CN216916278U - Bird wing-like flying flapping wing robot - Google Patents
Bird wing-like flying flapping wing robot Download PDFInfo
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- CN216916278U CN216916278U CN202123275553.2U CN202123275553U CN216916278U CN 216916278 U CN216916278 U CN 216916278U CN 202123275553 U CN202123275553 U CN 202123275553U CN 216916278 U CN216916278 U CN 216916278U
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- outer wing
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
Abstract
The utility model provides a bird wing-imitated flying flapping wing robot, which comprises a head, a central framework, a speed reducer, a power device, an empennage and two groups of symmetrically installed wings, wherein the head and the empennage are both fixed at the centers of the front end and the rear end of the central framework in a threaded manner, a gear support is radially installed in the middle section of the central framework, the speed reducer is installed on the front side of an internal gear support of the central framework, the power device is installed on the rear side of the internal gear support of the central framework, and the two groups of symmetrically installed wings are respectively installed on the left side and the right side of the central framework; the two symmetrically-arranged wings respectively comprise an inner wing, an outer wing, a crank connecting rod group and a steering engine component, the two crank connecting rod groups are arranged on two sides of the central framework and movably connected to the speed reducer, the two inner wings are movably sleeved on the outer sides of the crank connecting rod groups, and the two outer wings are movably arranged at the outer ends of the crank connecting rod groups through the steering engine components; the flapping wing device realizes flapping wing actions by fixedly connecting the gear set and the crank connecting rod set, has stable structural connection and no delay in power transmission.
Description
Technical Field
The utility model belongs to the technical field of robot production, particularly relates to a bionic robot, and particularly relates to a bird wing-simulated flying flapping-wing robot.
Background
The bionic flapping wing robot is one of research focuses at the front of multidisciplinary intersection, is becoming the main research content of a novel special flying robot, introduces a bionic flapping wing robot based on birds, the mainstream power source adopted by the robot at present is a motor-driven flapping wing structure, the domestic representative product is a 'homing pigeon' bird-imitating robot of northwest industry university, the foreign representative product is a bird-imitating robot Smartbird of Festo enterprise, and both adopt flapping wing structures.
Flapping wings offer potential advantages in terms of maneuverability and energy savings, particularly in terms of vertical takeoff, landing and maneuverability, compared to fixed wings. The wing profile of an ornithopter has flapping or pitching motion, rather than fixed or rotating motion, and has a combined function of providing lift and thrust. Meanwhile, the flapping wing air vehicle has great advantages in aerodynamic performance, miniaturization, flexibility and battery energy consumption, so that the flapping wing air vehicle has an attractive application background in a plurality of important fields. The bionic flapping wing robot is one of research focuses at the front of multidisciplinary intersection, is becoming the main research content of a novel special flying robot, introduces a bionic flapping wing robot based on birds, the mainstream power source adopted by the robot at present is a motor-driven flapping wing structure, the domestic representative product is a 'homing pigeon' bird-imitating robot of northwest industry university, the foreign representative product is a bird-imitating robot Smartbird of Festo enterprise, and both adopt flapping wing structures.
Compared with a fixed wing, the flapping wing has potential advantages in maneuverability and energy conservation, particularly, the wing section of the flapping wing aircraft has flapping or pitching motion instead of fixed or rotating motion in the aspects of vertical take-off, landing and maneuverability, and has a combined function of providing lift force and thrust, meanwhile, the flapping wing aircraft has great advantages in aerodynamic performance, miniaturization, flexibility and battery energy consumption, the transmission of the flapping wing robot in the prior art is unstable, and the flapping wing robot can only be designed for a few micro flapping wing robots with light weight, so that the bird wing-imitating flying flapping wing robot with high stability has technical shortcomings on the flapping wing robot.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the problems of the background technology, and provides a bird wing-imitating flying flapping wing robot.
The technical scheme adopted by the utility model for solving the technical problems is as follows:
a flying flapping wing robot imitating bird wings comprises a head, a central framework, a speed reducer, a power device, an empennage and two groups of symmetrically installed wings, wherein the head and the empennage are both fixed at the centers of the front end and the rear end of the central framework in a threaded manner, a gear support is radially installed at the middle section of the central framework, the speed reducer is installed on the front side of an internal gear support of the central framework, the power device is installed on the rear side of the internal gear support of the central framework, and the two groups of symmetrically installed wings are respectively installed on the left side and the right side of the central framework; the wings of two sets of symmetry installations all include interior wing, outer wing, crank link group and steering wheel subassembly, two crank link group installs on central skeleton both sides swing joint to decelerator, two the equal movable sleeve of interior wing is in the crank link group outside, two outer wing all through steering wheel subassembly movable mounting in crank link group outer end, power device drive decelerator and crank link group drive the wing activity of two sets of symmetry installations.
Preferably, the two crank connecting rod sets respectively comprise a crank rod, an inner connecting rod upper rod and an inner connecting rod lower rod, the crank rod is fixed on the speed reducer, the middle section of the inner connecting rod upper rod is fixed in an inner wing inner cavity, supporting columns are installed on two sides of the central framework, the supporting columns movably penetrate through the middle section of the inner connecting rod upper rod, one end of the inner connecting rod upper rod is connected to the middle of the crank rod, one end of the inner connecting rod lower rod penetrates through the inner wing to be connected to the crank rod, the other end of the inner connecting rod upper rod and the other end of the inner connecting rod lower rod are hinged to the inner side of the steering engine assembly, and the crank connecting rod sets and the steering engine assembly move through the speed reducer and the four connecting rods with the action plane.
The preferred, two the steering wheel subassembly all includes outer wing mounting panel, telescopic link, outer wing steering wheel and steering wheel connecting rod, outer wing mounting panel articulates in crank link group outer end, outer wing steering wheel is installed in the outer wing mounting panel outside, telescopic link connects between outer wing mounting panel and outer wing inboard, outer wing inboard is opened there is the spout, steering wheel connecting rod one end is installed at outer wing steering wheel drive end, and other end movable mounting is in the spout of outer wing, the outer wing slides the upset in the spout through outer wing steering wheel drive steering wheel connecting rod.
Preferably, the speed reducer is a gear set formed by a plurality of gears, and the crank rod is mounted on the speed reducer.
Preferably, the power device comprises a battery pack and a brushless motor, the battery pack and the brushless motor are both mounted on the rear side of the gear bracket, and the brushless motor drives the gear pack to rotate and decelerate.
Preferably, an auxiliary rod is fixedly mounted on the outer side of the inner wing, and the auxiliary rod is hinged to the inner side of the outer wing mounting plate.
Compared with the prior art, the utility model has the beneficial effects that:
1. the two symmetrically-installed wings are driven by the brushless motor, the flapping frequency of the wings of the medium-large bird is achieved by reducing the speed through the gear set, the connection is stable, the power transmission is not delayed, and the robot is suitable for the medium-large bird-imitating robot with the symmetric flapping wing structure;
2. the utility model connects the outer wing and the inner wing through the crank connecting rod group and the steering engine component to realize plane four-connecting rod movement, accords with the wing structure of birds, can simulate the flying action of birds more really, and is concretely characterized in that in the flapping stage on the wings, the outer wing drives the lower rod of the inner connecting rod to retract and retract by the rotation of the crank rod so as to reduce the air resistance in the flapping stage, and in the flapping stage under the wings, the outer wing drives the lower rod of the inner connecting rod to extend and unfold by the rotation of the crank rod so as to increase the area stressed by air and further increase the lifting force required by the flight.
Drawings
The utility model is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a partial schematic structural diagram of an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a heart skeleton according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a power plant according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a steering engine assembly according to an embodiment of the present invention;
the embodiment of the utility model mainly comprises the following component symbols:
the novel multifunctional electric vehicle comprises a head-1, a central framework-2, a gear support-201, a support column-202, a speed reducer-3, a power device-4, a battery pack-401, a brushless motor-402, an empennage-5, wings-6, inner wings-601, auxiliary rods-602, outer wings-610, a sliding groove-611, a crank connecting rod set-620, a crank rod-621, an inner connecting rod upper rod-622, an inner connecting rod lower rod-623, a steering engine component-630, an outer wing mounting plate-631, a telescopic connecting rod-632, an outer wing steering engine-633 and a steering engine connecting rod-634.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the present invention.
As shown in fig. 1 and 3, a bird wing-imitated flapping-wing robot is characterized in that: the wing-type wind power generation device comprises a head 1, a central framework 2, a speed reducer 3, a power device 4, a tail wing 5 and two groups of symmetrically-installed wings 6, wherein the head 1 and the tail wing 5 are both fixed at the centers of the front end and the rear end of the central framework 2 through threads, a gear support 201 is radially installed at the middle section of the central framework 2, the speed reducer 3 is installed on the front side of the gear support 201 in the central framework 2, the power device 4 is installed on the rear side of the gear support 201 in the central framework 2, and the two groups of symmetrically-installed wings 6 are respectively installed on the left side and the right side of the central framework 2; two sets of symmetry installation wing 6 all includes inner wing 601, outer wing 610, crank link group 620 and steering wheel subassembly 630, two crank link group 620 is installed on 2 both sides swing joint of central skeleton 3 to decelerator, two the equal movable sleeve of inner wing 601 is in the crank link group 620 outside, two outer wing 610 all passes through steering wheel subassembly 630 movable mounting in crank link group 620 outer end, power device 4 drives decelerator 3 and crank link group 620 and drives the 6 activities of wing of two sets of symmetry installations.
Two symmetrically-installed wings 6 of the bird flapping-wing robot are driven by a brushless motor 402, the flapping frequency of the wings of medium and large birds is achieved through speed reduction of a gear set, the connection is stable, power transmission is not delayed, and the bird flapping-wing robot is suitable for medium and large bird imitating robots with symmetric flapping-wing structures.
As shown in fig. 2, two crank link group 620 all includes crank lever 621, inner connecting rod upper rod 622 and inner connecting rod lower rod 623, crank lever 621 fixes on decelerator 3, inner connecting rod upper rod 622 middle part is fixed at inner wing 601 inner chamber, support column 202 is all installed to 2 both sides of central skeleton, support column 202 activity passes inner connecting rod upper rod 622 middle part, inner connecting rod upper rod 622 one end is connected to crank lever 621 middle department, inner connecting rod lower rod 623 one end is passed inner wing 601 and is connected to crank lever 621 on, the inner connecting rod upper rod 622 other end and the inner connecting rod lower rod 623 other end all articulate at steering wheel subassembly 630 inboard, crank link group 620 and steering wheel subassembly 630 drive through decelerator 3 and do plane four-bar motion.
As shown in fig. 5, two steering engine components 630 each include an outer wing mounting plate 631, a telescopic connecting rod 632, an outer wing steering engine 633 and a steering engine connecting rod 634, the outer wing mounting plate 631 is hinged to the outer end of the crank connecting rod set 620, the outer wing steering engine 633 is mounted on the outer side of the outer wing mounting plate 631, the telescopic connecting rod 632 is connected between the outer wing mounting plate 631 and the inner side of the outer wing 610, a sliding groove 611 is formed in the inner side of the outer wing 610, one end of the steering engine connecting rod 634 is mounted on the outer wing steering engine 633, the other end of the steering engine connecting rod is movably mounted in the sliding groove 611 of the outer driving end wing 610, and the outer wing 610 drives the steering engine connecting rod 634 to slide and turn in the sliding groove 611 through the outer wing steering engine 633.
According to the bird flapping-wing aircraft, the outer wing 610 and the inner wing 601 are connected and move through the crank connecting rod group 620 and the steering engine component 630, plane four-connecting-rod motion is achieved, the bird flapping-wing aircraft accords with a bird winged structure, flying actions of birds can be simulated really, the bird flapping-wing aircraft is particularly characterized in that in a flapping stage on the wings 6, the outer wing 610 is rotated by the crank rods 621 to drive the lower rods 623 of the inner connecting rods to retract and retract, so that air resistance in the flapping stage is reduced, in a flapping stage under the wings 6, the outer wing 610 is rotated by the crank rods 621 to drive the lower rods 623 of the inner connecting rods to extend and unfold, so that the air stress area is increased, and lift force required by flying is further increased.
The reduction gear 3 is a gear set formed by a plurality of gears, the crank rod 621 is installed on the reduction gear, the gear reduction transmission capacity is strong, the transmission loss is less, and the stability is strong.
As shown in fig. 4, the power device 4 includes a battery pack 401 and a brushless motor 402, the battery pack 401 and the brushless motor 402 are both mounted on the rear side of the gear bracket 201, and the brushless motor 402 drives the gear pack to rotate and decelerate.
The outer side of the inner wing 601 is also fixedly provided with an auxiliary rod 602, and the auxiliary rod 602 is hinged to the inner side of the outer wing mounting plate 631 and is used for assisting in connecting the outer wing 610 and ensuring the stability of the outer wing 610 during retraction and expansion.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations can be made by the worker in the light of the above teachings without departing from the spirit of the utility model. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (6)
1. A bird wing-imitating flying flapping-wing robot is characterized in that: the novel wing-shaped aircraft comprises a head, a central framework, a speed reducer, a power device, an empennage and two groups of symmetrically-installed wings, wherein the head and the empennage are both fixed at the centers of the front end and the rear end of the central framework in a threaded manner, a gear support is radially installed at the middle section of the central framework, the speed reducer is installed on the front side of an internal gear support of the central framework, the power device is installed on the rear side of the internal gear support of the central framework, and the two groups of symmetrically-installed wings are respectively installed on the left side and the right side of the central framework; the wings of two sets of symmetry installations all include interior wing, outer wing, crank link group and steering wheel subassembly, two crank link group installs on central skeleton both sides swing joint to decelerator, two the equal movable sleeve of interior wing is in the crank link group outside, two outer wing all through steering wheel subassembly movable mounting in crank link group outer end, power device drive decelerator and crank link group drive the wing activity of two sets of symmetry installations.
2. The flying ornithopter robot of claim 1, wherein: two crank link group all includes crank rod, inner connecting rod upper boom and inner connecting rod lower beam, the crank rod is fixed on decelerator, inner connecting rod upper boom interlude is fixed at the inner wing inner chamber, the support column is all installed to central skeleton both sides, the support column activity passes inner connecting rod upper boom interlude, inner connecting rod upper boom one end is connected to the middle department of crank rod, inner connecting rod lower beam one end is passed on the inner wing is connected to the crank rod, the inner connecting rod upper boom other end and the inner connecting rod lower beam other end all articulate steering wheel subassembly inboard, crank link group and steering wheel subassembly pass through decelerator area action plane four-bar motion.
3. The flying ornithopter robot of claim 2, wherein: two the steering wheel subassembly all includes outer wing mounting panel, telescopic link, outer wing steering wheel and steering wheel connecting rod, outer wing mounting panel articulates in crank link group outer end, outer wing steering wheel is installed in the outer wing mounting panel outside, telescopic link connects between outer wing mounting panel and outer wing inboard, outer wing inboard is opened there is the spout, steering wheel connecting rod one end is installed at outer wing steering wheel drive end, and other end movable mounting is in the spout of outer wing, outer wing slides the upset in the spout through outer wing steering wheel drive steering wheel connecting rod.
4. The flying ornithopter robot of claim 3, wherein: the speed reducer is a gear set formed by a plurality of gears, and the crank rod is arranged on the speed reducer.
5. The flying ornithopter robot of claim 4, wherein: the power device comprises a battery pack and a brushless motor, wherein the battery pack and the brushless motor are both installed on the rear side of the gear support, and the brushless motor drives the gear set to rotate and decelerate.
6. The flying ornithopter robot of claim 5, wherein: the outer side of the inner wing is fixedly provided with an auxiliary rod, and the auxiliary rod is hinged to the inner side of the outer wing mounting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123275553.2U CN216916278U (en) | 2021-12-24 | 2021-12-24 | Bird wing-like flying flapping wing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123275553.2U CN216916278U (en) | 2021-12-24 | 2021-12-24 | Bird wing-like flying flapping wing robot |
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| Publication Number | Publication Date |
|---|---|
| CN216916278U true CN216916278U (en) | 2022-07-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202123275553.2U Active CN216916278U (en) | 2021-12-24 | 2021-12-24 | Bird wing-like flying flapping wing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117087857A (en) * | 2023-10-17 | 2023-11-21 | 北京理工大学 | Bird-like ornithopter and gesture conversion mechanism and use method thereof |
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2021
- 2021-12-24 CN CN202123275553.2U patent/CN216916278U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117087857A (en) * | 2023-10-17 | 2023-11-21 | 北京理工大学 | Bird-like ornithopter and gesture conversion mechanism and use method thereof |
| CN117087857B (en) * | 2023-10-17 | 2024-01-16 | 北京理工大学 | Bird-like ornithopter and gesture conversion mechanism and use method thereof |
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