CN110588971A - A bird-like flying flapping wing robot that can rotate its wings autonomously - Google Patents

Abstract

The invention provides a bird-like flying flapping wing robot capable of autonomously twisting the wings, comprising: a frame, a driving mechanism, a flapping mechanism, an autonomous twisting mechanism, wings and an empennage; a driving mechanism, a flapping mechanism and an autonomous twisting mechanism. The mechanisms are all installed on the frame, the flapping mechanism is connected with the driving mechanism and the autonomous torsion mechanism respectively, the wings are respectively connected with the flapping mechanism and the autonomous torsion mechanism, and the empennage is connected with the autonomous torsion mechanism; the driving mechanism drives the flapping mechanism to flutter up and down , and drives the autonomous torsion mechanism to move, so that the wings can flutter up and down autonomously and twist back and forth, and the empennage turns up and down while the wings twist back and forth, which has a simple structure, high degree of bionics, high flight efficiency, and no additional steering gear Under the premise, the independent rotation of the wings can be realized, which can effectively improve the flight lift and thrust.

Description

A bird-like flying flapping wing robot that can rotate its wings autonomously

technical field

The invention belongs to the field of bionic robots, and in particular relates to a bird-like flying flapping wing robot capable of autonomously twisting wings.

Background technique

Insects and birds in nature all use flapping wings to fly. The bionic flapping wing aircraft is a new type of robot designed to imitate the flapping wings of insects and birds. It has small size, light weight, low energy consumption, and low noise. , Superior maneuverability, strong concealment and other advantages, through the upward lift and forward thrust generated by the flapping and flexible deformation of the wings, the flexible flight of the flapping wing robot in the air is realized, and it has strong bionic properties. Through research on insects and some birds, it has been found that the two processes of their up and down flapping have different meanings to flight. With large lift and thrust, the wings of insects and some birds need to be twisted and deformed in time in response to the upswing and downswing during flight. However, many of the common bird-like flapping wing aircraft cannot realize the twisting of the wings, or can To achieve torsion but requires additional motor assistance or the structure is very complex, it is difficult to miniaturize, and there are problems such as a low degree of bionics.

Contents of the invention

The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

For this reason, the present invention proposes a kind of bird-like flying flapping wing robot that can twist wings autonomously.

In view of this, the present invention provides a bird-like flying flapping wing robot capable of autonomously twisting wings, including: a frame, a drive mechanism, a flapping mechanism, an autonomous twisting mechanism, a wing and an empennage; the drive mechanism, Both the flapping mechanism and the autonomous twisting mechanism are installed on the frame, the flapping mechanism is connected with the driving mechanism and the autonomous twisting mechanism respectively, the wings are respectively connected with the flapping mechanism and the autonomous twisting mechanism, the The empennage is connected with the autonomous torsion mechanism; the driving mechanism drives the flapping mechanism to flutter up and down, and drives the autonomous torsion mechanism to move, so that the wing can flutter up and down autonomously and twist back and forth. Turn up and down.

Preferably, the drive mechanism includes: a motor, a motor gear, a double gear, a double gear shaft, a crank gear, a crank gear shaft and a crank beam; the motor is arranged on the frame, and the double gear passes through the The double gear shaft is arranged on the frame, the double gear includes a first gear and a second gear, the crank gear is arranged on the frame through the crank gear shaft, and the crank beam is arranged on the crank gear; The motor gear is arranged on the output shaft of the motor and meshes with the first gear, and the crank gear meshes with the second gear.

Preferably, the motor is a hollow cup motor, and is arranged in the motor slot of the frame, and a first spacer is arranged on the rear side of the frame, and the first spacer passes through the motor and the frame Fixedly connected, the front end of the frame is provided with a longitudinal chute in the vertical direction perpendicular to the double gear shaft; the double gear is provided with a central hole, and the double gear shaft passes through the central hole of the double gear Set the dual gear on the frame, and the two ends of the dual gear shaft are provided with second spacers; the crank gear is provided with a central hole, and the crank gear shaft passes through the central hole of the crank gear to arrange the crank gear on the frame Above, the third limit gasket is arranged at both ends of the crank gear shaft, and an auxiliary hole is arranged beside the crank gear central hole, and the crank beam passes through the auxiliary hole and is connected with the crank gear.

Preferably, the flapping mechanism includes: a connecting rod, a linkage rod, a root of the left wing, a root of the right wing, a left-rotating slide, a right-rotating slide, a left-wing bracket, and a right-wing bracket; the upper and lower ends of the connecting rod are provided with openings , the crank beam passes through the hole at the lower end of the connecting rod and the auxiliary hole of the crank gear, and connects the connecting rod and the crank gear. A fourth spacer is provided on the outside of the two ends, and the left and right rotation slides are connected to the frame in rotation, and the inside is provided with a chute, and one end of the root of the left wing and one end of the root of the right wing are both A through hole is provided, and the linkage rod passes through the opening at the upper end of the connecting rod, the through hole at the root of the left wing, the through hole at the root of the right wing, and the longitudinal chute of the frame to connect with the independent torsion mechanism, and the linkage rod can slide in the longitudinal direction of the frame. Sliding up and down in the slot, the other end of the root of the left wing and the other end of the root of the right wing pass through the internal chute of the left rotation slideway and the internal chute of the right rotation slideway respectively, and are respectively connected with one end of the left wing support and one end of the right wing support. The central axis is connected, and the linkage rod drives the left wing root and the right wing root to slide in the left and right rotation slides respectively, so that the left wing support and the right wing support move up and down driven by the left wing root and the right wing root respectively.

Preferably, the autonomous twisting mechanism includes: a sliding block, a transmission link, a first slideway, a second slideway and a tail rod, the sliding block is located between the two side walls of the frame, and one end of the sliding block is The linkage rod passes through and is connected with it, driven by the linkage rod, it can slide up and down between the two side walls of the frame, the other end of the sliding block is connected with one end of the transmission linkage, and the first slideway and The second slideway is connected to both side walls of the frame, and there is a gap between the two sides of the frame, and both ends of the first slideway and the second slideway are provided with openings, and the insides are provided with chute , the other end of the transmission connecting rod passes through the opening of the first slideway, and is connected to one end of the tail rod through the chute of the first slideway. Sliding in the chute, the first chute swings back and forth with the transmission connecting rod, the other end of the tail rod passes through the opening of the second chute, and the chute passing through the second chute is connected with the tail wing, and the tail rod is on the side of the transmission connecting rod Driven to swing back and forth and slide in the chute of the second slideway, the second slideway swings back and forth with the tail rod.

Preferably, the autonomous torsion mechanism further includes: a first pin, a second pin, a third pin and a fourth pin; the sliding block is connected to the transmission link through the first pin, and the transmission link and the tail rod are connected through The second pin is connected, the first slideway is connected with the frame through the third pin, and the second slideway is connected with the frame through the fourth pin.

Preferably, the sliding block is a square structure with an open rectangular slot at one end, a first pair of symmetrical holes are provided on the two side walls of the open rectangular slot, and the two side walls of the transmission link are set close to one end of the sliding block. There is a second pair of symmetrical holes, and a third pair of symmetrical holes is provided on the two side walls of the transmission connecting rod away from the sliding block. The end of the transmission connecting rod near the sliding block is inserted into the open rectangular slot, and the first pin penetrates Through the first pair of holes and the second pair of holes, the sliding block and the transmission connecting rod are rotatably connected, and one end of the tail rod is provided with a through hole, and the second pin passes through the third pair of holes and the through hole to connect the transmission connecting rod and the through hole. The tail rod is connected by rotation; the left side wall and the right side wall of the first slideway are provided with symmetrical holes, the left sidewall and the right sidewall of the second slideway are provided with symmetrical holes, and the third pin It includes a third left pin and a third right pin, the fourth pin includes a fourth left pin and a fourth right pin, one end of the third left pin is fixedly connected to the left side wall of the rack, and the other end is inserted into the first slide in the hole on the left side wall of the first slideway without contacting the transmission link, one end of the third right pin is fixedly connected to the right side wall of the frame, and the other end is inserted into the hole on the right side wall of the first slideway without contacting the transmission link. Contacting the transmission link, one end of the fourth left pin is fixedly connected to the left side wall of the frame, and the other end is inserted into the hole on the left side wall of the second slideway without contacting the tail rod. One end of the fourth right pin It is fixedly connected with the right side wall of the rack, and the other end is inserted into the hole on the right side wall of the second slideway without touching the tail rod.

Preferably, the wings include a left wing and a right wing, the front end of the left wing is connected to the left wing support, the front end of the right wing is connected to the right wing support, and the rear end of the left wing and the rear end of the right wing are both Connect with tail rod.

Preferably, the empennage is provided with an opening, one end of the tail rod is inserted into the opening of the empennage and connected thereto, and the upper side of the empennage is kept parallel to the upper section of the tail rod.

Preferably, the frame is made of carbon fiber sheet material, the connecting rod, left wing bracket, and right wing bracket are all made of carbon fiber material, the wing is made of natural rubber film material, and the empennage is made of plastic foam material.

Compared with prior art, the beneficial effect of the present invention is:

1. The present invention can realize the autonomous twisting of the pitch angle of the wing during the flapping process of the robot wing, and adjust the change of the flight angle of attack during the flapping and flapping process, so that the air resistance suffered during the flapping process is reduced, and the flapping process is more efficient. During the maneuvering process, the thrust in the forward direction is increased, and the forward flight speed is increased.

2. The present invention realizes the periodic rotation of the tail rod, so that the tail rod drives the tail wing to flutter up and down, further increasing the thrust of the flying robot in the forward flight direction, thereby improving the flying speed and air mobility of the flying robot, Simultaneously the empennage also has the effect of increasing lift.

Additional aspects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Description of drawings

Fig. 1 shows a schematic structural view of a bird-like flying flapping wing robot capable of autonomously twisting wings according to an embodiment of the present invention;

Fig. 2 shows a structural schematic diagram of a bird-like flying flapping wing robot capable of autonomously twisting wings according to yet another embodiment of the present invention;

Fig. 3 shows a structural schematic diagram of a bird-like flying flapping wing robot capable of autonomously twisting wings according to yet another embodiment of the present invention;

Fig. 4 shows a structural schematic diagram of a bird-like flying flapping wing robot capable of autonomously twisting wings according to yet another embodiment of the present invention;

Fig. 5 shows a structural schematic diagram of a bird-like flying flapping wing robot capable of autonomously twisting wings according to yet another embodiment of the present invention;

Fig. 6 shows a schematic structural view of a bird-like flying flapping wing robot capable of autonomously twisting wings according to yet another embodiment of the present invention;

Wherein: 1 frame 1; 2 driving mechanism; 201 motor; 202 motor gear; 203 duplex gear; 2031 first gear; 2032 second gear; 204 duplex gear shaft; 205 crank gear; 206 crank gear shaft; 207 crank Beam; 3 flapping mechanism; 301 connecting rod; 302 linkage rod; 3031 root of left wing; 3032 root of right wing; 3041 left rotation slide; 3042 right rotation slide; Block; 4011 first pin; 402 transmission link; 4021 second pin; 403 first slideway; 4031 third pin; 404 tail rod; 405 second slideway; 4051 fourth pin; 5 wings; 501 left machine Wing; 502 right wing; 6 empennage.

Detailed ways

In order to understand the above-mentioned purpose, features and advantages of the present invention more clearly, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described here. Therefore, the protection scope of the present invention is not limited by the specific details disclosed below. EXAMPLE LIMITATIONS.

The following describes the bird-like flying flapping wing robot that can automatically twist the wings according to some embodiments of the present invention with reference to FIGS. 1 to 6 .

In an embodiment of the present invention, as shown in Figure 1, the present invention provides a frame 1, a driving mechanism 2, a flapping mechanism 3, an autonomous twisting mechanism 4, a wing 5 and an empennage 6; Both the moving mechanism 3 and the autonomous torsion mechanism 4 are installed on the frame 1, the flapping mechanism 3 is connected with the driving mechanism 2 and the autonomous torsion mechanism 4 respectively, the wing 5 is connected with the flapping mechanism 3 and the autonomous torsion mechanism 4 respectively, and the empennage 6 Connected with the autonomous torsion mechanism 4; the driving mechanism 2 drives the flapping mechanism 3 to flutter up and down, and drives the autonomous torsion mechanism 4 to move, so that the wing 5 can flutter up and down autonomously and twist back and forth. Turn up and down.

In this embodiment, the driving mechanism 2, the flapping mechanism 3 and the autonomous twisting mechanism 4 are all installed on the frame 1, the flapping mechanism 3 is connected with the driving mechanism 2 and the autonomous twisting mechanism 4 respectively, and the wings 5 are connected with the flapping mechanism respectively. Mechanism 3 is connected to autonomous torsion mechanism 4, empennage 6 is connected to autonomous torsion mechanism 4, drive mechanism 2 drives flutter mechanism 3, controls wing 5 to flutter up and down, autonomous torsion mechanism 4 is driven by flutter mechanism 3, accompanied by The fluttering of wing 5 up and down realizes the front and back twisting of wing 5 aerofoil simultaneously, and empennage 6 is then under the drive of autonomous torsion mechanism 4, while wing 5 wing front twists back and forth, rotates up and down, increases forward flight The thrust of the bird-like flapping wing robot that can independently twist the wings provided by the present invention can realize the autonomous twisting of the wings 5 under the premise of simple structure, high degree of bionics, high flight efficiency, and no additional steering gear. Effectively improve flight lift and thrust.

In one embodiment of the present invention, preferably, as shown in FIGS. Axle 206 and crank beam 207; Motor 201 is arranged on the frame 1, and duplex gear 203 is arranged on the frame 1 by duplex gear shaft 204, and duplex gear 203 comprises first gear 2031 and second gear 2032, crank gear 205 is arranged on the frame 1 through the crank gear shaft 206, and the crank beam 207 is arranged on the crank gear 205; the motor gear 202 is arranged on the output shaft of the motor 201, and meshes with the first gear 2031, and the crank gear 205 and the second gear 2032 meshed.

In this embodiment, the motor 201 provides driving power, the motor gear 202 is driven by the motor 201 to rotate, and drives the dual gear 203 to rotate, the rotation of the dual gear 203 drives the rotation of the crank gear 205, and the motion of the crank gear 205 drives The crank beam 207 rotates.

In one embodiment of the present invention, preferably, as shown in Figures 2 to 4, the motor 201 is a hollow cup motor, and is arranged in the motor slot of the frame 1, and the rear side of the frame 1 is provided with a first stop Gasket, the first limit gasket passes through the motor 201 and is fixedly connected with the frame 1, and the front end face of the frame 1 is provided with a longitudinal chute in the vertical direction perpendicular to the double gear shaft 204; the double gear 203 is provided with There is a central hole, the double gear shaft 204 passes through the central hole of the double gear 203 and the double gear 203 is arranged on the frame 1, and the second limit gasket is arranged at the two ends of the double gear shaft 204; the crank gear 205 is provided with Central hole, the crank gear shaft 206 passes through the central hole of the crank gear 205 and the crank gear 205 is arranged on the frame 1. A third spacer is provided at the two ends of the crank gear shaft 206, and the crank gear 205 central hole is also provided with a Auxiliary hole, the crank beam 207 passes through the auxiliary hole and is connected with the crank gear 205 .

In this embodiment, the rear side of the frame 1 is provided with a first spacer, which is used to assist in limiting the axial displacement of the motor 201. The double gear shaft 204 sets the double gear 203 on the frame 1. The two ends of the gear shaft 204 are equipped with a second spacer, which is used to limit the axial displacement of the double wheel gear. The crank gear shaft 206 arranges the crank gear 205 on the frame 1, and the crank gear shaft 206 two ends are provided with a third spacer. The limit washer is used to limit the axial displacement of the crank gear 205 .

In one embodiment of the present invention, preferably, as shown in FIGS. Swivel slideway 3042, left wing support 3051, right wing support 3052; Connecting rod 301 upper and lower ends are all provided with openings, and crank beam 207 passes through connecting rod 301 lower end opening and the secondary hole of crank gear 205, connects connecting rod 301 and crank The gear 205 is connected, the crank beam 207 is fixedly connected with the crank gear 205, the connecting rod 301 is rotationally connected with the crank beam 207, the opening at the lower end of the connecting rod 301 is provided with a fourth spacer outside the axial ends of the two ends, and the left rotation slideway 3041 and The right rotation slideways 3042 are all connected with the frame 1 in rotation, and are provided with chute inside, one end of the left wing root 3031 and one end of the right wing root 3032 are all provided with through holes, and the linkage rod 302 passes through the opening at the upper end of the connecting rod 301, The through hole of the left wing root 3031, the through hole of the right wing root 3032 and the longitudinal chute of the frame 1 are connected with the independent torsion mechanism 4, the linkage rod 302 can slide up and down in the longitudinal chute of the frame 1, and the other end of the left wing root 3031 and the other end of the right wing root 3032 pass through the inner chute of the left rotation slideway 3041 and the inner chute of the right rotation slideway 3042 respectively, and are respectively connected with one end of the left wing bracket 3051 and one end of the right wing bracket 3052 with the central axis, and the linkage rod 302 Drive the left wing root 3031 and the right wing root 3032 to slide in the left rotation slideway 3041 and the right rotation slideway 3042 respectively, so that the left wing support 3051 and the right wing support 3052 move up and down under the drive of the left wing root 3031 and the right wing root 3032 respectively, and the connecting rod 301 A fourth spacer is provided outside the two axial ends of the opening at the lower end to limit the displacement of the connecting rod 301 in the front-rear direction of the fuselage.

In this embodiment, the linkage rod 302 passes through the opening at the upper end of the connecting rod 301, the through hole provided at one end of the left wing root 3031, the through hole provided at one end of the right wing root 3032, and the longitudinal chute of the frame 1 to connect with the autonomous torsion mechanism 4 , when the connecting rod 301 moves with the rotation of the crank beam 207, the connecting rod 301 pulls the linkage rod 302 to slide up and down in the longitudinal chute, driving the left wing root 3031 and the right wing root 3032 to move, and the left wing root 3031 and the right wing root 3032 are moving During the process, they slide in the left-handed slideway 3041 and the right-handed slideway 3042 respectively, and drive the left-handed slideway 3041 and the right-handed slideway 3042 to rotate. The movement of the root 3032 moves synchronously, thereby driving the flapping of the wing 5 .

In one embodiment of the present invention, preferably, as shown in Figures 2 to 4, the autonomous twisting mechanism 4 includes: a sliding block 401, a transmission link 402, a first slide 403, a second slide 405 and a tail rod 404, the sliding block 401 is located between the two side walls of the frame 1, and one end of the sliding block 401 is passed through by the linkage rod 302 and connected with it, and can be moved up and down between the two side walls of the frame 1 under the drive of the linkage rod 302 Sliding, the other end of the sliding block 401 is connected with one end of the transmission link 402, the first slideway 403 and the second slideway 405 are connected with the two side walls of the frame 1, and there is a space between the two side walls of the frame 1 gap, both ends of the first slideway 403 and the second slideway 405 are provided with openings, and are provided with slide grooves inside, the other end of the transmission link 402 passes through the opening of the first slideway 403 and passes through the first slideway The chute of 403 is connected with one end of the tail rod 404, the transmission link 402 swings back and forth under the drive of the sliding block 401 and slides in the chute of the first slideway 403, and the first slideway 403 swings back and forth with the transmission link 402 , the other end of the tail rod 404 passes through the opening of the second slideway 405, and passes through the chute of the second slideway 405 to be connected with the empennage 6. sliding in the chute, the second slideway 405 swings back and forth with the tail rod 404.

In this embodiment, the linkage rod 302 passes through the longitudinal chute of the frame 1 and is connected to the sliding block 401, and the up and down movement of the linkage rod 302 in the longitudinal chute drives the sliding block 401 to slide up and down between the two side walls of the frame 1 At the same time, it drives the end of the transmission link 402 to move up and down. Since the transmission link 402 passes through the inner chute of the first slideway 403, the transmission link 402 slides in the chute of the first slideway 403, and Drive the first slideway 403 to swing back and forth, because the transmission link 402 slides inside the first slideway 403, the other end of the transmission link 402 connected to the tail rod 404 moves upwards and downwards in a "C" shape, Tail rod 404 is driven by transmission connecting rod 402, and the end that tail rod 404 is connected with transmission connecting rod 402 can move upwards and downwards with transmission connecting rod 402, and the movement of transmission connecting rod 402 pulls tail rod 404 to move, because tail The rod 404 passes through the inner chute of the second slideway 405, so when the tail rod 404 slides in the chute of the second slideway 405, it drives the second slideway 405 to swing back and forth, and the tail rod 404 is far away from the second slideway 405 One end of the tail rod 404 moves upwards and downwards, and the movement track is "C" shaped. The transmission connecting rod 402 swings back and forth under the drive of the sliding block 401. When the sliding block 401 moves downward, the end of the transmission connecting rod 402 connected with the sliding block 401 moves downward, and the transmission connecting rod 402 passes through the first slideway 403 and The other end that tail rod 404 is connected then moves upwards, and tail rod 404 is driven by transmission connecting rod 402, and one end that tail rod 404 is connected with transmission connecting rod 402 moves upwards, and tail rod 404 passes through second slideway 405 and empennage 6 The other end of the connection then moves downwards. When the sliding block 401 moves upwards, the end of the transmission connecting rod 402 connected to the sliding block 401 moves upwards, and the transmission connecting rod 402 passes through the other end connected to the first slideway 403 and the tail rod 404. Then move downwards, tail rod 404 is under the drive of transmission connecting rod 402, and an end that tail rod 404 is connected with transmission connecting rod 402 moves downward, and tail rod 404 passes the other end that the second slideway 405 is connected with empennage 6 then upward movement.

In one embodiment of the present invention, preferably, the autonomous twisting mechanism 4 further includes: a first pin 4011, a second pin 4021, a third pin 4031 and a fourth pin 4051; the sliding block 401 and the transmission link 402 pass through the first The pin 4011 is connected, the transmission link 402 is connected with the tail rod 404 through the second pin 4021, the first slideway 403 is connected with the frame 1 through the third pin 4031, and the second slideway 405 is connected with the frame 1 through the fourth pin 4051 .

In one embodiment of the present invention, preferably, as shown in FIG. 2 to FIG. 6 , the sliding block 401 is a square structure with an open rectangular slot at one end, and symmetrical first A pair of holes, the two side walls of the transmission connecting rod 402 close to the end of the sliding block 401 are provided with a second pair of symmetrical holes, and the end of the two side walls of the transmission connecting rod 402 away from the sliding block 401 is provided with a third pair of symmetrical holes. One end of the connecting rod 402 close to the sliding block 401 is inserted into the open rectangular slot, the first pin 4011 passes through the first pair of holes and the second pair of holes to rotate the sliding block 401 and the transmission connecting rod 402, and one end of the tail rod 404 is provided with a through hole. The second pin 4021 passes through the third pair of holes and the through hole to rotate the transmission link 402 and the tail rod 404; The side wall and the right side wall are provided with symmetrical holes, the third pin 4031 includes the third left pin and the third right pin, the fourth pin 4051 includes the fourth left pin and the fourth right pin, one end of the third left pin is connected to the machine The left side wall of frame 1 is fixedly connected, the other end is inserted into the hole on the left side wall of the first slideway 403, and does not contact the transmission link 402, one end of the third right pin is fixedly connected with the right side wall of frame 1, and the other end Insert it into the hole on the right side wall of the first slideway 403 without contacting the transmission link 402. One end of the fourth left pin is fixedly connected to the left sidewall of the frame 1, and the other end is inserted into the left sidewall of the second slideway 405. In the hole on the top, and do not touch the tail rod 404, one end of the fourth right pin is fixedly connected with the right side wall of the frame 1, and the other end is inserted into the hole on the right side wall of the second slideway 405, and does not contact the tail rod 404 .

In this embodiment, the connection relationship between the frame 1, the sliding block 401, the transmission link 402, the first slideway 403, and the second slideway 405 is matched by a pin and a hole, and one end of the third left pin is connected to the frame. 1. The left side wall is fixedly connected, and the other end is inserted into the hole on the left side wall of the first slideway 403, and does not touch the transmission link 402. One end of the third right pin is fixedly connected with the right side wall of the frame 1, and the other end is inserted into Located in the hole on the right side wall of the first slideway 403, and does not contact the transmission link 402, the first slideway 403 is connected to the side wall of the frame 1 without affecting the movement of the transmission link 402, while the fourth left One end of the pin is fixedly connected to the left side wall of the frame 1, and the other end is inserted into the hole on the left side wall of the second slideway 405 without touching the tail rod 404, and one end of the fourth right pin is fixedly connected to the right side wall of the frame 1 , and the other end is inserted into the hole on the right side wall of the second slideway 405 without touching the tail rod 404, so that the second slideway 405 is connected to the side wall of the frame 1 without affecting the movement of the tail rod 404.

In one embodiment of the present invention, preferably, as shown in FIGS. The front end is connected with the right wing bracket 3052 , and the rear ends of the left wing 501 and the right wing 502 are connected with the tail boom 404 .

In this embodiment, the front end of the left wing 501 and the front end of the right wing 502 are respectively connected with the left wing bracket 3051 and the right wing bracket 3052, and the rear end of the left wing 501 and the rear end of the right wing 502 are connected with the tail boom 404. When the linkage lever 302 slides upwards, the front ends of the left wing 501 and the right wing 502 are pulled downward by the left wing bracket 3051 and the right wing bracket 3052, and the rear ends of the left wing 501 and the right wing 502 are pulled by the tail rod 404 Lifting up, so that the front part of the wing 5 is twisted downwards and the rear part is upwards during the downward flapping process, thereby giving the wing 5 a motion posture with the front low and the rear high. When the linkage lever 302 slides down, the front ends of the left wing 501 and the right wing 502 are pulled upward by the left wing bracket 3051 and the right wing bracket 3052, and the rear ends of the left wing 501 and the right wing 502 are pulled by the tail rod 404 Lowering downwards, so that the wing 5 produces the twist of the front part upwards and the rear part downwards during the upward pounce, and then gives the wing 5 a motion posture with a high front and a low rear.

In one embodiment of the present invention, preferably, as shown in Figure 1 and Figure 2, an opening is provided on the empennage 6, and one end of the tail rod 404 is inserted into the opening of the empennage 6 to connect with it, and the upper side of the empennage 6 is connected to the tail rod 404. The cut planes remain parallel.

In this embodiment, one end of the tail rod 404 is inserted into the opening of the tail 6 , and the tail rod 404 drives the tail 6 to rotate up and down.

In one embodiment of the present invention, preferably, the frame 1 is made of carbon fiber sheet material, the connecting rod 301, the left wing bracket, and the right wing bracket are all made of carbon fiber material, the wing 5 is made of natural rubber film material, and the empennage 6 is made of plastic foam material.

In this embodiment, the material used for each component is a specific embodiment, and is not limited thereto in actual operation.

When the present invention works, the drive mechanism 2 drives the flutter mechanism 3 to move, and simultaneously drives the independent torsion mechanism 4 to move, and the linkage rod 302 slides up and down in the slideway in the middle of the frame 1 along with the rotation of the crank gear 205, driving the left wing root 3031, The right wing root 3032 slides in the left rotation slideway 3041 and the right rotation slideway 3042, and the linkage rod 302 drives the sliding block 401 to slide up and down at the same time. The end is lowered, thereby driving the left wing support 3051 and the right wing support 3052 to lift, so that the left and right ends of the wing 5 gradually move higher than the middle, thereby driving the front part of the wing 5 to flutter upwards. At the same time, the linkage rod 302 drives the sliding block 401 to descend. Thereby driving the transmission link 402 to be low at the front and high at the rear, and the raised transmission link 402 rear end drives the tail rod 404 to be high at the front and low at the rear. The rear portion of the wing surface is lowered, and the wing 5 presents a motion posture of high front and low rear. The end of the tail rod 404 is connected with the empennage 6, which drives the rear portion of the empennage 6 to rotate downward. The outer end of the root 3032 is lowered and the inner end is raised, thereby driving the left wing bracket 3051 and the right wing bracket 3052 to lower, so that the left and right ends of the wing 5 gradually move lower than the middle, thereby driving the front of the wing 5 to flutter downward. At the same time, the linkage The rod 302 drives the sliding block 401 to rise, thereby driving the transmission connecting rod 402 to be high at the front and low at the rear, and the rear end of the lowered transmission connecting rod 402 drives the tail rod 404 to be low at the front and high at the rear, and the rear part of the wing 5 is connected to the rear end of the tail rod 404 , the tail rod 404 rear end drives the rear portion of the wing 5 to lift, and the wing 5 presents a motion posture of low front and high rear, and the end of the tail rod 404 is connected with the empennage 6 to drive the rear portion of the empennage 6 to rotate upwards.

When the linkage rod 302 slides down and pulls the front part of the wing 5 to jump up, because the rear part of the wing 5 is pulled down by the tail rod 404, the wing 5 generally presents a downward twisting posture, and the tail 6 rotates downward; When the bar 302 slides up and pulls the front part of the wing 5 to flutter down, the rear part of the wing 5 is lifted up by the tail rod 404, the wing 5 presents an upward twisting posture, and the empennage 6 turns upwards.

The bird-like flying flapping wing robot of the present invention combines a crank slider mechanism and a sliding type lever group, and the crank slider mechanism is used to generate the up and down flapping action of the wing 5 of the bird-like flapping wing robot, and the sliding type lever group is used In order to produce the forward and backward twisting action of the bird-like flapping wing flying robot wing 5, the wing 5 of the bird-like flying flapping wing robot produces a low-front and rear-high posture during the downward flapping process, and the wing 5 produces a low-back posture during the upward flapping process. High front and low back posture.

In the bird-like flying flapping wing robot of the present invention, the wing 5 flutters up and down in the working process to generate upward lift force. Due to the effect of the sliding lever group, the rear end of the tail rod 404 is upturned when the wing 5 flutters down. When the wing 5 flutters up, it turns downwards, thereby driving the wing 5 to twist; because the tail 6 is connected to the end of the tail rod 404, the tail 6 will rotate clockwise or counterclockwise as the end of the tail rod 404 moves up and down.

The present invention can realize the autonomous twisting of the pitch angle of the wing 5 during the flapping process of the robot wing 5, and adjust the change of the flight angle of attack during the flapping and flapping processes, so that the air resistance suffered during the flapping process is reduced, and the Increase the thrust in the forward direction during the flapping process, which can increase the speed of the forward flight, and can achieve the effect of saving energy consumption; the present invention realizes the sliding clockwise and anticlockwise rotation of the tail rod 404, so that the tail rod 404 drives the empennage 6 to carry out Rotating clockwise or counterclockwise further increases the thrust of the bird-like flying flapping wing robot in the direction of forward flight, improving the speed and maneuverability of forward flight. At the same time, when the tail 6 rotates clockwise or counterclockwise, it drives There is an upward and downward trend in the fuselage of the bird flying flapping wing robot, because the angle between the line between the top dead center of the rear end center of the tail rod 404 and the center point of the front end of the tail rod 404 and the horizontal plane is greater than the center of the rear end of the tail rod 404 The angle between the line connecting the bottom dead center and the center point of the front end of the tail rod 404 and the horizontal plane, so the result of the accumulation is that the fuselage will rise, so that the flapping wing robot is like a bird flying. The elevation angle will be further increased, that is, the upward lift force will be increased, which can increase the flying height of the robot and shorten the time required to reach the specified height, while reducing energy consumption.

In the description of the present invention, the term "plurality" refers to two or more than two, and unless otherwise clearly defined, the terms "upper", "lower", "left", "right", etc. indicate directions or The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it cannot be understood as a limitation to the present invention; the terms "connection", "installation", "fixation" and the like should be understood in a broad sense, for example, "connection" can be a fixed connection, a detachable connection, or an integral connection; It can be directly connected or indirectly connected through an intermediary. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In the description of the present invention, descriptions of the terms "one embodiment", "some embodiments", "specific embodiments" and the like mean that a specific feature, structure, material or characteristic described in connection with the embodiment or example is included in the present invention In at least one embodiment or example of . In the present invention, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be in any one or more embodiments or examples.

Claims (10)

1. A bird-like flying flapping-wing robot with an autonomously twistable wing is characterized by comprising: the device comprises a rack, a driving mechanism, a flapping mechanism, an automatic torsion mechanism, wings and a tail wing; the flapping mechanism is connected with the driving mechanism and the automatic torsion mechanism respectively, the wings are connected with the flapping mechanism and the automatic torsion mechanism respectively, and the tail wing is connected with the automatic torsion mechanism; the driving mechanism drives the flapping mechanism to flap up and down and drives the automatic torsion mechanism to move, so that the wing can flap up and down automatically and can be twisted back and forth, and the tail wing rotates up and down while the wing is twisted back and forth.

2. The bird-like flying ornithopter robot with self-twisting wings of claim 1, wherein the driving mechanism comprises: the device comprises a motor, a motor gear, a duplicate gear shaft, a crank gear shaft and a crank beam; the motor is arranged on the rack, the duplicate gear is arranged on the rack through the duplicate gear shaft, the duplicate gear comprises a first gear and a second gear, the crank gear is arranged on the rack through the crank gear shaft, and the crank beam is arranged on the crank gear; the motor gear is arranged on an output shaft of the motor and meshed with the first gear, and the crank gear is meshed with the second gear.

3. The bird-like flying flapping-wing robot with the self-twisting wings of claim 2, wherein the motor is a hollow cup motor and is arranged in a motor groove of the frame, a first limiting gasket is arranged on the rear side of the frame, the first limiting gasket penetrates through the motor and is fixedly connected with the frame, and a longitudinal sliding groove is arranged on the front end surface of the frame in the vertical direction perpendicular to the duplicate gear shaft; the dual gear is provided with a central hole, a dual gear shaft penetrates through the central hole of the dual gear to arrange the dual gear on the rack, and second limiting gaskets are arranged at two ends of the dual gear shaft; the crank gear is provided with a central hole, a crank gear shaft penetrates through the central hole of the crank gear to arrange the crank gear on the rack, third limiting gaskets are arranged at two ends of the crank gear shaft, an auxiliary hole is further arranged beside the central hole of the crank gear, and the crank beam penetrates through the auxiliary hole to be connected with the crank gear.

4. The bird-like flying flapping robot with self-twistable wing of claim 3, wherein said flapping mechanism comprises: the device comprises a connecting rod, a linkage rod, a left wing root, a right wing root, a left rotary slideway, a right rotary slideway, a left wing bracket and a right wing bracket; both ends all are provided with the trompil about the connecting rod, and the crank roof beam passes connecting rod lower extreme trompil and the auxiliary opening of crank gear, with connecting rod and crank gear connection, crank roof beam and crank gear fixed connection, connecting rod and crank roof beam swivelling joint, connecting rod lower extreme trompil axial both ends outside is provided with fourth spacing gasket, left-handed rotation slide and right-handed rotation slide all with frame swivelling joint, and the inside all is provided with the spout, the one end of left wing root and the one end of right wing root all are provided with the through-hole, the gangbar passes connecting rod upper end trompil, the through-hole of left wing root, the through-hole of right wing root and the vertical spout of frame and is connected with autonomic torsion mechanism, and the gangbar can slide from top to bottom in the vertical spout of frame, and the other end of left wing root and the other end of right wing root pass respectively the inside spout, and respectively with the one end of left wing support and the same center pin connection of one end of right wing support, the gangbar drives left wing root and right wing root and slides in left rotatory slide and right rotatory slide respectively, makes left wing support and right wing support up-and-down motion under the drive of left wing root and right wing root respectively.

5. The bird-like flying flapping robot with self-twistable wing of claim 4, wherein said self-twisting mechanism comprises: sliding block, transmission connecting rod, first slide, second slide and tail-stock, the sliding block is located between the wall of frame both sides, the one end of sliding block is passed and is linked to each other with the gangbar, can slide from top to bottom between the wall of frame both sides under the drive of gangbar, the other end of sliding block with the one end of transmission connecting rod links to each other, first slide and second slide are all connected with frame both sides wall to all there is the clearance with frame both sides intermural, the both ends of first slide and second slide all are provided with the opening, and inside all is provided with the spout, the other end of transmission connecting rod passes through first slide opening, the spout that passes first slide with tail-stock one end links to each other, transmission connecting rod swing back and forth and slide in first slide spout under the drive of sliding block, first slide is along with transmission connecting rod swing back and forth, the tail-stock other end passes through the opening of second slide, the sliding groove penetrating through the second slideway is connected with the tail wing, the tail rod swings back and forth under the driving of the transmission connecting rod and slides in the sliding groove of the second slideway, and the second slideway swings back and forth along with the tail rod.

6. The bird-like flying flapping robot with self-twistable wing of claim 5, wherein said self-twisting mechanism further comprises: a first pin, a second pin, a third pin, and a fourth pin; the sliding block passes through first pin joint with the drive link, the drive link passes through the second pin joint with the tailboom, first slide passes through the third pin joint with the frame, the second slide passes through the fourth pin joint with the frame.

7. The bird-like flying flapping wing robot with the self-twisting wings of claim 6, wherein the sliding block is a square structure with an open rectangular slot at one end, a first symmetrical pair of holes are arranged on two side walls of the open rectangular slot, a second symmetrical pair of holes are arranged on one end of two side walls of the transmission connecting rod close to the sliding block, a third symmetrical pair of holes are arranged on one end of two side walls of the transmission connecting rod far away from the sliding block, one end of the transmission connecting rod close to the sliding block is inserted into the open rectangular slot, the first pin passes through the first pair of holes and the second pair of holes to rotatably connect the sliding block and the transmission connecting rod, a through hole is arranged at one end of the tail rod, and the second pin passes through the third pair of holes and the through hole to rotatably connect the transmission connecting rod and; the first slideway left side wall and the right side wall are provided with symmetrical holes, the second slideway left side wall and the right side wall are provided with symmetrical holes, the third pin comprises a third left pin and a third right pin, the fourth pin comprises a fourth left pin and a fourth right pin, one end of the third left pin is fixedly connected with the rack left side wall, the other end of the third left pin is inserted into the hole on the first slideway left side wall and does not contact with the transmission connecting rod, one end of the third right pin is fixedly connected with the rack right side wall, the other end of the third right pin is inserted into the hole on the first slideway right side wall and does not contact with the transmission connecting rod, one end of the fourth left pin is fixedly connected with the rack left side wall, the other end of the fourth left pin is inserted into the hole on the second slideway left side wall and does not contact with the tail rod, one end of the fourth right pin is fixedly connected with the rack right side wall, and the other end of the fourth left pin is inserted into the, and does not contact the tail rod.

8. The bird-like flying flapping wing robot with the self-twisting wings of claim 5, wherein the wings comprise a left wing and a right wing, the front end of the left wing is connected with a left wing bracket, the front end of the right wing is connected with a right wing bracket, and the rear ends of the left wing and the right wing are connected with a tail rod.

9. The bird-like flying flapping wing robot of claim 6, wherein the tail wing is provided with an opening, one end of the tail rod is inserted into the opening of the tail wing to be connected with the tail wing, and the upper surface of the tail wing is parallel to the upper cutting surface of the tail rod.

10. The bird-like flying flapping-wing robot with the self-twisting wings of any one of claims 1 to 9, wherein the frame is made of carbon fiber sheet material, the connecting rod, the left wing bracket and the right wing bracket are made of carbon fiber material, the wings are made of natural rubber film material, and the tail wing is made of plastic foam material.