of the H-shaped frame when the motor rotates; and the battery is used to power the motor.

[0011] In some embodiments, a fixing mechanism is also included, which is installed on two baffles on the left and right sides of the H frame to stabilize the two baffles on the left and right sides.

[0012] In some embodiments, the fixing mechanism includes a fixing block, a limiting plate, two threaded rods, and a clamping plate (34). The two limiting plates are fixedly connected to one side of the fixing block. The two threaded rods are spirally inserted between the two limiting plates and are distributed in opposite directions. The clamping plate is fixedly connected to each of the two threaded rods. By turning the threaded rods, the clamping plate is driven to clamp the baffle, thereby stabilizing the two baffles on the left and right sides.

[0013] In some embodiments, a bracket is mounted at the bottom of the H-rack, and a camera is mounted on the front side of the H-rack.

[0014] In some embodiments, the extension line of the worm shaft diameter and the extension line of the output shaft diameter are perpendicular to each other.

[0015] This utility model has the following beneficial effects:

[0016] 1. This utility model adopts an H-shaped frame, with a central cavity for installing the drive components. Cranks, slides, etc., are symmetrically arranged in the space formed by baffles on both sides. This design not only makes full use of the internal space of the frame but also effectively reduces the weight of the fuselage and extends flight endurance compared to traditional dual servo motors independently controlling the left and right wings. Furthermore, this utility model reduces the number of servos used, thereby effectively lowering procurement costs and making this biomimetic butterfly robot more price-competitive and easier to promote in the market, especially suitable for students and educational applications.

[0017] 2. This utility model places the drive assembly in the central cavity and crossbeam of the H-shaped frame, providing a favorable installation environment for the drive assembly. The central cavity provides a mounting position and protection for the motor, while the crossbeam provides support for the worm gear's rotation, ensuring that the worm gear can rotate stably with high precision. Based on this scientific layout, the drive assembly can continuously and stably output power during operation, reducing power output fluctuations that may exist in traditional designs. At the same time, the stable power output effectively suppresses mechanical resonance, making the biomimetic butterfly robot operate more smoothly and with lower noise during flight, thus improving the robot's overall performance and user experience.

[0018] 3. The fixing mechanism of this utility model is installed on the baffles on both sides of the H-frame. Through the cooperation of fixing blocks, limiting plates, threaded rods, and clamping plates, the two baffles on the left and right sides can be stabilized. This design enhances the overall structural strength of the frame, effectively reducing frame deformation or loosening caused by vibration or external forces during robot flight, improving the structural stability and reliability of the robot, and extending its service life. The fixing mechanism uses a threaded rod to drive the clamping plates to hold the baffles, making installation and adjustment simple and convenient. Users can adjust the clamping force of the clamping plates by turning the threaded rod according to actual needs, ensuring the stability of the baffles while also facilitating the disassembly and maintenance of the frame.

[0019] 4. The battery is located at the top of the H-shaped frame to power the drive components. This layout is reasonable, facilitates battery installation and replacement, and also helps to balance the robot's overall center of gravity, improving flight stability. Attached Figure Description

[0020] Figure 1 This is a three-dimensional schematic diagram of the biomimetic butterfly robot of this utility model;

[0021] Figure 2 This is a front view of the biomimetic butterfly robot of this utility model;

[0022] Figure 3 This is a partial structural exploded view of the biomimetic butterfly robot of this utility model;

[0023] Figure 4 This is a partial structural detail of the biomimetic butterfly robot of this utility model;

[0024] Figure 5 This is a partial structural schematic diagram of the biomimetic butterfly robot of this utility model;

[0025] Figure 6 This is a partial structural diagram of the biomimetic butterfly robot of this utility model;

[0026] Figure 7 This utility model is a biomimetic butterfly robot. Figure 6 Enlarged view of point A in the middle;

[0027] Figure 8 This is a schematic diagram of the H-shaped frame and baffle of the biomimetic butterfly robot of this utility model.

[0028] Legend:

[0029] 1. H-shaped frame; 11. Baffle; 12. Receiving cavity; 13. Crossbeam; 211. Motor; 212. Worm gear; 213. Worm wheel; 214. Bearing; 22. Output shaft; 23. Crank one; 24. Slide rod; 25. Slide column; 26. Crank two; 27. Rotating shaft; 31. Fixing block; 32. Limiting plate; 33. Threaded rod; 34. Clamping plate; 35. Nut; 4. Wing; 5. Battery; 6. Camera; 7. Bracket. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] See Figures 1-3 , Figure 5 and Figure 8 This utility model provides a biomimetic butterfly robot, including an H-shaped frame 1. Two baffles 11 are welded or integrally connected to both sides of the H-shaped frame 1, and a receiving cavity 12 is provided in the middle. A drive assembly is provided in the receiving cavity 12, which is used to drive the output shafts 22 that are movably arranged on both sides of the H-shaped frame 1.

[0032] The driver component can take the following two forms:

[0033] One approach is to use a dual-output-shaft micro motor (such as an existing coreless motor or a micro DC motor), with two horizontal output shafts extending directly from both ends. These horizontal output shafts can drive the output shaft 22 to rotate.

[0034] Another form, see Figure 4 The drive assembly includes a motor 211, a worm gear 212, and a turbine 213. The motor 211 is fixed within the receiving cavity 12 by screws, adhesive, or other existing methods. One end of the worm gear 212 is connected to the crossbeam 13 of the H-shaped frame 1 via a bearing 214, and the other end is fixedly connected to the output shaft of the motor 211. The worm gear 212 and the turbine 213 are meshed together. When the motor 211 rotates, the turbine 213 drives the output shafts 22, which are movably disposed on both sides of the H-shaped frame 1.

[0035] The output shaft 22 is fixedly connected to one end of the crank 23 by welding, bolting, or other existing methods, while the other end of the crank 23 is movably connected to one end of the slide rod 24. The connection between the crank 23 and the slide rod 24 is not unique. It can be done in various ways... Figure 7 As shown, one end of the slide rod 24 is fitted into the other end of the crank 23; alternatively, a cylindrical hinge shaft can be provided at the end of the crank 23 away from the output shaft, which is connected to one end of the slide rod 24 through a clearance fit through hole and limited by a snap ring or E-ring. In this way, when the crank 23 rotates around the fixed axis of the output shaft, the slide rod 24 can swing freely around the hinge shaft and move along a circular path.

[0036] The other end of the slide rod 24 is movably connected to the slide column 25, and the connection method can be varied. It can be as follows: Figure 7 As shown, a sliding bearing is provided at the other end of the slide rod 24, which is slidably sleeved on the slide column 25. Alternatively, the other end of the slide rod 24 can be connected to the slide column 25 via a ball joint, with the ball head of the ball joint embedded in the end of the slide rod 24 and the ball socket slidably connected to the surface of the slide column 25, and lubricated to reduce friction. Other existing connection methods are also possible.

[0037] The two ends of the slide 25 are movably connected to one end of the crank 26, and the connection method can be varied. For example, the two ends of the slide 25 can be connected to one end of the crank 26 with a clearance fit. Alternatively, it can be connected to the crank 26 through a fisheye connector. Or other existing connection methods can be used.

[0038] The other end of crank 26 is welded or otherwise fixedly connected to shaft 27. Specifically, the other end of crank 26 may be provided with a D-shaped hole, which is interference-fitted with the corresponding D-shaped shaft section of shaft 27 and locked by end face screws, thereby efficiently transmitting the oscillating torque of crank 26 to shaft 27.

[0039] The two ends of the rotating shaft 27 are movably mounted on two baffles 11 on both sides of the H-shaped frame 1. Specifically, the two ends of the rotating shaft 27 are supported in the bearing holes of the baffles 11 by deep groove ball bearings. The inner ring of the bearing is interference-fitted with the rotating shaft 27, and the outer ring is clearance-fitted with the bearing hole. The shaft is axially positioned by a shaft elastic retaining ring. Finally, the rotating shaft 27 is rotated on a fixed axis under the drive of the crank 26, which drives the wing 4 fixed in the middle of the rotating shaft 27 to make up-down flapping motion.

[0040] In addition, a battery 5 is located on the top of the H-shaped frame 1, which is used to power the drive components.

[0041] After motor 211 starts, it drives worm gear 212 to rotate. Worm gear 212 drives worm wheel 213, which in turn drives output shaft 22 to rotate. Output shaft 22 drives crank 1 23 to rotate. During rotation, crank 1 23 pulls slide rod 24 and slides on the outer wall of slide rod 24. Slide rod 24 slides back and forth on the outer wall of slide column 25 due to the pulling force of crank 1 23. This sliding drives crank 26. Because shaft 27 is movably connected to baffle 11 and crank 26 is fixed to the outer wall of shaft 27, shaft 27 can oscillate repeatedly under the power of crank 26. This drives the wing 4 fixed to the surface of shaft 27 to flap, enabling the robot to fly. This mechanism can stabilize the flapping amplitude of wing 4. The wing can use carbon fiber rod as the frame and kite fabric as the skin.

[0042] In some embodiments, the biomimetic butterfly robot of this invention is provided with a fixing mechanism, which is installed on two baffles 11 on the left and right sides of the H-shaped frame 1. The main function of the fixing mechanism is to stabilize the baffles 11 on the left and right sides and improve the overall stability and reliability of the frame.

[0043] There are several ways to implement a fixing mechanism. A relatively simple method is to use a fixing strip, which is firmly connected to the two baffles 11 on the same side of the H-shaped frame by welding or other fixing connection methods, thereby enhancing the strength and stability of the baffles.

[0044] Another example is available. Figure 5 The fixing structure includes a fixing block 31, a limiting plate 32, two threaded rods 33, and a clamping plate 34. The fixing block 31 is fixedly connected to one side of the two limiting plates 32. The two threaded rods 33 are spirally threaded between the two limiting plates 32 and are staggered in opposite directions. The clamping plate 34 is welded to or fixedly connected to the two threaded rods 33 by nuts 35. By turning the threaded rods 33, the clamping plate 34 can be driven to clamp the baffle 11, thereby stabilizing the two baffles 11 on the left and right sides.

[0045] In some embodiments, a support 7 is mounted at the bottom of the H-frame 1. This support is made of a high-strength, lightweight material, such as carbon fiber composite material. The shape of the support 7 can resemble the foot of a biomimetic butterfly, with a certain curvature and support area. It can provide stable support when the robot lands, prevent the robot from tipping over, reduce the impact force with the ground, and protect the robot's internal precision components.

[0046] In some embodiments, a camera 6 is mounted on the front side of the H-shaped frame 1. The camera 6 can record flight footage, which can provide reference data for the auxiliary flight system to adjust its flight attitude after the auxiliary flight system is installed later.

[0047] In practical use, the operator can hold the H-shaped frame 1 with one hand and start the motor 211 with the other. After the motor 211 starts, it will drive the worm gear 212 connected to it to rotate. The worm gear 212 has a transmission relationship with the wing 4 fixed to the surface of the rotating shaft 27. The rotation of the worm gear 212 ultimately drives the wing 4 to flap. The flapping of the wing 4 generates upward lift. When the lift is sufficient to overcome the robot's own weight, the robot can achieve flight.

[0048] The structural design of this invention provides a mechanical basis for its stable flight. The worm gear 212, rotatably connected to the crossbeam 13 of the H-shaped frame 1, is perpendicular to the extended axis of the output shaft, which is also rotatably connected to the H-shaped frame 1. This perpendicular arrangement creates a good mechanical balance. This allows the biomimetic butterfly robot of this invention to fly stably for a relatively long distance without other auxiliary flight systems. It is very suitable for teaching demonstrations, allowing students to intuitively observe and understand the principles of biomimetic flight.

[0049] In addition, to ensure that the H-frame 1 does not loosen after long-term use and affect the stability of the internal rotating shaft 27, the clamping plate 34 can be clamped onto the baffle 11 by tightening the threaded rod 33. The spacing between the clamping plates 34 can be adjusted by the nut 35. This clamping action can effectively prevent the H-frame 1 from loosening after long-term use and ensure that its internal rotating shaft 27 will not fall off, thereby guaranteeing the stability and reliability of the entire robot.

[0050] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A biomimetic butterfly robot, characterized by, Includes an H-shaped frame (1), with two baffles (11) on each side of the H-shaped frame (1) and a receiving cavity (12) in the middle; a drive assembly is provided in the receiving cavity (12) for driving the output shafts (22) movably arranged on both sides of the H-shaped frame (1); the output shafts (22) are fixedly connected to one end of crank one (23), the other end of crank one (23) is movably connected to one end of slide rod (24), and the other end of slide rod (24) is movably connected to slide column (25); the two ends of slide column (25) are movably connected to one end of crank two (26), and the other end of crank two (26) is fixedly connected to rotating shaft (27); the two ends of rotating shaft (27) are movably arranged on the two baffles (11) on both sides of the H-shaped frame (1), and wings (4) are fixedly arranged on rotating shaft (27); the H A battery (5) is provided on the top of the frame (1), which is used to power the drive assembly.

2. The biomimetic butterfly robot according to claim 1, wherein, The drive assembly includes a motor (211), a worm (212), and a turbine (213); one end of the worm (212) is connected to the crossbeam of the H-shaped frame (1) via a bearing (214), and the other end is fixedly connected to the output shaft of the motor. The worm (212) is meshed with the turbine (213), and the turbine (213) is used to drive the output shaft (22) which is movably arranged on both sides of the H-shaped frame (1) when the motor rotates. The battery (5) is used to power the motor (211) of the drive assembly.

3. The biomimetic butterfly robot of claim 1, wherein, It also includes a fixing mechanism, which is installed on two baffles (11) on the left and right sides of the H-shaped frame (1) to stabilize the two baffles (11) on the left and right sides.

4. The biomimetic butterfly robot according to claim 3, wherein, The fixing mechanism includes a fixing block (31), a limiting plate (32), two threaded rods (33), and a clamping plate (34). The fixing block (31) is fixedly connected to two limiting plates (32) on one side. The two threaded rods (33) are spirally inserted between the two limiting plates (32) and are staggered in opposite directions. The clamping plate (34) is fixedly connected to each of the two threaded rods (33). By turning the threaded rods (33), the clamping plate (34) is driven to clamp the baffle (11), thereby stabilizing the two baffles (11) on the left and right sides.

5. The biomimetic butterfly robot of claim 1, wherein, A bracket (7) is installed at the bottom of the H-shaped frame (1), and a camera (6) is installed on the front side of the H-shaped frame (1).

6. The biomimetic butterfly robot of claim 2, wherein, The extension line of the worm (212) shaft diameter and the extension line of the output shaft (22) shaft diameter are perpendicular to each other.

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