CN217778959U

CN217778959U - Run imitative bird robot

Info

Publication number: CN217778959U
Application number: CN202222141597.4U
Authority: CN
Inventors: 杨军; 贾永军
Original assignee: Shaanxi Energy Institute
Current assignee: Shaanxi Energy Institute
Priority date: 2022-08-15
Filing date: 2022-08-15
Publication date: 2022-11-11
Anticipated expiration: 2032-08-15

Abstract

The utility model belongs to the technical field of bionic robot, a dash imitative bird robot pounces on and runs is related to. The most obvious problem of the existing bionic robot birds on the market is that the structure is complex or the manufacturing cost is expensive. The utility model provides a pair of run and imitate bird robot of flapping, including body strutting arrangement, flapping wing device, shank running gear and fin device, body strutting arrangement's preceding tip both sides transversely set up the flapping wing device respectively, body strutting arrangement's lower part sets up shank running gear, body strutting arrangement's rear end sets up the fin device, flapping wing device, shank running gear and fin device all realize independent motion through driving motor drive motion. The utility model discloses a dash and run imitative bird robot simple structure is compact, and low cost not only can simulate the motion characteristic of birds in order to satisfy the industrialization demand, still has the amusement attribute concurrently simultaneously, satisfies masses culture and life demand.

Description

Run imitative bird robot

Technical Field

The utility model belongs to the technical field of bionic robot, specifically indicate a dash imitative bird robot pounce on.

Background

Bionic robots have the advantage of replacing manual work, and along with the development of the technology, various bionic robots emerge endlessly, and the bionic robots have replaced the manual work and enter various industrial technical fields. The bionic flapping wing flying bird is a walking aircraft designed according to the bionics principle, has small volume, light weight, flexible and changeable motion mode and good concealment, and has wide potential application in the fields of military and civil use.

The most obvious problem of the bionic robot bird on the market is that the structure is complex or the manufacturing cost is high, the shape of the bird is developed for thousands of millions of years, the structural characteristic is very reasonable, the organism can not be completely imitated by machinery, and the robot mechanism with high flexibility consisting of the omnibearing joint mechanism and the simple joint can be developed only on the basis of fully researching the motion characteristic, so that the robot simulating the motion mode of the bird can realize various different motion functions to meet the industrial requirements and the living requirements of people.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem, the utility model aims at providing a pounce on and run imitative bird robot, the utility model discloses a pounce on and run imitative bird robot not only can simulate the walking flight characteristic of birds to its simple structure is compact, portable can realize multiple different motion function in order to satisfy industry and life demand.

In order to achieve the purpose, the utility model adopts the following technical scheme:

the utility model provides a run and imitate bird robot, includes body strutting arrangement, flapping wing device, shank running gear and fin device, body strutting arrangement's preceding tip both sides transversely set up the flapping wing device respectively, and body strutting arrangement's lower part sets up shank running gear, and body strutting arrangement's rear end sets up the fin device, wherein:

the body supporting device comprises a flapping wing supporting frame and a trunk supporting plate, the bottom of the flapping wing supporting frame is in cross connection with the bottom of the trunk supporting plate, and a flapping wing driving mechanism is further arranged in the flapping wing supporting frame; the flapping wing driving mechanism comprises a pair of flapping wing driven gears in meshing transmission and a flapping wing driving gear, and the flapping wing driving gear is in meshing transmission with one of the flapping wing driven gears; a flapping wing driving motor is also arranged on the trunk supporting plate, and the flapping wing driving gear is in driving connection with the flapping wing driving motor;

the flapping wing device comprises a connecting rod hinged frame and a plurality of feather bones, the connecting rod hinged frame comprises an upper flapping wing connecting rod, a lower flapping wing connecting rod, a flap connecting rod and a flapping wing driving connecting rod, the upper flapping wing connecting rod is connected with a flapping wing fixing rod in a crossed manner, and two ends of the flapping wing fixing rod are nested at the upper end part of the flapping wing supporting frame; the end part of the long end of the upper flapping wing connecting rod, which extends out of the flapping wing fixing rod, is hinged at one end of the flap connecting rod, the flap connecting rod is further fixed on the flap connecting rod, the extending end part of the flap connecting rod is hinged with one end part of the lower flapping wing connecting rod, and the end part of the short end of the upper flapping wing connecting rod, which extends out of the flapping wing fixing rod, and the other end part of the lower flapping wing connecting rod are hinged

The leg walking device comprises a leg support frame and a pair of walking link mechanisms, wherein a leg driving gear is arranged in the upper part of the leg support frame, and the leg driving gear is driven by a leg driving motor which is axially arranged; a pair of coaxial leg driven gears are arranged in the lower part of the leg supporting frame, and the pair of leg driven gears are in meshing transmission with the leg driving gear; each pair of walking connecting rod mechanisms comprises a driven rod, a middle rod, a walking leg rod and a driving rod which are sequentially hinged together, one end of the driven rod is eccentrically hinged to the leg driving gear, the other end of the driven rod is hinged to the middle rod, the other end of the middle rod is hinged to the middle of the walking leg rod, the upper end of the walking leg rod is hinged to the lower end of the original rod, and the upper end of the original rod is hinged to the side wall of the lower part of the leg supporting frame;

the tail wing device comprises a tail wing driving motor arranged on the trunk supporting plate, a pair of tail wing plates and a crank rocker mechanism hinged with the tail wing driving motor and the tail wing plates, the pair of tail wing plates are fixed at the rear end of the trunk supporting plate through a tail wing rotating shaft, and the tail wing driving motor drives the tail wing plates to vertically reciprocate by taking the tail wing rotating shaft as an axis through the crank rocker mechanism;

the flapping wing support frame comprises a pair of V-shaped support plates which are parallel to each other and arranged at intervals, the two ends of the lower parts of the pair of V-shaped support plates are connected into a whole through embedded support plate connecting rods, the two ends of the upper parts of the pair of V-shaped support plates are respectively provided with flapping wing rod holes, and the two ends of the flapping wing fixing rods positioned on the connecting rod hinge frame are respectively embedded in the flapping wing rod holes; the lower edges of the pair of V-shaped supporting plates are provided with trunk plate clamping grooves for nesting the trunk supporting plates and leg supporting clamping grooves for nesting the leg supporting frames.

Furthermore, the flapping wing driving mechanism further comprises a gear fixing seat, the lower portion of the gear fixing seat is a stepped base, a pair of driven gear fixing columns and a driving gear fixing column located between the pair of driven gear fixing columns are arranged on the upper end face of the base, the flapping wing driving gear is embedded in the driving gear fixing columns in a nested mode, and the flapping wing driving gear is embedded in the driven gear fixing columns in a nested mode respectively.

Furthermore, the crank rocker mechanism comprises an empennage driving connecting rod, an empennage motor curved rod and an empennage plate curved rod, two ends of the empennage driving connecting rod are respectively hinged with one end of the empennage motor curved rod and one end of the empennage plate curved rod, the other end of the empennage motor curved rod is hinged to an output shaft of the empennage driving motor, and the other end of the empennage plate curved rod is fixed on the empennage rotating shaft.

Further, one end of the flap connecting rod is fixed on the rod body close to the hinged end of the flap connecting rod.

Further, still include the balancing weight, the balancing weight setting be in the bottom of trunk backup pad.

Further, still include battery and control module, battery and control module all set up the counter weight in, battery and control module all are connected with flapping wing driving motor, shank driving motor and fin driving motor electricity.

Furthermore, the control module comprises a wireless control module, and the wireless control module is controlled by a wireless remote controller in a remote control mode.

Furthermore, the feather bones are arc-shaped structural plates which are excessive from narrow to wide, the lower parts of the arc-shaped structural plates, which are close to one side of the wide ends, are provided with fixing rings, and the feather bones are fixed on the upper flapping wing connecting rod and the flap wing connecting rod through the fixing rings.

Furthermore, a plurality of through holes are formed in the feather bones, soft rods penetrate through the through holes, and the feather bones on the flapping wing device are connected together through the soft rods to form the feather wings.

The utility model discloses owing to take above technical scheme, it has following advantage:

1. the utility model provides a flapping-running bird-imitating robot, wherein a flapping-wing device drives a connecting rod hinged frame through a gear to realize the flying folding principle of simulating bird wings, a leg walking device adopts a gear to drive a walking connecting rod mechanism consisting of six connecting rods to do cross motion to realize the periodic actions of walking, lifting legs, stepping and advancing, and then accomplish smooth bird leg walking orbit, the fin device drives crank link mechanism through the motor and realizes the motion mode of tail vane up-and-down reciprocal swing, has simulated the motion of bird tail.

2. The utility model discloses a run and imitate bird robot simple structure compactness, through the motion characteristic of flight, the walking of various telecontrol equipment's effective combination completion simulation birds, not only can realize industrial usage, still can compromise the entertainment attribute simultaneously, satisfy masses' cultural demand of living.

Drawings

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

Fig. 2 is the schematic view of the assembly structure of the body support device of the present invention.

Fig. 3 is an enlarged schematic structural view of the flapping wing support of the present invention.

Fig. 4 is an enlarged schematic structural view of the trunk supporting plate of the present invention.

Fig. 5 is an enlarged schematic structural view of the flapping wing driving mechanism of the present invention.

Fig. 6 is an enlarged schematic structural view of the flapping wing apparatus of the present invention.

Fig. 7 is a schematic view of an assembly structure of a pair of flapping wing devices and flapping wing driven gears according to the present invention.

Fig. 8 is a schematic view of the feather bone enlarging structure of the present invention.

Fig. 9 is an enlarged schematic structural view of the leg walking device of the present invention.

Fig. 10 is a side view of fig. 9.

Fig. 11 is a perspective view of fig. 10.

Fig. 12 is an enlarged schematic structural view of the tail device of the present invention.

Fig. 13 is a side view of fig. 12.

Fig. 14 is a perspective view of fig. 13.

Wherein, 1-body supporting device, 2-flapping wing device, 3-leg walking device, 4-empennage device, 5-counterweight block, 101-flapping wing supporting frame, 102-trunk supporting plate, 103-flapping wing driving mechanism, 104-anti-drop pin, 201-connecting rod hinged frame, 202-feather bone, 301-leg supporting frame, 302-walking connecting rod mechanism, 303-leg driving gear, 304-leg driven gear, 305-leg driving motor, 306-leg motor fixing seat, 401-tail wing plate, 402-crank rocker mechanism, 2015403-empennage driving motor, 404-empennage motor fixing seat, 405-tail plate rotating shaft, 1011-V type supporting plate, 1012-flapping wing rod hole, 1013-supporting plate fixing hole, 1014-supporting plate connecting rod, 1015-trunk plate clamping groove, 1016-anti-drop pin slot, 1017-leg supporting clamping groove, 1021-hollow part, 2012-empennage shaft hole, 1031-gear fixing seat, 1032-flapping wing driven gear, 1033-flapping wing, driving gear connecting rod, 1035-driven gear fixing seat, 1035-flapping wing fixing seat, 1035-driving slot, 2011-flapping wing driving slot, 2013-connecting rod, 1033-connecting rod, 2014-connecting rod fixing seat, 2014-connecting rod, 1033-connecting rod fixing seat, 2014-connecting rod, and U-connecting rod fixing seat, 2023-connecting rod fixing seat, 2022-connecting rod fixing seat, and 2023-connecting rod fixing seat, 3022-original rod, 3023-middle rod, 3024-walking leg rod, 4021-empennage motor curved rod, 4022-empennage driving connecting rod, 4023-empennage plate curved rod.

Detailed Description

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the invention can be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended as limitations on the scope of the invention, but are merely illustrative of the true spirit of the technical solution of the invention.

The utility model provides a dash and imitate bird robot of flapping, this robot includes body strutting arrangement (being equivalent to the bird body), flapping wing device (being equivalent to the bird wing), shank running gear (being equivalent to the bird leg) and fin device (being equivalent to the bird tail), wherein shank running gear, flapping wing device and fin device connect the whole body that sets up at body strutting arrangement respectively, and shank running gear, flapping wing device and fin device are respectively through each mechanism's motion action of respective driving motor drive, can realize the flight exhibition wing of simulation birds, motion characteristics such as walking, not only can realize multiple birds motion mode in order to satisfy the industrialization demand, it is recreational attribute still to have simultaneously.

As shown in fig. 1. The utility model provides a run and imitate bird robot, including body strutting arrangement 1, flapping wing device 2, shank running gear 3 and fin device 4, the equal transverse connection of preceding tip both sides of body strutting arrangement 1 flapping wing device 2, the front end bottom of body strutting arrangement 1 sets up shank running gear 3, and the back tip of body strutting arrangement 1 sets up fin device 4, and body strutting arrangement 1 rear end bottom still disposes balancing weight 5.

Furthermore, the flapping wing devices 2 comprise two groups, and each group of flapping wing devices 2 are respectively and transversely and symmetrically arranged at the left side and the right side of the body supporting device 1.

As shown in fig. 2 and 3. The body supporting device 1 comprises a flapping wing supporting frame 101 and a trunk supporting plate 102 which are connected in a vertical and horizontal cross mode, and a flapping wing driving mechanism 103 is embedded in the bottom of the flapping wing supporting frame 101 and the upper side of the lower plate surface of the trunk supporting plate 102.

The flapping wing support frame 101 is of a V-shaped structure formed by connecting a pair of V-shaped support plates 1011 which are arranged in parallel at intervals, preferably, the V-shaped support plates 1011 are arranged from narrow to wide in sequence by the width of the plate surface extending from the bottom to the two sides of the upper part and are splayed outwards. Flapping wing rod holes 1012 are respectively arranged at the two ends of the upper part of the V-shaped support plate 1011, support plate fixing holes 1013 are respectively arranged at the two ends of the lower part of the V-shaped support plate 1011, wherein the aperture of the flapping wing rod holes 1012 at the two ends of the upper part is larger than that of the support plate fixing holes 1013 at the two ends of the lower part, support plate connecting rods 1014 which are in interference fit with the flapping wing rod holes 1012 are respectively embedded in the flapping wing rod holes 1012 at the two ends of the lower part of the pair of V-shaped support plates 1011, and the support plate connecting rods 1014 are sequentially embedded in the support plate fixing holes 1013 to fix the pair of V-shaped support plates 1011 into a whole. The trunk plate clamping groove 1015 is formed in the center plate surface of the lower end portion of the pair of V-shaped supporting plates, the anti-slip pin slot 1016 is further formed in the V-shaped supporting plates on two edge portions, adjacent to the trunk plate clamping groove, of the middle of the trunk plate clamping groove 1015, the leg supporting clamping groove 1017 is formed in the edge of the surface of the V-shaped supporting plate 1011 on two sides of the trunk plate clamping groove and the anti-slip pin slot, and the leg supporting clamping groove 1017 and the trunk plate clamping groove 1015 are respectively communicated with the lower edge of the V-shaped supporting plate 1011.

As shown in fig. 4. The trunk support plate 102 is of a fish-shaped plate-shaped structure, the middle part of the trunk support plate 102 is of an oval hollow part 1021, the lower plate surface of the hollow part of the trunk support plate 102 is sequentially embedded in trunk plate card grooves 1015 of two V-shaped support plates of the flapping wing support frame 101 from front to back, so that the flapping wing support frame 101 and the trunk support plate 102 are vertically and transversely connected into a whole in a crossed manner, and when the trunk support plate 102 is inserted into the trunk plate card grooves 1015, wedge-shaped anti-falling pins 104 matched with the anti-falling pin grooves 1016 are inserted into anti-falling pin slots 1016 on two sides of the trunk plate card grooves 1015 to fasten the trunk support plate 102 and the two V-shaped support plates 1011 to fasten the trunk support plate 102 and the flapping wing support frame 101; a tail shaft hole 1022 for mounting a tail structure is further provided at the tail of the trunk support plate 102, and the tail shaft hole 1022 penetrates both side plate surfaces of the trunk support plate 102.

Furthermore, the flapping wing driving mechanism 103 is embedded in a space formed by the bottom of the V-shaped structure of the flapping wing support frame 101 and the upper side of the lower plate surface of the hollow part 1021 of the trunk support plate 102.

As shown in fig. 5. The flapping wing driving mechanism 103 comprises a gear fixing seat 1031, a pair of flapping wing driven gears 1032 and a flapping wing driving gear 1033, wherein the lower part of the gear fixing seat 1031 is a semi-arc base which is matched with the bottom space of the flapping wing supporting frame 101, a pair of driven gear fixing columns 1034 arranged at intervals and a driving gear fixing column 1035 positioned between the two driven gear fixing columns are arranged on the arc base, and the driving gear fixing column 1035 is arranged close to the driven gear fixing column on one side and is slightly lower than the driven gear fixing column 1034. Gear axial holes are formed in the upper end portions of the driving gear fixing column 1035 and the driven gear fixing column 1034, and the height of the center of the gear axial hole of the driving gear fixing column 1035 is lower than that of the gear axial hole of the driving gear fixing column 1035. A pair of flapping wing driven

gears

1032 and 1033 of the flapping wing driving mechanism 103 are mounted on the gear shaft center holes of the driving gear fixing column 1035 and the driven gear fixing column 1034, respectively, through gear shafts. The pair of flapping wing driven gears 1032 are oppositely and respectively arranged on the corresponding driven gear fixing columns 1034 and are in meshed transmission, and the flapping wing driving gear 1033 is arranged on the driving gear fixing column 1035 and is in meshed transmission with one of the flapping wing driven gears 1032.

Referring to fig. 2, in order to drive the flapping wing driving gear 1033, the flapping wing driving mechanism 103 further comprises a flapping wing driving motor 1037, the flapping wing driving motor 1037 is disposed in the hollow portion 1021 of the trunk support plate 102 outside the rear end of the flapping wing support frame 101, and an output shaft of the flapping wing driving motor 1037 is drivingly connected to a gear shaft of the flapping wing driving gear 1033.

Further, in order to fix the flapping wing driving motor 1037, a flapping wing driving motor fixing base 1038 is sleeved outside the flapping wing driving motor 1037, the flapping wing driving motor 1037 is fixed in the flapping wing motor fixing base 1038, and the flapping wing motor fixing base 1038 is embedded on the lower edge plate surface of the hollow part 1021 of the trunk supporting plate 102 at the outer side of the rear end of the flapping wing supporting frame 101.

Further, in order to ensure better meshing transmission of the flapping wing driven gear 1032 and the flapping wing driving gear 1033, bearings are arranged on the gear shaft center holes of the driving gear fixing column 1035 and the driven gear fixing column 1034, and the flapping wing driven gear 1032 and the flapping wing driving gear 1033 are connected with the driving gear fixing column 1035 and the driven gear fixing column 1034 in a nested mode through the bearings.

Further, in order to fix the flapping wing driving mechanism 103 to the flapping wing support 101 and the trunk support plate 102, an anti-slip groove 1036 into which the trunk support plate 102 and the anti-slip pin 104 are inserted is provided at a lower portion of the gear fixing seat 1031, and when the flapping wing driving mechanism 103 is installed in a space formed by the flapping wing support 101 and the trunk support plate 102, the trunk support plate 102 and the anti-slip pin 104 are simultaneously inserted into the anti-slip groove 1036 to fix the flapping wing driving mechanism 103.

As shown in fig. 6 and 7. The flapping wing device 2 comprises a connecting rod hinged frame 201 and a plurality of feather bones 202. The connecting rod hinged frame 201 is a six-connecting-rod mechanism, the connecting rod hinged frame 201 comprises an upper flapping wing connecting rod 2011, a lower flapping wing connecting rod 2012, a flap connecting rod 2013, a flap connecting rod 2014 and a flapping wing driving connecting rod 2015, the upper flapping wing connecting rod 2011 and the lower flapping wing connecting rod 2012 are transversely arranged up and down, a flapping wing fixing rod 2016 is further sleeved on one end of the upper flapping wing connecting rod 2011, the upper flapping wing connecting rod 2011 penetrates through the middle of the flapping wing fixing rod 2016 to be vertically crossed with the flapping wing fixing rod 2016, and two ends of the flapping wing fixing rod 2016 are fixed in two flapping wing rod holes 1012 on the upper portion of the same side of two V-shaped supporting plates 1011 on the flapping wing supporting frame 101.

The flap connecting rod 2014 is fixed on the rod body of the flap connecting rod 2013 close to the hinged ends of the flap connecting rod 2013 and the upper flapping wing connecting rod 2011, the fixed point of the flap connecting rod 2014 and the flap connecting rod 2013 is separated from the hinged end of the flap connecting rod 2013 and the upper flapping wing connecting rod 2011 by a small end distance, the extending end of the flap connecting rod 2014 faces one side of the upper flapping wing connecting rod 2011 and one side of the lower flapping wing connecting rod 2012, the extending end of the flap connecting rod 2014 forms a certain acute included angle with the flap connecting rod 2013, and the extending end of the flap connecting rod 2014 extends to one side of the lower flapping wing connecting rod 2012 and is hinged with one end of the lower flapping wing connecting rod. The upper flapping wing connecting rod 2011 and the lower flapping wing connecting rod 2012 are hinged on the flapping wing driving connecting rod 2015 at the ends, close to the flapping wing fixing rod 2016, in the same direction, wherein the upper flapping wing connecting rod is hinged at the outermost end of the flapping wing driving connecting rod 2015, and the other end of the flapping wing driving connecting rod 2015 is hinged on the side eccentric center of the corresponding flapping wing driven gear 1032.

The plurality of feather bones 202 on the flapping wing device 2 are sequentially arranged on the upper flapping wing connecting rod 2011 and the flap connecting rod 2013 in an array and interval mode, the upper flapping wing connecting rods and the flap connecting rods on the feather bones are vertically and horizontally intersected and fixed, and each feather bone is arranged in the horizontal direction.

Further, the upper flapping wing connecting rod 2011 and the flap connecting rod 2013 are both cylindrical rod bodies, grooves are formed in the peripheral surfaces of the upper flapping wing connecting rod 2011 and the flap connecting rod 2013 in the axial direction, and the grooves sequentially penetrate through the two axial ends of the upper flapping wing connecting rod and the flap connecting rod.

As shown in fig. 8, each feather 202 is an arc-shaped structural plate with a width from narrow to wide, a fixing ring 2021 is disposed at the lower portion of one side of the arc-shaped structural plate near the wide end, the inner diameter of the fixing ring matches with the outer diameter of the upper flapping wing connecting rod 2011 or the outer diameter of the lower flapping wing connecting rod 2012, a protrusion extending outward is disposed in the fixing ring 2021, and when the fixing ring is sleeved on the upper flapping wing connecting rod and the flap connecting rod, the protrusion can be embedded into a groove on the surface of the upper flapping wing connecting rod or the lower flapping wing connecting rod. The arc-shaped structural plate of each feather 202 is provided with a plurality of feather holes 2022, and the feather 202 on each flapping wing device 2 penetrates through the feather holes 2022 on the feather through a plurality of soft rods to connect all the feathers into a net-shaped feather.

When the two flapping wing driven gears rotate in a meshed mode, the whole connecting rod hinged frame 201 can be driven to move through driving the flapping wing driving connecting rod 2015, and the upper flapping wing connecting rod and the flapping wing connecting rod of the connecting rod hinged frame 201 move in an opening and closing mode to simulate flying actions of wings of birds.

As shown in fig. 9, 10 and 11. The leg walking device 3 includes a leg support 301 and a pair of walking links 302 fixed to the lower portion of the leg support. The upper part of the leg supporting frame 301 is a U-shaped groove 3011, the bottom part of the U-shaped groove is hollow, the lower part of the leg supporting frame is three fixing plates which are vertically fixed on the lower end face of the groove wall and are arranged at intervals, the fixing plate positioned at the central position is a driven gear fixing plate 3012, and the fixing plates positioned at the two sides are driving rod fixing plates 3013.

Drive gear holes are formed in two side walls of a U-shaped groove 3011 of the leg support frame 301, a leg drive gear 303 is arranged in the hollow center of the U-shaped groove 3011, gear shafts on two sides of the leg drive gear 303 are nested in the drive gear holes, a leg drive motor 305 is further fixed on one side wall of the U-shaped groove 3011, and the output end of the leg drive motor is in transmission connection with a gear shaft on one side of the leg drive gear 303.

Further, in order to ensure the rotation of the leg driving gear 303, a bearing is arranged in the driving gear hole, and gear shafts on two sides of the leg driving gear 303 are movably connected with the bearing.

A pair of leg driven gears 304 are coaxially disposed on the driven gear fixing plate 3012, the pair of leg driven gears 304 are respectively located on both sides of the driven gear fixing plate 3012, and the pair of leg driving gears 304 are in up-and-down meshing transmission with the leg driving gear 303 located in the U-shaped groove 3011.

Further, for better fixing the leg driving motor 305, a leg motor fixing seat 306 is provided outside one side wall of the U-shaped groove 3011, the leg motor fixing seat 306 is fixed on an outer wall surface of one side wall of the U-shaped groove 3011, the leg driving motor 305 is embedded and fixed in the leg motor fixing seat 306, and an output shaft of the leg driving motor 305 is rotatably connected with a gear shaft of the driving leg driving gear 303.

The walking link mechanism 302 includes a driven lever 3021, an intermediate lever 3023, a walking leg lever 3024, and a driving lever 3022, which are hinged in this order, and a walking plate is provided at a lower end of the walking leg lever 3024 to be inclined. One end of the driven rod 3021 is hinged to the eccentric center of the outer gear surface of the corresponding leg driven gear 304, the other end of the driven rod 3021 is hinged to one end of the middle rod 3023, the other end of the middle rod 3023 is hinged to the middle of the walking leg rod 3024, the upper end of the walking leg rod 3024 is hinged to the lower end of the driving rod 3022, and the upper end of the driving rod 3022 is hinged to the outer plate surface of the corresponding driving rod fixing plate 3013.

Further, the leg driving motor 305 of the leg walking device 3 drives the leg driving gear 303 to rotate, the leg driving gear 303 drives the two leg driven gears 304 at the lower end to rotate and further drive the two walking link mechanisms 302 to move, the walking link mechanisms 302 reciprocate to realize the actions of lifting, stepping and advancing of the walking leg rods 3024, and in order to enable the two walking leg rods to advance in a crossed manner, when the two leg driving gears rotate, it is ensured that the hinge points of the pair of driven rods and the corresponding leg driving gears are arranged oppositely.

Further, in order to fixedly connect the leg walking device 3 and the body supporting device 1, two side walls of a U-shaped groove 3011 on the leg supporting frame 301 are embedded in leg supporting clamping grooves 1017 on the lower edges of the two V-shaped supporting plates 1011 of the flapping wing supporting frame 101, and the two side walls of the U-shaped groove 3011 can be in interference fit with the leg supporting clamping grooves 1017, so that the leg walking device 3 and the body supporting device 1 are fixedly connected.

As shown in fig. 12, 13 and 14. The tail device 4 includes a pair of oppositely disposed tail panels 401, a crank-rocker mechanism 402, and a tail drive motor 403. The tail motor fixing seat 404 is fixed outside the tail driving motor 403, a groove is arranged at the bottom of the tail motor fixing seat 404, and the groove is embedded and fixed on the rear end plate surface of the hollow part 1021 of the trunk supporting plate 102. The empennage driving motor 403 drives the pair of empennage plates 401 to swing up and down in a reciprocating manner through the crank rocker mechanism 402.

The tail wing plate 401 is of a dovetail structure, fin plates are arranged on the upper surface and the lower surface of the tail wing plate 401, tail wing plate rotating shafts 405 are arranged on the front end plate surfaces of the pair of tail wing plates, the tail wing plate rotating shafts 405 are sleeved in tail wing shaft holes 1022 at the tail part of the trunk supporting plate 102, and the tail wing plate rotating shafts 405 can rotate in the tail wing shaft holes 1022. Both ends of the tailgate pivot 405 extend beyond the torso support panel 102, and the extended ends are the same length. The pterygoid lamina groove that link up the global of tailboard pivot is seted up to the radial of tailboard pivot 405, and a pair of tailboard 401 front end face one side all inlays to be established and be the symmetry setting in the pterygoid lamina inslot of tailboard pivot, and a pair of tailboard 401 is relative interval setting.

Further, in order to make the tail board rotating shaft 405 rotate in the tail board shaft hole 1022 better, a bearing may be disposed in the tail board shaft hole 1022, and the tail board rotating shaft 405 is fixed in the bearing to realize rotation.

Crank rocker mechanism 402 includes tail motor curved bar 4021, tail wing curved bar 4023, and tail wing drive link 4022, and crank rocker mechanism 402 may be disposed on one side of torso support plate 102. Two ends of the empennage driving connecting rod 4022 are respectively hinged with one end of an empennage motor curved rod 4021 and one end of a tail wing plate curved rod 4023, the other end of the tail wing plate curved rod 4023 is hinged on an output shaft of the empennage driving motor 403, and the other end of the tail wing plate curved rod 4023 is vertically fixed on a tail wing rotating shaft 405 between the pair of tail wing plates.

When the tail device 4 moves, the output shaft of the tail driving motor 403 drives the crank rocker mechanism 402 to move, and the crank rocker mechanism 402 drives the pair of tail panels 401 to swing up and down in a reciprocating manner around the tail panel rotating shaft 405 as an axis.

Further, the tail wing plate curved rods 4023 include two, the equidirectional ends of the two tail wing plate curved rods 4023 are both hinged to the tail wing drive connecting rod 4022, the other equidirectional ends of the two tail wing plate curved rods 4023 are both fixed to the tail wing plate rotating shafts 405 in the space between the pair of tail wing plates 401, and the two tail wing plate curved rods 4023 can be respectively arranged at the two sides of the tail part of the trunk supporting plate 102 and fixed to the tail wing plate rotating shafts 405 at the two sides of the trunk supporting plate.

The utility model discloses a still be provided with battery and control module on pounce on running imitative bird robot, battery and control module all set up in balancing weight 5. Balancing weight 5 sets up in the rear end downside bottom of trunk backup pad 102, and balancing weight 5 bottom has the draw-in groove, and the draw-in groove is nested in the bottom of extending trunk backup pad 102 downside, and balancing weight 5 can extend trunk backup pad 102 downside bottom simultaneously and move around for adjusting the whole equilibrium of running imitative bird robot.

Further, the flapping wing drive motor 1037, the leg drive motor 305, and the tail wing drive motor 403 are all electrically connected to the battery and control module. In order to realize wireless control, the control module further comprises a wireless control module, the wireless control module can be wirelessly connected with a wireless remote controller, and the wireless control module is remotely and wirelessly controlled through the wireless remote controller, so that the starting and closing of the flapping wing driving motor 1037, the tail wing driving motor 403 and the leg driving motor 305 and the on-off of the control module are controlled.

The technical solution of the present invention is described above, but not limited thereto; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. The utility model provides a run and imitate bird robot, includes body strutting arrangement (1), flapping wing device (2), shank running gear (3) and fin device (4), the preceding tip both sides of body strutting arrangement (1) transversely set up flapping wing device (2) respectively, and the lower part of body strutting arrangement (1) sets up shank running gear (3), and the rear end of body strutting arrangement (1) sets up fin device (4), its characterized in that:

the body supporting device (1) comprises a flapping wing supporting frame (101) and a trunk supporting plate (102), the bottom of the flapping wing supporting frame (101) is connected with the bottom of the trunk supporting plate (102) in a cross mode, and a flapping wing driving mechanism (103) is further arranged in the flapping wing supporting frame (101); the flapping wing driving mechanism (103) comprises a pair of meshing transmission flapping wing driven gears (1032) and a flapping wing driving gear (1033), and the flapping wing driving gear (1033) is in meshing transmission with one of the flapping wing driven gears (1032); a flapping wing driving motor (1037) is further arranged on the trunk supporting plate (102), and the flapping wing driving gear (1033) is in driving connection with the flapping wing driving motor (1037);

the flapping wing device (2) comprises a connecting rod hinged frame (201) and a plurality of feather ribs (202), wherein the connecting rod hinged frame (201) comprises an upper flapping wing connecting rod (2011), a lower flapping wing connecting rod (2012), a flap connecting rod (2013) and a flapping wing driving connecting rod (2015), the upper flapping wing connecting rod (2011) is crossed and connected with a flapping wing fixing rod (2016), and two ends of the flapping wing fixing rod (2016) are nested at the upper end of the flapping wing support frame (101); the end part, extending out of the flapping wing fixing rod (2016), of the long end of the upper flapping wing connecting rod (2011) is hinged to one end of the flap connecting rod (2013), a flap connecting rod (2014) is further fixed on the flap connecting rod (2013), the extending end part of the flap connecting rod (2014) is hinged to one end of the lower flapping wing connecting rod (2012), the end part, extending out of the flapping wing fixing rod (2016), of the upper flapping wing connecting rod (2011) and the other end part of the lower flapping wing connecting rod (2012) are both hinged to one end of a flapping wing driving connecting rod (2015), and the other end of the flapping wing driving connecting rod (2015) is eccentrically hinged to the flapping wing driven gear (1032); the feather bones (202) are sequentially arranged on the upper flapping wing connecting rod (2011) and the flap connecting rod (2013) in an array manner;

the leg walking device (3) comprises a leg support frame (301) and a pair of walking link mechanisms (302), wherein a leg driving gear (303) is arranged in the upper part of the leg support frame (301), and the leg driving gear (303) is driven by a leg driving motor (305) which is axially arranged; a pair of coaxial leg driven gears (304) is arranged in the lower part of the leg supporting frame (301), and the pair of leg driven gears (304) are in meshing transmission with the leg driving gear (303); each pair of walking link mechanisms (302) comprises a driven rod (3021), a middle rod (3023), a walking leg rod (3024) and a driving rod (3022) which are sequentially hinged together, one end of the driven rod (3021) is eccentrically hinged to a leg driving gear (303), the other end of the driven rod (3021) is hinged to the middle rod (3023), the other end of the middle rod (3023) is hinged to the middle of the walking leg rod (3024), the upper end of the walking leg rod (3024) is hinged to the lower end of the driving rod (3022), and the upper end of the driving rod (3022) is hinged to the lower side wall of the leg support frame (301);

the tail wing device (4) comprises a tail wing driving motor (403) arranged on the trunk supporting plate (102), a pair of tail wing plates (401) and a crank rocker mechanism (402) hinged with the tail wing driving motor and the tail wing plates, wherein the pair of tail wing plates (401) are fixed at the rear end of the trunk supporting plate (102) through a tail wing rotating shaft (405), and the tail wing driving motor (403) drives the tail wing plates (401) to vertically reciprocate by taking the tail wing rotating shaft (405) as an axis.

2. The flapping bird imitation robot of claim 1, wherein: the flapping wing support frame (101) comprises a pair of V-shaped support plates (1011) which are arranged in parallel at intervals, the two ends of the lower parts of the pair of V-shaped support plates (1011) are connected into a whole through support plate connecting rods (1014) which are embedded, flapping wing rod holes (1012) are formed in the two ends of the upper parts of the pair of V-shaped support plates (1011), and the two ends of a flapping wing fixing rod (2016) positioned on the connecting rod hinged frame (201) are respectively embedded in the flapping wing rod holes (1012); the lower edges of the pair of V-shaped supporting plates (1011) are provided with a trunk plate card slot (1015) nested with the trunk supporting plate (102) and a leg supporting clamping slot (1017) nested with the leg supporting frame (301).

3. A running bird-imitating robot according to claim 1 or 2, wherein: the flapping wing driving mechanism (103) further comprises a gear fixing seat (1031), the lower portion of the gear fixing seat (1031) is a step-shaped base, a pair of driven gear fixing columns (1034) and a driving gear fixing column (1035) located between the pair of driven gear fixing columns (1034) are arranged on the upper end face of the base, the flapping wing driving gear (1033) is nested on the driving gear fixing column (1035), and the flapping wing driving gear (1033) is nested in the driven gear fixing columns (1034) respectively.

4. The flapping-bird robot of claim 3, wherein: crank rocker mechanism (402) include fin drive connecting rod (4022), fin motor curved bar (4021) and tail wing board curved bar (4023), the one end of fin motor curved bar (4021) and the one end of tail wing board curved bar (4023) are articulated respectively at the both ends of fin drive connecting rod (4022), the other end of fin motor curved bar (4021) articulates the output shaft of fin drive motor (403) on, the other end of tail wing board curved bar (4023) is fixed tailboard pivot (405) on.

5. The flapping bird imitation robot of claim 1, wherein: one end of the flap connecting rod (2014) is fixed on the rod body close to the hinged end of the flap connecting rod (2013).

6. The flapping-bird robot of claim 1, wherein: the weight block (5) is arranged at the bottom of the trunk supporting plate (102).

7. The flapping-bird robot of claim 6, wherein: still include battery and control module, battery and control module all set up counterweight block in (5), battery and control module all are connected with flapping wing driving motor (1037), shank driving motor (305) and fin driving motor (403) electricity.

8. The flapping-bird robot of claim 7, wherein: the control module comprises a wireless control module, and the wireless control module is controlled by a wireless remote controller in a remote control mode.

9. The flapping-bird robot of claim 1, wherein: the feather rib (202) is an arc-shaped structural plate which is excessive from narrow to wide, a fixing ring (2021) is arranged at the lower part of one side, close to the wide end, of the arc-shaped structural plate, and the feather rib (202) is fixed on the upper flapping wing connecting rod (2011) and the flap connecting rod (2013) through the fixing ring (2021).

10. The flapping bird imitation robot of claim 9, wherein: the feather ribs (202) are provided with a plurality of through holes, soft rods penetrate through the through holes, and the feather ribs on the flapping wing device (2) are connected together through the soft rods to form the feather wings.