CN210616516U

CN210616516U - Wing motion structure

Info

Publication number: CN210616516U
Application number: CN201921057247.1U
Authority: CN
Inventors: 王珏; 高毅
Original assignee: Shanghai Yunshen Intelligent Technology Co ltd
Current assignee: Shanghai Hongxing Cloud Computing Technology Co ltd
Priority date: 2019-07-09
Filing date: 2019-07-09
Publication date: 2020-05-26
Anticipated expiration: 2029-07-09

Abstract

The utility model discloses a wing motion structure, include: a connecting rod mechanism and two wing fixing seats; the connecting rod mechanism comprises a supporting frame and two connecting rod assemblies; the connecting rod assembly comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, wherein the first end of the first connecting rod is connected with the first wing fixing seat, the second end of the first connecting rod is hinged with the first end of the second connecting rod, the second end of the second connecting rod is hinged with the first end of the third connecting rod, the second end of the third connecting rod is hinged with the first end of the fourth connecting rod, and the second end of the fourth connecting rod is hinged with the second wing fixing seat; the first connecting rod and the fourth connecting rod are arranged on the support frame in a sliding mode along the second direction; a push rod is hinged to the hinge point of the second connecting rod and the third connecting rod; the hinge point of one of the two connecting rod assemblies and the wing fixing seat can slide on the wing fixing seat. The utility model realizes the shape diversity and flexibility of the wing-containing robot; the space occupancy rate and the cost are reduced.

Description

Wing motion structure

Technical Field

The utility model relates to the technical field of robots, in particular to a wing motion structure.

Background

With the development of science and technology, various robots are produced, in order to improve the appearance and aesthetic feeling of the robots and reduce the distance feeling between the robots and the human beings, the robots are designed into various shapes to attract and draw close the distance between the robots and the human beings, but the existing wing-containing robots are generally fixed in shape, cannot change the shape in the using process, are rigid and sluggish, greatly reduce the existence feeling of the robots and greatly reduce the use rate of the robots; and because the shape of the robot is fixed, the space occupancy rate of the robot is large, the required space for transportation, walking, storage and the like is large, and the cost is high. Therefore, there is a need for the development of a robot containing fins with flexible modeling and small space occupancy.

Disclosure of Invention

The utility model aims at providing a wing motion structure, which realizes the shape diversity and the flexibility of a robot containing wings, increases the interest of the robot containing wings and leads the robot containing wings to draw more attention due to the multi-shape; the space occupancy rate of the robot containing the wings in the processes of transportation, walking, storage and the like can be reduced, so that the cost is reduced.

The utility model provides a technical scheme as follows:

a wing movement structure, comprising:

a link mechanism; the two wing fixing seats are a first wing fixing seat and a second wing fixing seat;

the connecting rod mechanism comprises a support frame and two connecting rod assemblies, namely a first connecting rod assembly and a second connecting rod assembly;

the two connecting rod assemblies are respectively arranged on two opposite sides of the supporting frame along a first direction;

the connecting rod assembly comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, wherein the first end of the first connecting rod is connected with the first wing fixing seat, the second end of the first connecting rod is hinged with the first end of the second connecting rod, the second end of the second connecting rod is hinged with the first end of the third connecting rod, the second end of the third connecting rod is hinged with the first end of the fourth connecting rod, and the second end of the fourth connecting rod is hinged with the second wing fixing seat;

the first connecting rod and the fourth connecting rod are arranged on the supporting frame in a sliding mode along a second direction;

a hinge point of the second connecting rod and the third connecting rod is hinged with a push rod;

and a hinge point between one of the two connecting rod assemblies and the wing fixing seat can slide on the wing fixing seat, and the push rod is actuated along a third direction to realize at least one motion of the two wing fixing seats which are far away from or close to each other along the second direction and rotate along the third direction.

In the technical scheme, more than one push rod of the two push rods is pushed or pulled along the third direction, so that the two wing fixing seats are far away from each other and rotate, for example, when the connecting rod assembly of the hinge point can not slide on the wing fixing seats, the two wing fixing seats can be far away from or close to each other, and further the wing assemblies can be far away from or close to each other, so that the wing assemblies can move close to or away from each other along the second direction; when the connecting rod assembly with the hinged point capable of sliding on the wing fixing seats is actuated, the two wing fixing seats can rotate, and then the wing spreading or wing folding action of the wing assembly is realized; when the two connecting rods are actuated simultaneously, the wing component can move close to or away from, spread wings or retract wings; therefore, the wings of the robot can be in various postures in the use process, and the wing assemblies can be close to each other and contract when the robot is not used, so that the space occupancy rate of the robot is reduced; the utility model realizes the modeling diversity and flexibility of the robot containing the wings, increases the interest of the robot containing the wings, and leads the robot containing the wings to draw more attention due to the multi-modeling; the space occupancy rate of the robot containing the wings in the processes of transportation, walking, storage and the like can be reduced, so that the cost is reduced.

Further preferably, the contact positions of the first connecting rod and the fourth connecting rod with the supporting frame are provided with concave-convex matching structures.

In the technical scheme, the synchronization and consistency of the motion of the two wing fixing seats are ensured through the concave-convex matching structure, and the symmetrical aesthetic feeling of the robot is improved.

Further preferably, the connecting rod assembly further comprises two support rod assemblies, namely a first support rod assembly and a second support rod assembly; the two supporting rod assemblies are respectively arranged on two opposite sides of the supporting frame along a first direction, so that the first supporting rod assembly and the first connecting rod assembly are arranged on the same side of the supporting frame, and the second supporting rod assembly and the second connecting rod assembly are arranged on the same side of the supporting frame; the support rod assembly comprises a first support rod and a second support rod; the first supporting rod and the second supporting rod are arranged on the supporting frame in a sliding mode along a second direction; the end part of the first support rod, which is far away from one side of the second support rod, is hinged with the first wing fixing seat, and the end part of the second support rod, which is far away from one side of the first support rod, is hinged with the second wing fixing seat; the hinge point of one of the two support rod assemblies and the wing fixing seat can slide on the wing fixing seat, so that the hinge point can be arranged opposite to the support rod assembly and the connecting rod assembly which can slide on the wing fixing seat along the first direction.

Among this technical scheme, strengthened wing fixing base motion's stability and stationarity through bracing piece subassembly, guaranteed that the wing changes figurative smooth and easy nature, avoid appearing the card phenomenon of dying.

Further preferably, the contact positions of the first support rod and the second support rod with the support frame are provided with concave-convex matching structures.

Further preferably, the support frame comprises a support framework, a slide rail, a slide groove plate and a slide block; the first connecting rod assembly and the second connecting rod assembly are sequentially arranged from top to bottom along a third direction; the first supporting rod assembly and the second supporting rod assembly are sequentially arranged from top to bottom along a third direction; the first connecting rod assembly and the first supporting rod assembly are oppositely arranged on two sides of the supporting framework, and the second connecting rod assembly and the second supporting rod assembly are oppositely arranged on two sides of the supporting framework; the two sliding groove plates are respectively arranged on two opposite sides of the support framework along a first direction, so that the sliding groove plates are arranged between the two connecting rod assemblies; the first connecting rod assembly is arranged on the first side of the sliding chute plate, and the second connecting rod assembly is arranged on the second side of the sliding chute plate; the two chute plates are respectively provided with chutes corresponding to the first connecting rod, the fourth connecting rod, the first supporting rod and the second supporting rod; a sliding chute, which is formed by a first connecting rod of the first connecting rod assembly and corresponds to a first supporting rod of the first supporting rod assembly, is a first sliding chute, a sliding chute, which is formed by a fourth connecting rod of the first connecting rod assembly and corresponds to a second supporting rod of the first supporting rod assembly, is a second sliding chute, a sliding chute, which is formed by a first connecting rod of the second connecting rod assembly and corresponds to a first supporting rod of the second supporting rod assembly, is a third sliding chute, and a sliding chute, which is formed by a fourth connecting rod of the second connecting rod assembly and corresponds to a second supporting rod of the second supporting rod assembly, is a fourth sliding chute; the two slide rails are respectively arranged on two opposite sides of the support framework along a second direction; the sliding block is in concave-convex fit connection with the sliding rail, and two ends of the sliding block after penetrating through the first sliding chute are respectively connected with the first connecting rod of the first connecting rod assembly and the first supporting rod of the first supporting rod assembly; two ends of the sliding block, which penetrate through the second sliding groove, are respectively connected with the fourth connecting rod of the first connecting rod assembly and the second supporting rod of the first supporting rod assembly; two ends of the sliding block after penetrating through the third sliding chute are respectively connected with the first connecting rod of the second connecting rod component and the first supporting rod of the second supporting rod component; and two ends of the sliding block, which penetrate through the fourth sliding groove, are respectively connected with the fourth connecting rod of the second connecting rod component and the second supporting rod of the second supporting rod component.

In the technical scheme, the arrangement of the sliding grooves limits the opening degree of the robot action, the relative arrangement of the sliding grooves also ensures the stability and the smoothness of the action, and the robot has a compact structure and is stable in operation.

Further preferably, the wing fixing device further comprises a wing assembly installed on the wing fixing base, the wing assembly installed on the first wing fixing base is a first wing assembly, and the wing assembly installed on the second wing fixing base is a second wing assembly.

Further preferably, the wing assembly comprises a mounting seat connected with the wing fixing seat, and a wing-shaped wing covering the outside of the mounting seat; the outer wall surface of one side of the wing-shaped wing, which is far away from the mounting seat, is an artistic curved surface shape formed by reducing the diameter from top to bottom.

In the technical scheme, the wings are designed into the shape of the artistic curved surface, so that the aesthetic feeling and the impression of the shape of the robot are improved, and the distance between the robot and the robot is shortened.

Further preferably, the device further comprises a driving mechanism, wherein the driving mechanism is connected with the push rod; and/or a concave-convex matching structure is arranged at the contact position of the push rod and the support frame.

In the technical scheme, the execution of the robot action can be manual or automatic, and can be set according to the actual customer requirements, so that the customers with different consumption levels are met. More excellent unsmooth cooperation structure has guaranteed the linearity of push rod push-and-pull process, avoids the dead phenomenon of card to appear in the push rod, has guaranteed the utility model discloses stability and the stationarity of operation.

Further preferably, a rotating mechanism for mounting the wing assembly is arranged at the end part of the wing fixing seat, which is far away from one side of the connecting rod assembly; so that the wing assembly rotates on the wing fixing seat through the rotating mechanism.

In the technical scheme, the rotation of the wings on the wing fixing seat can be realized through the rotating mechanism, so that the shapes of the wings are further enriched, and different customer requirements are met.

Further preferably, the rotating mechanism comprises a first motor, a worm wheel and a worm; the first motor is connected with the worm, the worm is meshed with the worm wheel, and the wing assembly is arranged at the end part of the worm wheel far away from one side of the worm; or the rotating mechanism comprises a second motor, a driving rack and a gear; the second motor is connected with the driving rack, the driving rack is meshed with the gear, and the wing assembly is arranged at the end part of the gear far away from one side of the driving rack; or the rotating mechanism comprises a third motor, a driving gear and a driven gear, the third motor is connected with the driving gear, the driving gear is meshed with the driven gear, and the wing assembly is arranged at the end part of one side, far away from the driving gear, of the driven gear; or, the rotating mechanism includes a rotating body, a fourth motor and a fifth motor, the fourth motor and the fifth motor are respectively arranged at the side of the rotating body, and the fourth motor drives the rotating body to rotate along a first rotating plane; the fifth motor drives the rotating body to rotate along a second rotating plane, and the first rotating plane and the second rotating plane are arranged at an angle; the wing assembly is connected with the rotating body.

Among this technical scheme, the mode that realizes the wing rotation is multiple, specifically can design according to actual need, satisfies different customer demands: the wings may rotate in one plane or the wings may rotate in two planes.

The utility model provides a pair of wing motion structure can bring following at least one beneficial effect:

1. in the utility model, more than one of the two push rods is pushed or pulled along the third direction, so that the two wing fixing seats are far away from or rotated, for example, when the connecting rod assembly with the hinged point incapable of sliding on the wing fixing seats is actuated, the two wing fixing seats can be far away from or close to each other, and further the wing assemblies are far away from or close to each other, so that the wing assemblies can move close to or away from each other along the second direction; when the connecting rod assembly with the hinged point capable of sliding on the wing fixing seats is actuated, the two wing fixing seats can rotate, and then the wing spreading or wing folding action of the wing assembly is realized; when the two connecting rods are actuated simultaneously, the wing component can move close to or away from, spread wings or retract wings; therefore, the wing assemblies can be in various postures in the use process of the robot, and the wing assemblies can be close to each other and contract when the robot is not used, so that the space occupancy rate of the robot is reduced; the utility model realizes the modeling diversity and flexibility of the robot containing the wings, increases the interest of the robot containing the wings, and leads the robot containing the wings to draw more attention due to the multi-modeling; the space occupancy rate of the robot containing the wings in the processes of transportation, walking, storage and the like can be reduced, so that the cost is reduced.

2. The utility model discloses in, through the setting of unsmooth cooperation structure, spout etc to guarantee spacing, steady and the same direction as smooth of wing subassembly action, avoid the dead phenomenon of card, thereby reduce and use and maintenance cost.

Drawings

The above features, technical characteristics, advantages and realisations of the wing movement structure will be further explained in a clear and understandable way, referring to the following description of a preferred embodiment in conjunction with the accompanying drawings.

Fig. 1 is a schematic structural diagram of a first embodiment of the present invention;

fig. 2 is a schematic structural diagram of a second embodiment of the present invention;

fig. 3 is a schematic structural diagram of a third embodiment of the present invention;

fig. 4 is a schematic structural view of an embodiment of the support frame of the present invention;

FIG. 5 is a schematic structural view of an embodiment of the chute plate of the present invention;

fig. 6 is a schematic structural diagram of a fourth embodiment of the present invention;

fig. 7 is a schematic structural view of a first embodiment of the rotating mechanism of the present invention;

fig. 8 is a schematic structural diagram of a second embodiment of the rotating mechanism of the present invention.

The reference numbers illustrate:

11. first link assembly 111, first link assembly 112, second link assembly 113, third link assembly 114, fourth link assembly 115, first hinge point 116, second hinge point 117, third hinge point 12, second link assembly 13, first support rod assembly 131, first support rod 132, second support rod 133, fourth hinge point 134, fifth hinge point 14, second support rod assembly 21, first wing holder 211, slotted hole 22, second wing holder 31, support frame 32, slide rail 33, slide groove plate 331, first slide groove 332, second slide groove 333, third slide groove 334, fourth slide groove 34, slide block 351, guide block 352, base 353, press plate 41, first push rod 411, guide groove 42, second push rod 5, wing assembly 51, mounting seat 52, wing airfoil, 6 wing rotating mechanism, 611. worm, 612, worm wheel, 621, rotator, 622, fourth motor, 623, fifth motor.

Detailed Description

In order to more clearly illustrate embodiments of the present invention or technical solutions in the prior art, specific embodiments of the present invention will be described below with reference to the accompanying drawings. It is obvious that the drawings in the following description are only examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be obtained from these drawings without inventive effort.

For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure of the product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".

In this context, it is to be understood that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art. In this context, up, down, left, right, front, and back refer to up, down, left, right, front, and back of the robot.

In one embodiment, as shown in fig. 1-8, a wing movement structure, comprising: a link mechanism; and two wing holders, namely a first wing holder 21 and a second wing holder 22; the connecting rod mechanism comprises a supporting frame and two connecting rod assemblies, namely a first connecting rod assembly 11 and a second connecting rod assembly 12; the two connecting rod assemblies are respectively arranged on two opposite sides of the support frame along a first direction; the connecting rod assembly comprises a first connecting rod 111, a second connecting rod 112, a third connecting rod 113 and a fourth connecting rod 114, wherein the first end of the first connecting rod 111 is connected with the first wing fixing seat 21, the second end of the first connecting rod 111 is hinged with the first end of the second connecting rod 112, the second end of the second connecting rod 112 is hinged with the first end of the third connecting rod 113, the second end of the third connecting rod 113 is hinged with the first end of the fourth connecting rod 114, and the second end of the fourth connecting rod 114 is hinged with the second wing fixing seat 22; the first connecting rod 111 and the fourth connecting rod 114 are arranged on the support frame in a sliding manner along the second direction; a hinge point of the second connecting rod 112 and the third connecting rod 113 is hinged with a push rod; the hinge point of one of the two connecting rod assemblies and the wing fixing seat can slide on the wing fixing seat, and the push rod is actuated along the third direction to realize at least one motion of the two wing fixing seats which are far away from or close to each other along the second direction and rotate along the third direction. In practical application, the two wing holders can be separated from each other and rotated by pushing or pulling one or more push rods of the two push rods along the third direction, for example, when the connecting rod assembly with the hinge point incapable of sliding on the wing holders is actuated, the two wing holders can be separated from or close to each other along the second direction, and further the wing assemblies 5 can be separated from or close to each other, so that the wing assemblies 5 can move to or away from each other along the second direction; when the connecting rod assembly with the hinged point capable of sliding on the wing fixing seats is actuated, the two wing fixing seats can rotate, and then the wing spreading or wing folding action of the wing assembly 5 is realized; when the two connecting rods are actuated simultaneously, the wing component 5 can move close to or away from, spread wings or retract wings; therefore, the wing assemblies 5 can be in various postures in the use process of the robot, and the wing assemblies 5 can be close to each other and contract when the robot is not used, so that the space occupancy rate of the robot is reduced.

In the second embodiment, as shown in fig. 1 to 8, on the basis of the first embodiment, for convenience of description, a hinge point of the push rod and the connecting rod assembly is a third hinge point 117; the push rod hinged with the first connecting rod assembly 11 is a first push rod 41, and the push rod hinged with the second connecting rod assembly 12 is a second push rod 42; the connecting component whose hinge point can not slide on the wing fixing seat is the first connecting rod component 11, and the hinge point is the first hinge point 115; the connecting component of the hinge point capable of sliding on the wing holder is the second connecting rod assembly 12, and the hinge point is the second hinge point 116. When the third direction is the height direction, the wing assembly 5 can rotate in the height direction, so as to realize the wing spreading or wing folding of the wing assembly 5 in the height direction, when the first hinge point 115 is located above or below the second hinge point 116, the first and

second wing holders

21 and 22 can be separated or approached to each other along the second direction by pushing and pulling the first push rod 41, and the first and

second wing holders

21 and 22 can be rotated in the height direction around the first hinge point 115 respectively to realize the wing spreading or wing folding by pushing and pulling the second push rod 42. Preferably, when the wing assembly 5 is in the retracted state, the mounting surface of the wing holder for mounting the wing assembly 5 is preferably parallel to the height direction, and when the first push rod 41 is pushed or pulled, the first wing holder 21 and the second wing holder 22 move away from or close to each other in the second direction; when the second push rod 42 is pushed or pulled, the second hinge point 116 rotates around the first hinge point 115 toward the side far from the support frame or the side near to the support frame in the height direction, so that the upper end of the wing assembly 5 rotates around the lower end of the wing assembly 5, or the lower end of the wing assembly 5 rotates around the upper end of the wing assembly 5, thereby realizing wing spreading or wing folding. In practical application, the first push rod 41 and the second push rod 42 can be operated separately, or the second push rod 42 and the first push rod 41 can be operated synchronously to separate the first wing holder 21 and the second wing holder 22; and then the first push rod 41 is not moved, the second push rod 42 is continuously actuated to realize the wing spreading action, otherwise, when the wings are folded, the second push rod 42 is actuated firstly to realize the wing folding, and then the first push rod 41 and the second push rod 42 are synchronously actuated to realize the mutual approach of the first wing fixing seat 21 and the second wing fixing seat 22. It should be noted that the first push rod 41 can be pushed or pulled when the first wing holder 21 and the second wing holder 22 are separated from each other, and similarly, the first wing holder 21 and the second wing holder 22 can be moved closer to each other when the first push rod 41 is pulled or pushed. When the first push rod 41 and the second push rod 42 need to be synchronously operated when the first wing fixing seat 21 and the second wing fixing seat 22 approach or separate from each other, the first push rod 41 and the second push rod 42 can be pushed or pulled simultaneously; or the first push rod 41 is pulled, and the second push rod 42 is pushed; alternatively, the first push rod 41 is pushing and the second push rod 42 is pulling.

It is worth to be noted that the first direction, the second direction and the third direction can be front and back, left and right, up and down; can also be front and back, left upper part, right lower part and up and down; the front right and the rear left, the upper left and the lower right, and the upper and the lower left can be selected; even, the first direction, the second direction and the third direction can be up and down, left and right, front and back and the like, and can be specifically selected and designed according to the wing shape of the robot, so that the practicability is high and the applicability is wide. In practical applications, the distance between the first wing holder 21 and the second wing holder 22 can be set according to practical requirements, and specifically, the lengths and/or the hinge angles of the second connecting rod 112 and the third connecting rod 113 can be set.

In the third embodiment, as shown in fig. 1 to 8, on the basis of the first or second embodiment, a concave-convex matching structure is arranged at the contact part of the first connecting rod 111 and the fourth connecting rod 114 and the supporting frame. It should be noted that the concave-convex matching structures of the first connecting rod 111 and the fourth connecting rod 114 of the first connecting rod assembly 11 and the supporting frame and the concave-convex matching structures of the first connecting rod 111 and the fourth connecting rod 114 of the second connecting rod assembly 12 and the supporting frame may be the same concave-convex matching structure or two concave-convex matching structures which are independent of each other. The first connecting rod 111 and the fourth connecting rod 114 can be provided with protrusions, and the supporting frame is correspondingly provided with a groove; on the contrary, the first connecting rod 111 and the fourth connecting rod 114 may both be provided with grooves, and the supporting frame is correspondingly provided with protrusions; the first link 111 and the fourth link 114 may also be provided with different components, such as the first link 111 is provided with a protrusion, and the fourth link 114 is provided with a groove; conversely, the first link 111 may be provided with a groove, and the fourth link 114 may be provided with a protrusion. In practical application, the concave-convex matching structure is not limited to the protrusion and the groove, and the concave-convex matching structure with the guiding function can be any structure, such as a guide rod and a ring block, the ring block is sleeved on the outer side of the guide rod, and the ring block is connected with the first connecting rod 111 and the fourth connecting rod 114 to realize the guiding function, which is not described herein again.

In the fourth embodiment, as shown in fig. 1 to 8, on the basis of the first, second or third embodiments, the connecting rod assembly further comprises two support rod assemblies, namely a first support rod assembly 13 and a second support rod assembly 14; the two supporting rod assemblies are respectively arranged on two opposite sides of the supporting frame along a first direction, so that the first supporting rod assembly 13 and the first connecting rod assembly 11 are arranged on the same side of the supporting frame, and the second supporting rod assembly 14 and the second connecting rod assembly 12 are arranged on the same side of the supporting frame; the support bar assembly includes a first support bar 131 and a second support bar 132; the first support rod 131 and the second support rod 132 are arranged on the support frame in a sliding manner along the second direction; the end of the first support rod 131 far away from the second support rod 132 is hinged to the first wing fixing seat 21, and the end of the second support rod 132 far away from the first support rod 131 is hinged to the second wing fixing seat 22; one of the two support rod components and the hinge point of the wing fixing seat can slide on the wing fixing seat, so that the hinge point can be arranged oppositely along the first direction on the support rod component and the connecting rod component which are arranged on the wing fixing seat in a sliding manner. Preferably, the contact positions of the first support rod 131 and the second support rod 132 with the support frame are provided with a concave-convex matching structure. It should be noted that the concave-convex matching structure of the first supporting rod 131 and the supporting frame of the first supporting rod assembly 13 and the concave-convex matching structure of the second supporting rod 132 and the supporting frame of the second supporting rod assembly 14 may be the same concave-convex matching structure, or two concave-convex matching structures independently arranged. The concave-convex matching structure of the second support rod 132 of the first support rod assembly 13 and the support frame and the concave-convex matching structure of the first support rod 131 of the second support rod assembly 14 and the support frame can be the same concave-convex matching structure, or two concave-convex matching structures which are independent of each other. The first support rod 131 and the second support rod 132 may be provided with protrusions, and the support frame is correspondingly provided with grooves; on the contrary, the first support rod 131 and the second support rod 132 may be both provided with a groove, and the support frame is correspondingly provided with a protrusion; the first support bar 131 and the second support bar 132 may be different, for example, the first support bar 131 is provided with a protrusion, and the second support bar 132 is provided with a groove; on the contrary, the first supporting rod 131 may be provided with a groove, and the second supporting rod 132 may be provided with a protrusion. In practical application, the concave-convex matching structure is certainly not limited to the protrusion and the groove, as long as the concave-convex matching structure with the guiding function is enough, such as the guide rod and the ring block, the ring block is sleeved on the outer side of the guide rod, and the ring block is connected with the first support rod 131 or the second support rod 132 to realize the guiding function, which is not described again here.

In the fifth embodiment, as shown in fig. 1 to 8, on the basis of the fourth embodiment, the supporting frame comprises a supporting framework 31, a sliding rail 32, a sliding groove plate 33 and a sliding block 34; the first connecting rod assembly 11 and the second connecting rod assembly 12 are sequentially arranged from top to bottom along a third direction; the first support rod assembly 13 and the second support rod assembly 14 are sequentially arranged from top to bottom along a third direction; the first connecting rod assembly 11 and the first supporting rod assembly 13 are oppositely arranged on two sides of the supporting framework 31, and the second connecting rod assembly 12 and the second supporting rod assembly 14 are oppositely arranged on two sides of the supporting framework 31; the two chute plates 33 are respectively arranged on two opposite sides of the support framework 31 along the first direction, so that the chute plates 33 are arranged between the two connecting rod assemblies; the chute plate 33 close to the first connecting rod assembly 11 is a first chute plate, and the chute plate 33 close to the second connecting rod assembly 12 is a second chute plate; the two chute plates 33 are respectively provided with chutes corresponding to the first connecting rod 111, the fourth connecting rod 114, the first supporting rod 131 and the second supporting rod 132; the sliding groove of the first link 111 of the first link assembly 11 corresponding to the first support rod 131 of the first support rod assembly 13 is a first sliding groove 331, the sliding groove of the fourth link 114 of the first link assembly 11 corresponding to the second support rod 132 of the first support rod assembly 13 is a second sliding groove 332, the sliding groove of the first link 111 of the second link assembly 12 corresponding to the first support rod 131 of the second support rod assembly 14 is a third sliding groove 333, and the sliding groove of the fourth link 114 of the second link assembly 12 corresponding to the second support rod 132 of the second support rod assembly 14 is a fourth sliding groove 334; the two slide rails 32 are respectively arranged on two opposite sides of the support framework 31 along the second direction; the sliding block 34 is connected with the sliding rail 32 in a concave-convex matching manner, and two ends of the sliding block 34 penetrating through the first sliding groove 331 are respectively connected with the first connecting rod 111 of the first connecting rod assembly 11 and the first supporting rod 131 of the first supporting rod assembly 13; both ends of a sliding block 34 penetrating through the second sliding slot 332 are respectively connected with the fourth connecting rod 114 of the first connecting rod assembly 11 and the second supporting rod 132 of the first supporting rod assembly 13; both ends of a slide block 34 penetrating through the third slide slot 333 are respectively connected with the first connecting rod 111 of the second connecting rod assembly 12 and the first supporting rod 131 of the second supporting rod assembly 14; both ends of a slider 34 penetrating through the fourth sliding slot 334 are connected to the fourth link 114 of the second link assembly 12 and the second support rod 132 of the second support rod assembly 14, respectively. The first link 111 of the first link assembly 11 and the first support 131 of the first support rod assembly 13 are connected by a slider 34, the fourth link 114 of the first link assembly 11 and the second support 132 of the first support rod assembly 13 are connected by a slider 34, the first link 111 of the second link assembly 12 and the first support 131 of the second support rod assembly 14 are connected by a slider 34, and the fourth link 114 of the second link assembly 12 and the second support 132 of the second support rod assembly 14 are connected by a slider 34, so that the first push rod 41 and the second push rod 42 need to be synchronously pushed or pulled to realize the mutual separation of the first wing fixing seat 21 and the second wing fixing seat 22, and after the first wing fixing seat 21 and the second wing fixing seat 22 are separated, the first push rod 41 is stopped to be actuated, and the second push rod 42 is continuously pushed or pulled to realize the wing spreading motion of the first wing fixing seat 21 and the second wing fixing seat 22, so that the wing component 5 completes the wing spreading action, and the wing spreading operation is completed at this time; the second push rod 42 is pulled or pushed to realize the wing-receiving action of the first wing fixing seat 21 and the second wing fixing seat 22, so that the wing assembly 5 finishes the wing-receiving action, and then the first push rod 41 and the second push rod 42 are pulled or pushed simultaneously to finish the mutual approaching of the first wing fixing seat 21 and the second wing fixing seat 22, so that the wing-receiving operation is finished at the moment. It should be noted that the first pushing rod 41 and the second pushing rod 42 can be pulled or pushed simultaneously to achieve the wing spreading operation or the wing retracting operation, or can be pulled or pushed one by one to achieve the wing spreading operation or the wing retracting operation, and when the second pushing rod 42 continues to operate the wing spreading, the wing assemblies 5 are further pushed or pulled away from each other; as second pushrod 42 continues to operate wing assemblies 5 closer together, it should be pushed or pulled further to operate wing assemblies 5 to retract. Preferably, the linkage assembly and the support bar assembly share a common rail 32 for simplicity of construction.

For example, as shown in fig. 1 to 6, the hinge point of the first support rod assembly 13 and the wing holder is a fifth hinge point 134, the hinge point of the second support rod assembly 14 and the wing holder is a fourth hinge point 133, preferably, the third direction is a height direction, the fifth hinge point 134 and the first hinge point 115 are disposed at opposite sides of the wing holder, the fourth hinge point 133 and the second hinge point 116 are disposed at opposite sides of the wing holder, such that the fifth hinge point 134 is located above the fourth hinge point 133 along the third direction, the first hinge point 115 is located above the second hinge point 116 along the second direction, preferably, the first hinge point 115, the second hinge point 116, the fourth hinge point 133 and the fifth hinge point 134 are disposed at four corners of the wing holder, the wing holder is provided with a slotted hole 211 corresponding to the second hinge point 116 and the fourth hinge point 133, so that the second hinge point 116 and the fourth hinge point 133 can slide in the elongated hole 211 to realize the rotation of the wing holders around the straight line of the first hinge point 115 and the fifth hinge point 134 along the third direction, so that the two wing assemblies 5 can be switched between parallel and angled arrangements, and the wing assemblies 5 can be arranged symmetrically in a splayed shape because the second hinge point 116 and the fourth hinge point 133 are located below the first hinge point 115 and the fifth hinge point 134. Of course, if the second hinge point 116 and the fourth hinge point 133 are located above the first hinge point 115 and the fifth hinge point 134, the wing assembly 5 may be symmetrically arranged in an inverted splay shape.

It should be noted that, when the third direction is not the height direction, for example, when the third direction is the horizontal direction, the wing assemblies 5 may be symmetrically arranged in a splay shape and parallel to the horizontal direction with the narrow ends facing backwards when the second hinge point 116 and the fourth hinge point 133 are located in front of the first hinge point 115 and the fifth hinge point 134; when the second hinge point 116 and the fourth hinge point 133 are located behind the first hinge point 115 and the fifth hinge point 134, the wing assemblies 5 may be arranged symmetrically in a splay shape and parallel to the horizontal direction with the narrow ends facing forward. The specific setting can be set according to actual needs, and the detailed description is provided here. In practical applications, the number of the first sliding chute 331, the second sliding chute 332, the third sliding chute 333 and the fourth sliding chute 334 may be one, two, three, etc. The number of the first, second, third and

fourth chutes

331, 332, 333 and 334 is preferably two.

In the sixth embodiment, as shown in fig. 1-8, on the basis of the first, second, third, fourth or fifth embodiment, a wing assembly 5 installed on the wing holder is further included, the wing assembly 5 installed on the first wing holder 21 is the first wing assembly 5, and the wing assembly 5 installed on the second wing holder 22 is the second wing assembly 5. Preferably, wing assembly 5 includes a mounting base 51 connected to the wing fixing base, and wing-shaped wings 52 covering the outside of mounting base 51; the outer wall surface of the wing type wing 52 far away from the mounting seat 51 is an artistic curved surface shape formed by reducing the diameter from top to bottom. Preferably, the outer contour of the mounting seat 51 is similar to the outer contour of the wing-shaped wing 52, so that the wing-shaped wing 52 is stacked on the outer side of the mounting seat 51 and then is provided with multiple wings, the layering sense of the wings is improved, the aesthetic feeling and the visual sense of the wings are increased, and the wings have a spatial three-dimensional sense. Preferably, the device further comprises a driving mechanism, and the driving mechanism is connected with the push rod. Preferably, when the first link assembly 11 and the second link assembly 12 cannot independently perform their respective actions under the same actuation condition (for example, the first push rod 41 and the second push rod 42 cannot be pushed or pulled simultaneously to perform a fin spreading or fin retracting action), the first push rod 41 is provided with a driving mechanism, and the second push rod 42 is provided with a driving mechanism, so that the independently provided driving mechanisms respectively actuate the first push rod 41 and the second push rod 42 to perform corresponding actions. The driving mechanism can be an air cylinder, a thread pair, a screw pair or a linear motor. Of course, in practical applications, the pushing or pulling of the first push rod 41 and the second push rod 42 can also be driven manually, and the present invention also belongs to the protection scope of the present invention.

In the seventh embodiment, as shown in fig. 1 to 8, on the basis of the first, second, third, fourth, fifth or sixth embodiment, a concave-convex matching structure is arranged at the contact position of the push rod and the support frame. Preferably, the push rod is provided with a bulge, and the support frame is correspondingly provided with a groove; otherwise, the push rod is provided with a groove, and the support frame is correspondingly provided with a bulge; the first push rod 41 and the second push rod 42 can be arranged differently, for example, the first push rod 41 is provided with a protrusion, and the second push rod 42 is provided with a groove; conversely, the first push rod 41 may be provided with a groove, and the second push rod 42 may be provided with a protrusion. In practical application, the concave-convex matching structure is not limited to the protrusion and the groove, and any concave-convex matching structure can be used as long as the concave-convex matching structure plays a guiding role, such as a guide rod and a ring block, the ring block is sleeved on the outer side of the guide rod, and the ring block is connected with the first push rod 41 or the second push rod 42 to also achieve the guiding role; for another example, the concave-convex matching structure includes two bases 352 installed on the supporting frame and oppositely arranged along a third direction, a guide block 351, and a guide slot 411 arranged on the push rod; the extending direction of the guide slot 411 is parallel to the third direction, two ends of the guide block 351 are respectively connected to the two bases 352, and the guide block 351 penetrates through the guide slot 411 and protrudes from the surface of one side of the push rod away from the bases 352. Therefore, the linearity of reciprocating motion of the push rod along the third direction can be guaranteed, the stroke of the push rod along the third direction can be limited, and the distance of the wing assemblies 5 away from each other and the angle of wing spreading are further limited. Preferably, a pressing plate 353 is fastened to an outer side of the guide block 351 away from the base 352 to prevent the push rod from being disengaged from the guide block 351. Preferably, each push rod is correspondingly provided with two concave-convex matching structures. It should be noted that a limiting hole extending along the third direction may also be disposed along the third direction corresponding to the third hinge point 117, that is, the pin connecting the push rod, the second connecting rod 112 and the third connecting rod 113 reciprocates along the third direction in the limiting hole.

In the eighth embodiment, as shown in fig. 1 to 8, on the basis of the first, second, third, fourth, fifth, sixth or seventh embodiment, the end of the wing holder away from the side of the connecting rod assembly is provided with a rotating mechanism 6 for mounting the wing assembly 5; so that the wing assembly 5 rotates on the wing fixing seat through the rotating mechanism 6. In practical applications, the rotating mechanisms 6 correspondingly disposed on the first wing holder 21 and the second wing holder 22 may be the same or different, specifically, there are many types of rotating mechanisms 6, as shown in the following example: as shown in fig. 7, the rotating mechanism 6 includes a first motor, a worm wheel 612, and a worm 611; the first motor is connected with a worm 611, the worm 611 is in meshed connection with a worm wheel 612, and the wing assembly 5 is arranged at the end of the worm wheel 612 far away from the worm 611. Preferably, the first motor is mounted on the wing holder, the worm wheel 612 and the worm 611 are preferably coupled to the wing holder, and the wing assembly 5 is connected to the worm wheel 612. Example two: the rotating mechanism 6 comprises a second motor, a driving rack and a gear; the second motor is connected with the driving rack, the driving rack 611 is connected with the gear in a meshed mode, and the wing assembly 5 is arranged at the end portion, far away from the driving rack, of the gear. Preferably, the second motor is mounted on the wing fixing seat, the driving rack is preferably slidably arranged on the wing fixing seat, and a concave-convex matching structure is arranged at the contact position of the wing fixing seat and the driving rack, so that the linearity of the reciprocating motion of the driving rack is ensured; the gear shaft is connected with the wing fixing seat. Example three: slewing mechanism 6 includes third motor, drive gear and driven gear, and the third motor is connected with drive gear, and drive gear is connected with driven gear meshing, and driven gear is kept away from the tip of drive gear one side to wing subassembly 5. Preferably, the third motor is installed in the wing fixing seat, and the driving gear and the driven gear are both coupled to the wing fixing seat. Example four: as shown in fig. 8, the rotating mechanism 6 includes a rotating body 621, a fourth motor 622 and a fifth motor 623, the fourth motor 622 and the fifth motor 623 are respectively disposed beside the rotating body 621, and the fourth motor 622 drives the rotating body 621 to rotate along the first rotating plane; a fifth motor 623 drives the rotating body 621 to rotate along a second rotating plane, and the first rotating plane and the second rotating plane are arranged at an angle; wing assembly 5 is coupled to rotating body 621. Preferably, the fourth motor 622 and the fifth motor 623 are both mounted on the wing holder, the rotating body 621 is hinged to the wing holder, and the shaft of the fourth motor 622 and the shaft of the fifth motor 623 are in contact connection with the rotating body 621 through a flexible shaft sleeve (such as a rubber shaft sleeve), so that the hard contact between the shaft and the rotating body 621 is reduced, and the service life of the shaft is prolonged.

It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. A wing movement structure, comprising:

2. Wing movement structure according to claim 1, characterized in that:

the contact positions of the first connecting rod and the fourth connecting rod with the supporting frame are provided with concave-convex matching structures.

3. Wing movement structure according to claim 1, characterized in that:

the connecting rod assembly further comprises two support rod assemblies, namely a first support rod assembly and a second support rod assembly;

the two supporting rod assemblies are respectively arranged on two opposite sides of the supporting frame along a first direction, so that the first supporting rod assembly and the first connecting rod assembly are arranged on the same side of the supporting frame, and the second supporting rod assembly and the second connecting rod assembly are arranged on the same side of the supporting frame;

the support rod assembly comprises a first support rod and a second support rod; the first supporting rod and the second supporting rod are arranged on the supporting frame in a sliding mode along a second direction;

the end part of the first support rod, which is far away from one side of the second support rod, is hinged with the first wing fixing seat, and the end part of the second support rod, which is far away from one side of the first support rod, is hinged with the second wing fixing seat;

the hinge point of one of the two support rod assemblies and the wing fixing seat can slide on the wing fixing seat, so that the hinge point can be arranged opposite to the support rod assembly and the connecting rod assembly which can slide on the wing fixing seat along the first direction.

4. A wing exercise structure as recited in claim 3, wherein:

the first supporting rod and the second supporting rod are provided with concave-convex matching structures at the contact positions of the supporting frames.

5. Wing movement structure according to claim 4, characterized in that:

the support frame comprises a support framework, a slide rail, a chute plate and a slide block;

the first connecting rod assembly and the second connecting rod assembly are sequentially arranged from top to bottom along a third direction;

the first supporting rod assembly and the second supporting rod assembly are sequentially arranged from top to bottom along a third direction;

the first connecting rod assembly and the first supporting rod assembly are oppositely arranged on two sides of the supporting framework, and the second connecting rod assembly and the second supporting rod assembly are oppositely arranged on two sides of the supporting framework;

the two sliding groove plates are respectively arranged on two opposite sides of the support framework along a first direction, so that the sliding groove plates are arranged between the two connecting rod assemblies; the first connecting rod assembly is arranged on the first side of the sliding chute plate, and the second connecting rod assembly is arranged on the second side of the sliding chute plate;

the two chute plates are respectively provided with chutes corresponding to the first connecting rod, the fourth connecting rod, the first supporting rod and the second supporting rod; a sliding chute, which is formed by a first connecting rod of the first connecting rod assembly and corresponds to a first supporting rod of the first supporting rod assembly, is a first sliding chute, a sliding chute, which is formed by a fourth connecting rod of the first connecting rod assembly and corresponds to a second supporting rod of the first supporting rod assembly, is a second sliding chute, a sliding chute, which is formed by a first connecting rod of the second connecting rod assembly and corresponds to a first supporting rod of the second supporting rod assembly, is a third sliding chute, and a sliding chute, which is formed by a fourth connecting rod of the second connecting rod assembly and corresponds to a second supporting rod of the second supporting rod assembly, is a fourth sliding chute;

the two slide rails are respectively arranged on two opposite sides of the support framework along a second direction;

the slide block is in concave-convex fit connection with the slide rail,

two ends of the sliding block after penetrating through the first sliding groove are respectively connected with the first connecting rod of the first connecting rod assembly and the first supporting rod of the first supporting rod assembly;

two ends of the sliding block, which penetrate through the second sliding groove, are respectively connected with the fourth connecting rod of the first connecting rod assembly and the second supporting rod of the first supporting rod assembly;

two ends of the sliding block after penetrating through the third sliding chute are respectively connected with the first connecting rod of the second connecting rod component and the first supporting rod of the second supporting rod component;

and two ends of the sliding block, which penetrate through the fourth sliding groove, are respectively connected with the fourth connecting rod of the second connecting rod component and the second supporting rod of the second supporting rod component.

6. Wing play structure according to any of claims 1-5, characterized in that it further comprises:

the wing assembly is arranged on the wing fixing seat, the wing assembly arranged on the first wing fixing seat is a first wing assembly, and the wing assembly arranged on the second wing fixing seat is a second wing assembly.

7. Wing movement structure according to claim 6, characterized in that:

the wing assembly comprises a mounting seat connected with the wing fixing seat and wing-shaped wings covering the outer side of the mounting seat; the outer wall surface of one side of the wing-shaped wing, which is far away from the mounting seat, is an artistic curved surface shape formed by reducing the diameter from top to bottom.

8. Wing play structure according to any of claims 1-5, characterized in that it further comprises:

the driving mechanism is connected with the push rod; and/or the presence of a gas in the gas,

the contact position of the push rod and the support frame is provided with a concave-convex matching structure.

9. Wing movement structure according to any one of claims 1-5, characterized in that:

the end part of the wing fixing seat, which is far away from one side of the connecting rod assembly, is provided with a rotating mechanism for mounting a wing assembly; so that the wing assembly rotates on the wing fixing seat through the rotating mechanism.

10. Wing movement structure according to claim 9, characterized in that:

the rotating mechanism comprises a first motor, a worm wheel and a worm; the first motor is connected with the worm, the worm is meshed with the worm wheel, and the wing assembly is arranged at the end part of the worm wheel far away from one side of the worm; or the like, or, alternatively,

the rotating mechanism comprises a second motor, a driving rack and a gear; the second motor is connected with the driving rack, the driving rack is meshed with the gear, and the wing assembly is arranged at the end part of the gear far away from one side of the driving rack; or the like, or, alternatively,

the rotating mechanism comprises a third motor, a driving gear and a driven gear, the third motor is connected with the driving gear, the driving gear is meshed with the driven gear, and the wing assembly is arranged at the end part of one side, far away from the driving gear, of the driven gear; or the like, or, alternatively,

the rotating mechanism comprises a rotating body, a fourth motor and a fifth motor, the fourth motor and the fifth motor are respectively arranged at the side of the rotating body, and the fourth motor drives the rotating body to rotate along a first rotating plane; the fifth motor drives the rotating body to rotate along a second rotating plane, and the first rotating plane and the second rotating plane are arranged at an angle; the wing assembly is connected with the rotating body.