CN113911340A - Double-synchronous swinging parallelogram transmission rolling type flapping wing unmanned aerial vehicle - Google Patents

Abstract

The invention relates to a double-synchronous-swinging parallelogram transmission rolling shutter type flapping wing unmanned aerial vehicle. Comprises flapping wings, swing shafts, connecting pieces, a first speed reducer, a driving motor, a transmission mechanism, a second speed reducer, a stepping motor, a machine body frame, a third speed reducer and a motor, wherein two horizontal swing shafts are symmetrically arranged and fixed on two sides of the machine body frame, the two connecting pieces are respectively connected on the two swing shafts and rotate relatively, the two flapping wings are respectively connected on the two connecting pieces and can rotate relatively, the flapping wings comprise flapping wing frames, and a roller shutter arranged on the flapping wing frame, a parallelogram mechanism and a driving motor are also arranged in the flapping wing frame, the flapping wing driving mechanism is used for switching the working state and the reset state of the flapping wings, the transmission mechanism is connected to the two connecting pieces, the motor drives the transmission mechanism to move after being decelerated by the third speed reducer so as to enable the two connecting pieces to synchronously swing up and down, and the two stepping motors respectively drive the two flapping wings to rotate after being decelerated by the two second speed reducers.

Description

Double-synchronous swinging parallelogram transmission rolling type flapping wing unmanned aerial vehicle

Technical Field

The invention relates to the field of movable wing aircrafts and flying robots, in particular to a double-synchronous-swing parallelogram transmission rolling shutter type flapping wing unmanned aerial vehicle for an 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 flapping 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.

Disclosure of Invention

The invention aims to provide a double-synchronous-swinging parallelogram transmission rolling type flapping wing unmanned aerial vehicle which remarkably reduces the resistance of a flapping wing resetting process of a flapping wing type aircraft, improves the aerodynamic efficiency, has small aerodynamic continuous vibration, conveniently realizes vertical take-off and landing, can quickly switch the flight direction, has good flight flexibility and maneuverability, and solves the problems in the prior art.

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

the utility model provides a two synchronous swing parallelogram drive roll curtain formula flapping wing unmanned aerial vehicle, including flapping wing, connecting piece, first reduction gear, driving motor, drive mechanism, oscillating axle, second reduction gear, step motor, third reduction gear, driving motor and fuselage frame, the installation of fuselage frame bilateral symmetry is fixed with two horizontal directions the oscillating axle, two the connecting piece is connected respectively two just relative rotation on the oscillating axle, two the flapping wing is connected respectively two but just relative rotation on the connecting piece, the flapping wing includes the flapping wing frame, and installs roll up the curtain on the flapping wing frame, be provided with parallelogram mechanism and driving motor in the flapping wing frame, driving motor passes through after the third reduction gear slows down pass through parallelogram mechanism control roll up the expansion and the shrink of curtain, set up respectively two on the connecting piece step motor is respectively through setting up two be in two the step motor is respectively through setting up two Two second speed reducers on the connecting pieces drive the flapping wings to rotate after speed reduction respectively, the transmission mechanism is connected to the two connecting pieces, and the motor on the machine body frame is arranged on the machine body frame through the speed reduction of the third speed reducer and then through the transmission mechanism, the two connecting pieces synchronously swing up and down.

The flapping wing frame comprises a solid rolling shutter mounting beam, a hollow rolling shutter mounting beam, a guide rail, the parallelogram mechanism, a motor mounting frame and a flapping wing rotating shaft, wherein the parallelogram mechanism is provided with a first control crank, a control connecting rod and a second control crank, the rolling shutter is provided with a rolling shutter windward side, a rolling shutter leeward side and a rolling shutter through hole, the first control crank is inserted into the solid rolling shutter mounting beam, the second control crank is inserted into the hollow rolling shutter mounting beam, the guide rail is inserted into the solid rolling shutter mounting beam and the hollow rolling shutter mounting beam, and the driving motor is mounted at the motor mounting frame; the first control crank and the second control crank are connected with the control connecting rod through the pin shaft.

Further, the transmission mechanism comprises a connecting rod, a push rod, a cam and a transmission shaft, wherein a square shaft is arranged on the connecting piece, the direction of the square shaft is vertical to the axis of the swinging shaft hole, a connecting rod square hole and a connecting rod round hole are arranged on the connecting rod, a first push rod hole and a second push rod hole are arranged on the push rod, a cam rotating hole and a cam curved surface groove are arranged on the cam, the two connecting rods are respectively sleeved on the two square shafts of the two connecting pieces through the connecting rod square hole, the connecting rods can slide on the square shafts but cannot rotate, the connecting rods and the push rod are connected with the connecting rod round hole and the second push rod hole through a first pin shaft, the push rod and the cam are connected with the first push rod hole and the cam curved surface groove through a second pin shaft, and the cylindrical surface of the second pin shaft is tangent to the two side surfaces of the cam curved surface groove, the transmission shaft is connected with the cam rotating hole and the second speed reducer.

Further, the cam curved groove is centrosymmetric with respect to the axis of the cam rotary hole.

Furthermore, the axis of the first push rod hole and the axis of the second push rod hole are perpendicular to different surfaces, two side surfaces of the cam curved surface groove are straight-grain surfaces, straight-grain surface plain lines are parallel to the axis of the cam rotating hole, and the contour curve of the cam curved surface groove is an ellipse or other symmetrical and smooth plane curves.

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

Further, the solid roller shutter mounting beam, the hollow roller shutter mounting beam and the guide rail are all hollow structures; the solid roller shutter mounting beam, the hollow roller shutter mounting beam and the guide rail are made of engineering plastics or carbon fiber.

Furthermore, the number of the pin shafts mounted in each flapping wing frame is 2.

A double-synchronous swinging parallelogram transmission rolling curtain type flapping wing unmanned aerial vehicle is characterized by comprising flapping wings, connecting pieces, a first speed reducer, a driving motor, a transmission mechanism, swinging shafts, a second speed reducer, a stepping motor, a third speed reducer, a driving motor and a machine body frame, wherein two swinging shafts in the horizontal direction are symmetrically arranged and fixed on two sides of the machine body frame, the two connecting pieces are respectively connected to the two swinging shafts and rotate relatively, the two flapping wings are respectively connected to the two connecting pieces and can rotate relatively, the flapping wings comprise flapping wing frames and rolling curtains arranged on the flapping wing frames, a parallelogram mechanism and a driving motor are arranged in the flapping wing frames, the driving motor controls the rolling curtains to unfold and retract through the parallelogram mechanism after being decelerated by the third speed reducer, the two stepping motors respectively arranged on the two connecting pieces respectively drive the two flapping wings to rotate after being decelerated by the two second speed reducers arranged on the two connecting pieces, the flapping wing frame comprises a solid rolling curtain mounting beam, a hollow rolling curtain mounting beam, a guide rail, a parallelogram mechanism, a motor mounting frame and a flapping wing rotating shaft, wherein the parallelogram mechanism is provided with a first control crank, a control connecting rod and a second control crank; the transmission mechanism comprises a connecting rod, a push rod, a cam and a transmission shaft, the connecting rod is provided with a square shaft, the direction of the square shaft is vertical to the axis of the swinging shaft hole, the connecting rod is provided with a square hole and a round hole, the push rod is provided with a first push rod hole and a second push rod hole, the cam is provided with a cam rotating hole and a cam curved surface groove, the two connecting rods are respectively sleeved on the square shafts of the two connecting pieces through the square hole, the connecting rod can slide on the square shaft but cannot rotate, the connecting rod and the push rod are connected with the round hole and the second push rod hole through the first pin shaft, the push rod and the cam are connected with the first push rod hole and the cam curved surface groove through the second pin shaft, the cylindrical surface of the second pin shaft is tangent to two side surfaces of the cam curved surface groove, the transmission shaft is connected with the cam rotating hole and a second speed reducer, the cam curved surface groove is symmetrical about the axis center of the cam rotating hole, the axis of the first push rod hole and the axis of the second push rod hole are vertical to different surfaces, two side surfaces of a cam curved groove are ruled surfaces, plain lines of the ruled surfaces are parallel to the axis of the cam rotating hole, the outline curve of the cam curved groove is an ellipse or other symmetrical and smooth plane curves, the flapping wing rotating shaft is installed on an output shaft of the second speed reducer, an output shaft of a stepping motor is installed in an input hole of the second speed reducer, an output shaft of a motor is installed in an input hole of a third speed reducer, an output shaft of a driving motor is installed in an input hole of the first speed reducer, and the solid roller shutter installation beam, the hollow roller shutter installation beam and the guide rail are all of a hollow structure; the solid roller shutter mounting beam, the hollow roller shutter mounting beam and the guide rail are made of engineering plastics or carbon fiber.

The working principle of the invention is as follows: when the motor is started, the motor is decelerated by a third speed reducer to drive the transmission shaft and the cam to rotate continuously, the symmetrical cam curved surface grooves drive the two second pin shafts inserted in the symmetrical cam curved surface grooves to do symmetrical synchronous reciprocating motion, the two second pin shafts respectively drive the two push rods to do symmetrical reciprocating translation, the push rods are hinged with the connecting rods to drive the connecting pieces on the two sides and the flapping wing frame to do up-and-down reciprocating swing, when the flapping wing frame flaps, the flapping wing frame is in a working state, at the moment, under the control of the driving motor, the first control crank starts to move to drive the second control crank to work, so that the movement of the solid roller shutter mounting beam and the movement of the hollow roller shutter mounting beam are kept synchronous, the roller shutters are unfolded and contracted along with the forward and backward rotation of the control crank, at the moment, the roller shutters stretch to the largest area, meanwhile, the windward side of the roller shutters face the air flow, and the roller shutters at the through holes are wound on the hollow roller shutter mounting beam, the windward side of the roller shutter is vertical to the movement direction of the airflow, the airflow directly acts on the windward side of the roller shutter to obtain the maximum driving force, meanwhile, the stepping motor is decelerated by a second speed reducer to drive the flapping wing frame to rotate, the inclination angle of the flapping wing is changed, the positive pressure of the airflow acting on the windward side of the roller shutter can be decomposed into a lifting force and a pushing force, and the lifting force and the pushing force can be adjusted by changing the inclination angle of the flapping wing; when the flapping wing frame moves away from the transmission shaft, the flapping wing frame is in a reset state, the rolling curtain through hole moves to the position opposite to the air flow, and the air flow directly flows out of the rolling curtain through hole, so that the air resistance borne by the rolling curtain in the reset process is minimum, and the energy utilization efficiency of the rolling curtain in the reciprocating translation process is high; when the reset stroke is finished, the acting force of the airflow is reduced, the first control crank rotates reversely under the action of the driving motor to control the roller shutter to rotate to a working state, when the two stepping motors adjust the inclination angles of the airfoil surfaces of the two flapping wings to be zero, the vertical take-off and landing function can be realized, and if the aerodynamic force generated by the two flapping wings is equal to the weight and the resistance of the whole machine, the hovering in the air can be realized; the flapping wing inclination angles of the two flapping wings are respectively adjusted through the two stepping motors, so that the lifting force and the thrust generated by each flapping wing can be adjusted, and the functions of advancing, retreating and turning can be realized.

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

1. according to the double-synchronous-swinging parallelogram transmission roller shutter type flapping wing unmanned aerial vehicle, the flapping wings are arranged to swing up and down, the roller shutters controlled by the driving motors are designed, the roller shutters move windward in the largest area in the working stroke, the surface obtains larger and evenly distributed pressure, and the working stroke thrust is large and stable; the through hole of the rolling screen moves to the position opposite to the air flow in the reset stroke, the air flow directly flows out from the through hole of the rolling screen, the acting area of the wind power is small, and therefore the reset resistance of the flapping wing is minimum, and the purpose of greatly improving the pneumatic efficiency of the flapping wing is achieved.

2. According to the double-synchronous swinging parallelogram transmission roller shutter type flapping wing unmanned aerial vehicle, the roller shutter in the swinging flapping wing is switched between the working state and the reset state under the control of the driving motor, the parallelogram mechanism is driven to complete, and the double-synchronous swinging parallelogram transmission roller shutter type flapping wing unmanned aerial vehicle is high in control precision and good in reliability.

3. The double-synchronous-swinging parallelogram transmission rolling curtain type flapping wing unmanned aerial vehicle synchronously controls the swinging of the two flapping wings through one motor, the flapping wings on two sides are synchronous, the action consistency is good, the control system is simpler, and each flapping wing inclination angle is independently controlled through the stepping motor, so that the functions of vertical take-off and landing, hovering in the air, advancing, retreating, turning and the like are realized, and the maneuverability of the flapping wing unmanned aerial vehicle is better.

4. The double-synchronous-swing parallelogram transmission rolling type flapping wing 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 a double-synchronous-swing parallelogram transmission rolling shutter type flapping wing unmanned aerial vehicle.

Fig. 2 is a detailed structural schematic diagram of the double-synchronous-swing parallelogram transmission rolling shutter type flapping wing unmanned aerial vehicle provided with only one flapping wing in a working state.

Fig. 3 is a detailed structural schematic diagram of the double-synchronous-swing parallelogram transmission rolling shutter type flapping wing unmanned aerial vehicle provided with only one flapping wing in a reset state.

Fig. 4 is a cross-sectional view of the double synchronous swinging parallelogram transmission rolling shutter type flapping wing unmanned aerial vehicle in a working state.

Fig. 5 is a cross-sectional view of the double synchronous swinging parallelogram transmission rolling shutter type flapping wing unmanned aerial vehicle in a reset state.

Fig. 6 is a schematic structural view of a flapping wing frame of the double-synchronous-swing parallelogram transmission rolling shutter type flapping wing unmanned aerial vehicle.

Fig. 7 is a schematic structural diagram of the roller shutter of the double-synchronous-swinging parallelogram transmission roller shutter type flapping wing unmanned aerial vehicle.

Fig. 8 is a schematic structural diagram of a connecting piece of the double-synchronous-swing parallelogram transmission rolling shutter type flapping wing unmanned aerial vehicle.

Fig. 9 is a schematic structural diagram of a connecting rod of the double-synchronous-swing parallelogram transmission rolling shutter type flapping wing unmanned aerial vehicle.

Fig. 10 is a schematic structural diagram of a push rod of the double-synchronous-swinging parallelogram transmission rolling shutter type flapping wing unmanned aerial vehicle.

Fig. 11 is a schematic structural diagram of the cam of the double-synchronous-swinging parallelogram transmission rolling shutter type flapping wing unmanned aerial vehicle.

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: with reference to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10 and fig. 11, the high-voltage wire inspection unmanned aerial vehicle adopting the double-synchronous-swinging parallelogram transmission rolling shutter type flapping wing unmanned aerial vehicle. Comprises flapping wings, connecting pieces 4, a first speed reducer 5, a driving motor 6, a transmission mechanism, swing shafts 10, a second speed reducer 12, a stepping motor 13, a third speed reducer 14, a driving motor 15 and a machine body frame 18, wherein two swing shafts 10 in the horizontal direction are symmetrically arranged and fixed on two sides of the machine body frame 18, the two connecting pieces 4 are respectively connected on the two swing shafts 10 and rotate relatively, the two flapping wings are respectively connected on the two connecting pieces 4 and can rotate relatively, the flapping wings comprise a flapping wing frame 1 and a roller shutter 2 arranged on the flapping wing frame 1, a parallelogram mechanism and a driving motor 17 are arranged in the flapping wing frame 1, the driving motor 5 controls the expansion and contraction of the roller shutter 2 through the parallelogram mechanism after being decelerated by the third speed reducer 4, the two stepping motors 13 respectively arranged on the two connecting pieces 4 respectively drive the two flapping wings to rotate after being decelerated by the two second speed reducers 12 arranged on the two connecting pieces 4, the transmission mechanism is connected to the two connecting pieces 4, and the motor 15 arranged on the machine body frame 18 is decelerated through a third speed reducer 14 arranged on the machine body frame 18 to enable the two connecting pieces 4 to synchronously swing up and down through the transmission mechanism; the flapping wing frame 1 comprises a solid rolling curtain mounting beam 101, a hollow rolling curtain mounting beam 102, a guide rail 103, a parallelogram mechanism, a motor mounting frame 106 and a flapping wing rotating shaft 107, the parallelogram mechanism is provided with a first control crank 104, a control connecting rod 105 and a second control crank 108, the rolling curtain 2 is provided with a rolling curtain windward side 201, a rolling curtain leeward side 202 and a rolling curtain through hole 203, the first control crank 104 is inserted on the solid rolling curtain mounting beam 101, the second control crank 108 is inserted on the hollow rolling curtain mounting beam 102, the guide rail 103 is inserted on the solid rolling curtain mounting beam 101 and the hollow rolling curtain mounting beam 102, and the driving motor 4 is mounted at the motor mounting frame 106; the device also comprises a pin shaft 3, a first control crank 104 and a second control crank 108 are connected with a control connecting rod 105 through the pin shaft 3, a transmission mechanism comprises a connecting rod 7, a push rod 8, a cam 9 and a transmission shaft 11, a square shaft 401 is arranged on the connecting piece 4, the direction of the square shaft 401 is vertical to the axis of a swinging shaft hole 402, a connecting rod square hole 701 and a connecting rod round hole 702 are arranged on the connecting rod 7, a first push rod hole 801 and a second push rod hole 802 are arranged on the push rod 8, a cam rotating hole 901 and a cam curved surface groove 902 are arranged on the cam 9, the two connecting rods 7 are respectively sleeved on the square shafts 401 of the two connecting pieces 4 through the connecting rod square holes 701, the connecting rods 7 can slide on the square shaft 401 but cannot rotate, the connecting rods 7 and 8 are connected with the connecting rod round hole 702 and the second push rod hole 802 through a first pin shaft 16, the push rod 8 and the cam 9 are connected with the first push rod hole 801 and the cam curved surface groove 902 through a second pin shaft 17, the cylindrical surface of the second pin shaft 17 is tangent to two side surfaces of the cam curved surface groove 902, the transmission shaft 11 is connected with the cam rotating hole 901 and the third speed reducer 14, the cam curved groove 902 is symmetrical about the axis center of the cam rotating hole 901, the axis of the first push rod hole 801 is perpendicular to the axis of the second push rod hole 802, two side surfaces of the cam curved groove 902 are ruled surfaces, plain lines of the ruled surfaces are parallel to the axis of the cam rotating hole 901, the profile curve of the cam curved groove 902 is an ellipse or other symmetrical and smooth plane curves, the flapping wing rotating shaft 107 is installed on the output shaft of the second speed reducer 12, the output shaft of the stepping motor 13 is installed in the input hole of the second speed reducer 12, the output shaft of the motor 15 is installed in the input hole of the third speed reducer 14, the output shaft of the driving motor 6 is installed in the input hole of the first speed reducer 5, and the solid roller shutter installation beam 101, the hollow roller shutter installation beam 102 and the guide rail 103 are all of a hollow structure; the solid roller shutter mounting beam 101, the hollow roller shutter mounting beam 102 and the guide rail 103 are made of engineering plastics or carbon fiber. After the high-voltage wire inspection unmanned aerial vehicle adopts the double-synchronous swinging parallelogram transmission rolling type flapping wing unmanned aerial vehicle, because the flapping wing has small resistance and high pneumatic efficiency, the unmanned aerial vehicle can conveniently realize vertical take-off and landing and hovering, particularly can quickly switch flight directions, has very good maneuverability and flexibility, has small aerodynamic continuous vibration, can efficiently finish various detection and photographing works, increases the flight time by 20 percent after carrying the same working loads of photographic equipment and the like relative to a rotor wing unmanned aerial vehicle, and realizes longer flight time work.

Example 2: by combining the figures 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 and 11, the unmanned plane special for high-rise fire extinguishment adopts the double synchronous swinging parallelogram transmission rolling shutter type flapping wing unmanned plane. Comprises flapping wings, connecting pieces 4, a first speed reducer 5, a driving motor 6, a transmission mechanism, swing shafts 10, a second speed reducer 12, a stepping motor 13, a third speed reducer 14, a driving motor 15 and a machine body frame 18, wherein two swing shafts 10 in the horizontal direction are symmetrically arranged and fixed on two sides of the machine body frame 18, the two connecting pieces 4 are respectively connected on the two swing shafts 10 and rotate relatively, the two flapping wings are respectively connected on the two connecting pieces 4 and can rotate relatively, the flapping wings comprise a flapping wing frame 1 and a roller shutter 2 arranged on the flapping wing frame 1, a parallelogram mechanism and a driving motor 17 are arranged in the flapping wing frame 1, the driving motor 5 controls the expansion and contraction of the roller shutter 2 through the parallelogram mechanism after being decelerated by the third speed reducer 4, the two stepping motors 13 respectively arranged on the two connecting pieces 4 respectively drive the two flapping wings to rotate after being decelerated by the two second speed reducers 12 arranged on the two connecting pieces 4, the transmission mechanism is connected to the two connecting pieces 4, and the motor 15 arranged on the machine body frame 18 is decelerated through a third speed reducer 14 arranged on the machine body frame 18 to enable the two connecting pieces 4 to synchronously swing up and down through the transmission mechanism; the flapping wing frame 1 comprises a solid rolling curtain mounting beam 101, a hollow rolling curtain mounting beam 102, a guide rail 103, a parallelogram mechanism, a motor mounting frame 106 and a flapping wing rotating shaft 107, the parallelogram mechanism is provided with a first control crank 104, a control connecting rod 105 and a second control crank 108, the rolling curtain 2 is provided with a rolling curtain windward side 201, a rolling curtain leeward side 202 and a rolling curtain through hole 203, the first control crank 104 is inserted on the solid rolling curtain mounting beam 101, the second control crank 108 is inserted on the hollow rolling curtain mounting beam 102, the guide rail 103 is inserted on the solid rolling curtain mounting beam 101 and the hollow rolling curtain mounting beam 102, and the driving motor 4 is mounted at the motor mounting frame 106; the device also comprises a pin shaft 3, a first control crank 104 and a second control crank 108 are connected with a control connecting rod 105 through the pin shaft 3, a transmission mechanism comprises a connecting rod 7, a push rod 8, a cam 9 and a transmission shaft 11, a square shaft 401 is arranged on the connecting piece 4, the direction of the square shaft 401 is vertical to the axis of a swinging shaft hole 402, a connecting rod square hole 701 and a connecting rod round hole 702 are arranged on the connecting rod 7, a first push rod hole 801 and a second push rod hole 802 are arranged on the push rod 8, a cam rotating hole 901 and a cam curved surface groove 902 are arranged on the cam 9, the two connecting rods 7 are respectively sleeved on the square shafts 401 of the two connecting pieces 4 through the connecting rod square holes 701, the connecting rods 7 can slide on the square shaft 401 but cannot rotate, the connecting rods 7 and 8 are connected with the connecting rod round hole 702 and the second push rod hole 802 through a first pin shaft 16, the push rod 8 and the cam 9 are connected with the first push rod hole 801 and the cam curved surface groove 902 through a second pin shaft 17, the cylindrical surface of the second pin shaft 17 is tangent to two side surfaces of the cam curved surface groove 902, the transmission shaft 11 is connected with the cam rotating hole 901 and the third speed reducer 14, the cam curved groove 902 is symmetrical about the axis center of the cam rotating hole 901, the axis of the first push rod hole 801 is perpendicular to the axis of the second push rod hole 802, two side surfaces of the cam curved groove 902 are ruled surfaces, plain lines of the ruled surfaces are parallel to the axis of the cam rotating hole 901, the profile curve of the cam curved groove 902 is an ellipse or other symmetrical and smooth plane curves, the flapping wing rotating shaft 107 is installed on the output shaft of the second speed reducer 12, the output shaft of the stepping motor 13 is installed in the input hole of the second speed reducer 12, the output shaft of the motor 15 is installed in the input hole of the third speed reducer 14, the output shaft of the driving motor 6 is installed in the input hole of the first speed reducer 5, and the solid roller shutter installation beam 101, the hollow roller shutter installation beam 102 and the guide rail 103 are all of a hollow structure; the solid roller shutter mounting beam 101, the hollow roller shutter mounting beam 102 and the guide rail 103 are made of engineering plastics or carbon fiber. After the double-synchronous-swinging parallelogram transmission roller shutter type flapping wing unmanned aerial vehicle disclosed by the invention is adopted by a special high-rise fire extinguishing unmanned aerial vehicle, the flapping wing has stronger maneuverability due to large thrust of the working stroke, small rotor resistance and high pneumatic efficiency, and can quickly respond to high-rise emergency and quickly fly to a high-rise fire extinguishing point to extinguish fire.

Claims (9)

1. Roll up curtain formula flapping wing unmanned aerial vehicle of two synchronous swing parallelogram transmissions, its characterized in that: including flapping wing, connecting piece (4), first reduction gear (5), driving motor (6), drive mechanism, oscillating axle (10), second reduction gear (12), step motor (13), third reduction gear (14), driving motor (15) and fuselage frame (18), the installation of fuselage frame (18) bilateral symmetry is fixed with two horizontal direction oscillating axle (10), two connecting piece (4) are connected respectively two just relative rotation on oscillating axle (10), two the flapping wing is connected respectively two just relative rotation on connecting piece (4), the flapping wing is including flapping wing frame (1), and installs roll up curtain (2) on flapping wing frame (1), be provided with parallelogram mechanism and driving motor (17) in flapping wing frame (1), driving motor (5) process pass through after third reduction gear (4) slows down parallelogram mechanism control roll up curtain (2) ) The two stepping motors (13) respectively arranged on the two connecting pieces (4) respectively drive the two flapping wings to rotate after being decelerated through the two second speed reducers (12) arranged on the two connecting pieces (4), the transmission mechanism is connected to the two connecting pieces (4), and the motor (15) arranged on the machine body frame (18) is decelerated through the third speed reducer (14) arranged on the machine body frame (18) and then synchronously swings up and down through the transmission mechanism;

the flapping wing frame (1) comprises a solid rolling curtain mounting beam (101), a hollow rolling curtain mounting beam (102), a guide rail (103), the parallelogram mechanism, a motor mounting frame (106) and a flapping wing rotating shaft (107), the parallelogram mechanism is provided with a first control crank (104), a control connecting rod (105) and a second control crank (108), the roller shutter (2) is provided with a roller shutter windward side (201), a roller shutter leeward side (202) and a roller shutter through hole (203), the first control crank (104) is inserted on the solid roller shutter mounting beam (101), the second control crank (108) is inserted on the hollow roller shutter mounting beam (102), the guide rail (103) is inserted on the solid roller shutter mounting beam (101) and the hollow roller shutter mounting beam (102), the driving motor (4) is installed at the motor mounting frame (106); the device is characterized by further comprising a pin shaft (3), wherein the first control crank (104) and the second control crank (108) are connected with the control connecting rod (105) through the pin shaft (3).

2. The double synchronous oscillatory parallelogram drive rolling shutter type flapping wing unmanned aerial vehicle of claim 1, wherein: the transmission mechanism comprises a connecting rod (7), a push rod (8), a cam (9) and a transmission shaft (11), a square shaft (401) is arranged on the connecting piece (4), the direction of the square shaft (401) is perpendicular to the axis of the swinging shaft hole (402), a connecting rod square hole (701) and a connecting rod round hole (702) are arranged on the connecting rod (7), a first push rod hole (801) and a second push rod hole (802) are arranged on the push rod (8), a cam rotating hole (901) and a cam curved surface groove (902) are arranged on the cam (9), the two connecting rods (7) are respectively sleeved on the square shafts (401) of the two connecting pieces (4) through the connecting rod square holes (701), the connecting rods (7) can slide on the square shafts (401) but cannot rotate, the connecting rods (7) and the push rod (8) are connected with the connecting rod round holes (702) and the second push rod holes (802) through first pin shafts (16), the push rod (8) and the cam (9) are connected with the first push rod hole (801) and the cam curved surface groove (902) through a second pin shaft (17), the cylindrical surface of the second pin shaft (17) is tangent to two side surfaces of the cam curved surface groove (902), and the transmission shaft (11) is connected with the cam rotating hole (901) and the third speed reducer (14).

3. The double synchronous oscillatory parallelogram drive rolling shutter type flapping wing unmanned aerial vehicle of claim 2, wherein: the cam curved surface groove (902) is centrosymmetric with respect to the axis of the cam rotary hole (901).

4. The double synchronous oscillatory parallelogram drive rolling shutter type flapping wing unmanned aerial vehicle of claim 2, wherein: the axial line of the first push rod hole (801) and the axial line of the second push rod hole (802) are perpendicular to different surfaces, two side surfaces of the cam curved surface groove (902) are straight-grained surfaces, plain lines of the straight-grained surfaces are parallel to the axial line of the cam rotating hole (901), and the contour curve of the cam curved surface groove (902) is an ellipse or other symmetrical and smooth plane curves.

5. The double synchronous oscillatory parallelogram drive rolling shutter type flapping wing unmanned aerial vehicle of claim 1, wherein: the flapping wing rotating shaft (107) is installed on an output shaft of the second speed reducer (12), and an output shaft of the stepping motor (13) is installed in an input hole of the second speed reducer (12).

6. The double synchronous oscillating parallelogram drive roller shutter unmanned aerial vehicle according to claim 1 or 2, characterized in that: and an output shaft of the motor (15) is arranged in an input hole of the third speed reducer (14).

7. The double synchronous oscillatory parallelogram drive rolling shutter type flapping wing unmanned aerial vehicle of claim 1, wherein: and an output shaft of the driving motor (6) is arranged in an input hole of the first speed reducer (5).

8. The double synchronous oscillatory parallelogram drive rolling shutter type flapping wing unmanned aerial vehicle of claim 1, wherein: the solid roller shutter mounting beam (101), the hollow roller shutter mounting beam (102) and the guide rail (103) are all hollow structures;

the solid roller shutter mounting beam (101), the hollow roller shutter mounting beam (102) and the guide rail (103) are made of engineering plastics or carbon fiber.

9. The double synchronous oscillatory parallelogram drive rolling shutter type flapping wing unmanned aerial vehicle of claim 1, wherein: the number of the pin shafts (3) arranged in each flapping wing frame (1) is 2.

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