CN113212748A - Flapping-wing robot with adjustable breathing window wings - Google Patents
Flapping-wing robot with adjustable breathing window wings Download PDFInfo
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- CN113212748A CN113212748A CN202110465385.9A CN202110465385A CN113212748A CN 113212748 A CN113212748 A CN 113212748A CN 202110465385 A CN202110465385 A CN 202110465385A CN 113212748 A CN113212748 A CN 113212748A
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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Abstract
The invention discloses a flapping wing robot with a wing of a regulating breathing window, belonging to the technical field of flapping wing robots, and the flapping wing robot comprises a flapping wing robot body, wherein two flapping wings are connected on the flapping wing robot body, two breathing window mechanisms are arranged on the flapping wings, the upper ends of the breathing window cover plates are fixedly connected with a traction rope, the other ends of the traction ropes are connected with a regulating component, when the flapping wings flap upwards, air can rotate the breathing window cover plates downwards, external air can enter the inside of a breathing groove, the direct resistance generated by the flapping wings by the air can be reduced, meanwhile, when the flapping wings flap downwards, the air can not generate downward resistance to the flapping wings, at the moment, a spring scroll can automatically contract and wind the traction rope to drive the breathing window cover plates to upwards rotate the breathing groove, the air in the breathing groove can be discharged downwards from an air outlet to generate buoyancy, therefore, the flapping wing robot body has higher lift force, and the flying use effect of the flapping wing robot is ensured.
Description
Technical Field
The invention relates to the technical field of flapping-wing robots, in particular to a flapping-wing robot with a breathing window wing.
Background
The flapping wing robot is a flying robot with wings simulating birds and insects to flap up and down, and is a novel aircraft type designed and manufactured based on the bionics principle. Compared with a fixed wing and a rotor wing, the flapping wing has the main characteristics that the functions of lifting, hovering and propelling are integrated into a flapping wing system, the long-distance flight can be carried out by using little energy, and meanwhile, the flapping wing has strong maneuverability.
The flapping-wing robot has the characteristics of moderate size, convenience in carrying, flexibility in flying, good concealment and the like, so that the flapping-wing robot has very important and wide application in the civil and national defense fields and can complete tasks which cannot be executed by other aircrafts. It can carry out biochemical detection and environmental monitoring; the ecological environment such as fire, insect disaster and air pollution on forests, grasslands and farmlands can be monitored in real time; can enter areas where people are not easy to enter, such as dangerous terrain battle fields, buildings in fire or accident, and the like; particularly in military affairs, the flapping-wing robot can be used for battlefield reconnaissance, patrol, assault, signal interference, urban combat and the like.
The current research on the flapping-wing robot is mainly to improve and design the internal structure of the flapping-wing robot, generally, the flapping-wing robot is only designed by a pair of light wing plates, and the flying failure or short flying time can be caused by insufficient buoyancy when the flapping-wing robot flies, so that the flying and using effects of the flapping-wing robot are poor. Therefore, an ornithopter robot with adjustable breathing window wings is proposed to solve the above problems.
Disclosure of Invention
1. Technical problem to be solved
Aiming at the problems in the prior art, the invention aims to provide a flapping wing robot with a regulating breathing window wing, when the flapping wing flaps upwards, because air can generate downward resistance on the upper part of the flapping wing, a breathing window cover plate rotates downwards and drives a blocking block to block an air outlet at the lower end of a breathing groove, external air can enter the inside of the breathing groove, the direct resistance generated by the air which can flap the wing can be reduced, and the flapping wing robot is favorable for flying; simultaneously when flapping wing is downwards flapping, the air no longer produces decurrent resistance to the flapping wing top this moment, spring reel can contract automatically and twine the haulage rope this moment, the haulage rope can drive the window of respiration apron upwards to rotate simultaneously and cover the breathing groove, the window of respiration apron drives the sprue and shifts up no longer to block up the gas outlet simultaneously, the air in the breathing groove can be followed the gas outlet and is discharged downwards and produce buoyancy this moment, improve the ascending buoyancy of flapping wing, and then make flapping wing robot body have bigger lift, improve its flight time, the flight result of use of flapping wing robot body has been guaranteed.
2. Technical scheme
In order to solve the above problems, the present invention adopts the following technical solutions.
The utility model provides a flapping wing robot with adjust breathing window wing, includes flapping wing robot body, be connected with two flapping wings on the flapping wing robot body, be equipped with two breathing window mechanisms on the flapping wing, breathing window mechanism is including inside groove and two breathing grooves, inside the flapping wing is all seted up to inside groove and two breathing grooves, air inlet and gas outlet have been seted up respectively to the upper and lower wall of flapping wing, air inlet and gas outlet communicate with the breathing groove lower extreme respectively, both sides the one side inner wall that the air inlet is close to each other all articulates there is the breathing window apron, breathing window apron upper end fixed connection also has the haulage rope, the haulage rope other end is connected with adjusting part, breathing window apron lower extreme articulates there is the connecting rod, the connecting rod lower extreme articulates there is the sprue. When the flapping wing upwards flapping, this moment because the air can produce decurrent resistance to the flapping wing top, the resistance can be to breathing the window apron decurrent power this moment, can make breathing the window apron rotate certain angle along the pin joint downwards, can stimulate the haulage rope extension simultaneously, breathing the window apron this moment and drive connecting rod and sprue and descend, can plug up the lower extreme gas outlet of breathing the groove through the sprue, outside air can enter into the inside of breathing the groove through the air inlet, can reduce the direct resistance that the air can flap the wing and produce simultaneously, be favorable to flying.
Furthermore, the adjusting assembly comprises a support, the support is fixedly connected to the upper end of the flapping wing, a first pulley is rotatably connected to the support, a through hole is formed in the upper wall of the flapping wing, the through hole is communicated with the inner groove, a rotating rod is rotatably connected to the inner wall of the inner groove, a spring reel is fixedly connected to the outer wall of the rotating rod, and the other end of the traction rope respectively penetrates through the first pulley and the through hole and is wound on the spring reel; when flapping wing is flapping downwards, the air no longer produces decurrent resistance to the flapping wing top this moment, no longer to breathing window apron decurrent power, spring reel can automatic shrink winding haulage rope this moment, the haulage rope can drive simultaneously and breathe window apron upwards rotates, and cover the breathing groove, breathe window apron simultaneously and drive the sprue and rise and break away from the gas outlet, the air in the breathing groove can be followed the gas outlet and is discharged downwards this moment, can the air this moment produce buoyancy, improve the ascending buoyancy of flapping wing, and then make flapping wing robot body have bigger lift, improve its flight time, further assurance flapping wing robot body's flight result of use.
Further, the inside fixedly connected with accessory plate of breathing groove, run through on the accessory plate and seted up first logical groove and two second and lead to the groove, equal fixedly connected with montant about the accessory plate upper end, it has the clamp plate to articulate on the montant, the connecting rod left and right sides symmetry articulates there is the push-and-pull rod, both sides the other end of push-and-pull rod articulates respectively in the other end of clamp plate, and when flapping wing was fluttered downwards, when the breathing window apron upwards drove the connecting rod upwards, the connecting rod drove the clamp plate round with the pin joint of montant towards the gas outlet direction rotation through the push-and-pull rod to can push the air of breathing inslot portion downwards through the clamp plate, finally extrude through the gas outlet, the buoyancy of the improvement flapping wing that can be more obvious quick, further improved the effect that rises of flapping wing robot body.
Further, still rotate on the support and be connected with the second pulley, the second pulley is located first pulley top, haulage rope sliding connection is between first pulley and second pulley, not only can have the effect of pushing down the direction to the haulage rope through the second pulley, and the restriction protection through the second pulley can prevent that the haulage rope from popping out and breaking away from first pulley moreover, avoids causing the influence to adjusting part normal operating.
Further, flapping wing upper end fixedly connected with guard box, support, first pulley and second pulley all are located inside the guard box, the left and right wall of guard box all seted up with haulage rope matched with via hole, the guard box parcel can protect the part of inside in the outside of support, first pulley and second pulley, avoids impurity such as rainwater rubbish to cause the influence to it.
Further, both ends respectively about the protective housing with both sides breathe between the window apron fixedly connected with protection bellows, the haulage rope between protective housing and the breathing window apron is located inside the protection bellows, and the protection bellows can be followed the breathing window apron and moved about, can play the effect of protection to the haulage rope through the protection bellows, avoids the haulage rope to be damaged by external world.
Furthermore, the length and the width of the first through groove are both larger than those of the blocking block, and the blocking block can smoothly pass through the first through groove, so that the auxiliary plate cannot interfere with the blocking block, and the smooth up-down of the blocking block is ensured.
Further, the sprue corresponds to the length and the width of the gas outlet, the sprue is in clearance fit with the gas outlet, the length and the width of the sprue can be guaranteed to be infinitely close to the gas outlet, and the sprue can smoothly move up and down along the gas outlet.
Further, air inlet upside fixedly connected with protection network, the protection network is run through in the equal activity of protection bellows and haulage rope, can prevent through the protection network that the flapping wing robot body can have great impurity debris to enter into the breathing groove when using, can prevent to cause the influence to the inside work of breathing groove.
Furthermore, the maximum included angle between the breathing window cover plate and the flapping wings is 60 degrees, a fixing buckle is arranged between the breathing window cover plate and the flapping wings, and the angle between the breathing window cover plate and the flapping wings is 0-60 degrees when the flapping wing robot is used, and can be adjusted according to conditions, so that the flapping wing robot is more beneficial to flying use of the flapping wing robot body; can be when using one of them breathing window mechanism, fix the breathing window apron in another breathing window mechanism and flapping wing through fixed knot to wait for reserve, the practicality is high.
3. Advantageous effects
Compared with the prior art, the invention has the advantages that:
(1) when the flapping wing upwards flapping in this scheme, this moment because the air can produce decurrent resistance to the flapping wing top, can make the respiratory window apron rotate downwards, the extension of pulling haulage rope simultaneously, the respiratory window apron drives the lower extreme gas outlet that the chute of breathing can be plugged up to the sprue this moment, and outside air can enter into the inside of breathing the chute through the air inlet simultaneously, still can reduce the direct resistance that the air can flap the wing and produce, is favorable to the flight.
(2) When flapping wing was down flapping in this scheme, the air no longer produced decurrent resistance to the flapping wing top this moment, spring reel can contract automatically and twine the haulage rope this moment, the haulage rope can drive simultaneously and breathe the window apron upwards rotate and cover the breathing groove, breathe the window apron simultaneously and drive the sprue and shift up no longer and block up the gas outlet, the air in the breathing groove can be followed the gas outlet and discharged downwards this moment, can the air this moment and can produce buoyancy, improve the ascending buoyancy of flapping wing, and then make flapping wing robot body have bigger lift, improve its flight time, further assurance flapping wing robot body's flight result of use.
(3) When the flapping wing moves downwards in the scheme, the breathing window cover plate drives the connecting rod upwards, the push-pull rod drives the pressing plate to rotate towards the direction of the air outlet, air in the breathing groove can be extruded downwards through the pressing plate, the buoyancy of the flapping wing can be obviously and quickly improved, and the ascending effect of the flapping wing robot body is further improved.
(4) In the scheme, the traction rope is positioned between the first pulley and the second pulley, the second pulley can not only play a role in pressing and guiding the traction rope, but also prevent the traction rope from popping out and separating from the first pulley through the limiting protection of the second pulley, so that the influence on the normal operation of the adjusting assembly is avoided; simultaneously can play the effect of protection to the haulage rope through the protection bellows, avoid the haulage rope to be damaged by external world, the guard box can protect inside part, avoids impurity such as rainwater rubbish to cause the influence to it.
(5) When the flapping wing robot body in the scheme is used in flying, one of the two breathing window mechanisms is only used, when one of the breathing window mechanisms breaks down, the other breathing window mechanism can be used for standby, the two breathing window mechanisms can also be used simultaneously according to actual conditions, and the practicability is good.
Drawings
FIG. 1 is a schematic view of the overall structure of an ornithopter robot of the present invention;
FIG. 2 is a schematic structural view of the breathing window mechanism of the present invention with the protective net removed;
FIG. 3 is a schematic view of the flapping wings of the present invention with a partially cut-away internal structure;
FIG. 4 is an enlarged view of the structure at A in FIG. 3;
FIG. 5 is a schematic view of one of the adjustment assemblies of the present invention;
FIG. 6 is a schematic view of the present invention showing a partial cross-sectional view of the inside of the flapping wing.
The reference numbers in the figures illustrate:
1. a flapping-wing robot body; 2. flapping wings; 3. an inner tank; 4. a breathing groove; 5. an air inlet; 6. an air outlet; 7. a breathing window cover plate; 8. a hauling rope; 9. an adjustment assembly; 901. a support; 902. a first pulley; 903. a rotating rod; 904. a spring reel; 10. a connecting rod; 11. blocking; 12. an auxiliary plate; 13. a first through groove; 14. a second through groove; 15. a vertical rod; 16. pressing a plate; 17. a push-pull rod; 18. a second pulley; 19. a protective box; 20. a protective bellows; 21. and (4) a protective net.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the connection can be direct connection or indirect connection through an intermediate medium, and can be communication inside the model adapting element. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example (b):
referring to fig. 1-3 and fig. 6, a flapping wing robot with adjustable breathing window wings comprises a flapping wing robot body 1, two flapping wings 2 are connected to the flapping wing robot body 1, two breathing window mechanisms are arranged on the flapping wings 2, each breathing window mechanism comprises an inner groove 3 and two breathing grooves 4, the inner grooves 3 and the two breathing grooves 4 are both arranged in the flapping wings 2, the upper and lower walls of the flapping wings 2 are respectively provided with an air inlet 5 and an air outlet 6, the air inlet 5 and the air outlet 6 are respectively communicated with the upper and lower ends of the breathing grooves 4, the inner wall of one side of the two sides of the air inlet 5, which is close to each other, is hinged with a breathing window cover plate 7, the upper end of the breathing window cover plate 7 is fixedly connected with a traction rope 8, the other end of the traction rope 8 is connected with an adjusting assembly 9, the lower end of the breathing window cover plate 7 is hinged with a connecting rod 10, the lower end of the connecting rod 10 is hinged with a blocking block 11, the blocking block 11 and the air outlet 6 are corresponding to each other, and the plugging block 11 is in clearance fit with the air outlet 6, so that the length and the width of the plugging block 11 can be ensured to be infinitely close to the air outlet 6, and the plugging block 11 can smoothly move up and down along the air outlet 6. When flapping wing 2 upwards flapping, this moment because the air can produce decurrent resistance to 2 tops of flapping wing, the resistance can be to 7 decurrent power of breathing window apron, can make 7 certain angles of rotating downwards along the pin joint of breathing window apron, can stimulate 8 extensions of haulage rope simultaneously, 7 drive connecting rod 10 and sprue 11 of breathing window apron descend this moment, can plug up the lower extreme gas outlet 6 of breathing groove 4 through sprue 11, outside air can enter into the inside of breathing groove 4 through air inlet 5, the direct resistance that the air can flapping wing 2 production can have been reduced simultaneously, flight is favorable to.
Please refer to fig. 1 and 5, the adjusting assembly 9 includes a bracket 901, the bracket 901 is fixedly connected to the upper end of the flapping wing 2, the bracket 901 is rotatably connected with a first pulley 902, the upper wall of the flapping wing 2 is provided with a through hole, the aperture of the through hole is larger than the diameter of the hauling cable 8, it can be ensured that the hauling cable 8 can smoothly move in the through hole, and no damage is caused to the hauling cable 8, the through hole is communicated with the inner groove 3, the inner wall of the inner groove 3 is rotatably connected with a rotating rod 903, the outer wall of the rotating rod 903 is fixedly connected with a spring reel 904, and the other end of the hauling cable 8 respectively passes through the first pulley 902 and the through hole and is wound on the spring reel 904. When the flapping wing 2 flaps downwards, the air does not generate downward resistance above the flapping wing 2 at the moment, but has upward lift force below the flapping wing 2, so the air does not generate downward force on the breathing window cover plate 7 at the moment, the spring reel 904 can automatically shrink and wind the traction rope 8 at the moment, the traction rope 8 can simultaneously drive the breathing window cover plate 7 to rotate upwards and cover the breathing groove 4, meanwhile, the breathing window cover plate 7 drives the connecting rod 10 and the plugging block 11 to ascend, the plugging block 11 is separated from the air outlet 6 and does not plug the air outlet 6, the air in the breathing groove 4 can be discharged downwards from the air outlet 6 at the moment, the air can generate buoyancy force at the moment, the upward buoyancy force of the flapping wing 2 is improved, the flapping wing robot body 1 is enabled to have larger lift force, the flight time of the flapping wing robot body 1 is prolonged, and the flight using effect of the flapping wing robot body 1 is further ensured.
Please refer to fig. 1 and fig. 6, when the flapping-wing robot body 1 is in flight, only one of the two breathing window mechanisms is used, when one of the breathing window mechanisms fails, the other breathing window mechanism can be used for standby, and the two breathing window mechanisms can be used simultaneously according to actual conditions, so that the practicability is good. When the aircraft is not in use in the initial state, the included angle between the breathing window cover plate 7 and the flapping wings 2 is 0 degree, and the breathing window cover plate 7 seals the breathing groove 4 at the moment. The maximum included angle between the breathing window cover plate 7 and the flapping wings 2 is 60 degrees, the angle between the breathing window cover plate 7 and the flapping wings 2 is between 0 and 60 degrees during use, and the angle can be adjusted according to conditions, so that the flapping wing robot body 1 can be used in flying, a fixing buckle is arranged between the breathing window cover plate 7 and the flapping wings 2, when one breathing window mechanism is used, the breathing window cover plate 7 and the flapping wings 2 in the other breathing window mechanism are fixed through the fixing buckle to be reserved, and the practicability is high.
Referring to fig. 3, 4 and 6, an auxiliary plate 12 is fixedly connected inside the breathing groove 4, a first through groove 13 and two second through grooves 14 are formed in the auxiliary plate 12 in a penetrating manner, the length and the width of the first through groove 13 are both greater than those of the blocking block 11, the blocking block 11 can smoothly pass through the first through groove 13, so that the auxiliary plate 12 cannot interfere with the blocking block 11 to ensure that the blocking block 11 can smoothly move up and down, a vertical rod 15 is fixedly connected to the left and right of the upper end of the auxiliary plate 12, a pressing plate 16 is hinged to the vertical rod 15, push-pull rods 17 are symmetrically hinged to the left and right sides of the connecting rod 10, the other ends of the push-pull rods 17 at the two sides are respectively hinged to the other end of the pressing plate 16, when the flapping wing 2 flaps downwards, the breathing window cover plate 7 upwards drives the connecting rod 10 upwards, the connecting rod 10 drives the pressing plate 16 to rotate around a hinge point with the vertical rod 15 towards the air outlet 6 direction, so that air inside the breathing groove 4 can be downwards extruded through the pressing plate 16, finally, the air is extruded out through the air outlet 6, so that the buoyancy of the flapping wing 2 can be obviously and rapidly improved, and the ascending effect of the flapping wing robot body 1 is further improved.
Referring to fig. 5, the bracket 901 is further rotatably connected with a second pulley 18, the second pulley 18 is located above the first pulley 902, the pulling rope 8 is slidably connected between the first pulley 902 and the second pulley 18, the second pulley 18 not only can press and guide the pulling rope 8, but also can prevent the pulling rope 8 from popping out and separating from the first pulley 902 through the limiting protection of the second pulley 18, thereby avoiding the influence on the normal operation of the adjusting assembly 9.
Referring to fig. 3 and 6, the upper end of the flapping wing 2 is fixedly connected with a protective box 19, the support 901, the first pulley 902 and the second pulley 18 are all located inside the protective box 19, the left wall and the right wall of the protective box 19 are all provided with through holes matched with the traction rope 8, and the protective box 19 is wrapped outside the support 901, the first pulley 902 and the second pulley 18, so that internal components can be protected, and the influence of impurities such as rainwater, garbage and the like on the components is avoided. Both ends respectively about protective housing 19 with both sides breathing window apron 7 between fixedly connected with protection bellows 20, the haulage rope 8 between protective housing 19 and the breathing window apron 7 is located inside protection bellows 20, and protection bellows 20 can be followed and rotated about breathing window apron 7 and stretch out and draw back, can play the effect of protection to haulage rope 8 through protection bellows 20, avoids haulage rope 8 to be damaged by external world. Air inlet 5 upside fixedly connected with protection network 21, protection bellows 20 and haulage rope 8 all move about and run through protection network 21, can prevent through protection network 21 that there is great impurity debris to enter into respiratory groove 4 when flapping wing robot body 1 uses, can prevent to cause the influence to respiratory groove 4 internal work.
The working principle is as follows: when the flapping wing robot body 1 is used in flight, only one of the two breathing window mechanisms is used, when one of the breathing window mechanisms fails, the other breathing window mechanism can be used for standby, the two breathing window mechanisms can be simultaneously used according to actual conditions, and the practicability is good. When the aircraft is not in use in the initial state, the included angle between the breathing window cover plate 7 and the flapping wings 2 is 0 degree, and the breathing window cover plate 7 seals the breathing groove 4 at the moment.
When flapping wing 2 upwards flapping, this moment because the air can produce decurrent resistance to 2 tops of flapping wing, the size of resistance this moment is greater than spring reel 904 to haulage rope 8 pulling force, so the resistance can be to 7 decurrent power of respiration window apron this moment, can make respiration window apron 7 rotate certain angle downwards along the pin joint, can stimulate haulage rope 8 extension simultaneously, respiration window apron 7 drives connecting rod 10 and sprue 11 and descends this moment, can plug up the lower extreme gas outlet 6 of breathing groove 4 through sprue 11, outside air can enter into the inside of breathing groove 4 through air inlet 5, the direct resistance that the air can flapping wing 2 production can be reduced simultaneously, be favorable to the flight.
When the flapping wing 2 flaps downwards, the air does not generate downward resistance above the flapping wing 2 at the moment, but has upward lift force below the flapping wing 2, so the air does not generate downward force on the breathing window cover plate 7 at the moment, the spring reel 904 can automatically shrink and wind the traction rope 8 at the moment, the traction rope 8 can simultaneously drive the breathing window cover plate 7 to rotate upwards and cover the breathing groove 4, meanwhile, the breathing window cover plate 7 drives the connecting rod 10 and the plugging block 11 to ascend, the plugging block 11 is separated from the air outlet 6 and does not plug the air outlet 6, the air in the breathing groove 4 can be discharged downwards from the air outlet 6 at the moment, the air can generate buoyancy force at the moment, the upward buoyancy force of the flapping wing 2 is improved, the flapping wing robot body 1 is enabled to have larger lift force, the flight time of the flapping wing robot body 1 is prolonged, and the flight using effect of the flapping wing robot body 1 is further ensured.
When flapping wing 2 flaps downwards, the breathing window cover plate 7 drives the connecting rod 10 upwards, the connecting rod 10 drives the pressing plate 16 to rotate towards the direction of the air outlet 6 around the hinged point with the vertical rod 15 through the push-pull rod 17, so that the air in the breathing groove 4 can be extruded downwards through the pressing plate 16 and finally extruded out through the air outlet 6, the buoyancy of the flapping wing 2 can be obviously and quickly improved, and the ascending effect of the flapping wing robot body 1 is further improved.
The foregoing is only a preferred embodiment of the present invention; the scope of the invention is not limited thereto. Any person skilled in the art should be able to cover the technical scope of the present invention by equivalent or modified solutions and modifications within the technical scope of the present invention.
Claims (10)
1. The utility model provides a flapping wing robot with adjust respiratory window wing, includes flapping wing robot body (1), its characterized in that: the flapping wing robot body (1) is connected with two flapping wings (2), the flapping wings (2) are provided with two breathing window mechanisms, the breathing window mechanism comprises an inner groove (3) and two breathing grooves (4), the inner groove (3) and the two breathing grooves (4) are both arranged in the flapping-wing (2), the upper wall and the lower wall of the flapping wing (2) are respectively provided with an air inlet (5) and an air outlet (6), the air inlet (5) and the air outlet (6) are respectively communicated with the upper end and the lower end of the breathing groove (4), the inner wall of one side of the two sides of the air inlet (5) which is close to each other is hinged with a breathing window cover plate (7), the upper end of the breathing window cover plate (7) is fixedly connected with a traction rope (8), the other end of the hauling rope (8) is connected with an adjusting component (9), the lower end of the breathing window cover plate (7) is hinged with a connecting rod (10), and the lower end of the connecting rod (10) is hinged with a plugging block (11).
2. The flapping wing robot of claim 1 having an adjustable breathing window wing, wherein: the adjusting assembly (9) comprises a support (901), the support (901) is fixedly connected to the upper end of the flapping wing (2), a first pulley (902) is rotatably connected to the support (901), a through hole is formed in the upper wall of the flapping wing (2), the through hole is communicated with the inner groove (3), a rotating rod (903) is rotatably connected to the inner wall of the inner groove (3), a spring reel (904) is fixedly connected to the outer wall of the rotating rod (903), and the other end of the traction rope (8) penetrates through the first pulley (902) and the through hole respectively and is wound on the spring reel (904).
3. The flapping wing robot of claim 1 having an adjustable breathing window wing, wherein: breathe inside fixedly connected with accessory plate (12) in groove (4), run through on accessory plate (12) and seted up first logical groove (13) and two second and lead to groove (14), equal fixedly connected with montant (15) about accessory plate (12) upper end, it has clamp plate (16) to articulate on montant (15), connecting rod (10) left and right sides symmetry articulates there is push-and-pull rod (17), both sides the other end of push-and-pull rod (17) articulates respectively in the other end of clamp plate (16).
4. The flapping wing robot of claim 2 having an adjustable breathing window wing, wherein: the support (901) is further rotatably connected with a second pulley (18), the second pulley (18) is located above the first pulley (902), and the traction rope (8) is connected between the first pulley (902) and the second pulley (18) in a sliding mode.
5. The flapping wing robot of claim 4, wherein: the flapping wing is characterized in that a protective box (19) is fixedly connected to the upper end of the flapping wing (2), the support (901), the first pulley (902) and the second pulley (18) are located inside the protective box (19), and through holes matched with the traction ropes (8) are formed in the left wall and the right wall of the protective box (19).
6. The flapping wing robot of claim 5, wherein: the safety device is characterized in that the left end and the right end of the protective box (19) are fixedly connected with protective corrugated pipes (20) between the respiratory window cover plates (7) on the two sides respectively, and the traction ropes (8) between the protective box (19) and the respiratory window cover plates (7) are located inside the protective corrugated pipes (20).
7. The flapping wing robot of claim 1 having an adjustable breathing window wing, wherein: the length and the width of the first through groove (13) are both larger than those of the blocking block (11).
8. The flapping wing robot of claim 1 having an adjustable breathing window wing, wherein: the long and wide mutual correspondence of sprue (11) and gas outlet (6), just sprue (11) and gas outlet (6) are clearance fit.
9. The flapping wing robot of claim 6, wherein: the air inlet (5) upside fixedly connected with protection network (21), protection bellows (20) and haulage rope (8) all activity run through protection network (21).
10. The flapping wing robot of claim 1 having an adjustable breathing window wing, wherein: the maximum included angle between the breathing window cover plate (7) and the flapping wings (2) is 60 degrees, and a fixing buckle is arranged between the breathing window cover plate (7) and the flapping wings (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110465385.9A CN113212748B (en) | 2021-04-28 | 2021-04-28 | Flapping-wing robot with adjustable breathing window wings |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110465385.9A CN113212748B (en) | 2021-04-28 | 2021-04-28 | Flapping-wing robot with adjustable breathing window wings |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113212748A true CN113212748A (en) | 2021-08-06 |
| CN113212748B CN113212748B (en) | 2022-12-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110465385.9A Active CN113212748B (en) | 2021-04-28 | 2021-04-28 | Flapping-wing robot with adjustable breathing window wings |
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| CN207698002U (en) * | 2017-12-25 | 2018-08-07 | 佛山市顺德区中等专业学校（佛山市顺德区技工学校） | The flapping wing aircraft wing structure of loose-leaf system window |
| CN211592938U (en) * | 2019-12-24 | 2020-09-29 | 台州学院 | Microminiature flapping-wing unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20020173217A1 (en) * | 2001-05-17 | 2002-11-21 | Kinkade Andrew Sean | Ornithopter |
| WO2006054125A2 (en) * | 2004-10-07 | 2006-05-26 | Seugoua Appolos Chokote | Flapping wing propulsion unit for moving in a fluid and vacuum |
| KR101549994B1 (en) * | 2014-03-06 | 2015-09-04 | 재단법인대구경북과학기술원 | Structure of flapping robotic wing |
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| CN206528635U (en) * | 2017-03-02 | 2017-09-29 | 浙江工业职业技术学院 | A kind of parallel-moving type bionic flapping-wing device |
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| CN211592938U (en) * | 2019-12-24 | 2020-09-29 | 台州学院 | Microminiature flapping-wing unmanned aerial vehicle |
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| CN113212748B (en) | 2022-12-02 |
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