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CN-224211273-U - Bionic butterfly

CN224211273UCN 224211273 UCN224211273 UCN 224211273UCN-224211273-U

Abstract

The utility model discloses a bionic butterfly, which belongs to the technical field of bionic butterflies and comprises a housing of the bionic butterfly, wherein a driving mechanism for driving the bionic butterfly to fly is arranged in a first frame, a connecting mechanism is meshed with the outside of a direct transmission gear, and the front ends of two connecting rod gears are rotationally connected with a linkage mechanism for driving wings to move. According to the utility model, a 25.4:1 reduction ratio is realized through the driving mechanism and the connecting mechanism, the high-speed input of 43000RPM of the motor is accurately converted into the low-speed large torque output of 17.2RPM, the problem of insufficient torque of a traditional transmission system is effectively solved, the wing vibration frequency is stably controlled within the range of 5-12Hz, the stepless adjustment of the amplitude is realized, closed-loop control is constructed through an RX42 receiving module, the flying gesture is calculated in real time by utilizing a triaxial gyroscope and an accelerometer, the rotating speed of the motor is dynamically adjusted by matching with a PID algorithm, the hovering positioning precision is increased from +/-15 cm to +/-5 cm, and the precision operation requirement is met.

Inventors

  • WANG HONGCHEN
  • WANG HAN

Assignees

  • 江苏电子信息职业学院

Dates

Publication Date
20260508
Application Date
20250617

Claims (6)

  1. 1. The bionic butterfly comprises a bionic butterfly shell (1), and is characterized in that two bionic butterfly wings (2) are arranged at the front end of the shell (1), a first frame (3) is fixedly connected in the shell (1), a plurality of connecting plates (4) are fixedly connected in the shell (1), and a driving mechanism (5) for driving the bionic butterfly to fly is arranged in the first frame (3); The front end of the driving mechanism (5) is fixedly connected with a direct transmission gear (6), a connecting mechanism (7) is meshed with the outside of the direct transmission gear (6), a connecting rod gear (8) which is rotationally connected with the connecting plate (4) is meshed with the front end of the connecting mechanism (7), and the connecting mechanism (7) is used for connecting and transmitting the connecting rod gear (8); The outer parts of the connecting rod gears (8) are meshed with another connecting rod gear (8), and the front ends of the two connecting rod gears (8) are rotationally connected with a linkage mechanism (9) for driving the wings (2) to move; The other end of the linkage mechanism (9) is connected with two rocker arms (10), and the two rocker arms (10) are respectively connected with the two wings (2).
  2. 2. A bionic butterfly according to claim 1, wherein the driving mechanism (5) comprises a motor (501) arranged in the first frame (3), the output end of the motor (501) is fixedly connected with the direct transmission gear (6), and the output end of the motor (501) is rotatably connected with one of the connecting plates (4).
  3. 3. A bionic butterfly according to claim 1, wherein the connecting mechanism (7) comprises a frame shaft (701) rotatably connected in the first frame (3), a transmission gear (702) is fixedly connected to the outer part of the frame shaft (701), a small transmission gear (703) positioned at the front end of the transmission gear (702) is fixedly connected to the outer part of the frame shaft (701), the small transmission gear (703) is meshed with one of the connecting link gears (8), and the frame shaft (701) is rotatably connected with one of the connecting plates (4).
  4. 4. A bionic butterfly according to claim 1, wherein the linkage mechanism (9) comprises a first connecting rod (901) and a second connecting rod (902) which are respectively and rotatably connected to the front ends of the two connecting rod 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 connecting rod (901) is rotatably connected with the front end of the first rocker arm (903) through a rotating shaft, and the other end of the second connecting rod (902) is rotatably connected with the front end of the second rocker arm (904) through a rotating shaft.
  5. 5. A bionic butterfly according to claim 4, wherein 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 with the top of the first frame (3), the connecting shaft (905) is rotatably connected with the connecting plate (4), and two connecting link gears (8) are rotatably connected with the connecting plate (4) through rotating shafts.
  6. 6. A bionic butterfly according to claim 2, wherein a receiver (906) is mounted on one side of the first frame (3), and the receiver (906) is electrically connected to the motor (501).

Description

Bionic butterfly Technical Field The utility model relates to the technical field of bionic butterflies, in particular to a bionic butterfly. Background The bionic butterfly is a mechanical or paper model imitating the true butterfly flight principle and form, adopts a flapping wing structure, a lightweight material and a power system, is used for science and technology education and innovation competition, and can realize hidden reconnaissance and environmental monitoring by partial high-order design. In the technical field of bionic aircrafts, although the traditional bionic butterfly device has realized basic flying functions, the technical bottleneck of the traditional bionic butterfly device still restricts practical application and expansion, the prior art mainly adopts a single transmission structure, such as a direct-drive steering engine or a simple connecting rod mechanism, and has three main core defects that firstly, the transmission system lacks multistage deceleration optimization, so that output torque is insufficient, the wing vibration frequency (usually 5-12 Hz) and amplitude control of a real butterfly are difficult to simulate, especially, dynamic faults occur when composite flying postures such as gliding and spiraling are simulated, secondly, the control mechanism depends on an open loop system, real-time feedback adjustment of the flying postures cannot be realized, a hover positioning precision error reaches more than +/-15 cm, and the precision operation requirements such as environmental monitoring are difficult to meet. It is therefore desirable to provide a bionic butterfly that solves the above-mentioned problems. Disclosure of utility model The technical problem to be solved by the utility model is to overcome the defects in the prior art and provide the bionic butterfly. In order to solve the technical problems, the utility model adopts a technical scheme that the bionic butterfly comprises a housing of the bionic butterfly, wherein the front end of the housing is provided with two wings of the bionic butterfly, a first frame is fixedly connected in the housing, a plurality of connecting plates are fixedly connected in the housing, and a driving mechanism for driving the bionic butterfly to fly is arranged in the first frame; The front end of the driving mechanism is fixedly connected with a direct transmission gear, a connecting mechanism is meshed with the outside of the direct transmission gear, a connecting rod gear which is rotationally connected with the connecting plate is meshed with the front end of the connecting mechanism, and the connecting mechanism is used for connecting and transmitting the connecting rod gear; The outer parts of the connecting link gears are meshed with another connecting link gear, and the front ends of the two connecting link gears are rotationally connected with a linkage mechanism for driving wings to move; The other end of the linkage mechanism is connected with two rocker arms II which are respectively connected with two wings. The utility model is further characterized in that the driving mechanism comprises a motor arranged in the first frame, the output end of the motor is fixedly connected with the direct transmission gear, and the output end of the motor is rotationally connected with one of the connecting plates. According to the technical scheme, the driving mechanism adopts the hollow cup motor as a core power unit, the output shaft of the motor is directly and rigidly connected with the direct transmission gear, the mechanical gap of a traditional transmission system is eliminated, when the motor works, the motor rotates at high speed and is directly input into the connecting mechanism through the direct transmission gear, the energy loss of an intermediate transmission link is avoided, the design enables the output power of the motor to be efficiently converted into mechanical energy required by wing movement, the power output of the motor is matched with a miniature lithium battery power supply system, the accurate matching of the power output and the energy consumption is realized, the direct driving structure not only simplifies a transmission chain, but also realizes real-time adjustment of the vibration wing amplitude through the closed-loop control of the rotating speed of the motor, and the lift force output of the bionic butterfly can be dynamically adjusted according to aerodynamic requirements in the flight process. The connecting mechanism further comprises a frame shaft rotatably connected in the first frame, a transmission gear is fixedly connected to the outer part of the frame shaft, a small transmission gear positioned at the front end of the transmission gear is fixedly connected to the outer part of the frame shaft, the small transmission gear is meshed with one of the connecting rod gears, and the frame shaft is rotatably connected with one of the connecting plates. According to the technical scheme, the conne