CN113911341A - Double-synchronous direct-acting curtain-pulling type flapping wing unmanned aerial vehicle with adjustable driving energy - Google Patents

Abstract

The invention relates to a double-synchronous direct-acting pull curtain type flapping wing unmanned aerial vehicle with adjustable driving energy. Comprises curtain wings, a machine body top plate, a first speed reducer, a driving motor, a connecting piece, a second speed reducer, a stepping motor, a transmission mechanism, a machine body bottom plate, a third speed reducer, a motor and slideways, wherein four slideways in the vertical direction are symmetrically arranged and fixed on the periphery of the machine body top plate, two curtain wings can slide on the slideways, meanwhile, the two curtain wings are respectively connected with the two connecting pieces and can rotate relatively, the curtain wings comprise curtain wing frames, and a soft curtain arranged on the curtain wing frame, a coil spring and a driving motor are arranged in the curtain wing frame, the transmission mechanism is connected to the two connecting pieces, the motor arranged on the bottom plate of the machine body drives the transmission mechanism to move after being decelerated by the third speed reducer so that the two connecting pieces synchronously slide up and down, and the two stepping motors respectively arranged on the two connecting pieces drive the two curtain wings to rotate respectively after being decelerated by the two second speed reducers.

Description

Double-synchronous direct-acting curtain-pulling type flapping wing unmanned aerial vehicle with adjustable driving energy

Technical Field

The invention relates to the field of movable wing aircrafts and flying robots, in particular to a double-synchronous direct-acting pull curtain type flapping wing unmanned aerial vehicle with adjustable driving energy.

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 curtain 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 double-synchronous direct-acting pull curtain type driving energy-adjustable flapping wing 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 flapping wing unmanned aerial vehicle of two synchronous vertical movements curtain formula drive energy, including curtain wing, first reduction gear, driving motor, fuselage roof, connecting piece, second reduction gear, step motor, drive mechanism, third reduction gear, motor, fuselage bottom plate and slide, the installation of fuselage roof symmetry all around is fixed with four vertical directions the slide, two the connecting piece is fixed connection respectively on the push rod, two the curtain wing is connected respectively two just can rotate relatively on the connecting piece, the curtain wing includes curtain wing frame to and the continuous soft curtain of suit on curtain wing frame, curtain wing frame still is provided with driving motor and first reduction gear, driving motor passes through control after the first reduction gear slows down the expansion and the shrink of soft curtain, drive mechanism connects two on the connecting piece, sets up the fuselage bottom plate the motor is through setting up on the fuselage bottom plate the third slows down The device drives the transmission mechanism to move after being decelerated so as to enable the two connecting pieces to synchronously slide up and down, and the two stepping motors arranged on the two connecting pieces respectively drive the two curtain wings to rotate after being decelerated through the two second reducers arranged on the two connecting pieces.

Furthermore, the curtain wing frame is provided with a first coil spring mounting hole, a second coil spring mounting hole, a guide rail, a curtain wing mounting beam, a motor mounting hole, a rotating wheel shaft, a curtain wing rotating shaft, a first mounting plate, a second mounting plate and a connecting cross beam, the soft curtain is provided with a soft curtain windward side and a soft curtain leeward side, the connecting piece is provided with a curtain wing rotating shaft hole and a fixed mounting hole, the axis of the curtain wing rotating shaft hole is vertical to the axis of the fixed mounting hole, and the curtain wing rotating shaft is inserted into the curtain wing rotating shaft hole and can rotate; the guide rail is installed first mounting panel with on the second mounting panel, the runner hub cartridge is in first mounting panel with in the second mounting panel, the connection crossbeam cartridge is in first mounting panel with in the second mounting panel, curtain wing installation roof beam cartridge is in and slidable in the guide rail, driving motor installs on the motor mounting hole, the coil spring is installed first coil spring mounting hole with on the second coil spring mounting hole.

Further, 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 cam curve groove which is communicated with the cam cylindrical surface for a circle, the push rod is provided with the slide way hole, a push rod bracket and a push rod shaft hole, the push rod shaft hole is connected with the roller wheel through a roller wheel mounting shaft through a connecting rod in the vertical direction, the cylindrical surface of the roller is tangent to the two side surfaces of the cam curved groove through the roller mounting shaft and can slide, the slide is inserted in the slide hole and can slide, the two connecting pieces are arranged on the push rod bracket 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 curtain 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.

Furthermore, the curtain wing frame is provided with the rotating wheel shaft, the curtain wing rotating shaft and the connecting cross beam, and the curtain wing frame adopts a hollow structure and adopts light materials such as engineering plastics, carbon fibers and the like.

Further, the number of coil springs installed in each of the curtain wing frames is 2.

A double-synchronous direct-acting curtain-pulling type flapping wing unmanned aerial vehicle with adjustable driving energy is characterized in that four vertical slideways are symmetrically arranged and fixed on the periphery of a machine body top plate, the two connecting pieces are respectively and fixedly connected to a push rod, the two curtain wings are respectively connected to the two connecting pieces and can rotate relatively, each curtain wing comprises a curtain wing frame and a continuous soft curtain sleeved on the curtain wing frame, the curtain wing frame is further provided with a driving motor and a first speed reducer, the driving motor controls the expansion and contraction of the soft curtain after being decelerated by the first speed reducer, the transmission mechanism is connected to the two connecting pieces, the motor arranged on the machine body bottom plate drives the transmission mechanism to move after being decelerated by the third speed reducer arranged on the machine body bottom plate so that the two connecting pieces synchronously slide up and down, the two stepping motors respectively arranged on the two connecting pieces respectively drive the two curtain wings to rotate after being decelerated through the two second speed reducers arranged on the two connecting pieces respectively, a first coil spring mounting hole, a second coil spring mounting hole, a guide rail, a curtain wing mounting beam, a motor mounting hole, a rotating wheel shaft, a curtain wing rotating shaft, a first mounting plate, a second mounting plate and a connecting cross beam are arranged on a curtain wing frame, a soft curtain windward side and a soft curtain leeward side are arranged on the soft curtain, the connecting pieces are provided with curtain wing rotating shaft holes and fixed mounting holes, the axis of each curtain wing rotating shaft hole is vertical to the axis of the corresponding fixed mounting hole, and the curtain wing rotating shaft is inserted into the corresponding curtain wing rotating shaft hole and can rotate; the guide rail is arranged on a first mounting plate and a second mounting plate, the rotating wheel shaft is inserted in the first mounting plate and the second mounting plate, the connecting crossbeam is inserted in the first mounting plate and the second mounting plate, the curtain wing mounting beam is inserted in the guide rail and can slide, the driving motor is arranged on a motor mounting hole, the coil spring is arranged on a first coil spring mounting hole and a second coil spring mounting hole, 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 communicated cam curve groove which surrounds the cylindrical cam surface for one circle, the push rod is provided with a slide way hole, a push rod bracket and a push rod shaft hole, the push rod shaft hole in the vertical direction is connected with the roller through the roller mounting shaft, the cylindrical surface of the roller is tangent with two side surfaces of the cam curve groove through the roller mounting shaft and can slide, the slide is inserted in the slide hole and can slide, two connecting pieces are arranged on the push rod support through the fixed mounting holes, the transmission shaft is connected with the cylindrical cam rotating hole and the third speed reducer, two side surfaces of the cam curve groove are both spiral curved surfaces, the curtain wing rotating shaft is arranged on the output shaft of the second speed reducer, the output shaft of the stepping motor is arranged in the input hole of the second speed reducer, the output shaft of the motor is arranged in the input hole of the third speed reducer, the output shaft of the driving motor is arranged in the input hole of the first speed reducer, the curtain wing frame is provided with the rotating wheel shaft, the curtain wing rotating shaft and the connecting cross beam, the hollow structure is adopted, and the curtain wing frame is made of engineering plastics, carbon fibers and other light materials.

The working principle of the invention is as follows: when the motor is started, the speed is reduced by the third speed reducer to drive the cylindrical cam and the transmission shaft to continuously rotate, the cam curved surface groove drives the roller inserted therein to synchronously reciprocate, under the combined action of the cylindrical cam and the roller, the push rod drives the connecting piece and the two curtain wing frames to do reciprocating synchronous translation, when the curtain wing frame does translation close to the transmission shaft, the curtain wing is in a working state, at the moment, the driving motor does not work, the soft curtain is stretched to the maximum area under the action of the coil spring, the windward side of the soft curtain is opposite to the airflow, the windward side of the soft curtain is vertical to the movement direction of the airflow, the airflow directly acts on the windward side of the soft curtain to obtain the maximum aerodynamic force, meanwhile, the stepping motor drives the curtain wing frame to rotate after being decelerated by the second speed reducer, so that the inclination angle of the curtain wings is changed, the positive pressure of airflow acting on the windward side of the soft curtain can be decomposed into lift force and thrust force, and the change of the inclination angle can adjust the magnitude of the lift force and the thrust force; when the curtain wing frame translates away from the transmission shaft, the curtain wing frame is in a curtain wing reset state, the driving motor starts to work at the moment, the driving motor drives the rotating wheel shaft to rotate after the speed is reduced by the first speed reducer, the rotating wheel shaft rolls the soft curtain to shrink, and airflow directly flows out from the curtain wing frame, so that the air resistance borne by the curtain wings in the reset process is minimum; when the curtain wing reset stroke is finished, the airflow acting force is reduced, the driving motor rotates in the reverse direction at the moment, and the soft curtain is driven to rotate to the working state under the action of the coil spring. When the two stepping motors adjust the wing surfaces of the two curtain 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 curtain wings 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 on the two sides to be consistent with the reciprocating movement 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 double-synchronous direct-acting pull curtain type flapping wing unmanned aerial vehicle with the adjustable driving energy, the curtain wings are arranged to be linearly translated, and the soft curtain controlled by the driving motor is designed, so that the soft curtain moves 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 driving energy is adjustable; and when the curtain wing frame is in a reset state, the soft curtain is contracted under the control of the driving motor, and airflow directly flows out from the curtain wing frame, so that the resistance is greatly reduced, and the aim of improving the pneumatic efficiency of the flight of the curtain wing is fulfilled.

2. According to the double-synchronous direct-acting pull curtain type unmanned aerial vehicle with the flapping wings, the soft curtain in the direct-acting curtain wings is switched between the working state and the reset state under the control of the driving motor, the coil spring drives the soft curtain to complete the switching, and the double-synchronous direct-acting pull curtain type unmanned aerial vehicle is high in control precision and good in reliability.

3. The double-synchronous direct-acting pull curtain type flapping wing unmanned aerial vehicle with the adjustable driving energy controls the four curtain wings to move vertically and straightly in a reciprocating mode through the motor, the curtain wings on the two sides are synchronous, the action consistency is good, the control system is simple, the inclination angle of each curtain wing is independently controlled through the stepping motor, and therefore the functions of vertical lifting, hovering in the air, advancing and retreating, turning and the like are achieved, and therefore the flapping wing unmanned aerial vehicle is good in maneuverability.

4. The double-synchronous direct-acting pull curtain type flapping wing unmanned aerial vehicle with the adjustable driving energy 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 diagram of the overall structure of a double-synchronous linear-motion curtain-pulling type flapping wing unmanned aerial vehicle with adjustable driving energy.

Fig. 2 is a detailed structural schematic diagram of the double-synchronous linear-motion curtain-pulling type flapping wing unmanned aerial vehicle with adjustable driving energy, which is provided with only one curtain wing in the working state.

Fig. 3 is a detailed structural schematic diagram of the double-synchronous linear-motion curtain-pulling type flapping wing unmanned aerial vehicle with adjustable driving energy, which is provided with only one curtain wing in a reset state.

Fig. 4 is a cross-sectional view of the double synchronous direct-acting pull curtain type driving energy-adjustable flapping wing unmanned aerial vehicle in the working state.

Fig. 5 is a cross-sectional view of the dual-synchronous linear-motion curtain-drawing type driving energy-adjustable flapping wing unmanned aerial vehicle in a reset state.

Fig. 6 is a schematic structural diagram of a curtain wing frame of the double-synchronous linear-motion curtain-drawing type flapping wing unmanned aerial vehicle with adjustable driving energy.

Fig. 7 is a schematic structural diagram of a soft curtain of the double-synchronous linear-motion pull-curtain type flapping wing unmanned aerial vehicle with adjustable driving energy.

Fig. 8 is a schematic structural diagram of a connecting piece of the double-synchronous linear-motion curtain-drawing type flapping wing unmanned aerial vehicle with adjustable driving energy.

Fig. 9 is a schematic structural diagram of a push rod of the double-synchronous linear-motion curtain-pulling type energy-adjustable flapping wing unmanned aerial vehicle.

Fig. 10 is a schematic structural diagram of the cam of the double-synchronous linear-motion curtain-drawing type driving energy-adjustable 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, 2, 3, 4, 5, 6, 7, 8, 9 and 10, the high-voltage wire routing inspection drone adopts a double-synchronous direct-acting pull curtain type drive energy-adjustable flapping wing drone. The curtain wing comprises a curtain wing, a first speed reducer 4, a driving motor 5, a machine body top plate 6, connecting pieces 7, a second speed reducer 8, a stepping motor 9, a transmission mechanism, a third speed reducer 15, a motor 16, a machine body bottom plate 17 and slide ways 18, wherein four slide ways 18 in the vertical direction are symmetrically installed and fixed on the periphery of the machine body top plate 6, the two connecting pieces 7 are respectively and fixedly connected onto a push rod 10, the two curtain wings are respectively connected onto the two connecting pieces 7 and can rotate relatively, the curtain wing comprises a curtain wing frame 1 and continuous soft curtains 2 sleeved on the curtain wing frame 1, the curtain wing frame 1 is also provided with the driving motor 5 and the first speed reducer 4, the driving motor 5 controls the expansion and contraction of the soft curtains 2 after being decelerated by the first speed reducer 4, the transmission mechanism is connected onto the two connecting pieces 7, the motor 16 arranged on the machine body bottom plate 17 drives the transmission mechanism to move to enable the two connecting pieces 7 to synchronously slide up and down after being decelerated by the third speed reducer 15 arranged on the machine body bottom plate 17, the two stepping motors 9 respectively arranged on the two connecting pieces 7 respectively drive the two curtain wings to rotate after being decelerated by the two second reducers 8 arranged on the two connecting pieces 7; the curtain wing frame 1 is provided with a first coil spring mounting hole 101, a second coil spring mounting hole 102, a guide rail 103, a curtain wing mounting beam 104, a motor mounting hole 105, a rotary wheel shaft 106, a curtain wing rotary shaft 107, a first mounting plate 108, a second mounting plate 109 and a connecting cross beam 110, the soft curtain 2 is provided with a soft curtain windward side 201 and a soft curtain leeward side 202, the connecting piece 7 is provided with a curtain wing rotary shaft hole 701 and a fixed mounting hole 702, the axis of the curtain wing rotary shaft hole 701 is vertical to the axis of the fixed mounting hole 702, and the curtain wing rotary shaft 107 is inserted in the curtain wing rotary shaft hole 701 and can rotate; the guide rail 103 is installed on the first installation plate 108 and the second installation plate 109, the rotary wheel shaft 106 is inserted in the first installation plate 108 and the second installation plate 109, the connection beam 110 is inserted in the first installation plate 108 and the second installation plate 109, the curtain wing installation beam 104 is inserted in the guide rail 103 and can slide, the driving motor 5 is installed on the motor installation hole 105, the coil spring 3 is installed on the first coil spring installation hole 101 and the second coil spring installation hole 102, the transmission mechanism comprises a push rod 10, a roller 13, a cylindrical cam 14 and a transmission shaft 20, the cylindrical cam 14 is provided with a cylindrical cam rotary hole 1401 and a cylindrical cam surface 1402, the cylindrical cam surface 1402 is coaxial with the transmission shaft 20, 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 slide way hole 1001, the push rod bracket 1002 and a push rod shaft hole 1003, the vertical push rod shaft hole 1003 is connected with the roller 13 through the roller installation shaft 19 through a connecting rod 12, the cylindrical surface of the roller 13 is tangent and slidable with two side surfaces of the cam curve groove 1403 through a roller mounting shaft 19, the slide way 18 is inserted in the slide way hole 1001 and is slidable, two connecting pieces 7 are arranged on the push rod bracket 1002 through fixed mounting holes 702, the transmission shaft 20 is connected with the cylindrical cam rotating hole 1401 and the third speed reducer 15, two side surfaces of the cam curve groove 1403 are both spiral curved surfaces, the curtain wing rotating shaft 107 is arranged on the output shaft of the second speed reducer 8, the output shaft of the stepping motor 9 is arranged in the input hole of the second speed reducer 8, the output shaft of the motor 16 is arranged in the input hole of the third speed reducer 15, the output shaft of the driving motor 5 is arranged in the input hole of the first speed reducer 4, the curtain wing frame 1 is provided with the rotating wheel shaft 106, the curtain wing rotating shaft 107 and the connecting beam 110, and the curtain wing frame adopts a hollow structure and adopts light materials such as engineering plastics, carbon fibers and the like. After the high-voltage wire inspection unmanned aerial vehicle adopts the double-synchronous direct-acting pull curtain type driving energy-adjustable flapping wing unmanned aerial vehicle, various detection and photographing works can be completed due to small resistance of the curtain wings and high pneumatic efficiency, and compared with a rotor wing unmanned aerial vehicle, after the rotor wing unmanned aerial vehicle carries the same working load of photographic equipment and the like, the one-time flight time is increased by 20 percent, and the long 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 in the high-rise building adopts the double-synchronous direct-acting pull curtain type driving energy-adjustable flapping wing unmanned aerial vehicle. The curtain wing comprises a curtain wing, a first speed reducer 4, a driving motor 5, a machine body top plate 6, connecting pieces 7, a second speed reducer 8, a stepping motor 9, a transmission mechanism, a third speed reducer 15, a motor 16, a machine body bottom plate 17 and slide ways 18, wherein four slide ways 18 in the vertical direction are symmetrically installed and fixed on the periphery of the machine body top plate 6, the two connecting pieces 7 are respectively and fixedly connected onto a push rod 10, the two curtain wings are respectively connected onto the two connecting pieces 7 and can rotate relatively, the curtain wing comprises a curtain wing frame 1 and continuous soft curtains 2 sleeved on the curtain wing frame 1, the curtain wing frame 1 is also provided with the driving motor 5 and the first speed reducer 4, the driving motor 5 controls the expansion and contraction of the soft curtains 2 after being decelerated by the first speed reducer 4, the transmission mechanism is connected onto the two connecting pieces 7, the motor 16 arranged on the machine body bottom plate 17 drives the transmission mechanism to move to enable the two connecting pieces 7 to synchronously slide up and down after being decelerated by the third speed reducer 15 arranged on the machine body bottom plate 17, the two stepping motors 9 respectively arranged on the two connecting pieces 7 respectively drive the two curtain wings to rotate after being decelerated by the two second reducers 8 arranged on the two connecting pieces 7; the curtain wing frame 1 is provided with a first coil spring mounting hole 101, a second coil spring mounting hole 102, a guide rail 103, a curtain wing mounting beam 104, a motor mounting hole 105, a rotary wheel shaft 106, a curtain wing rotary shaft 107, a first mounting plate 108, a second mounting plate 109 and a connecting cross beam 110, the soft curtain 2 is provided with a soft curtain windward side 201 and a soft curtain leeward side 202, the connecting piece 7 is provided with a curtain wing rotary shaft hole 701 and a fixed mounting hole 702, the axis of the curtain wing rotary shaft hole 701 is vertical to the axis of the fixed mounting hole 702, and the curtain wing rotary shaft 107 is inserted in the curtain wing rotary shaft hole 701 and can rotate; the guide rail 103 is installed on the first installation plate 108 and the second installation plate 109, the rotary wheel shaft 106 is inserted in the first installation plate 108 and the second installation plate 109, the connection beam 110 is inserted in the first installation plate 108 and the second installation plate 109, the curtain wing installation beam 104 is inserted in the guide rail 103 and can slide, the driving motor 5 is installed on the motor installation hole 105, the coil spring 3 is installed on the first coil spring installation hole 101 and the second coil spring installation hole 102, the transmission mechanism comprises a push rod 10, a roller 13, a cylindrical cam 14 and a transmission shaft 20, the cylindrical cam 14 is provided with a cylindrical cam rotary hole 1401 and a cylindrical cam surface 1402, the cylindrical cam surface 1402 is coaxial with the transmission shaft 20, 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 slide way hole 1001, the push rod bracket 1002 and a push rod shaft hole 1003, the vertical push rod shaft hole 1003 is connected with the roller 13 through the roller installation shaft 19 through a connecting rod 12, the cylindrical surface of the roller 13 is tangent and slidable with two side surfaces of the cam curve groove 1403 through a roller mounting shaft 19, the slide way 18 is inserted in the slide way hole 1001 and is slidable, two connecting pieces 7 are arranged on the push rod bracket 1002 through fixed mounting holes 702, the transmission shaft 20 is connected with the cylindrical cam rotating hole 1401 and the third speed reducer 15, two side surfaces of the cam curve groove 1403 are both spiral curved surfaces, the curtain wing rotating shaft 107 is arranged on the output shaft of the second speed reducer 8, the output shaft of the stepping motor 9 is arranged in the input hole of the second speed reducer 8, the output shaft of the motor 16 is arranged in the input hole of the third speed reducer 15, the output shaft of the driving motor 5 is arranged in the input hole of the first speed reducer 4, the curtain wing frame 1 is provided with the rotating wheel shaft 106, the curtain wing rotating shaft 107 and the connecting beam 110, and the curtain wing frame adopts a hollow structure and adopts light materials such as engineering plastics, carbon fibers and the like. After the double-synchronous direct-acting pull curtain type driving energy-adjustable flapping wing unmanned aerial vehicle special for fire extinguishment of the high-rise building is adopted, the curtain wing has stronger maneuverability because of large thrust, small resistance and high pneumatic efficiency in the working stroke of the curtain wing, can quickly respond to the emergency condition of the high-rise building and quickly fly to the fire catching point of the high-rise building for fire extinguishment.

Claims (8)

1. Double-synchronous direct-acting pull curtain type flapping wing unmanned aerial vehicle with adjustable driving energy is characterized by comprising curtain wings, a first speed reducer (4), a driving motor (5), a machine body top plate (6), connecting pieces (7), a second speed reducer (8), a stepping motor (9), a transmission mechanism, a third speed reducer (15), a motor (16), a machine body bottom plate (17) and slide ways (18), wherein the slide ways (18) in four vertical directions are symmetrically arranged and fixed on the periphery of the machine body top plate (6), the two connecting pieces (7) are respectively and fixedly connected onto a push rod (10), the two curtain wings are respectively connected onto the two connecting pieces (7) and can rotate relatively, each curtain wing comprises a curtain wing frame (1) and a continuous soft curtain (2) sleeved on the curtain wing frame (1), and the curtain wing frame (1) is further provided with the driving motor (5) and the first speed reducer (4), the driving motor (5) controls the soft curtain (2) to expand and contract after being decelerated by the first decelerator (4), the transmission mechanism is connected to the two connecting pieces (7), the motor (16) arranged on the machine body bottom plate (17) drives the transmission mechanism to move after being decelerated by the third decelerator (15) arranged on the machine body bottom plate (17) so that the two connecting pieces (7) synchronously slide up and down, and the two stepping motors (9) respectively arranged on the two connecting pieces (7) respectively drive the two curtain wings to rotate after being decelerated by the two second decelerators (8) respectively arranged on the two connecting pieces (7);

the curtain wing frame (1) is provided with a first coil spring mounting hole (101), a second coil spring mounting hole (102), a guide rail (103), a curtain wing mounting beam (104), a motor mounting hole (105), a rotating wheel shaft (106), a curtain wing rotating shaft (107), a first mounting plate (108), a second mounting plate (109) and a connecting cross beam (110), the soft curtain (2) is provided with a soft curtain windward side (201) and a soft curtain leeward side (202), the connecting piece (7) is provided with a curtain wing rotating shaft hole (701) and a fixed mounting hole (702), the axis of the curtain wing rotating shaft hole (701) is vertical to the axis of the fixed mounting hole (702), and the curtain wing rotating shaft (107) is inserted into the curtain wing rotating shaft hole (701) and can rotate; the guide rail (103) is installed on the first mounting plate (108) and the second mounting plate (109), the rotating wheel shaft (106) is inserted into the first mounting plate (108) and the second mounting plate (109), the connecting cross beam (110) is inserted into the first mounting plate (108) and the second mounting plate (109), the curtain wing mounting beam (104) is inserted into the guide rail (103) and can slide, the driving motor (5) is installed on the motor mounting hole (105), and the coil spring (3) is installed on the first coil spring mounting hole (101) and the second coil spring mounting hole (102).

2. The dual synchronous direct acting pull curtain type drive energy adjustable ornithopter of claim 1, wherein: the transmission mechanism comprises a push rod (10), a roller (13), a cylindrical cam (14) and a transmission shaft (20), 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 (20), 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 (12) and a roller mounting shaft (19) 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 (19), 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 (20) is connected with the cylindrical cam rotating hole (1401) and the third speed reducer (15).

3. The dual synchronous direct acting pull curtain type drive energy adjustable ornithopter of claim 2, wherein: both side surfaces of the cam curve groove (1403) are spirally curved surfaces.

4. The dual synchronous direct acting pull curtain type drive energy adjustable ornithopter of claim 1, wherein: the curtain wing rotating shaft (107) is installed on an output shaft of the second speed reducer (8), and an output shaft of the stepping motor (9) is installed in an input hole of the second speed reducer (8).

5. The dual synchronous direct acting pull curtain type drive energy adjustable ornithopter as claimed in claim 1 or 2, wherein: and an output shaft of the motor (16) is arranged in an input hole of the third speed reducer (15).

6. The dual synchronous direct acting pull curtain type drive energy adjustable ornithopter of claim 1, wherein: and an output shaft of the driving motor (5) is arranged in an input hole of the first speed reducer (4).

7. The dual synchronous direct acting pull curtain type drive energy adjustable ornithopter of claim 1, wherein: the curtain wing frame (1) is provided with the rotating wheel shaft (106), the curtain wing rotating shaft (107) and the connecting cross beam (110), and the curtain wing frame adopts a hollow structure and adopts light materials such as engineering plastics, carbon fibers and the like.

8. The dual synchronous direct acting pull curtain type drive energy adjustable ornithopter of claim 1, wherein: the number of the coil springs (3) mounted in each curtain wing frame (1) is 2.

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