CN113895614A - Synchronous double-direct-acting drive energy-adjustable continuous winged unmanned aerial vehicle - Google Patents

Abstract

The invention relates to a synchronous double-direct-acting drive energy-adjustable continuous winged unmanned aerial vehicle. The installation of fuselage roof symmetry all around is fixed with the slide of four vertical directions, two take the wing to slide on the slide, two take the wing to connect respectively on two connecting pieces and can rotate relatively simultaneously, take the wing including taking the wing frame, and install the soft area on taking the wing frame, still be provided with the band pulley in taking the wing frame, take-up pulley and driving motor, be used for taking the switching of wing operating condition and reset state, drive mechanism connects on two connecting pieces, the motor that sets up on the fuselage bottom plate drives drive mechanism motion after through the third reduction gear speed reduction and makes two connecting pieces synchronous up-and-down slip, two step motor that set up respectively on two connecting pieces drive two respectively and take the wing to rotate after two first reduction gears speed reductions.

Description

Synchronous double-direct-acting drive energy-adjustable continuous winged unmanned aerial vehicle

Technical Field

The invention relates to the field of movable wing aircrafts and flying robots, in particular to a synchronous double-direct-acting drive energy-adjustable continuous winged unmanned aerial vehicle.

Background

The flight mode of the aircraft comprises three flight modes of a fixed wing, a rotor wing and a flapping wing, wherein the flapping wing flight is a flight mode adopted by natural flight organisms, the upper flapping and the lower flapping of double wings are mainly utilized to simultaneously generate lift force and thrust force, and the flight mode has the main characteristic that the lifting, hovering and propelling functions are integrated, meanwhile, the flight mode has strong maneuverability and flexibility, and is more suitable for executing flight around obstacles and the like. For an aircraft in a small-size and low-speed flight state, the aircraft flies at a low Reynolds number, and the unsteady lift force generated by the flapping wings is much larger than the unsteady lift force of the fixed wings; from the thrust aspect, the flapping wing propulsion efficiency is higher than the propeller propulsion efficiency.

At present, the research of the flapping wing air vehicle mainly focuses on simulating the flight attitude of flying organisms in the nature and designing various wing mechanisms. The flapping wing driving mechanism can be divided into a multi-degree-of-freedom flapping wing driving mechanism and a single-degree-of-freedom flapping wing driving mechanism, the multi-degree-of-freedom flapping wing driving mechanism can realize a complex motion form, but the mechanism is relatively large and complex, the single-degree-of-freedom flapping wing driving mechanism only needs to realize flapping motion, and the trailing edge of the fixed wing forms an attack angle which changes along with the flapping of the wing to realize the twisting motion.

However, the common problem of these flapping wing mechanisms is that the overall aerodynamic efficiency is low, even lower than that of the fixed wing micro-aircraft of the same scale. The main reason for the low overall efficiency of the flapping wing aircraft is that most of the existing researches simply imitate the appearance and flapping motion of wings of birds or insects, but the problems that the air resistance is reduced and unsteady aerodynamic force is generated by utilizing the change of the self posture and the structure of the wings in the process of flapping the flapping wings of flying organisms up and down are difficult to realize, and the generated problem of low aerodynamic efficiency seriously restricts the popularization and the application of the flapping wing aircraft. Meanwhile, most of the existing flapping wing aircrafts cannot realize vertical take-off and landing and hovering in the air, and the flexibility and the maneuverability are not good enough.

Disclosure of Invention

The invention aims to provide a synchronous double-direct-acting drive energy-adjustable continuous winged unmanned aerial vehicle which remarkably reduces flight resistance of flapping wing type and rotor wing type aircrafts, improves aerodynamic efficiency, and conveniently realizes functions of vertical take-off and landing, hovering in the air, advancing and retreating, turning and the like, so as to solve the problems in the prior art.

The technical solution for realizing the purpose of the invention is as follows:

the utility model provides an adjustable continuous winged type unmanned aerial vehicle of synchronous two direct-acting drive energy, including winged, fuselage roof, first reduction gear, step motor, connecting piece, second reduction gear, driving motor, drive mechanism, fuselage bottom plate, third reduction gear, motor and slide, the installation of fuselage roof symmetry all around is fixed with the slide of four vertical directions, two the connecting piece is fixed connection respectively on the push rod, two the winged is connected respectively on two the connecting piece and can rotate relatively, the winged is including the winged frame to and the continuous soft area of suit on the winged frame, the winged frame still is provided with driving motor and second reduction gear, driving motor drives after the speed reduction of second reduction gear the soft area centers on the winged frame motion, drive mechanism connects on two the connecting piece, the motor arranged on the machine body bottom plate drives the transmission mechanism to move to enable the two connecting pieces to synchronously slide up and down after being decelerated by the third speed reducer arranged on the machine body bottom plate, and the two stepping motors arranged on the two connecting pieces respectively drive the two belt wings to rotate after being decelerated by the two first speed reducers arranged on the connecting pieces.

Further, a large belt wheel mounting shaft, a small belt wheel mounting shaft, a frame connecting rod, a frame upper cross beam, a frame lower cross beam, a frame longitudinal beam, a motor mounting hole and a winged rotating shaft are arranged on the winged frame, the soft belt comprises a soft belt windward side, a soft belt leeward side and a soft belt through hole which are oppositely arranged, the connecting piece is provided with a winged rotating shaft hole and a fixed mounting hole, the axis of the winged rotating shaft hole is perpendicular to the axis of the fixed mounting hole, and the winged rotating shaft is inserted into the winged rotating shaft hole and can rotate; the large belt wheel with the wings is inserted in the large belt wheel mounting shaft, the small belt wheel with the wings is inserted in the small belt wheel mounting shaft, the driving motor is arranged in the motor mounting hole, and the tensioning wheel is inserted in the middle of the frame connecting rod.

The transmission mechanism comprises a push rod, a roller, a cylindrical cam and a transmission shaft, the cylindrical cam is provided with a cylindrical cam rotating hole and a cylindrical cam surface, the cylindrical cam surface is coaxial with the transmission shaft, the cylindrical cam surface is provided with a cam curve groove which is communicated with the cylindrical cam surface for a circle, the push rod is provided with a slideway hole, a push rod support and a push rod shaft hole, the push rod shaft hole and the roller are connected through a connecting rod in the vertical direction through a roller mounting shaft, the cylindrical surface of the roller is tangent to and can slide on two side surfaces of the cam curve groove through the roller mounting shaft, the slideway is inserted in the slideway hole and can slide, the two connecting pieces are arranged on the push rod support through the fixed mounting holes, and the transmission shaft is connected with the cylindrical cam rotating hole and the third speed reducer.

Furthermore, two side surfaces of the cam curved groove are both spiral curved surfaces.

Further, the rotating shaft with the wing is installed on an output shaft of the first speed reducer, and an output shaft of the stepping motor is installed in an input hole of the first speed reducer.

Further, the output shaft of the motor is mounted in the third reducer input hole.

Further, an output shaft of the driving motor is installed in the second speed reducer input hole.

Further, the frame connecting rod, the frame upper cross beam, the frame lower cross beam and the frame longitudinal beam are all hollow structures; the frame connecting rods, the frame upper cross beam, the frame lower cross beam and the frame longitudinal beam are made of engineering plastics or carbon fiber materials.

Furthermore, each of the winged frames is provided with 4 identical winged large pulleys, 4 identical winged small pulleys and 4 identical tension pulleys.

A synchronous double-direct-acting drive energy-adjustable continuous winged unmanned aerial vehicle is characterized in that a winged unmanned aerial vehicle is provided with wings, a top plate of a vehicle body, a first speed reducer, a stepping motor, connecting pieces, a second speed reducer, a drive motor, a transmission mechanism, a bottom plate of the vehicle body, a third speed reducer, a motor and slideways, four slideways in vertical directions are symmetrically arranged and fixed on the periphery of the top plate of the vehicle body, the two connecting pieces are respectively and fixedly connected to a push rod, the two winged unmanned aerial vehicle is respectively connected to the two connecting pieces and can relatively rotate, each winged unmanned aerial vehicle comprises a winged frame and a continuous soft belt sleeved on the winged frame, the winged frame is also provided with the drive motor and the second speed reducer, the drive motor drives the soft belt to move around the winged frame after being decelerated by the second speed reducer, the transmission mechanism is connected to the two connecting pieces, the motor arranged on the bottom plate of the vehicle body drives the transmission mechanism to move so that the two connecting pieces synchronously slide up and down after being decelerated by the third speed reducer arranged on the bottom plate of the vehicle body, the two stepping motors respectively arranged on the two connecting pieces respectively drive the two winged rotating shafts respectively after being decelerated through the two first speed reducers arranged on the two connecting pieces, the winged framework is provided with a large belt wheel mounting shaft, a small belt wheel mounting shaft, a framework connecting rod, a framework upper cross beam, a framework lower cross beam, a framework longitudinal beam, a motor mounting hole and a winged rotating shaft, the soft belt comprises a soft belt windward surface, a soft belt leeward surface and a soft belt through hole which are oppositely arranged, the connecting pieces are provided with a winged rotating shaft hole and a fixed mounting hole, the axis of the winged rotating shaft hole is vertical to the axis of the fixed mounting hole, and the winged rotating shaft is inserted in the winged rotating shaft hole and can rotate; the large belt wheel with wings is inserted in the installation shaft of the large belt wheel, the small belt wheel with wings is inserted in the installation shaft of the small belt wheel, the driving motor is arranged in a motor installation hole, the tensioning wheel is inserted in the middle position of the frame connecting rod, the transmission mechanism comprises a push rod, a roller, a cylindrical cam and a transmission shaft, the cylindrical cam is provided with a cylindrical cam rotating hole and a cam cylindrical surface, the cam cylindrical surface is coaxial with the transmission shaft, the cam cylindrical surface is provided with a communicated cam curved groove which surrounds the cam cylindrical surface for a circle, the push rod is provided with a slideway hole, a push rod support and a push rod shaft hole, the push rod shaft hole in the vertical direction is connected with the roller through the connecting rod and the roller installation shaft, the cylindrical surface of the roller is tangent to and can slide with two side surfaces of the cam curved groove through the roller installation shaft, the slideway is inserted in the slideway hole and can slide, the two connecting pieces are arranged on the push rod support through fixed installation holes, and the transmission shaft is connected with the cylindrical cam rotating hole and a third speed reducer, two side surfaces of the cam curve groove are both spiral curved surfaces, a rotating shaft with wings is arranged on an output shaft of a first speed reducer, an output shaft of a stepping motor is arranged in an input hole of the first speed reducer, an output shaft of a motor is arranged in an input hole of a third speed reducer, an output shaft of a driving motor is arranged in an input hole of the second speed reducer, and a frame connecting rod, a frame upper cross beam, a frame lower cross beam and a frame longitudinal beam are all of hollow structures; the frame connecting rods, the frame upper cross beam, the frame lower cross beam and the frame longitudinal beam are made of engineering plastics or carbon fiber materials.

The working principle of the invention is as follows: when the motor is started, the motor is decelerated by a third reducer to drive the cylindrical cam and the transmission shaft to continuously rotate, the cam curved groove drives the roller inserted in the cam groove to synchronously reciprocate, the push rod drives the connecting piece and the two frames with wings to synchronously translate in a reciprocating manner under the combined action of the cylindrical cam and the roller, the frames with wings are in a winged working state when the frames with wings translate close to the transmission shaft, the soft belt is controlled by the driving motor and directly faces the airflow, the through holes of the soft belt move to two sides to avoid the airflow, the windward side of the soft belt is vertical to the movement direction of the airflow, the airflow directly acts on the windward side of the soft belt to obtain the maximum aerodynamic force, meanwhile, the stepping motor is decelerated by the first reducer to drive the frames with wings to rotate, the inclination angle of the wings is changed, and the positive pressure of the airflow on the windward side of the soft belt can be decomposed into a lifting force and a pushing force, the change of the inclination angle can adjust the lift force and the thrust force; when the frame with the wings performs translational motion far away from the transmission shaft, the frame with the wings is in a resetting state with the wings, at the moment, airflow directly acts on the soft through hole, and directly flows out from the through hole, so that the air resistance borne by the wings in the resetting process is the minimum; when the return stroke of the belt wing is finished, the acting force of the airflow is reduced, and under the action of the driving motor, the large gear with the wing moves to drive the soft belt to rotate to a working state. When the two stepping motors adjust the two wing surfaces with wings to be in a horizontal state, the vertical take-off and landing function can be realized, if the aerodynamic force generated by the two wing surfaces is equal to the weight and the resistance of the whole machine, hovering can be realized, and the stepping motors and the motors are used for adjusting the flapping wing inclination angles of the flapping wings at two sides to be consistent with the reciprocating motion frequency, so that the advancing and retreating functions can be realized; if the flapping wing inclination angles of the flapping wings on the two sides are not consistent, the turning function can be realized.

Compared with the prior art, the invention has the following remarkable advantages:

1. according to the synchronous double-direct-acting drive energy-adjustable continuous winged unmanned aerial vehicle, the winged wings are arranged to be linearly translated, and the soft belts controlled by the drive motors are designed, so that the soft belts move upwind in the largest area in the working state to obtain the largest aerodynamic force, and the upwind area of the curtain wings is variable in the working state, so that the drive energy is adjustable; and when the device is in a reset state, the soft belt moves to the position of the soft belt through hole under the control of the driving motor, so that the soft belt through hole is opposite to the air flow, and the air flow directly flows out from the position of the soft belt through hole, so that the resistance is greatly reduced, and the aim of improving the pneumatic efficiency of the winged flight is fulfilled.

2. According to the synchronous double-direct-acting drive energy-adjustable continuous winged unmanned aerial vehicle, the soft belt in the direct-acting winged unmanned aerial vehicle is switched between the working state and the reset state under the control of the drive motor, the belt wheel drives the soft belt to complete the switching, and the unmanned aerial vehicle is high in control precision and good in reliability.

3. The synchronous double-direct-acting drive energy-adjustable continuous winged unmanned aerial vehicle synchronously controls the up-and-down reciprocating direct action of the four winged unmanned aerial vehicles through one motor, the winged unmanned aerial vehicles on two sides are synchronous, the action consistency is good, the control system is simpler, and each winged inclination angle is independently controlled through the stepping motor, so that the functions of vertical take-off and landing, hovering in the air, advancing and retreating, turning and the like are realized, and the maneuverability of the flapping-wing unmanned aerial vehicle is better.

4. The synchronous double-direct-acting drive energy-adjustable continuous winged unmanned aerial vehicle has the advantages of simple structure, good processing manufacturability and low production cost, and can be widely applied to various small aircrafts and unmanned aerial vehicles flying at low Reynolds numbers.

Drawings

Fig. 1 is a schematic view of the overall structure of the synchronous double-linear-motion drive energy-adjustable continuous winged unmanned aerial vehicle.

Fig. 2 is a detailed structural schematic diagram of the synchronous double-linear-motion drive energy-adjustable continuous winged unmanned aerial vehicle provided with only one winged wing in a working state.

Fig. 3 is a detailed structural schematic diagram of the synchronous double-linear-motion drive energy-adjustable continuous winged unmanned aerial vehicle provided with only one winged wing in a reset state.

Fig. 4 is a cross-sectional view of the synchronous double-linear-motion drive energy-adjustable continuous winged unmanned aerial vehicle in a working state.

Fig. 5 is a cross-sectional view of the synchronous double direct-acting drive energy-adjustable continuous winged unmanned aerial vehicle in a reset state.

Fig. 6 is a schematic structural diagram of a winged frame of the synchronous double-linear-motion drive energy-adjustable continuous winged unmanned aerial vehicle.

Fig. 7 is a schematic structural view of a soft belt of the synchronous double-linear-motion drive energy-adjustable continuous winged unmanned aerial vehicle of the invention.

Fig. 8 is a schematic structural diagram of the connecting piece of the synchronous double-linear-motion drive energy-adjustable continuous winged unmanned aerial vehicle.

Fig. 9 is a schematic structural diagram of a push rod of the synchronous double-linear-motion drive energy-adjustable continuous winged unmanned aerial vehicle.

Fig. 10 is a schematic structural diagram of the cam of the synchronous double direct-acting drive energy-adjustable continuous winged drone of the present invention.

Detailed Description

The invention is further described below with reference to the accompanying drawings, but the invention is not limited in any way.

Example 1: and with reference to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9 and fig. 10, the high-voltage wire routing inspection unmanned aerial vehicle adopting the synchronous double-direct-acting drive energy-adjustable continuous winged unmanned aerial vehicle. The belt wing type flexible belt conveyor comprises a belt wing, a machine body top plate 4, a first speed reducer 5, a stepping motor 6, connecting pieces 7, a second speed reducer 8, a driving motor 9, a transmission mechanism, a machine body bottom plate 15, a third speed reducer 16, a motor 17 and slide ways 18, four slide ways 18 in the vertical direction are symmetrically installed and fixed on the periphery of the machine body top plate 4, the two connecting pieces 7 are fixedly connected to push rods 10 respectively, the two belt wings are connected to the two connecting pieces 7 respectively and can rotate relatively, the belt wing comprises a belt wing frame 1 and continuous flexible belts 2 sleeved on the belt wing frame 1, the belt wing frame 1 is further provided with the driving motor 9 and the second speed reducer 8, the driving motor 9 drives the flexible belts 2 to move around the belt wing frame 1 after being decelerated by the second speed reducer 8, the transmission mechanism is connected to the two connecting pieces 7, the motor 17 arranged on the machine body bottom plate 15 drives the transmission mechanism to move after being decelerated by the third speed reducer 17 arranged on the machine body bottom plate 15, so that the two connecting pieces 7 synchronously slide up and down The two stepping motors 6 respectively arranged on the two connecting pieces 7 respectively drive the two belt wings to rotate after being decelerated by the two first speed reducers 5 arranged on the two connecting pieces 7; the winged frame 1 is provided with a large belt wheel mounting shaft 101, a small belt wheel mounting shaft 102, a frame connecting rod 103, a frame upper cross beam 104, a frame lower cross beam 105, a frame longitudinal beam 106, a motor mounting hole 107 and a winged rotating shaft 108, the soft belt 2 comprises a soft belt windward side 201, a soft belt leeward side 203 and a soft belt through hole 202 which are oppositely arranged, the connecting piece 7 is provided with a winged rotating shaft hole 701 and a fixed mounting hole 702, the axis of the winged rotating shaft hole 701 is vertical to the axis of the fixed mounting hole 702, and the winged rotating shaft 108 is inserted into the winged rotating shaft hole 701 and can rotate; the winged large belt wheel 19 is inserted in the large belt wheel mounting shaft 101, the winged small belt wheel 20 is inserted in the small belt wheel mounting shaft 102, the driving motor 9 is arranged in the motor mounting hole 107, the tension wheel 3 is inserted in the middle of the frame connecting rod 103, the transmission mechanism comprises a push rod 10, a roller 13, a cylindrical cam 14 and a transmission shaft 22, the cylindrical cam 14 is provided with a cylindrical cam rotating hole 1401 and a cylindrical cam surface 1402, the cylindrical cam surface 1402 is coaxial with the transmission shaft 22, the cylindrical cam surface 1402 is provided with a communicated cam curve groove 1403 surrounding the cylindrical cam surface 1402 for one circle, the push rod 10 is provided with a chute hole 1001, a push rod bracket 1002 and a push rod shaft hole 1003, the push rod shaft hole 1003 in the vertical direction is connected with the roller 13 through the roller mounting shaft 21 by the connecting rod 20, the cylindrical surface of the roller 13 is tangent and can slide with two side surfaces of the cam curve groove 1403 through the roller mounting shaft 21, the chute 18 is inserted in the chute hole 1001 and can slide, two connecting pieces 7 are arranged on a push rod bracket 1002 through a fixed mounting hole 702, a transmission shaft 22 is connected with a cylindrical cam rotating hole 1401 and a third speed reducer 16, two side surfaces of a cam curve groove 1403 are both spiral curved surfaces, a wing-provided rotating shaft 108 is arranged on an output shaft of a first speed reducer 5, an output shaft of a stepping motor 6 is arranged in an input hole of the first speed reducer 5, an output shaft of a motor 17 is arranged in an input hole of the third speed reducer 16, an output shaft of a driving motor 9 is arranged in an input hole of a second speed reducer 8, and a frame connecting rod 103, a frame upper cross beam 104, a frame lower cross beam 105 and a frame longitudinal beam 106 are all of a hollow structure; the frame connecting rods 103, the frame upper cross beams 104, the frame lower cross beams 105 and the frame longitudinal beams 106 are made of engineering plastics or carbon fiber materials. After the high-voltage wire inspection unmanned aerial vehicle adopts the synchronous double-direct-acting drive energy-adjustable continuous winged unmanned aerial vehicle, various detection and photographing works can be completed due to small winged resistance and high pneumatic efficiency, and compared with a rotor unmanned aerial vehicle, after the unmanned aerial vehicle carries the same working load of photographic equipment and the like, the one-time flight time is increased by 20 percent, so that longer time flight work is realized.

Example 2: by combining the figures 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, the unmanned aerial vehicle special for fire extinguishing of the high-rise building adopts the synchronous double-direct-acting drive energy-adjustable continuous winged unmanned aerial vehicle. The belt wing type flexible belt conveyor comprises a belt wing, a machine body top plate 4, a first speed reducer 5, a stepping motor 6, connecting pieces 7, a second speed reducer 8, a driving motor 9, a transmission mechanism, a machine body bottom plate 15, a third speed reducer 16, a motor 17 and slide ways 18, four slide ways 18 in the vertical direction are symmetrically installed and fixed on the periphery of the machine body top plate 4, the two connecting pieces 7 are fixedly connected to push rods 10 respectively, the two belt wings are connected to the two connecting pieces 7 respectively and can rotate relatively, the belt wing comprises a belt wing frame 1 and continuous flexible belts 2 sleeved on the belt wing frame 1, the belt wing frame 1 is further provided with the driving motor 9 and the second speed reducer 8, the driving motor 9 drives the flexible belts 2 to move around the belt wing frame 1 after being decelerated by the second speed reducer 8, the transmission mechanism is connected to the two connecting pieces 7, the motor 17 arranged on the machine body bottom plate 15 drives the transmission mechanism to move after being decelerated by the third speed reducer 17 arranged on the machine body bottom plate 15, so that the two connecting pieces 7 synchronously slide up and down The two stepping motors 6 respectively arranged on the two connecting pieces 7 respectively drive the two belt wings to rotate after being decelerated by the two first speed reducers 5 arranged on the two connecting pieces 7; the winged frame 1 is provided with a large belt wheel mounting shaft 101, a small belt wheel mounting shaft 102, a frame connecting rod 103, a frame upper cross beam 104, a frame lower cross beam 105, a frame longitudinal beam 106, a motor mounting hole 107 and a winged rotating shaft 108, the soft belt 2 comprises a soft belt windward side 201, a soft belt leeward side 203 and a soft belt through hole 202 which are oppositely arranged, the connecting piece 7 is provided with a winged rotating shaft hole 701 and a fixed mounting hole 702, the axis of the winged rotating shaft hole 701 is vertical to the axis of the fixed mounting hole 702, and the winged rotating shaft 108 is inserted into the winged rotating shaft hole 701 and can rotate; the winged large belt wheel 19 is inserted in the large belt wheel mounting shaft 101, the winged small belt wheel 20 is inserted in the small belt wheel mounting shaft 102, the driving motor 9 is arranged in the motor mounting hole 107, the tension wheel 3 is inserted in the middle of the frame connecting rod 103, the transmission mechanism comprises a push rod 10, a roller 13, a cylindrical cam 14 and a transmission shaft 22, the cylindrical cam 14 is provided with a cylindrical cam rotating hole 1401 and a cylindrical cam surface 1402, the cylindrical cam surface 1402 is coaxial with the transmission shaft 22, the cylindrical cam surface 1402 is provided with a communicated cam curve groove 1403 surrounding the cylindrical cam surface 1402 for one circle, the push rod 10 is provided with a chute hole 1001, a push rod bracket 1002 and a push rod shaft hole 1003, the push rod shaft hole 1003 in the vertical direction is connected with the roller 13 through the roller mounting shaft 21 by the connecting rod 20, the cylindrical surface of the roller 13 is tangent and can slide with two side surfaces of the cam curve groove 1403 through the roller mounting shaft 21, the chute 18 is inserted in the chute hole 1001 and can slide, two connecting pieces 7 are arranged on a push rod bracket 1002 through a fixed mounting hole 702, a transmission shaft 22 is connected with a cylindrical cam rotating hole 1401 and a third speed reducer 16, two side surfaces of a cam curve groove 1403 are both spiral curved surfaces, a wing-provided rotating shaft 108 is arranged on an output shaft of a first speed reducer 5, an output shaft of a stepping motor 6 is arranged in an input hole of the first speed reducer 5, an output shaft of a motor 17 is arranged in an input hole of the third speed reducer 16, an output shaft of a driving motor 9 is arranged in an input hole of a second speed reducer 8, and a frame connecting rod 103, a frame upper cross beam 104, a frame lower cross beam 105 and a frame longitudinal beam 106 are all of a hollow structure; the frame connecting rods 103, the frame upper cross beams 104, the frame lower cross beams 105 and the frame longitudinal beams 106 are made of engineering plastics or carbon fiber materials. After the unmanned aerial vehicle special for fire extinguishing of the high-rise building adopts the synchronous double-direct-acting drive energy-adjustable continuous winged unmanned aerial vehicle, the winged unmanned aerial vehicle has stronger maneuverability because of large thrust of winged working stroke, small rotor resistance and high pneumatic efficiency, can quickly respond to emergency situations of the high-rise building and quickly fly to a fire catching point of the high-rise building for fire extinguishing.

Claims (8)

1. The synchronous double-direct-acting drive energy-adjustable continuous winged unmanned aerial vehicle is characterized by comprising winged bodies, a machine body top plate (4), a first speed reducer (5), a stepping motor (6), connecting pieces (7), a second speed reducer (8), a drive motor (9), a transmission mechanism, a machine body bottom plate (15), a third speed reducer (16), a motor (17) and slideways (18), wherein the slideways (18) in four vertical directions are symmetrically arranged and fixed on the periphery of the machine body top plate (4), the two connecting pieces (7) are respectively and fixedly connected onto push rods (10), the two winged bodies are respectively connected onto the two connecting pieces (7) and can rotate relatively, each winged body comprises a winged frame (1) and a continuous soft belt (2) sleeved on the winged frame (1), and the winged frame (1) is further provided with the drive motor (9) and the second speed reducer (8), the driving motor (9) drives the soft belt (2) to move around the winged frame (1) after being decelerated by the second speed reducer (8), the transmission mechanism is connected to the two connecting pieces (7), the motor (17) arranged on the machine body bottom plate (15) drives the transmission mechanism to move after being decelerated by the third speed reducer (17) arranged on the machine body bottom plate (15) so that the two connecting pieces (7) slide up and down synchronously, and the two stepping motors (6) respectively arranged on the two connecting pieces (7) respectively drive the two winged frames to rotate after being decelerated by the two first speed reducers (5) arranged on the two connecting pieces (7);

the flexible belt type wing-mounted frame is characterized in that a large belt wheel mounting shaft (101), a small belt wheel mounting shaft (102), a frame connecting rod (103), a frame upper cross beam (104), a frame lower cross beam (105), a frame longitudinal beam (106), a motor mounting hole (107) and a wing-mounted rotating shaft (108) are arranged on the wing-mounted frame (1), the flexible belt (2) comprises a flexible belt windward surface (201), a flexible belt leeward surface (203) and a flexible belt through hole (202) which are oppositely arranged, the connecting piece (7) is provided with a wing-mounted rotating shaft hole (701) and a fixed mounting hole (702), the axis of the wing-mounted rotating shaft hole (701) is perpendicular to the axis of the fixed mounting hole (702), and the wing-mounted rotating shaft (108) is inserted into the wing-mounted rotating shaft hole (701) and can rotate; the large belt wheel (19) with the wing is inserted in the large belt wheel installation shaft (101), the small belt wheel (20) with the wing is inserted in the small belt wheel installation shaft (102), the driving motor (9) is arranged in the motor installation hole (107), and the tensioning wheel (3) is inserted in the middle of the frame connecting rod (103).

2. The synchronous dual direct-acting drive energy-adjustable continuous winged drone of claim 1, characterized in that: the transmission mechanism comprises a push rod (10), a roller (13), a cylindrical cam (14) and a transmission shaft (22), wherein the cylindrical cam (14) is provided with a cylindrical cam rotating hole (1401) and a cylindrical cam surface (1402), the cylindrical cam surface (1402) is coaxial with the transmission shaft (22), the cylindrical cam surface (1402) is provided with a communicated cam curved groove (1403) which surrounds the cylindrical cam surface (1402) for one circle, the push rod (10) is provided with a slideway hole (1001), a push rod bracket (1002) and a push rod shaft hole (1003), the push rod shaft hole (1003) and the roller (13) are connected through a connecting rod (20) and a roller mounting shaft (21) in the vertical direction, the cylindrical surface of the roller (13) is tangent to and can slide with two side surfaces of the curved cam groove (1403) through the roller mounting shaft (21), and the slideway (18) is inserted in the slideway hole (1001) and can slide, the two connecting pieces (7) are arranged on the push rod bracket (1002) through the fixing mounting holes (702), and the transmission shaft (22) is connected with the cylindrical cam rotating hole (1401) and the third speed reducer (16).

3. The synchronous dual direct-acting drive energy-adjustable continuous winged drone of claim 2, characterized in that: both side surfaces of the cam curve groove (1403) are spirally curved surfaces.

4. The synchronous dual direct-acting drive energy-adjustable continuous winged drone of claim 1, characterized in that: the winged rotating shaft (108) is installed on an output shaft of the first speed reducer (5), and an output shaft of the stepping motor (6) is installed in an input hole of the first speed reducer (5).

5. The synchronous dual direct-acting drive energy-adjustable continuous winged drone according to claim 1 or 2, characterized in that: and an output shaft of the motor (17) is arranged in an input hole of the third speed reducer (16).

6. The synchronous dual direct-acting drive energy-adjustable continuous winged drone of claim 1, characterized in that: and an output shaft of the driving motor (9) is arranged in an input hole of the second speed reducer (8).

7. The synchronous dual direct-acting drive energy-adjustable continuous winged drone of claim 1, characterized in that: the frame connecting rod (103), the frame upper cross beam (104), the frame lower cross beam (105) and the frame longitudinal beam (106) are all hollow structures;

the frame connecting rods (103), the frame upper cross beam (104), the frame lower cross beam (105) and the frame longitudinal beams (106) are made of engineering plastics or carbon fiber materials.

8. The synchronous dual direct-acting drive energy-adjustable continuous winged drone of claim 1, characterized in that: each winged frame (1) is internally provided with 4 same winged large belt pulleys (19), 4 same winged small belt pulleys (20) and 4 same tension pulleys (3).

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