CN109823535A - It is a kind of to scout with full landform machinery winged insect and its working method - Google Patents
It is a kind of to scout with full landform machinery winged insect and its working method Download PDFInfo
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- CN109823535A CN109823535A CN201910203868.4A CN201910203868A CN109823535A CN 109823535 A CN109823535 A CN 109823535A CN 201910203868 A CN201910203868 A CN 201910203868A CN 109823535 A CN109823535 A CN 109823535A
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- 241000256626 Pterygota <winged insects> Species 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 230000000007 visual effect Effects 0.000 claims abstract description 18
- 230000004297 night vision Effects 0.000 claims abstract description 14
- 239000002184 metal Substances 0.000 claims abstract description 4
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000002596 correlated effect Effects 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 241000238631 Hexapoda Species 0.000 abstract description 3
- 235000001968 nicotinic acid Nutrition 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000000875 corresponding effect Effects 0.000 description 3
- 230000009977 dual effect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
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Abstract
It scouts the invention discloses a kind of with full landform machinery winged insect and its working method, including infrastructure component, flapping wing component, walking component, Power Component, visual component and reception six part of terminal.Wherein, infrastructure component includes the frame built by multiple metal plates；Flapping wing component includes rotor and first connecting rod group；Walking component includes contact to earth pawl and second connecting rod group；Power Component includes motor, battery pack and gear set, and the gear set is mechanically connected with the flapping wing component and walking component respectively；Visual component includes camera, night vision device and infrared sensor；Receiving terminal includes signal processing unit, image transmission module and hand-held display device.Unmanned vehicle and ground robot are incorporated in a robot by the present invention, and according to the movement of bionics simulated hexapod, cooperate visual component, so that possess preferable mobility in scouting field, are adapted to various landform, high-efficient under battle conditions.
Description
Technical field
The present invention relates to bionical biological fields, and in particular to a kind of to scout with full landform machinery winged insect and its working method.
Background technique
Need robot that people is replaced to carry out the work such as scouting in the special dimensions such as national defence, police and some hazardous areas,
Robot common at present is generally divided into ground robot and unmanned vehicle two major classes.
Above-mentioned Liang Lei robot is respectively applied to ground, two class scene of space；There are drawbacks for this way, that is, need basis
Different scouting scenes replaces multiple robots, can not accomplish All-in-One, causes under efficiency in actual combat, loses good opportunity.
Summary of the invention
Goal of the invention: provide it is a kind of scout with full landform machinery winged insect, solve the above problem of the existing technology.
Technical solution: a kind of to scout with full landform machinery winged insect, including infrastructure component, flapping wing component, walking component, power
Component, visual component and reception six part of terminal.
Wherein, infrastructure component, including the frame built by multiple metal plates；
Flapping wing component is respectively equipped with the including a pair of rotor being flexibly connected on said frame between the rotor and frame
One connection rod set；
Walking component, the pawl that contacts to earth including being movably connected in the frame quadrangle, described contact to earth are respectively equipped between pawl and frame
Second connecting rod group；
Power Component, including the motor being mounted in the frame and battery pack, and be arranged in the frame and respectively with
The gear set of the flapping wing component and walking component mechanical connection；
Visual component, camera, night vision device and infrared sensor including being separately mounted to the frame surrounding；
Receive terminal, signal processing unit and image transmission module including being mounted on the lower portion, and with the letter
The hand-held display device that number processing unit and image transmission module remotely connect.
In a further embodiment, the frame includes a pair of of the crossbearer being laterally arranged and is welded on the crossbearer vertically
On multiple vertical frames, hollow out has predetermined shape respectively on the crossbearer and vertical frame；The shape of hollow out has a dual effect, on the one hand
For adapting to gear set, gear set is arranged in the range of hollow out, on the other hand facilitates to mitigate overall weight, make
It obtains more flexible light when flight.
In a further embodiment, the second connecting rod group includes two for being rotatably arranged on the crossbearer two sides respectively
Rotation axis, the first connecting portion being fixedly connected with the rotation axis, and the second connecting portion hinged with the first connecting portion,
One end of the second connecting portion and the middle part of the pawl that contacts to earth are hinged, and one end of the pawl that contacts to earth passes through third interconnecting piece and institute
State that crossbearer is hinged, the middle part of the second connecting portion is hinged by the 7th interconnecting piece and the crossbearer；The power of motor passes through tooth
Wheel group drives to rotation axis, and transmission shaft rotation is to drive the first connecting portion of connection fixed thereto to rotate, and then drive and institute
The hinged second connecting portion rotation of first connecting portion is stated, second connecting portion outputs power to the pawl that contacts to earth, and the pawl that contacts to earth connects around third
Socket part and the 7th interconnecting piece do backswing campaign, so that control device integrally moves forward and backward.
In a further embodiment, the gear set includes the extending shaft being connect with the motor by shaft coupling, peace
The first spur gear at the extension axis center, be coaxially mounted to its two sides with first spur gear respectively second are straight
Gear and third spur gear are separately mounted in the rotation axis and nibble respectively with second spur gear and third spur gear
The 4th spur gear and the 5th spur gear closed, the 6th for being rotatably arranged in the vertical frame and being engaged with first spur gear
Spur gear, the 7th spur gear for being rotatably arranged in the vertical frame and being engaged with the 6th spur gear, with the 7th straight-tooth
Coaxial mounted first bevel gear is taken turns, the second bevel gear with the first bevel gear Vertical Meshing, with the second bevel gear
Coaxial mounted 8th spur gear, and the 9th spur gear being symmetrically installed with the 8th spur gear, the 8th spur gear
And the 9th be driven between spur gear by a pair of intermeshing switching gear cooperation.
In a further embodiment, the first connecting rod group includes be hinged on the 8th spur gear edge the 4
Interconnecting piece, and the 5th interconnecting piece and the 6th interconnecting piece being hinged on the 4th interconnecting piece that be parallel to each other respectively, the rotation
One end of the wing and the 5th interconnecting piece and the 6th interconnecting piece is jointly hinged；The first connecting rod group is predetermined for driving rotor to do
The backswing campaign of up and down direction in angle, so that control device integrally takes off.
In a further embodiment, the rotor includes wing frame and fin, and the fin is movably connected in the wing frame
On；Fin can do the adjustment of the angle of attack in predetermined angular.
In a further embodiment, angle of attack regulator, the angle of attack regulator packet are equipped between the fin and wing frame
Lower wall is included, the upper disk on the lower wall is rotatably connected on by bearing block, and is hinged on more between the upper disk and lower wall
A hinge bar, the upper disk are connect with the fin, and the side of the lower wall is equipped with small type stepping motor, the small-sized stepping
The output shaft of motor is connect with the lower wall；Angle of attack regulator is used to control the adjustment that fin carries out the angle of attack, thus control device
Whole heading.
A kind of working method scouted with full landform machinery winged insect, it is characterised in that the following steps are included:
The first step, Power Component work, the power output of motor to gear set；
The power transmission of motor to second connecting rod group is driven the pawl that contacts to earth to do the stroke in predetermined angular, i.e., by second step, gear set
The control present invention is whole considerately to creep, and the creep speed that the output power and the present invention of motor are whole is positively correlated；
Third step, on the basis of second step, the power transmission of motor to first connecting rod group is driven rotor to do predetermined by gear set
Backswing campaign in angle, when the output power of motor reaches predetermined value, the present invention integrally takes off；
4th step, visual component real-time working acquire perimeter data, camera shooting by camera, night vision device and infrared sensor
Head acquisition image data, night vision device cooperate camera night to acquire image data, and infrared sensor incudes front obstacle, makes
Avoidance；
5th step receives terminal works, and signal processing unit encrypts the collected data of visual component in the 4th step, schemes
As transmission module is used to encrypted data being sent to hand-held display device by wireless network；
The data received are decoded and are shown on a display screen by the 6th step, hand-held display device；
7th step, operator send signal processing unit by hand-held display device and instruct, and the control present invention is whole to be made
Corresponding actions.
The utility model has the advantages that the present invention relates to a kind of scout to use full landform machinery winged insect, passes through and flapping wing component and walking group are set
Part allows the invention to be flown and creeped simultaneously two kinds to act, to be adapted to various landform；By the way that vision group is arranged
Part, so that the present invention has visual capacity；Specifically, acquiring all number of edges by camera, night vision device and infrared sensor
According to camera collection image data, night vision device cooperates camera night to acquire image data, and infrared sensor incudes preceding object
Object；Receiving terminal can be encrypted and be transmitted to reconnaissance data, finally will be in picture real-time transmission to hand-held display device；Behaviour
Instruction can be sent to signal processing unit by hand-held display device by making personnel, controlled present invention entirety and is made corresponding actions；
Unmanned vehicle and ground robot are incorporated in a robot by the present invention, and according to the movement of bionics simulated hexapod,
Cooperate visual component, so that possess preferable mobility in scouting field, it is high-efficient under battle conditions.
Detailed description of the invention
Fig. 1 is perspective view of the invention.
Fig. 2 is the schematic diagram of middle gear group of the present invention.
Fig. 3 is the structural schematic diagram of first connecting rod group in the present invention.
Fig. 4 is the structural schematic diagram of second connecting rod group in the present invention.
Fig. 5 is the structural schematic diagram of angle of attack regulator in the present invention.
Fig. 6 is the functional block diagram of visual component and reception terminal cooperation in the present invention.
Each appended drawing reference in figure are as follows: frame 1, gear set 2, the first spur gear 201, the second spur gear 202, third spur gear
203, the 4th spur gear 204, the 5th spur gear 205, the 6th spur gear 206, the 7th spur gear 207, the 8th spur gear 208,
Nine spur gears 209, switching gear 210, first bevel gear 211, second bevel gear 212, extending shaft 213, rotor 3, wing frame 301,
Fin 302, the 4th interconnecting piece 401, the 5th interconnecting piece 402, the 6th interconnecting piece 403, infrared sensor 5, is taken the photograph first connecting rod group 4
As head 6, second connecting rod group 7, first connecting portion 701, second connecting portion 702, third interconnecting piece 703, the 7th interconnecting piece 704, turn
Moving axis 705, the pawl 8 that contacts to earth, night vision device 9, angle of attack regulator 10, lower wall 1001, upper disk 1002, hinge bar 1003, small-sized stepping electricity
Machine 1004.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid confusion with the present invention, for some technical characteristics well known in the art not into
Row description.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
As shown in Figures 1 to 6, it scouts the present invention relates to a kind of with full landform machinery winged insect and its working method, below letter
Claim " device ".Wherein, which includes infrastructure component, flapping wing component, walking component, Power Component, visual component, Yi Jijie
Receive six part of terminal.Specifically, infrastructure component includes the frame 1 built by multiple metal plates, flapping wing component includes rotor 3
With first connecting rod group 4, the rotor 3 is a pair, and is movably connected on the frame 1, and the first connecting rod group 4 is arranged in institute
It states between rotor 3 and frame 1；Walking component includes contact to earth pawl 8 and second connecting rod group 7, and the pawl 8 that contacts to earth is movably connected in described
The quadrangle of frame 1, the setting of second connecting rod group 7 are contacted to earth between pawl 8 and frame 1 described, and Power Component includes motor, battery
Group and gear set 2, the motor and battery pack are mounted on inside the frame 1, and the gear set 2 is arranged in the frame 1
It is interior and respectively the flapping wing component and walking component between be mechanically connected；Visual component include camera 6, night vision device 9, with
And infrared sensor 5, the camera 6, night vision device 9 and infrared sensor 5 are separately mounted to the surrounding of the frame 1；It connects
Receiving terminal includes signal processing unit, image transmission module and hand-held display device, and the signal processing unit and image pass
Defeated module is mounted on inside the frame 1, the hand-held display device and the signal processing unit and image transmission module it
Between remotely connected by internet.
More specifically, the frame 1 includes a pair of of the crossbearer being laterally arranged and is welded on vertically more on the crossbearer
A vertical frame, hollow out has predetermined shape respectively on the crossbearer and vertical frame；The shape of hollow out has a dual effect, on the one hand for fitting
Gear set 2 is answered, gear set 2 is arranged in the range of hollow out, on the other hand facilitates to mitigate overall weight, so that flying
It is more flexible light when row.The second connecting rod group 7 includes being rotatably arranged on two rotation axis of the crossbearer two sides respectively
705, the first connecting portion 701 being fixedly connected with the rotation axis 705, and hinged with the first connecting portion 701 second
Interconnecting piece 702, one end of the second connecting portion 702 and the middle part of the pawl 8 that contacts to earth are hinged, and one end of the pawl 8 that contacts to earth is logical
Cross third interconnecting piece 703 and the crossbearer be hinged, the middle part of the second connecting portion 702 by the 7th interconnecting piece 704 with it is described
Crossbearer is hinged；The power of motor drives to rotation axis 705 by gear set 2, and transmission shaft rotation is to drive connection fixed thereto
First connecting portion 701 rotate, and then drive and rotated with the hinged second connecting portion 702 of the first connecting portion 701, second connects
Socket part 702 outputs power to the pawl 8 that contacts to earth, and the pawl 8 that contacts to earth does backswing campaign around third interconnecting piece 703 and the 7th interconnecting piece 704, from
And control device integrally moves forward and backward.The gear set 2 includes the extending shaft 213 being connect with the motor by shaft coupling,
The first spur gear 201 being mounted at 213 center of extending shaft, is coaxially mounted to it with first spur gear 201 respectively
The second spur gear 202 and third spur gear 203 of two sides are separately mounted in the rotation axis 705 and respectively with described second
The 4th spur gear 204 and the 5th spur gear 205 that spur gear 202 and third spur gear 203 engage, are rotatably arranged on the vertical frame
The 6th spur gear 206 that is upper and engaging with first spur gear 201 is rotatably arranged in the vertical frame and with the described 6th
The 7th spur gear 207 that spur gear 206 engages, and the coaxial mounted first bevel gear 211 of the 7th spur gear 207, with institute
The second bevel gear 212 for stating 211 Vertical Meshing of first bevel gear, with coaxial mounted 8th straight-tooth of the second bevel gear 212
Wheel 208, and the 9th spur gear 209 being symmetrically installed with the 8th spur gear 208, the 8th spur gear 208 and the 9th
Pass through a pair of intermeshing cooperation of switching gear 210 transmission between spur gear 209.The first connecting rod group 4 includes being hinged on
4th interconnecting piece 401 of 208 edge of the 8th spur gear, and be parallel to each other be hinged on the 4th interconnecting piece respectively
The 5th interconnecting piece 402 and the 6th interconnecting piece 403 on 401, the rotor 3 and the 5th interconnecting piece 402 and the 6th interconnecting piece
403 one end is jointly hinged；The backswing fortune that the first connecting rod group 4 is used to that rotor 3 to be driven to do the up and down direction in predetermined angular
It is dynamic, so that control device integrally takes off.The rotor 3 includes wing frame 301 and fin 302, and the fin 302 is movably connected in institute
It states on wing frame 301；Fin 302 can do the adjustment of the angle of attack in predetermined angular.It is equipped with and meets between the fin 302 and wing frame 301
Angle adjuster 10, the angle of attack regulator 10 include lower wall 1001, are rotatably connected on the lower wall 1001 by bearing block
Upper disk 1002, and the multiple hinge bars 1003 being hinged between the upper disk 1002 and lower wall 1001, the upper disk 1002 with
The fin 302 connects, and the side of the lower wall 1001 is equipped with small type stepping motor 1004, the small type stepping motor 1004
Output shaft connect with the lower wall 1001；Angle of attack regulator 10 is used to control the adjustment that fin 302 carries out the angle of attack, to control
The heading of device entirety.
Through the above technical solutions, the present invention can be realized the following course of work:
Firstly, Power Component works, the power output of motor to gear set 2；
Then, the power transmission of motor to second connecting rod group 7 is driven the pawl 8 that contacts to earth to do the stroke in predetermined angular by gear set 2,
It creeps with controlling device patch, the output power of motor is positively correlated with the creep speed of the device, i.e. output power of motor
Higher, the creep speed of the device is faster；
On the basis of first two steps, the power transmission of motor to first connecting rod group 4 is driven rotor 3 to do predetermined angular by gear set 2
Interior backswing campaign, when the output power of motor reaches predetermined value, i.e. the frequency of 3 backswing of rotor reaches predetermined value, and the present invention is whole
Body takes off；It should be noted that the predetermined value is calculated according to the overall weight of the device, and after reaching predetermined value, control
It is greater than the gravity of the device to the buoyancy that the device generates；
Visual component whole process is all working, and acquires perimeter data, camera shooting by camera 6, night vision device 9 and infrared sensor 5
First 6 acquisition image data, in the environment of insufficient light, night vision device 9 starts, and cooperation camera 6 acquires image data, infrared biography
Sensor 5 incudes front obstacle, and the time difference sent and received according to infrared ray judges the distance of objects in front,
To timely avoiding barrier；
Then, terminal works are received, signal processing unit encrypts the collected data of visual component, image transmission module
For encrypted data to be sent to hand-held display device by wireless network；
Then, the data received are decoded and are shown on a display screen by hand-held display device；
Meanwhile operator sends signal processing unit by hand-held display device and instructs, and controls the device and makes corresponding move
Make, such as advances, retreats, taking off, landing, sampling of taking pictures, video recording.
In the following, for the ease of being clearly understood to the above-mentioned course of work of the present invention, hereafter respectively for gear set 2,
First connecting rod group 4, the specific structure of second connecting rod group 7 and working principle elaborate.
The specific structure and working principle of gear set 2: the gear set 2 includes being connect with the motor by shaft coupling
Extending shaft 213, the first spur gear 201 being mounted at 213 center of extending shaft are same with first spur gear 201 respectively
Axis is mounted on the second spur gear 202 and third spur gear 203 of its two sides, is separately mounted in the rotation axis 705 and distinguishes
The 4th spur gear 204 and the 5th spur gear 205 engaged with second spur gear 202 and third spur gear 203, rotation setting
The 6th spur gear 206 engaged in the vertical frame and with first spur gear 201, be rotatably arranged in the vertical frame and
The 7th spur gear 207 engaged with the 6th spur gear 206 bores tooth with the 7th spur gear 207 coaxial mounted first
Wheel 211, the second bevel gear 212 with 211 Vertical Meshing of first bevel gear is co-axially mounted with the second bevel gear 212
The 8th spur gear 208, and the 9th spur gear 209 being symmetrically installed with the 8th spur gear 208, the 8th spur gear
208 and the 9th are driven between spur gear 209 by a pair of intermeshing cooperation of switching gear 210.
The power of motor drives the rotation of the first spur gear 201 by extending shaft 213, due to the second spur gear 202 and third
Spur gear 203 is co-axially mounted with first spur gear 201, therefore the power synchronous of above three gear, i.e. the first spur gear
201, the second spur gear 202 and third spur gear 203 rotate in the same direction, at the same speed；Second spur gear 202 drives the 4th be engaged with
Spur gear 204 rotates, and third spur gear 203 drives the 5th spur gear 205 rotation being engaged with, and the first spur gear 201 drives
The 6th spur gear 206 rotation being engaged with, the 6th spur gear 206 drive the 7th spur gear 207 rotation being engaged with, by
It is co-axially mounted in the first bevel gear 211 and the 7th spur gear 207, therefore first bevel gear 211 and the 7th spur gear 207
Power synchronous, i.e., rotate both in the same direction, with angular speed；The first bevel gear 211 drives engagement normal thereto after rotating
Second bevel gear 212 rotates, and second bevel gear 212 drives the 8th spur gear 208 of co-axial installation to rotate, the 8th spur gear
208 drive to the 9th spur gear 209 by a pair of intermeshing cooperation of switching gear 210.
The specific structure and working principle of first connecting rod group 4: the first connecting rod group 4 includes being hinged on the 8th straight-tooth
The 4th interconnecting piece 401 of 208 edges is taken turns, and the 5th be hinged on the 4th interconnecting piece 401 that be parallel to each other respectively connects
One end of socket part 402 and the 6th interconnecting piece 403, the rotor 3 and the 5th interconnecting piece 402 and the 6th interconnecting piece 403 is common
Hingedly.
Under the premise of aforesaid gears group 2 works, eighth gear drives the 4th interconnecting piece 401 that edge is hinged therewith to do
Reciprocal backswing campaign, the 4th interconnecting piece 401 drive be parallel to each other respectively hinged the 5th interconnecting piece 402 on it and the 6th connection
The backswing campaign of up and down direction is done in portion 403, and then drive rotor 3 does the backswing campaign of up and down direction, i.e., bionical study birds
Flapping wing.
The specific structure and working principle of second connecting rod group 7: the second connecting rod group 7 is described including being rotatably arranged on respectively
Two rotation axis 705 of crossbearer two sides, the first connecting portion 701 being fixedly connected with the rotation axis 705, and with described first
The hinged second connecting portion 702 of interconnecting piece 701, one end of the second connecting portion 702 and the middle part of the pawl 8 that contacts to earth are hinged,
One end of the pawl 8 that contacts to earth is hinged by third interconnecting piece 703 and the crossbearer, and the middle part of the second connecting portion 702 passes through
7th interconnecting piece 704 and the crossbearer are hinged.
The power of motor drives to rotation axis 705 by gear set 2, and transmission shaft rotation is to drive connection fixed thereto
First connecting portion 701 rotates, and then drives and rotate with the hinged second connecting portion 702 of the first connecting portion 701, the second connection
Portion 702 outputs power to the pawl 8 that contacts to earth, and the pawl 8 that contacts to earth does backswing campaign around third interconnecting piece 703 and the 7th interconnecting piece 704, thus
Control device integrally moves forward and backward.
It needs to be replaced according to different scouting scenes in the prior art through the above technical solutions, the present invention efficiently solves
Multiple robots can not accomplish All-in-One, cause under efficiency in actual combat, lose the problem of good opportunity.The present invention flies nobody
Row device and ground robot are incorporated on a mechanical winged insect, and according to the movement of bionics simulated hexapod, cooperate visual component,
So that possess preferable mobility in scouting field, it is high-efficient under battle conditions.
As described above, must not be explained although the present invention has been indicated and described referring to specific preferred embodiment
For the limitation to invention itself.It without prejudice to the spirit and scope of the invention as defined in the appended claims, can be right
It makes a variety of changes in the form and details.
Claims (8)
1. a kind of scout with full landform machinery winged insect, it is characterized in that including:
Infrastructure component, including the frame built by multiple metal plates；
Flapping wing component is respectively equipped with the including a pair of rotor being flexibly connected on said frame between the rotor and frame
One connection rod set；
Walking component, the pawl that contacts to earth including being movably connected in the frame quadrangle, described contact to earth are respectively equipped between pawl and frame
Second connecting rod group；
Power Component, including the motor being mounted in the frame and battery pack, and be arranged in the frame and respectively with
The gear set of the flapping wing component and walking component mechanical connection；
Visual component, camera, night vision device and infrared sensor including being separately mounted to the frame surrounding；
Receive terminal, signal processing unit and image transmission module including being mounted on the lower portion, and with the letter
The hand-held display device that number processing unit and image transmission module remotely connect.
2. it is according to claim 1 it is a kind of scout use full landform machinery winged insect, it is characterised in that: the frame include transverse direction
A pair of of crossbearer of setting and the multiple vertical frames being welded on the crossbearer vertically, on the crossbearer and vertical frame respectively hollow out have it is predetermined
Shape.
It a kind of is scouted with full landform machinery winged insect 3. according to claim 2, it is characterised in that: the second connecting rod group packet
Include two rotation axis for being rotatably arranged on the crossbearer two sides respectively, the first connecting portion being fixedly connected with the rotation axis, with
And the hinged second connecting portion with the first connecting portion, the middle part of one end of the second connecting portion and the pawl that contacts to earth are cut with scissors
It connects, one end of the pawl that contacts to earth is hinged by third interconnecting piece and the crossbearer, and the middle part of the second connecting portion passes through the 7th
Interconnecting piece and the crossbearer are hinged.
A kind of scouted with full landform machinery winged insect 4. according to claim 3, it is characterised in that: the gear set include with
The extending shaft that the motor is connected by shaft coupling, be mounted on it is described extension axis center at the first spur gear, respectively with it is described
First spur gear is coaxially mounted to the second spur gear and third spur gear of its two sides, be separately mounted in the rotation axis and
The 4th spur gear and the 5th spur gear engaged respectively with second spur gear and third spur gear is rotatably arranged on described perpendicular
The 6th spur gear engaged on frame and with first spur gear, be rotatably arranged in the vertical frame and with the 6th straight-tooth
The 7th spur gear of engagement is taken turns, it is vertical with the first bevel gear with the coaxial mounted first bevel gear of the 7th spur gear
The second bevel gear of engagement, and coaxial mounted 8th spur gear of the second bevel gear, and with the 8th spur gear pair
The 9th spur gear for claiming installation is matched between the 8th spur gear and the 9th spur gear by a pair of intermeshing switching gear
Close transmission.
It a kind of is scouted with full landform machinery winged insect 5. according to claim 4, it is characterised in that: the first connecting rod group packet
The 4th interconnecting piece for being hinged on the 8th spur gear edge is included, and is parallel to each other is hinged on the 4th interconnecting piece respectively
On the 5th interconnecting piece and the 6th interconnecting piece, one end of the rotor and the 5th interconnecting piece and the 6th interconnecting piece is cut with scissors jointly
It connects.
It a kind of is scouted with full landform machinery winged insect 6. according to claim 1, it is characterised in that: the rotor includes wing frame
And fin, the fin are movably connected on the wing frame.
7. a kind of scout according to claim 6 uses full landform machinery winged insect, it is characterised in that: the fin and wing frame it
Between be equipped with angle of attack regulator, the angle of attack regulator includes lower wall, the upper disk on the lower wall is rotatably connected on by bearing block,
And multiple hinge bars between the upper disk and lower wall are hinged on, and the upper disk is connect with the fin, and the one of the lower wall
Side is equipped with small type stepping motor, and the output shaft of the small type stepping motor is connect with the lower wall.
8. a kind of working method scouted with full landform machinery winged insect, it is characterised in that:
S1, Power Component work, the power output of motor to gear set；
The power transmission of motor to second connecting rod group is driven the pawl that contacts to earth to do the stroke in predetermined angular, that is, controlled by S2, gear set
The present invention is whole considerately to creep, and the creep speed that the output power and the present invention of motor are whole is positively correlated；
S3, on the basis of S2, the power transmission of motor to first connecting rod group is driven rotor to do in predetermined angular by gear set
Backswing campaign, when the output power of motor reaches predetermined value, the present invention integrally takes off；
S4, visual component real-time working acquire perimeter data by camera, night vision device and infrared sensor, and camera is adopted
Collect image data, night vision device cooperates camera night to acquire image data, and infrared sensor incudes front obstacle, makes and keeping away
Barrier；
S5, terminal works are received, signal processing unit encrypts the collected data of visual component in S4, image transmitting mould
Block is used to encrypted data being sent to hand-held display device by wireless network；
The data received are decoded and are shown on a display screen by S6, hand-held display device；
S7, operator instruct signal processing unit transmission by hand-held display device, and the control present invention is whole to be made accordingly
Movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910203868.4A CN109823535B (en) | 2019-03-18 | 2019-03-18 | All-terrain mechanical winged insect for reconnaissance and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN114408175A (en) * | 2021-12-13 | 2022-04-29 | 上海工程技术大学 | Bionic sparrow unmanned aerial vehicle |
| CN115488899A (en) * | 2022-08-31 | 2022-12-20 | 武汉理工大学 | Bionic big-pockmark ecological robot |
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| CN109823535B (en) | 2019-12-13 |
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