CN112590477B - Bird-like robot with air flight and ground running functions - Google Patents
Bird-like robot with air flight and ground running functions Download PDFInfo
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- CN112590477B CN112590477B CN202011560896.0A CN202011560896A CN112590477B CN 112590477 B CN112590477 B CN 112590477B CN 202011560896 A CN202011560896 A CN 202011560896A CN 112590477 B CN112590477 B CN 112590477B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
Abstract
The invention discloses a bird-imitating robot with the functions of flying in the air and flapping and running on the ground, and relates to a flapping-wing robot. The bird-imitating robot has the advantages of few driving elements, light weight of the whole machine, strong load capacity, flexible action and convenient control and has the functions of flying in the air and flapping on the ground. Comprises a machine body, a flapping mechanism, a steering mechanism, a traveling mechanism, a pair of flapping wings, a pair of traveling legs and a tail wing; the invention can realize two functions of flying and ground running. In the actual movement process, the steering mechanism changes the pneumatic layout at two sides by tensioning or loosening the flapping wings to complete steering control; the swinging motion of the steering engine is converted into the walking motion of the leg mechanism by the notch matching and the spherical pair matching; the steering engine with the steering function and the walking function is multiplexed, so that driving elements of the whole machine can be reduced, the weight of the whole machine is reduced, and the load capacity is improved.
Description
Technical Field
The invention relates to a flapping-wing robot, in particular to a bird-imitating robot with the functions of flying in the air and flapping on the ground.
Background
The flapping wing aircraft is a novel aircraft simulating birds or insects, is more flexible in flapping wing flight compared with the flight modes of a fixed wing and a rotor wing, and can be mainly divided into a single-section type wing simulating small birds and a two-section type wing simulating large birds according to the difference of the wings. On the basis, the flapping wing aircraft is added with a crawling function and a flapping function, and meanwhile, the flight performance of the flapping wing aircraft can be guaranteed, so that the problem is difficult to solve. At present, most of the existing working modes similar to walking belong to single driving, namely a walking mechanism and a flying mechanism are controlled by different motors or steering engines respectively.
The national intellectual property office publishes a Chinese invention patent named 'metamorphic mechanism for realizing flight and running action switching of flapping-wing robot' with application number '201810332783.1' in 2018, 8, 10.A mechanism is arranged at the abdomen of the flapping-wing robot, the flight and running action switching is realized mainly through a grooved pulley structure in function, and after the switching is finished, the flight function and the running function of the flapping-wing robot are controlled by corresponding motors respectively. Although the mechanism can be switched between two transmission modes, the overall structure is complex, the size and the weight are large, and certain difficulty exists in realizing aerial flapping wing flight and stable ground motion. In addition, the national intellectual property office discloses a Chinese invention patent named as 'bionic flapping-wing and bouncing multi-mode motion robot' with the application number of '201410269739.2' on 9.3.2014, and discloses a Chinese invention patent named as 'wheel-leg type running and bouncing type robot' with the application number of '201710933560.6' on 3.13.3.2018.4.a rear foot is also independently controlled by a steering engine and is mainly used for assisting in supporting and balancing, a bouncing function is completed by a front foot, and the main function of the bouncing robot is to assist the flapping type robot in taking off autonomously. The ground motion mechanisms designed by the two patents are realized by front limbs and rear limbs together and are matched with independent drives, so that the ground motion mechanisms have the defects of more components, large mass, inconvenience for flying in the air and certain limitation.
Disclosure of Invention
Aiming at the problems, the invention provides the bird-imitating robot which has the functions of flying in the air and running on the ground, has few driving elements, small weight of the whole robot, strong load capacity, flexible action and convenient control.
The technical scheme of the invention is as follows: comprises a body, a flapping mechanism, a steering mechanism, a traveling mechanism, a pair of flapping wings, a pair of traveling legs 18 and a tail wing 20;
the body comprises a fixed bottom plate 7, a body rod 12, a steering engine fixing frame 16, a walking support frame 17 and a tail wing connecting frame 40 which are fixedly connected in sequence from front to back, wherein a motor 10 is fixedly connected to the fixed bottom plate 7, and a steering engine 14 is fixedly connected to the steering engine fixing frame 16;
the pair of flapping wings are symmetrically arranged on two sides of the body rod 12, each flapping wing comprises a wing rod 1 and a wing membrane 2 which are fixedly connected, and the ends of the two wing rods 1 are connected with a motor 10 through a flapping mechanism;
a rudder stock 15 is fixedly connected to an output shaft of the steering engine 14, the rudder stock 15 is horizontally arranged, and the center of the rudder stock 15 is fixedly connected with the output shaft of the steering engine 14;
one sides of the two wing membranes 2 far away from the wing rod 1 are connected with a rudder stock 15 through a steering mechanism; the pair of walking legs 18 are symmetrically arranged at two sides of the walking support frame 17, and the pair of walking legs 18 are connected with the rudder stock 15 through a walking mechanism;
the rear wing 20 is detachably coupled to the rear wing coupling frame 40.
The walking mechanism and the steering mechanism are controlled by the same steering engine, the walking mechanism converts the swinging motion of the steering engine into advancing and leg lifting motion, and different steps can be generated by controlling the steering engine to rotate by different angles; the steering mechanism changes the pneumatic layout of two sides by tensioning or loosening the flapping wings, thereby completing steering control.
The bottom of the fixed bottom plate 7 is also provided with front wheels 8, and the front wheels 8 are hinged with the fixed bottom plate 7 through front wheel shafts 9.
The middle part of the body rod 12 is also provided with a battery fixing frame 11 for accommodating a battery and a control machine fixing frame 13 for accommodating a control machine.
The flapping mechanism comprises a flat head shaft 21 of the flapping mechanism, a truss 22, a flapping gear 3, a flapping guide rod gear 4, a flapping guide rod 23 and a power output mechanism,
the number of the flapping mechanism flat head shafts 21 is two, the two flapping mechanism flat head shafts 21 are symmetrically and fixedly connected to the upper part of the fixed bottom plate 7, and two sides of the truss 22 are respectively and fixedly connected with the two flapping mechanism flat head shafts 21; the axis of the flapping gear 3 and the axis of the flapping guide rod gear 4 are respectively hinged on the two flapping mechanism flat head shafts 21, the flapping gear 3 and the flapping guide rod gear 4 are both in a fan shape and are mutually meshed; wing rod mounting holes 24 are formed in the end face of the flapping gear 3, which is back to the center of the fixed bottom plate 7, and the end face of the flapping guide rod gear 4, which is back to the center of the fixed bottom plate 7, and the ends of the two wing rods 1 are fixedly connected into the two wing rod mounting holes 24;
the power output mechanism comprises a primary input gear 27, a secondary duplicate gear 6, a tertiary output gear 5 and a crank sleeve 25, wherein the primary input gear 27 is fixedly connected to an output shaft of the motor 10, the duplicate gear 6 is hinged to the middle of the fixed bottom plate 7, the tertiary output gear 5 is hinged to the upper portion of the fixed bottom plate 7, a large gear of the duplicate gear 6 is meshed with the primary input gear 27, a small gear of the duplicate gear 6 is meshed with the tertiary output gear 5, and the crank sleeve 25 is fixedly connected to the surface of the tertiary output gear 5 and is perpendicular to the tertiary output gear 5;
the flapping guide rod 23 is arranged along the radial direction of the flapping guide rod gear 4 and is fixedly connected to the surface of the flapping guide rod gear 4; the flapping guide rod 23 is provided with a long strip-shaped sliding hole arranged along the length direction of the flapping guide rod, the long strip-shaped sliding hole is matched with the crank sleeve 25, and the crank sleeve 25 is arranged in the long strip-shaped sliding hole in a sliding manner.
The steering mechanism comprises a steering connecting rod 32, a steering connecting rod fixing screw 31, a pair of double-wing fixing screws 33 and a pair of double-wing fixing nuts 37, and the center of the steering connecting rod 32 is rotatably connected to the end of the rudder stock 15 facing the body pole 12 through the steering connecting rod fixing screw 33; the pair of double-wing fixing screws 33 are symmetrically connected to two ends of the steering connecting rod 32, and one side of the wing membrane 2, which is far away from the wing rod 1, is fixedly connected to the steering connecting rod 32 through the double-wing fixing screws 31 and the double-wing fixing nuts 37.
The walking mechanism comprises a walking frame 19, a walking frame driving shaft 35 and a walking frame spherical pair 42, wherein the walking frame 19 is arc-shaped, the end heads of the two sides of the walking frame 19 are provided with leg assembling holes 44, the top ends of a pair of walking legs 18 are respectively fixedly connected into the two leg assembling holes 44, the top surface of the walking support frame 17 is provided with a walking support frame spherical pair 39, the walking frame spherical pair 42 is fixedly connected at the center of the bottom surface of the walking frame 19, and the walking support frame spherical pair 39 is matched with the walking frame spherical pair 42 in the opposite direction to form a spherical hinge relation;
an arc-shaped accommodating groove used for accommodating the rudder stock 15 is formed in the walking frame 19, a walking frame driving groove 41 arranged along the length direction of the arc-shaped accommodating groove is formed in the inner wall of the arc-shaped accommodating groove, the walking frame driving shaft 35 is matched with the walking frame driving groove 41, the walking frame driving shaft 35 is fixedly connected to the end of the rudder stock 15 far away from the body stock 12, one side end of the rudder stock 15 far away from the body stock 12 extends into the arc-shaped accommodating groove, and the walking frame driving shaft 35 is slidably connected to the walking frame driving groove 41.
The tail connecting frame 40 is fixedly connected with a vertical plate, the front part of the vertical plate is provided with an auxiliary limiting hole, the middle part of the vertical plate is provided with a plurality of tail connecting frame limiting holes 48, one end of the tail 20 is fixedly connected with a support, the support is provided with a plurality of pairs of tail limiting holes 47, the front part of the support is detachably connected with a tail auxiliary limiting shaft 45, and the tail auxiliary limiting shaft 45 is detachably connected in the auxiliary limiting hole; a pin 49 penetrates through the pair of tail wing limiting holes 47, and the pin 49 is detachably connected in one tail wing connecting frame limiting hole 48.
The ground motion mechanism designed by the invention is a heuristic derived from the ground running behavior of birds. Kenneth et al (Kenneth p. dial-Assisted incorporated Running and the Evolution of flight Science, 2003) found that fully airborne adult birds preferentially use Wing Assisted tilt Running, and that flapping the wings of birds is typically used to generate aerodynamic forces towards the base to enhance the traction of the hind limbs, resulting in greater ground walking mobility. Brandon et al (Jackson Brandon E, Tobalske Bret W, Dial Kenneth P. The branched range of The derivative limb of The average limb: functional and evolutionary activities. The Journal of experimental biology, 2011.) have demonstrated that wing flapping assisted hind limb running can cause birds to climb other irreparable obstacles, with excellent mobility in ground walking. According to bird behaviors described in the thesis, a ground flapping mechanism with a simple structure is designed, and the ground motion can be realized by the aid of wing flapping.
According to the invention, the number of driving elements can be reduced by multiplexing the steering mechanism and the steering engine of the walking mechanism, and compared with the traditional method that the circular motion of the motor is converted into the corresponding walking motion through a mechanism, the steering engine converts the swinging motion into the walking motion, different strides can be generated by the leg structure through setting different rotation angles, the flapping and running motion is realized by combining the flapping of wings, the walking is more flexibly controlled, and the adjustment of the space position can be well completed through the walking mechanism after the flying landing.
The flapping wing robot is characterized in that two functions of ground walking and flying can be achieved, the steering engine used for walking and steering has a multiplexing function, driving elements are reduced, the weight of the whole flapping wing robot is greatly reduced, the load capacity of the flapping wing robot is improved, different steps can be generated by controlling different rotating angles of the steering engine on the basis, flapping motion is achieved by combining wing flapping, and walking control is more flexible.
The invention has the beneficial effects that: the invention can realize two functions of flying and ground running. In the actual movement process, the steering mechanism changes the pneumatic layout at two sides by tensioning or loosening the flapping wings to complete steering control; the swinging motion of the steering engine is converted into the walking motion of the leg mechanism by the notch matching and the spherical pair matching; the steering engine with the steering function and the walking function is multiplexed, so that driving elements of the whole machine can be reduced, the weight of the whole machine is reduced, and the load capacity is improved. Meanwhile, different steps can be generated by controlling the steering engine to rotate by different angles, flapping and running can be realized by combining wing flapping, and walking control is more flexible.
Drawings
FIG. 1 is a schematic structural diagram of the present application,
figure 2 is a schematic view of the structure of the flapping mechanism,
FIG. 3 is a schematic structural view of a flapping gear and a flapping guide gear,
FIG. 4 is a first schematic view of the structure of the flapping guide gear and the flapping guide,
FIG. 5 is a second schematic structural view of the flapping guide rod gear and the flapping guide rod,
figure 6 is a front view of the flapping gear and the flapping guide gear,
figure 7 is a front view of the flapping guide gear and the flapping guide,
figure 8 is a front view of the three-stage output gear and the two-stage duplicate gear,
figure 9 is a schematic view of the structure of the crank housing and the crank pin,
figure 10 is a schematic view of the structure of the steering mechanism,
figure 11 is a top view of the steering mechanism,
figure 12 is a schematic view of the structure of the walking mechanism,
figure 13 is a schematic view of the structure of the tail,
FIG. 14 is a schematic view of the structure of the tail attachment;
FIG. 1 is a wing rod; 2 is a pterygoid membrane;
3 is a flapping gear; 4 is a flapping guide rod gear; 5 is a three-stage output gear; 6 is a two-stage duplicate gear; 7 is a fixed base plate; 8 is a front wheel; 9 is a front wheel axle; 10 is a motor;
11 is a battery holder; 12 is a body bar; 13 is a controller fixing frame;
14 is a steering engine; 15 is a rudder stock; 16 is a steering engine fixing frame; 17 is a walking support frame; 18 is a walking leg; 19 is a walking frame; 20 is a tail;
21 is a flat head shaft of the flapping mechanism; 22 is a truss; 23 is a flapping guide rod; 24 is a wing rod mounting hole; 25 is a crank sleeve; 26 is a drive mechanism flat head shaft; 27 is a primary input gear; 28 is a crank bore; 29 is a crank pin;
30 is an elastic glue; 31 is a double wing set screw; 32 is a steering connecting rod; 33 is a steering connecting rod set screw; 34 is a tiller set screw; 35 is a walking frame drive shaft; 36 is a body rod fixation hole; 37 is a double wing fastening nut; 38 is a body extension pole; 39 is a walking support frame spherical pair;
40 is a tail connecting frame;
41 is a traveling frame driving groove; 42 is a walking frame spherical pair; 43 is a drive shaft fitting hole; 44 is a leg fitting hole;
45 is an auxiliary limit shaft of the tail wing; 46 is a body extension rod assembly hole; 47 is a tail limiting hole; 48 is a tail connecting frame limiting hole; 49 is a pin.
Detailed Description
In order to clearly explain the technical features of the present patent, the following detailed description of the present patent is provided in conjunction with the accompanying drawings.
As shown in fig. 1-14, the invention can functionally realize that the space position adjustment can be flexibly completed through the walking mechanism and flapping motion after the flight landing, as shown in fig. 1, the invention comprises a machine body, a flapping mechanism, a steering mechanism, a walking mechanism, a pair of flapping wings, a pair of walking legs 18 and a tail wing 20;
the body comprises a fixed bottom plate 7, a body rod 12, a steering engine fixing frame 16, a walking support frame 17 and an empennage connecting frame 40 which are fixedly connected from front to back in sequence, wherein a body rod fixing hole 36 is formed in the walking support frame 17, and a body extension rod assembling hole 46 is formed in the end face, facing the walking support frame 17, of the empennage connecting frame 40;
a body extension rod 38 is fixedly connected to one end of the steering engine fixing frame 16 far away from the body rod 12, the body extension rod 38 penetrates through the walking support frame 17 and extends into the body extension rod assembly hole 46, and the body extension rod 38 is fixedly connected with the body rod fixing hole 36 and the body extension rod assembly hole 46;
a motor 10 is fixedly connected to the fixed bottom plate 7, and a steering engine 14 is fixedly connected to the steering engine fixing frame 16;
the flapping wings are symmetrically arranged on two sides of the body rod 12, each flapping wing comprises a wing rod 1 and a wing membrane 2, the wing rods 1 are fixedly connected with each other, the wing membranes are made of polyester film materials, and the ends of the two wing rods 1 are connected with the motor 10 through the flapping mechanism;
a rudder stock 15 is fixedly connected to an output shaft of the steering engine 14, the rudder stock 15 is horizontally arranged, and the center of the rudder stock 15 is fixedly connected with the output shaft of the steering engine 14 through a rudder stock fixing screw 34;
one sides of the two wing membranes 2 far away from the wing rod 1 are connected with a rudder stock 15 through a steering mechanism; the pair of walking legs 18 are symmetrically arranged at two sides of the walking support frame 17, and the pair of walking legs 18 are connected with the rudder stock 15 through a walking mechanism;
the rear wing 20 is detachably coupled to the rear wing coupling frame 40.
Therefore, only two power sources, namely the motor and the steering engine, exist in the scheme, compared with the traditional method that the circular motion of the motor is converted into corresponding walking motion through a mechanism, the steering engine converts swinging motion into walking motion, different strides can be generated by a leg structure through setting different rotation angles, flapping and running motion is realized by combining wing flapping, the walking is more flexibly controlled, and the adjustment of the space position can be well completed through the walking mechanism after flying landing.
The characteristics of present case lie in realizing two functions of ground walking and flight, and walk and turn to the steering wheel that uses and have multiplexing function, have reduced drive element, this whole weight of flapping wing formula robot that has reduced greatly has improved its load capacity, can produce different strides through the rotatory different angle control of control steering wheel on this basis, combine wing flapping realization flapping and run the motion for it is more nimble in walking control.
The walking mechanism and the steering mechanism are controlled by the same steering engine, the walking mechanism converts the swinging motion of the steering engine into advancing and leg lifting motion, and different steps can be generated by controlling the steering engine to rotate by different angles; the steering mechanism changes the pneumatic layout of two sides by tensioning or loosening the flapping wings, thereby completing steering control.
The bottom of the fixed bottom plate 7 is also provided with front wheels 8, and the front wheels 8 are hinged with the fixed bottom plate 7 through front wheel shafts 9. The front wheels 8 are used for assisting the two walking legs 18 in supporting to walk, and the height design of the front wheels 8 and the walking legs 18 enables the body rod of the bird-imitating robot to have a certain upward pitching angle when the bird-imitating robot is placed on the ground.
The middle part of the body rod 12 is also provided with a battery fixing frame 11 for accommodating a battery and a control machine fixing frame 13 for accommodating a control machine.
As shown in fig. 1-9, the flapping mechanism comprises a flapping mechanism flat head shaft 21, a truss 22, a flapping gear 3, a flapping guide rod gear 4, a flapping guide rod 23 and a power output mechanism,
the number of the flapping mechanism flat head shafts 21 is two, the two flapping mechanism flat head shafts 21 are symmetrically and fixedly connected to the upper part of the fixed bottom plate 7, and two sides of the truss 22 are respectively and fixedly connected with the two flapping mechanism flat head shafts 21; the axis of the flapping gear 3 and the axis of the flapping guide rod gear 4 are respectively hinged on the two flapping mechanism flat head shafts 21, the flapping gear 3 and the flapping guide rod gear 4 are both in a fan shape and are mutually meshed; wing rod mounting holes 24 are formed in the end face of the flapping gear 3, which is back to the center of the fixed bottom plate 7, and the end face of the flapping guide rod gear 4, which is back to the center of the fixed bottom plate 7, and the ends of the two wing rods 1 are fixedly connected into the two wing rod mounting holes 24; thus, when the flapping guide rod gear 4 swings around the axis of the flapping guide rod gear, the flapping gear 3 meshed with the flapping guide rod gear swings synchronously along with the flapping guide rod gear, so that the two wing rods 1 are driven to swing synchronously under the movement of the flapping guide rod gear and the flapping gear; so that the pair of flapping wings can do the action of fanning.
The power output mechanism comprises a primary input gear 27, a secondary duplicate gear 6, a tertiary output gear 5 and a crank sleeve 25, wherein the primary input gear 27 is fixedly connected to an output shaft of the motor 10, the duplicate gear 6 is hinged to the middle of the fixed bottom plate 7, the tertiary output gear 5 is hinged to the upper part of the fixed bottom plate 7 through a flat head shaft 26 of the transmission mechanism, a large gear of the duplicate gear 6 is meshed with the primary input gear 27, a small gear of the duplicate gear 6 is meshed with the tertiary output gear 5, and the crank sleeve 25 is fixedly connected to one side of a crank hole 28 formed in the surface of the tertiary output gear 5 through a crank pin 29 and is perpendicular to the crank hole and the primary input gear 27; thus, when the motor is turned on, the output rotary motion of the motor directly drives the input gear 27 to rotate, and drives the wheel 5 with three-stage output to rotate around the axis of the wheel after the power transmission of the duplicate gear 6.
The flapping guide rod 23 is arranged along the radial direction of the flapping guide rod gear 4 and is fixedly connected to the surface of the flapping guide rod gear 4; the flapping guide rod 23 is provided with a long strip-shaped sliding hole arranged along the length direction of the flapping guide rod, the long strip-shaped sliding hole is matched with the crank sleeve 25, and the crank sleeve 25 is arranged in the long strip-shaped sliding hole in a sliding manner. Thus, an independent crank guide rod mechanism is formed by the three-stage output gear 5, the crank sleeve 25 and the flapping guide rod 23 with the elongated sliding hole, so that the unidirectional rotation motion of the three-stage output gear 5 is converted into the reciprocating swing of the flapping guide rod 23.
In summary, when the motor 10 is turned on, the output rotary motion of the motor sequentially drives the input gear 27, the dual gear 6 and the three-stage output wheel 5 to perform unidirectional rotary motion, and the flapping guide rod gear 4 and the flapping gear 3 engaged with the same can be driven to synchronously swing under the action of the crank guide rod mechanism, and finally the two wing rods 1 are driven to synchronously swing, i.e. the pair of flapping wings performs flapping motion.
As shown in fig. 10 to 11, the steering mechanism includes a steering connecting rod 32, a steering connecting rod fixing screw 33, a pair of double wing fixing screws 31, and a pair of double wing fixing nuts 37, and the center of the steering connecting rod 32 is rotatably connected to the end of the tiller 15 facing the body trunk 12 by the steering connecting rod fixing screw 33; the pair of double-wing fixing screws 31 are symmetrically connected to two ends of the steering connecting rod 32, and one side of the wing membrane 2, which is far away from the wing rod 1, is fixedly connected to the steering connecting rod 32 through the double-wing fixing screws 31 and the double-wing fixing nuts 37. Therefore, after the steering engine is started, the output reciprocating motion of the steering engine drives the steering connecting rod 32 to swing in a reciprocating mode, so that the wing membranes 2 on two sides are pulled, namely, the pneumatic layout on two sides is changed by tightening or loosening the flapping wings to complete steering control. The position of the tail edge of the wing membrane 2, namely the position contacted with the steering connecting rod, is adhered with a layer 30 of elastic glue for preventing the wing membrane 2 from being damaged. Due to the presence of the constraint between the steering linkage 32 and the tiller 15, when the tiller 15 is not driven by the steering engine, both the steering linkage 32 and the tiller 15 are in a symmetrical equilibrium position; when the rudder stock 15 is driven by the steering engine, the rudder stock 15 and the steering connecting rod 32 can rotate within a certain range (but the rudder stock is influenced by the wing membrane and does not rotate completely freely) due to the flexibility of the wing surfaces, so that the appearance of the left wing surface and the right wing surface is changed, pneumatic asymmetry is realized, and turning control is further realized.
As shown in fig. 11-12, the traveling mechanism includes a traveling frame 19, a traveling frame driving shaft 35, and a traveling frame spherical pair 42, the traveling frame 19 is arc-shaped, and the ends of both sides of the traveling frame 19 are provided with leg assembling holes 44, the top ends of a pair of the traveling legs 18 are respectively fixedly connected to the two leg assembling holes 44, the top surface of the traveling support frame 17 is provided with a traveling support frame spherical pair 39, the traveling frame spherical pair 42 is fixedly connected to the center of the bottom surface of the traveling frame 19, and the traveling support frame spherical pair 39 and the traveling frame spherical pair 42 are engaged with each other in a radial direction to form a spherical hinge relationship;
an arc-shaped accommodating groove used for accommodating the rudder stock 15 is formed in the walking frame 19, a walking frame driving groove 41 arranged along the length direction of the arc-shaped accommodating groove is formed in the inner wall of the arc-shaped accommodating groove, the walking frame driving shaft 35 is matched with the walking frame driving groove 41, the walking frame driving shaft 35 is fixedly connected to the end of the rudder stock 15 far away from the body stock 12, one side end of the rudder stock 15 far away from the body stock 12 extends into the arc-shaped accommodating groove, and the walking frame driving shaft 35 is slidably connected to the walking frame driving groove 41. Like this, the steering wheel is opened the back, and the reciprocating motion of its output will drive walking frame drive shaft 35 reciprocating motion to control two walking legs 18 under the influence of arc storage tank and make the action of running, simultaneously, can control walking leg through the rotatory different angles of control steering wheel and produce different strides, combine the wing to flutter and realize pounding the race, make in walking control more nimble.
The groove bottom of the traveling frame driving groove 41 is further provided with a driving shaft fitting hole 43 for inserting or taking out the traveling frame driving shaft 35.
As shown in fig. 13-14, a vertical plate is fixedly connected to the tail connecting frame 40, an auxiliary limiting hole is formed in the front portion of the vertical plate, a plurality of tail connecting frame limiting holes 48 are formed in the middle portion of the vertical plate, a bracket is fixedly connected to one end of the tail 20, a plurality of pairs of tail limiting holes 47 are formed in the bracket, a tail auxiliary limiting shaft 45 is detachably connected to the front portion of the bracket, and the tail auxiliary limiting shaft 45 is detachably connected to the auxiliary limiting holes; a pin 49 penetrates through the pair of tail wing limiting holes 47, and the pin 49 is detachably connected in one tail wing connecting frame limiting hole 48. Thus, the inclination angle of the tail 20 can be modified by changing the tail limiting hole 47 or the tail connecting frame limiting hole 48 through which the pin 49 passes, and finally, the pitching moment of the robot can be adjusted by the tail.
While the invention has been described in terms of its preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (6)
1. A bird-imitating robot with air flight and ground flapping functions is characterized by comprising a robot body, a flapping mechanism, a steering mechanism, a traveling mechanism, a pair of flapping wings, a pair of traveling legs (18) and a tail wing (20);
the steering engine body comprises a fixed bottom plate (7), a body rod (12), a steering engine fixing frame (16), a walking support frame (17) and a tail wing connecting frame (40) which are fixedly connected in sequence from front to back, wherein a motor (10) is fixedly connected to the fixed bottom plate (7), and a steering engine (14) is fixedly connected to the steering engine fixing frame (16);
the flapping wings are symmetrically arranged on two sides of the body rod (12), each flapping wing comprises a wing rod (1) and a wing membrane (2) which are fixedly connected, and the ends of the two wing rods (1) are connected with a motor (10) through a flapping mechanism;
a rudder stock (15) is fixedly connected to an output shaft of the steering engine (14), the rudder stock (15) is horizontally arranged, and the center of the rudder stock is fixedly connected with the output shaft of the steering engine (14);
one sides of the two wing membranes (2) far away from the wing rods (1) are connected with a rudder stock (15) through a steering mechanism; the pair of walking legs (18) are symmetrically arranged on two sides of the walking support frame (17), and the pair of walking legs (18) are connected with the rudder stock (15) through a walking mechanism;
the tail wing (20) is detachably connected to the tail wing connecting frame (40);
the walking mechanism and the steering mechanism are controlled by the same steering engine, the walking mechanism converts the swinging motion of the steering engine into advancing and leg lifting motion, and different steps can be generated by controlling the steering engine to rotate by different angles; the steering mechanism changes the pneumatic layout of two sides by tensioning or loosening the flapping wings, thereby completing steering control;
the bottom of the fixed bottom plate (7) is also provided with front wheels (8), and the front wheels (8) are hinged with the fixed bottom plate (7) through front wheel shafts (9).
2. The bird-imitating robot with air flying and ground running functions as claimed in claim 1, wherein a battery holder (11) for accommodating a battery and a controller holder (13) for accommodating a controller are further provided in the middle of the body rod (12).
3. The bird-imitating robot with air flight and ground running functions as claimed in claim 1 or 2, wherein the flapping mechanism comprises a flapping mechanism flat head shaft (21), a truss (22), a flapping gear (3), a flapping guide rod gear (4), a flapping guide rod (23) and a power output mechanism,
the two flapping mechanism flat head shafts (21) are symmetrically and fixedly connected to the upper part of the fixed bottom plate (7), and two sides of the truss (22) are respectively and fixedly connected with the two flapping mechanism flat head shafts (21); the axis of the flapping gear (3) and the axis of the flapping guide rod gear (4) are respectively hinged on two flapping mechanism flat head shafts (21), the flapping gear (3) and the flapping guide rod gear (4) are both in a fan shape and are meshed with each other; wing rod mounting holes (24) are formed in the end face of the flapping gear (3) back to the center of the fixed bottom plate (7) and the end face of the flapping guide rod gear (4) back to the center of the fixed bottom plate (7), and the ends of the two wing rods (1) are fixedly connected into the two wing rod mounting holes (24);
the power output mechanism comprises a primary input gear (27), a secondary duplicate gear (6), a tertiary output gear (5) and a crank sleeve (25), the primary input gear (27) is fixedly connected to an output shaft of the motor (10), the secondary duplicate gear (6) is hinged to the middle of the fixed base plate (7), the tertiary output gear (5) is hinged to the upper portion of the fixed base plate (7), a large gear of the secondary duplicate gear (6) is meshed with the primary input gear (27), a small gear of the secondary duplicate gear (6) is meshed with the tertiary output gear (5), and the crank sleeve (25) is fixedly connected to the surface of the tertiary output gear (5) and is perpendicular to the primary input gear and the tertiary output gear;
the flapping guide rod (23) is arranged along the radial direction of the flapping guide rod gear (4) and is fixedly connected to the surface of the flapping guide rod gear (4); the flapping guide rod (23) is provided with a long strip-shaped sliding hole arranged along the length direction of the flapping guide rod, the long strip-shaped sliding hole is matched with the crank sleeve (25), and the crank sleeve (25) can be slidably arranged in the long strip-shaped sliding hole.
4. The bird-imitating robot having air flight and ground running functions as claimed in claim 1 or 2, wherein the steering mechanism comprises a steering connecting rod (32), a steering connecting rod fixing screw (31), a pair of double wing fixing screws (33) and a pair of double wing fixing nuts (37), the center of the steering connecting rod (32) is rotatably connected to the end of the tiller (15) facing the body pole (12) through the steering connecting rod fixing screw (33); the pair of double-wing fixing screws (33) are symmetrically connected to two ends of the steering connecting rod (32), and one side, far away from the wing rod (1), of the wing membrane (2) is fixedly connected to the steering connecting rod (32) through the double-wing fixing screws (31) and the double-wing fixing nuts (37).
5. The bird-imitating robot with the functions of flying in the air and flapping and running on the ground as claimed in claim 1 or 2, wherein the walking mechanism comprises a walking frame (19), a walking frame driving shaft (35) and a walking frame spherical pair (42), the walking frame (19) is arc-shaped, leg assembling holes (44) are formed in the end heads of the two sides of the walking frame (19), the top ends of a pair of walking legs (18) are fixedly connected in the leg assembling holes (44), a walking support frame spherical pair (39) is formed on the top surface of the walking support frame (17), the walking frame spherical pair (42) is fixedly connected at the center of the bottom surface of the walking frame (19), and the walking support frame spherical pair (39) and the walking frame spherical pair (42) are matched in the opposite direction to form a spherical hinge relationship;
set up the arc storage tank that is used for holding rudderstock (15) in walking frame (19), set up walking frame driving groove (41) that set up along its length direction on the inner wall of arc storage tank, walking frame drive shaft (35) and walking frame driving groove (41) adaptation, walking frame drive shaft (35) fixed connection is in the end department that rudderstock (15) kept away from body pole (12), one side end that rudderstock (15) kept away from body pole (12) stretches into in the arc storage tank, and walking frame drive shaft (35) slidable connects in walking frame driving groove (41).
6. The bird-imitating robot with the functions of flying in the air and flapping on the ground as claimed in claim 1 or 2, wherein a vertical plate is fixedly connected to the empennage connecting frame (40), an auxiliary limiting hole is formed in the front of the vertical plate, a plurality of empennage connecting frame limiting holes (48) are formed in the middle of the vertical plate, a support is fixedly connected to one end of the empennage (20), a plurality of pairs of empennage limiting holes (47) are formed in the support, an empennage auxiliary limiting shaft (45) is detachably connected to the front of the support, and the empennage auxiliary limiting shaft (45) is detachably connected to the auxiliary limiting holes; a pin (49) penetrates through the pair of tail wing limiting holes (47), and the pin (49) is detachably connected in one tail wing connecting frame limiting hole (48).
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| CN202011560896.0A CN112590477B (en) | 2020-12-25 | 2020-12-25 | Bird-like robot with air flight and ground running functions |
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| CN202011560896.0A CN112590477B (en) | 2020-12-25 | 2020-12-25 | Bird-like robot with air flight and ground running functions |
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| CN113830304B (en) * | 2021-11-05 | 2023-12-22 | 中国科学院合肥物质科学研究院 | Hovering bionic buzzer aircraft and control method thereof |
| CN114407599B (en) * | 2022-03-30 | 2023-06-13 | 南京航空航天大学 | Insect-imitating wall climbing aircraft and conversion control method thereof |
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