CN113548181A

CN113548181A - Flapping wing robot and control method thereof

Info

Publication number: CN113548181A
Application number: CN202110950647.0A
Authority: CN
Inventors: 冯伟; 刘笑; 杨显龙; 蒋怡星; 薛自然; 张树潇
Original assignee: Shenzhen Institute of Advanced Technology of CAS
Current assignee: Shenzhen Institute of Advanced Technology of CAS
Priority date: 2021-08-18
Filing date: 2021-08-18
Publication date: 2021-10-26
Anticipated expiration: 2041-08-18
Also published as: CN113548181B

Abstract

The invention discloses a flapping-wing robot and a control method thereof, wherein the flapping-wing robot comprises a robot body, a tail wing assembly, a flapping mechanism and a wing assembly, the flapping mechanism comprises a first steering engine, a transmission assembly driven by the first steering engine, two flapping assemblies and two frequency adjusting assemblies, the transmission assembly comprises two conical driving wheels respectively arranged at two sides of the robot body, the flapping assembly comprises a conical driven wheel and a transmission rod, and the conical surfaces of the conical driving wheels and the conical driven wheels at the same side face each other; the friction ball of each frequency adjusting assembly is simultaneously in rolling fit with the conical surface of the conical driving wheel and the conical surface of the conical driven wheel, and the friction ball retaining block is movably arranged along the gradient direction of the conical surface of the conical driving wheel; two ends of the transmission rod are respectively movably connected with the surface of the conical driven wheel and the wing through universal joints. The invention adopts a steering engine to drive the wings on both sides to flap simultaneously, and can independently adjust the flapping frequency of the wings on both sides by changing the position of the friction ball, and the control process is simple and reliable.

Description

Flapping wing robot and control method thereof

Technical Field

The invention relates to the technical field of intelligent robots, in particular to an ornithopter robot and a control method thereof.

Background

Birds are one of the owners of natural flight and can make long-distance migrations with limited energy. Studies have shown that birds can dynamically adjust the amplitude and frequency of wings. This means that the energy consumption of birds under various flight conditions is minimal and by observing the natural bird's flight, it can be readily seen that birds can choose different amplitudes and frequencies at different stages of flight.

The flapping wing is an important structure of a novel aircraft type which simulates the flight of birds and insects and is 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 very small energy, and meanwhile, the flapping wing has stronger maneuverability.

The bionic flapping wing aircraft has the characteristics of moderate size, portability, flexible flight, good concealment and the like, so that the bionic flapping wing aircraft has very important and wide application in the civil and national defense fields and can complete tasks which cannot be executed by other aircrafts. The system can carry out biochemical detection and environmental monitoring, and enter a biochemical forbidden region to execute tasks; 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; in military affairs, the bionic flapping wing aircraft can be used for battlefield reconnaissance, patrol, assault, signal interference, urban combat and the like.

The existing flapping wing mechanism mostly adopts a symmetrical synchronous motion design of wings on the left side and the right side, can not be controlled respectively on the left side and the right side, is not beneficial to adjustment and flexible control in response to emergency, and can not adapt to changeable complex environment, and related documents of the design of an asymmetrical frequency mechanism are very few, so that the invention research in this aspect is necessary. The congratulatory and the team of Beijing university of science and technology develop a bird-imitating aircraft named USTBird, which can realize the independent control of wings on both sides, but because two drivers are adopted to respectively control the wings on both sides, the movement of the wings on both sides is truly completely independent, a more precise and complex structure or a control process is required for ensuring the coordination of the movement of the wings, the design complexity is increased, and the reliability of the whole mechanism is difficult to ensure.

Disclosure of Invention

In view of the defects in the prior art, the invention provides the flapping-wing robot and the control method thereof, which can accurately control the action frequency of the flapping-wing robot with asymmetric frequency by adopting a simple mode, reduce the design complexity and improve the reliability of the whole mechanism.

In order to achieve the purpose, the invention adopts the following technical scheme:

a flapping wing robot comprises a robot body, and a tail wing assembly, a flapping mechanism and a wing assembly which are respectively connected with the robot body, wherein the wing assembly comprises two wings, one end of each wing is hinged with the robot body, and the free ends of the two wings are respectively opened towards the left side and the right side of the robot body; the flapping mechanism comprises a first steering engine, a transmission assembly driven by the first steering engine, two flapping assemblies and two frequency adjusting assemblies, the transmission assembly comprises two conical driving wheels respectively arranged at two sides of the machine body, each flapping assembly comprises a conical driven wheel and a transmission rod, the conical driving wheels and the conical driven wheels at the same side are adjacently arranged, and conical surfaces of the conical driving wheels and the conical driven wheels face each other; each frequency adjusting assembly comprises a friction ball retaining block and a friction ball arranged on the friction ball retaining block, the friction ball is simultaneously matched with the conical surface of the conical driving wheel and the conical surface of the conical driven wheel in a rolling manner, and the friction ball retaining block is movably arranged along the gradient direction of the conical surface of the conical driving wheel so as to change the position of the friction ball; two ends of the transmission rod are respectively and movably connected with the surface of the conical driven wheel and the wing through universal joints, so that the opening angle of the wing is driven to change in the rotating process of the conical driven wheel.

As one embodiment, the two conical driving wheels are coaxially and integrally arranged.

As one embodiment, the transmission assembly further comprises a circle of gear teeth coaxially fixed with the conical driving wheel, and the first steering engine is meshed with the gear teeth through a gear set.

As one embodiment, the frequency adjusting assembly includes a guide rod fixed to the body, the guide rod is disposed between the conical driving wheel and the conical driven wheel, an inclination angle of the guide rod relative to the body matches a slope of the conical driving wheel, and the friction ball holding block is slidably disposed on the guide rod along a length direction of the guide rod.

As one embodiment, the frequency adjusting assembly comprises a second steering engine and an adjusting connecting rod, two ends of the adjusting connecting rod are respectively hinged with a swing arm of the second steering engine and the friction ball retaining block, and the friction ball retaining block can reciprocate along the guide rod under the driving of the second steering engine.

As one embodiment, the tail assembly includes a tail rotatably connected to the tail of the fuselage and a tail driving mechanism for driving the tail to swing up and down relative to the fuselage; and/or each wing comprises a wing rod at the tail end and a wing steering engine for driving the wing rod to swing back and forth relative to the main body part of the wing.

As one embodiment, each wing includes a skeleton hinged to the fuselage and a sliding block slidably disposed on the skeleton, the wing assembly further includes an amplitude adjustment assembly connected to each sliding block, the sliding block is movably connected to the transmission rod through a universal joint, and the amplitude adjustment assembly is configured to move each sliding block along a length direction of the skeleton.

As one of the implementation modes, the amplitude adjustment assembly comprises a third steering engine fixed on the machine body, a driving pulley driven by the third steering engine, first pulleys fixed on each framework and tension ropes, wherein the first pulleys are farther away from the machine body relative to the sliding blocks, the tension ropes are simultaneously sleeved on the peripheral surfaces of the driving pulley and the two first pulleys and are tensioned, and each sliding block is fixed relative to one tension rope.

Another object of the present invention is to provide a control method of an ornithopter robot, comprising:

starting the first steering engine, and transmitting torque to the conical driven wheel through the conical driving wheels and the friction balls on the two sides in sequence;

the transmission rods on the two sides drive the opening angles of the corresponding wings to change in the rotating process of the conical driven wheel;

when the flapping frequency of a certain wing needs to be changed, the rolling position of the friction ball on the side where the wing is located between the conical driving wheel and the conical driven wheel is changed.

As one of the embodiments, when the flapping amplitude of a certain wing needs to be changed, the position of the slide block connected with the transmission rod on the side where the wing is located on the framework is adjusted.

The invention adopts a steering engine to drive the wings on both sides to flap simultaneously, and in the flapping process of the wings, the flapping frequency of the wings on both sides can be independently adjusted by changing the position of the friction ball, the control process is very simple and reliable, the complexity of the design is reduced, and the flight accuracy is improved. In addition, the flapping amplitude of the wings at the left side and the right side, the torsion amplitude of the wings and the tail wing posture can be changed in the flapping process of the wings, and the functions of asymmetric amplitude control, stepless speed change and wing torsion are realized.

Drawings

Fig. 1 is a schematic structural diagram of an flapping wing robot according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a flapping mechanism of an ornithopter robot according to an embodiment of the invention;

FIG. 3 is an exploded view of a flapping mechanism of an ornithopter robot according to an embodiment of the invention;

FIG. 4 is a partial cross-sectional view of an ornithopter robot according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a frequency adjustment assembly of an ornithopter robot according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a tail of an ornithopter robot according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a head of an ornithopter robot according to an embodiment of the present invention;

FIG. 8 is a schematic view of a flight state of an ornithopter robot according to an embodiment of the present invention;

FIG. 9 is a diagram illustrating an embodiment of the present invention before amplitude adjustment of an ornithopter robot;

FIG. 10 is a diagram illustrating an amplitude adjusted flapping wing robot according to an embodiment of the present invention;

fig. 11 is a schematic diagram of a control method of an ornithopter robot according to an embodiment of the present invention.

Detailed Description

In the present invention, the terms "disposed", "provided" and "connected" are to be understood in a broad sense. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.

The terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing and simplifying the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the application.

It should be noted that, for convenience of description, the terms "left", "right", "up", "down", "front" and "back" in this embodiment are all used as references according to the orientation of the flapping-wing robot relative to the fuselage during flight, for example, the head of the flapping-wing robot faces forward, the tail faces backward, the direction in which the wings lift up is referred to as "up", the direction in which the wings press down is referred to as "down", the side of the left wing is referred to as "left", and the side of the right wing is referred to as "right".

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1, an embodiment of the present invention provides a flapping wing robot, including a fuselage 10, and a tail assembly 1, a flapping mechanism 2, and a wing assembly 3 respectively connected to the fuselage 10, where the wing assembly 3 includes two wings 30, one end of each wing 30 is hinged to the fuselage 10, and the other end is opened outwards, that is, the free ends of the two wings 30 are respectively opened towards the left and right sides of the fuselage 10. The power source 40 of the flapping wing robot can be fixed on the body 10 to provide power source for the movement of each part.

Referring to fig. 2, the flapping mechanism 2 includes a first steering engine 20, a transmission assembly 21, two flapping assemblies 22, and two frequency adjusting assemblies 23. The transmission assembly 21 is driven by the first steering engine 20 and comprises two conical driving wheels 210 respectively arranged at the left side and the right side of the machine body 10. The left side and the right side of the body 10 are provided with a flapping component 22 and a frequency adjusting component 23, each flapping component 22 comprises a conical driven wheel 220 and a transmission rod 221 connected with the conical driven wheel, the conical driving wheel 210 is arranged adjacent to the conical driven wheel 220 on the same side, and the conical surfaces of the conical driven wheel and the conical driving wheel face each other, namely the conical surfaces of the conical driven wheel and the conical driving wheel form a slit with equal interval and equal width everywhere.

Each frequency adjustment assembly 23 includes a friction ball holding block 231 and a friction ball 230 provided on the friction ball holding block 231, the friction ball holding block 231 is fixed relative to the body 10, and the friction ball 230 is provided in the slit while being in rolling engagement with the tapered surface of the tapered driving pulley 210 and the tapered surface of the tapered driven pulley 220 to transmit the torque of the tapered driving pulley 210 to the tapered driven pulley 220. As shown in fig. 2 and 5, the friction ball holder 231 is movably disposed along the slope of the cone driver 210, so as to movably limit the friction ball 230 in the slit between the cone driver 210 and the cone driven wheel 220 and to drive the friction ball 230 to change its position in the slit. When the position of the friction ball 230 in the slit is changed, the transmission ratio between the conical driving wheel 210 and the conical driven wheel 220 is changed, and the friction ball 230 is in rolling contact with the conical driving wheel 210 and the conical driven wheel 220, so that the position of the friction ball 230 can be adjusted in the transmission process to realize stepless speed change, thereby changing the rotation frequency of the conical driven wheel 220, namely changing the flapping frequency of the wing 30 connected with the conical driven wheel.

As shown in fig. 2 and 3, in this embodiment, preferably, both ends of the driving rod 221 are movably connected to the surface of the tapered driven wheel 220 and the wing 30 through universal joints, respectively, so as to drive the opening angle of the wing 30 to change during the rotation of the tapered driven wheel 220. The universal joints at the two ends of the transmission rod 221 can be, for example, universal ball joints, so that the transmission rod 221 can flexibly convert the rotary motion of the conical driven wheel 220 into the up-and-down swinging motion of the wing 30. The universal ball head comprises a ball head 2211 and a ball head wrapping portion 2210 in rolling fit with the ball head, the ball head 2211 is provided with a spherical rotating portion and fixed ends led out from the rotating portion, a hollow accommodating portion with a spherical surface is formed inside the ball head wrapping portion 2210, the rotating portion of the ball head 2211 is accommodated in the accommodating portion of the ball head wrapping portion 2210 and is in rolling fit with the accommodating portion, the ball head wrapping portion 2210 is fixed at two ends of the transmission rod 221, a ball head 2211 is installed in each ball head wrapping portion 2210, and the fixed ends of the two ball heads 2211 are fixed on the conical driven wheel 220 and the wing 30 respectively. Preferably, the ball 2211 fixed to the conical driven wheel 220 is mounted on the disc surface of the conical driven wheel 220, and is spaced from the rotating shaft of the conical driven wheel 220. The tapered driven wheel 220 is connected with the transmission rod 221 to form a cam driving structure, so that the wing 30 connected with the transmission rod 221 can be continuously driven to flap up and down in the rotating process of the tapered driven wheel 220.

In this embodiment, the flapping assemblies 22 on the left and right sides of the body 10 are driven by the same steering engine, so the driving structure and the driving process are simpler. The transmission assembly 21 may specifically include a ring of gear teeth 2100 coaxially fixed to the cone-shaped driving wheel 210, and the first steering engine 20 may be engaged with the gear teeth 2100 through a gear set, so as to transmit driving force to the cone-shaped driven wheels 220 on both sides.

In addition, in the embodiment, the two flapping assemblies 22 further share one transmission assembly 21, as shown in fig. 4, the two conical driving wheels 210 are coaxially and integrally disposed, the two conical driving wheels 210 are respectively disposed at the left and right sides of the body 10, the gear teeth 2100 are disposed at a position between the two conical driving wheels 210, and the gear set can drive the two conical driving wheels 210 to synchronously rotate only by being meshed with the gear teeth 2100. Specifically, the bracket 234 is fixed on the body 10, the body 10 is provided with a through hole for the cone-shaped driving wheel 210 to pass through, and the end of the cone-shaped driving wheel 210 is rotatably fixed on the body 10 through the bracket 234.

Preferably, the two cone-shaped driving wheels 210 are symmetrically arranged, and the closer to the machine body 10, the smaller the radial dimension of the cone-shaped driving wheels 210 is. Correspondingly, the two conical driven wheels 220 are also symmetrically arranged, but the two conical driven wheels 220 are only coaxially arranged, but the motions of the two conical driven wheels are independent of each other, so that the two wings 30 can swing at different frequencies, the shape of the conical driven wheel 220 is matched with the two conical driven wheels, the radial dimension of the conical driven wheel 220 is larger as the conical driven wheel is closer to the machine body 10, the slit width between the conical driving wheel 210 and the conical driven wheel 220 is ensured to be equal everywhere, and the conical driving wheel 210 and the conical driven wheel 220 can be always contacted simultaneously no matter where the friction ball 230 moves.

Here, the gear set for transmitting torque between the cone-shaped driving wheel 210 and the first steering engine 20 may specifically include a first gear 211, a second gear 212, and a driving gear 213, where the first gear 211 and the second gear 212 are coaxially disposed and fixed at two ends of a same gear shaft perpendicular to the body 10, respectively, the driving gear 213 fixed on the rotating shaft of the first steering engine 20 is engaged with the first gear 211, the second gear 212 and the first gear 211 rotate synchronously, and the second gear 212 is engaged with the cone-shaped driving wheel 210, so as to drive the cone-shaped driving wheel 210 to rotate.

As shown in fig. 2 to 5, the frequency adjustment assembly 23 specifically includes a guide rod 232 and a bracket 234 fixed relative to the body 10, the guide rod 232 is disposed between the conical driving wheel 210 and the conical driven wheel 220 and an inclination angle of the guide rod 232 relative to the body 10 matches a slope of the conical driving wheel 210, and the friction ball holding block 231 is slidably disposed on the guide rod 232 along a length direction of the guide rod 232, so that the friction ball 230 is always kept in rolling contact with the conical driving wheel 210 and the conical driven wheel 220. One end of the guide rod 232 may be fixed to the bracket 234, and the other end may be suspended, or may be fixed to the body 10.

The guide rods 232 may be two, and are arranged in parallel at the left and right sides of the slit between the cone-shaped driving wheel 210 and the cone-shaped driven wheel 220, and the friction ball holding block 231 is sleeved on the two guide rods 232 at the same time. It is understood that in other embodiments, only one guide rod 232 may be provided, and by configuring the guide rod to have a square cross section, a corresponding square hole is also opened in the friction ball holding block 231, and the square guide rod 232 is inserted into the square hole of the friction ball holding block 231 to slide.

In the embodiment, the frequency adjusting assembly 23 includes a friction ball shaft 233 (as shown in fig. 4), a mounting hole 2310 is formed on the friction ball holding block 231, the friction ball 230 is placed in the mounting hole, and the friction ball shaft 233 is fixed on the friction ball holding block 231 and has an axial direction consistent with the guide rod 232. The friction ball shaft 233 penetrates the mounting hole 2310, and the friction ball 230 is rotatably sleeved on the friction ball shaft 233, so that the friction ball shaft is limited in the mounting hole 2310 and can rotate along the friction ball shaft 233.

It is understood that the friction ball 230 of the present embodiment may be a roller, a ball or a wheel, but it can only rotate around the friction ball shaft 233. In other embodiments, the friction ball shaft 233 may be omitted, the friction ball 230 is a spherical ball, the mounting hole 2310 is a through hole slightly larger than the size of the friction ball 230, and the friction ball retaining block 231 is only required to limit the friction ball not to fall out of the slit between the cone-shaped driving wheel 210 and the cone-shaped driven wheel 220, and the ball is always in rolling fit with the cone-shaped driving wheel 210 and the cone-shaped driven wheel 220.

The bracket 234 may be a part of the frequency adjustment assembly 23, the bracket 234 is fixed on the body 10, one end of the guide rod 232 is fixed on the bracket 234, and the bracket 234 serves as a holder for the cone-shaped driving wheel 210 and a holder for the guide rod 232. Preferably, the bracket 234 is in a U shape with an arch, the axle of the cone-shaped driving wheel 210 is rotatably disposed at the arch of the bracket 234, and the two guide rods 232 are respectively fixed at the upper and lower sides of the arch of the bracket 234. For example, a bearing may be installed in the bracket 234, the axle of the cone-shaped driving wheel 210 is inserted into the bearing, and the two brackets 234 of the two cone-shaped driving wheels 210 may fix the gear tooth 2100 on the body 10 in a suspended manner.

As a driving mode of the friction ball holding block 231, the frequency adjusting assembly 23 includes a second steering engine 235 and an adjusting link 236 whose two ends are respectively hinged to a swing arm of the second steering engine 235 and the friction ball holding block 231, and the friction ball holding block 231 can reciprocate along the guide rod 232 under the driving of the second steering engine 235, so as to freely adjust the flapping frequency of the corresponding wing 30 during the flight.

Referring to fig. 1 and 6, the tail assembly 1 includes a tail 11 and a tail driving mechanism, the tail 11 is rotatably connected to the tail of the body 10, and the tail driving mechanism is used for driving the tail 11 to swing up and down relative to the body 10 to change the included angle between the two. Specifically, the tail driving mechanism comprises a tail steering engine 12, a tail swing arm 13 and a tail connecting rod 14, the tail swing arm 13, the tail connecting rod 14 and the tail 11 are sequentially connected in a rotating mode, and the tail steering engine 12 drives the tail swing arm 13 to rotate so as to drive the tail 11 to swing up and down to change different flight postures. The empennage 11 is arranged at intervals relative to the rotating center of the body 10 and the connecting part of the empennage 11 and the empennage connecting rod 14, so that the empennage steering engine 12, the empennage swing arm 13, the empennage connecting rod 14 and the empennage 11 form a crank connecting rod mechanism.

As shown in fig. 7, each wing 30 of the present embodiment may include a wing rod 300 at the end and a wing actuator 301 for driving the wing rod 300 to swing back and forth relative to the main body of the wing 30, in consideration of various sudden situations or harsh environments that the flapping wing robot may encounter during flight. The front and back twisting amplitude of the wing rod 300 is changed through the wing steering engine 301, so that various airflows or faults can be effectively dealt with, the air resistance is reduced, and the movement is more flexible.

As shown in fig. 8, each wing 30 includes a frame 31 hinged to the body 10 and a sliding block 32 slidably disposed on the frame 31, the wing assembly 3 further includes an amplitude adjustment assembly 33 connected to each sliding block 32, the sliding block 32 is movably connected to the transmission rod 221 through a universal joint, and the amplitude adjustment assembly 33 is configured to move each sliding block 32 along a length direction of the frame 31.

Specifically, the amplitude adjustment assembly 33 of the present embodiment includes a third steering engine 331 fixed to the body 10, a driving pulley 332 driven by the third steering engine 331, a first pulley 333 fixed to each framework 31, and a tension rope 334, where the first pulley 333 is farther away from the body 10 relative to the sliding block 32, the tension rope 334 is simultaneously sleeved on the outer peripheral surfaces of the driving pulley 332 and the two first pulleys 333 and is tensioned, and each sliding block 32 is fixed relative to one strand of the tension rope 334. The tension rope 334 tightens the outer peripheral surfaces of the driving pulley 332 and the first pulleys 333 on the two sides at the same time, and when the third steering engine 331 drives the driving pulley 332 to rotate, the tension rope 334 is driven to move towards the corresponding direction, the first pulleys 333 are driven to rotate, and meanwhile the positions of the sliders 32 on the left side and the right side on the framework 31 are driven to change, so that the amplitudes of the wings 30 on the two sides change at the same time. It should be noted that the tension rope 334 is led in from one side of each first pulley 333, tensioned along the surface of the first pulley 333, and led out from the other side, the leading end and the leading end of the tension rope 334 are called two strands, where "one strand of tension rope 334" refers to the leading end or the leading end of one side of the first pulley 333, and "the slider 32 is fixed relative to one strand of tension rope 334" is different from the case where the leading end and the leading end are fixed relative to the slider 32 at the same time, so as to ensure that the slider 32 can slide relative to the framework 31 under the driving of the driving pulley 332.

In this embodiment, the left and right sliders 32 move relative to the main body 10 in opposite directions, that is, when the driving pulley 332 rotates, the slider 32 on one side moves toward the end of the wing 30 (away from the main body 10), and the slider 32 on the other side moves away from the end of the wing 30 (toward the main body 10), so that the amplitudes on both sides have a differential value, and the left and right flapping amplitudes are differentiated. This requires that the left and right sliders 32 are fixed to the tension ropes 334 on the same side of the first pulley 333, i.e., the sliders 32 on both sides are fixed to either the tension rope 334 of the first pulley 333 facing the head side or the tension rope 334 of the first pulley 333 facing the tail side.

It is understood that in other embodiments, the left and right sliders 32 may move in the same manner relative to the body 10, that is, when the driving pulley 332 rotates, the left and right sliders 32 simultaneously move toward the end of the wing 30 (back to the body 10) or simultaneously move away from the end of the wing 30 (toward the body 10), in which case, the flapping amplitudes of the left and right are completely consistent, and only the amplitude adjustment of the two sides can be performed synchronously and at the same amplitude, and the amplitude differential adjustment of the two sides cannot be achieved.

In addition, the amplitude adjustment assembly 33 of the present embodiment further includes a second pulley 335 fixed on each frame 31, the second pulley 335 is fixed on a portion of the frame 31 closer to the body 10 than the slider 32, the second pulley 335 is located between the driving pulley 332 and the first pulley 333, two ends of the tension rope 334 are respectively led out from the left and right sides of the driving pulley 332, are tensioned by the portion (inside) of the second pulley 335 facing the body 10, are led out to the side where the slider 32 is located, are led out from the lower side of the slider 32 to the outer circumferential surface wound around the first pulley 333, and then are wound around the outer circumferential surface of the first pulley 333 wound on the opposite side, so as to form a closed tensioning loop.

In addition, the amplitude adjustment assembly 33 may further include a third pulley 336 fixed to the head of the body 10, and the tension cord 334 is also simultaneously sleeved and tensioned on the outer circumferential surface of the third pulley 336. That is, the third pulley 336 is located on the tension loop between the left and right first pulleys 333. In order to improve the smoothness of the movement of the tension rope 334, in this embodiment, a fourth pulley 337 is fixed to the frame 31 on a side close to the third pulley 336, and the fourth pulley 337 is located between the first pulley 333 and the third pulley 336 and also between the second pulley 335 and the third pulley 336. The tension rope 334 led out from the two ends of the third pulley 336 is led out to the side of the sliding block 32 after being tensioned by the fourth pulleys 337 at the two sides, is led out to the outer surface of the first pulley 333 after being fixed on the sliding block 32, and is wound on the outer peripheral surface of the driving pulley 332 after being tensioned by the second pulley 335, thereby forming a complete closed circuit in a shape of a plus sign.

As shown in fig. 9, which is a state diagram before the amplitude adjustment of the flapping wing robot, the sliding blocks 32 on the wings 30 on both sides are symmetrically arranged; as shown in fig. 10, the flapping-wing robot is in a state of amplitude adjustment, in which both wings 30 are slid rightward in the drawing, that is, the slider 32 of the right wing 30 is slid outward in the drawing, the slider 32 of the left wing 30 is slid toward the body 10, the amplitude of the right wing 30 is decreased in the drawing, and the amplitude of the left wing 30 is increased.

As shown in fig. 11, the control method of the flapping-wing robot of the present embodiment mainly includes:

s01, starting the first steering engine 20, transmitting torque to the conical driven wheel 220 sequentially through the conical driving wheels 210 and the friction balls 230 on the two sides, driving the opening angle of the corresponding wing 30 to change by the transmission rods 221 on the two sides in the rotating process of the conical driven wheel 220, and converting the torque of the first steering engine 20 into upward and downward flapping actions of the wing 30;

and S02, when the flapping frequency of a certain wing 30 needs to be changed, starting a second steering engine 235, and changing the rolling position of the friction ball 230 on the side where the wing 30 is located between the conical driving wheel 210 and the conical driven wheel 220.

Further, the control method further includes:

s03, when the flapping amplitude of a certain wing 30 needs to be changed, the third steering engine 331 is started, and the position of the sliding block 32 connected with the transmission rod 221 on the side where the wing 30 is located on the framework 31 is adjusted.

S04, when the flight attitude needs to be changed, the tail wing steering engine 12 is started, and the included angle between the tail wing 11 and the fuselage 10 is adjusted.

And S05, when the air resistance of the wing 30 on one side needs to be changed, the wing steering engine 301 is started, and the front and back twisting amplitude of the wing rod 300 on the side is adjusted.

It can be understood that the steps S02 to S05 are not in sequence, and are performed in an on-demand adjustment manner according to the actual flight scene.

In conclusion, the steering engine is adopted to drive the wings on the two sides to flap simultaneously, in the flapping process of the wings, the flapping frequency of the wings on the two sides can be independently adjusted by changing the position of the friction ball, the control process is very simple and reliable, the complexity of design is reduced, and the flying accuracy is improved. In addition, the flapping amplitude of the wings at the left side and the right side, the torsion amplitude of the wings and the tail wing posture can be changed in the flapping process of the wings, and the functions of asymmetric amplitude control, stepless speed change and wing torsion are realized.

The foregoing is directed to embodiments of the present application and it is noted that numerous modifications and adaptations may be made by those skilled in the art without departing from the principles of the present application and are intended to be within the scope of the present application.

Claims

1. The flapping wing robot is characterized by comprising a robot body (10), and a tail wing assembly (1), a flapping mechanism (2) and a wing assembly (3) which are respectively connected with the robot body (10), wherein the wing assembly (3) comprises two wings (30), one end of each wing (30) is hinged with the robot body (10), and the free ends of the two wings (30) are respectively opened towards the left side and the right side of the robot body (10); the flapping mechanism (2) comprises a first steering engine (20), a transmission assembly (21) driven by the first steering engine (20), two flapping assemblies (22) and two frequency adjusting assemblies (23), the transmission assembly (21) comprises two conical driving wheels (210) respectively arranged on two sides of the machine body (10), each flapping assembly (22) comprises a conical driven wheel (220) and a transmission rod (221), the conical driving wheels (210) are adjacent to the conical driven wheels (220) on the same side, and conical surfaces of the conical driving wheels and the conical driven wheels face each other; each frequency adjusting assembly (23) comprises a friction ball holding block (231) and a friction ball (230) arranged on the friction ball holding block (231), the friction ball (230) is simultaneously in rolling fit with the conical surface of the conical driving wheel (210) and the conical surface of the conical driven wheel (220), and the friction ball holding block (231) is movably arranged along the direction of the conical surface gradient of the conical driving wheel (210) to change the position of the friction ball (230); two ends of the transmission rod (221) are respectively movably connected with the surface of the conical driven wheel (220) and the wing (30) through universal joints, so that the opening angle of the wing (30) is driven to change in the rotating process of the conical driven wheel (220).

2. The ornithopter robot as claimed in claim 1, wherein the two cone-shaped driving wheels (210) are coaxially and integrally arranged.

3. The ornithopter robot according to claim 2, wherein the transmission assembly (21) further comprises a ring of gear teeth (2100) coaxially fixed with the cone-shaped driving wheel (210), and the first steering engine (20) is engaged with the gear teeth (2100) through a gear set.

4. The ornithopter robot as claimed in claim 1, wherein the frequency adjusting assembly (23) includes a guide rod (232) fixed relative to the body (10), the guide rod (232) is disposed between the conical driving wheel (210) and the conical driven wheel (220) and has an inclination angle relative to the body (10) matching a slope of the conical driving wheel (210), and the ball friction holding block (231) is slidably disposed on the guide rod (232) along a length direction of the guide rod (232).

5. The ornithopter robot as claimed in claim 4, wherein the frequency adjusting assembly (23) comprises a second steering engine (235) and an adjusting connecting rod (236) with two ends respectively hinged to a swing arm of the second steering engine (235) and the friction ball retaining block (231), and the friction ball retaining block (231) can reciprocate along the guide rod (232) under the driving of the second steering engine (235).

6. The ornithopter of claim 1, wherein the tail assembly (1) comprises a tail (11) and a tail driving mechanism, the tail (11) is rotatably connected with the tail of the body (10), and the tail driving mechanism is used for driving the tail (11) to swing up and down relative to the body (10); and/or each wing (30) comprises a wing rod (300) at the tail end and a wing steering engine (301) for driving the wing rod (300) to swing back and forth relative to the main body part of the wing (30).

7. The flapping wing robot of any one of claims 1-6, wherein each wing (30) comprises a frame (31) hinged to the fuselage (10) and a sliding block (32) slidably disposed on the frame (31), the wing assembly (3) further comprises an amplitude adjustment assembly (33) connected to each sliding block (32), the sliding blocks (32) are movably connected to the transmission rod (221) through universal joints, and the amplitude adjustment assembly (33) is used for moving each sliding block (32) along the length direction of the frame (31).

8. The flapping wing robot of claim 7, wherein the amplitude adjusting assembly (33) comprises a third steering engine (331) fixed on the fuselage (10), a driving pulley (332) driven by the third steering engine (331), a first pulley (333) fixed on each framework (31), and tension ropes (334), wherein the first pulley (333) is farther away from the fuselage (10) relative to the sliding blocks (32), the tension ropes (334) are simultaneously sleeved on the outer peripheral surfaces of the driving pulley (332) and the two first pulleys (333) and are tensioned, and each sliding block (32) is fixed relative to one strand of the tension ropes (334).

9. A control method of an ornithopter robot, comprising:

starting a first steering engine (20), and transmitting torque to a conical driven wheel (220) through conical driving wheels (210) and friction balls (230) on two sides in sequence;

the transmission rods (221) on the two sides drive the opening angle of the corresponding wing (30) to change in the rotating process of the conical driven wheel (220);

when the flapping frequency of a certain wing (30) needs to be changed, the rolling position of the friction ball (230) on the side where the wing (30) is located between the conical driving wheel (210) and the conical driven wheel (220) is changed.

10. The control method of an ornithopter robot according to claim 9, wherein when it is desired to change the flapping amplitude of a wing (30), the position of a slider (32) connected to the transmission rod (221) on the side of the wing (30) on the frame (31) is adjusted.