CN217864742U

CN217864742U - Multi-degree-of-freedom flapping-wing flying robot transmission mechanism

Info

Publication number: CN217864742U
Application number: CN202221859047.XU
Authority: CN
Inventors: 王凯; 陈延鹏; 单世杰; 杨阿帆; 王雪飏
Original assignee: Xian University of Technology
Current assignee: Xian University of Technology
Priority date: 2022-07-19
Filing date: 2022-07-19
Publication date: 2022-11-22
Anticipated expiration: 2032-07-19

Abstract

The utility model discloses a multi freedom flapping wing flying robot drive mechanism, including the frame, be provided with main axis of rotation in the frame, main axis of rotation is connected with gear A and gear B respectively through symmetrical crank rocker mechanism, and gear A and gear B mesh, gear A are connected with brushless motor, and symmetrical crank rocker mechanism has connected gradually flapping wing mechanism and sweepback angle control mechanism, still includes angle of attack control mechanism. The flapping wing mechanism of the utility model enables the wing surface to generate an area difference in the up-and-down flapping process, thereby improving the lift force acquired in flight; the flapping-wing aircraft can flexibly change the size of the attack angle through the attack angle control mechanism, so that the flying efficiency is improved; make the wing more nimble at the flight in-process through folding mechanism, be convenient for transport storage when accomodating simultaneously.

Description

Multi-degree-of-freedom flapping-wing flying robot transmission mechanism

Technical Field

The utility model belongs to the technical field of the robot transmission, concretely relates to multi freedom flapping wing flying robot drive mechanism.

Background

A flapping wing flying robot is an aircraft which is designed and manufactured based on the bionics principle and can realize flapping of birds or insect wings by utilizing wings and is heavier than air. The flapping wing flying robot generates lift force and thrust force by means of flapping of wings, so that flying actions such as taking off, landing, accelerating, decelerating, turning, climbing, hovering and the like are realized. Flapping-wing flying robots have greater power efficiency and maneuverability in certain flight environments than fixed-wing and rotary-wing aircraft, and are a research hotspot in the field.

At present, the flapping wing flying robot adopts a motor as a power source, the high-speed rotation output by the motor is firstly decelerated through a speed reducer, and then the flapping wing mechanism is driven through a transmission mechanism to realize wing flapping. To reduce the weight of the transmission components and simplify the assembly process of the aircraft, most ornithopter flying robots use a crank and rocker mechanism to drive each ornithopter. The transmission mechanism can drive the wings to flap reciprocally under the drive of the outermost gear of the speed reducer through the transmission of the crank rocker mechanism.

In order to simplify the mechanism and reduce the design difficulty of the flapping wing flying robot, the flapping wing transmission devices of most flapping wing flying robots are single-degree-of-freedom, only flap up and down in a single plane during flapping, and the lift force is limited. The wing angle of attack cannot be changed to improve flight efficiency at different flight phases. The sweep angle of the wing is fixed, and the flexibility is insufficient. In addition, the wings cannot be folded, so that the robot is inconvenient to store and transport.

The existing ornithopter still has great improvement space for the aspects of optimizing the whole transmission mechanism, improving the flexibility and the like.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a transmission of flapping wing flying robot to it is low to solve current flapping wing aircraft transmission degree of freedom, the not enough problem of flexibility ratio.

The technical scheme adopted by the utility model is that a multi-degree-of-freedom flapping wing flying robot transmission mechanism comprises a frame, wherein a main rotating shaft is arranged on the frame, the main rotating shaft is respectively connected with a gear A and a gear B through a symmetrical crank rocker mechanism, the gear A is meshed with the gear B, the gear A is connected with a brushless motor, and the symmetrical crank rocker mechanism is sequentially connected with a flapping wing mechanism and a sweepback angle control mechanism and also comprises an attack angle control mechanism;

the frame is including preceding frame and the after-frame that sets up around, be provided with the lug on the preceding frame, the main axis of rotation passes through the lug setting on the preceding frame, left-hand axis of rotation mounting hole and right-hand axis of rotation mounting hole have been seted up respectively to main axis of rotation both ends, a plurality of preceding rack bar mounting holes have been seted up on the preceding frame, set up the after-frame mounting hole that corresponds with preceding rack bar mounting hole on the after-frame, be provided with the hack lever of operating the computer between preceding frame and the after-frame, well hack lever and lower carriage pole, the hack lever of operating the computer, equal one end of well hack lever and lower carriage pole is fixed in preceding rack bar mounting hole, the other end is fixed in the after-frame mounting hole.

The utility model is also characterized in that,

still be provided with revolving rack A in the frame, revolving rack A has seted up main rotating shaft mounting hole and axle mounting hole, and main rotating shaft passes main rotating shaft mounting hole, is provided with axle A on the revolving rack A, and axle A passes axle mounting hole and gear B's axle center position fixed connection, brushless motor and revolving rack A fixed connection, brushless motor and retarder connection, gear A and the output shaft of reduction gear.

The symmetrical crank-rocker mechanism comprises a left crank-rocker unit and a right crank-rocker unit which are identical in structure and symmetrically arranged, the left crank-rocker unit, the right crank-rocker unit is respectively connected with a gear A and a gear B, the left crank-rocker unit comprises a left connecting rod, two ends of the left connecting rod are respectively provided with a hinge point I and a hinge point G, a hinge point E is arranged at the midpoint of the left connecting rod, the left connecting rod is hinged with a position close to the edge of the gear A through the hinge point I, the left connecting rod is hinged with one end of the left rocker A through the hinge point G, the other end of the left rocker A is fixedly connected with a left rotating shaft through a left rotating shaft mounting hole, the right crank-rocker unit comprises a right connecting rod, two ends of the right connecting rod are respectively provided with a hinge point H and a hinge point J, a hinge point F is arranged at the midpoint of the right connecting rod, the right connecting rod is hinged with a position close to the edge of the gear B through the hinge point J, the right connecting rod is hinged with one end of the right rocker A through the hinge point H, the other end of the right rocker A is fixedly connected with a right rotating shaft, and the right rotating shaft is hinged with the main rotating shaft through a right rotating shaft.

The flapping wing mechanism comprises a left flapping wing unit and a right flapping wing unit which are identical in structure and symmetrically arranged, the left flapping wing unit and the right flapping wing unit are respectively connected with a left crank rocker unit and a right crank rocker unit, the left flapping wing unit comprises a left inner wing rod, the left inner wing rod is respectively connected with a hinge point A through an inner wing rod and an outer wing rod which are arranged, a hinge point K is hinged with a left outer wing rod and a left folding rod, the left folding rod is hinged with a folding rotating shaft A through a hinge point R, the folding rotating shaft A is fixed in a fixing hole A formed in a left rocker B, the right flapping wing unit comprises a right inner wing rod, the right inner wing rod is respectively connected with a hinge point B through an inner wing rod and an outer wing rod which are arranged, a hinge point L is respectively connected with the right outer wing rod and the right folding rod, the right folding rotating shaft B is hinged with a folding rotating shaft B through a hinge point S, and the folding rotating shaft B is fixed in a fixing hole B formed in a right rocker B.

The sweepback angle control mechanism comprises a folding push rod and a linear motor B, the folding push rod is formed by hinging two sections of connecting rods, the linear motor B is fixed on a rotating frame, the hinging points of the connecting rods at two ends are hinge points Q, the hinge points Q are located at the middle point of the folding push rod, the tail end of the push rod of the linear motor B is hinged with the folding push rod through the hinge points Q, the hinge points C and the hinge points D are respectively arranged at two ends of the folding push rod, two ends of the folding push rod are respectively hinged with one end of a thrust sliding sleeve A and one end of the thrust sliding sleeve B through the hinge points C and D, a rotary sliding sleeve A is sleeved in the middle of the thrust sliding sleeve A, the rotary sliding sleeve A is hinged with one end of a left folding pull rod through the hinge points A, the other end of the left folding pull rod is hinged with a left inner wing rod through a hinge point O, a rotary sliding sleeve B is sleeved in the middle of the thrust sliding sleeve B, the rotary sliding sleeve B is hinged with a right folding pull rod through the hinge points B, and the other end of the right folding pull rod is hinged with the right inner wing rod through a hinge point P.

The other end of the thrust sliding sleeve A is provided with a fixed ring A, and the other end of the rotary sliding sleeve B is provided with a fixed ring B.

The attack angle control mechanism comprises a rotating frame B, the rotating frame B is fixed on a middle machine frame rod through a hinge A and the hinge B, a linear motor A is fixed on the rotating frame B, the tail end of a push rod of the linear motor A is connected with a rotating pin, and the rotating pin is arranged on the rotating frame A.

The utility model has the advantages that:

the utility model relates to a multi-degree-of-freedom flapping wing flying robot transmission mechanism, which generates an area difference in the flapping process of the wing surface up and down through a flapping wing mechanism, and further improves the lift force; the flapping-wing machine can flexibly change the size of the attack angle through the attack angle control mechanism, so that the flying efficiency is improved; make the wing more nimble at the flight in-process through folding mechanism, be convenient for transport storage when accomodating.

Drawings

FIG. 1 is a schematic structural view of a transmission mechanism of a multi-degree-of-freedom flapping-wing flying robot of the utility model;

FIG. 2 is a top view of the transmission mechanism of the flapping-wing flying robot with multiple degrees of freedom of the present invention;

FIG. 3 is a schematic diagram of a front frame of a transmission mechanism of a multi-degree-of-freedom flapping-wing flying robot of the utility model;

FIG. 4 is a rear frame schematic view of a transmission mechanism of a multi-degree-of-freedom flapping-wing flying robot of the utility model;

FIG. 5 is a schematic view of a transmission mechanism revolving rack A of the flapping-wing flying robot with multiple degrees of freedom of the present invention;

FIG. 6 is a schematic diagram of a symmetrical crank rocker mechanism and a flapping wing mechanism of a multi-degree of freedom flapping wing flying robot transmission mechanism of the present invention;

FIG. 7 is an exploded view of the left and right rotating shafts of the transmission mechanism of the multi-degree-of-freedom flapping-wing flying robot of the present invention;

FIG. 8 is a detail view of a sweepback angle control mechanism of a multi-degree-of-freedom flapping-wing flying robot transmission mechanism of the utility model;

FIG. 9 is an exploded view of the installation relationship of the transmission mechanism of the multi-degree-of-freedom flapping wing flying robot of the present invention with the folding shaft;

fig. 10 is a schematic view of an attack angle control mechanism of the transmission mechanism of the multi-degree-of-freedom flapping-wing flying robot of the utility model.

In the figure, 1, motor, 101, hinge point A,102, hinge point B,103, hinge point C,104, hinge point D,105, hinge point E,106, hinge point F,107, hinge point G,108, hinge point H,109, hinge point I,110, hinge point J,111, hinge point K,112, hinge point L,113, inner and outer wing bar connection hinge points A,114, inner and outer wing bar connection hinge points B,115, left rotating shaft mounting hole, 116, right rotating shaft mounting hole, 117, hinge point O,118, hinge point P,119, lifting lug, 120, hinge point Q,121, hinge point R,122, hinge point S,2, speed reducer, 201, through hole A,202, through hole B,203, linear motor mounting hole, 204, main rotating shaft mounting hole, 205, shaft mounting hole, 206, hoop mounting hole, 207, front frame bar mounting hole, 208, rear frame mounting hole, 209, fixing holes A,210, fixing holes B,211, rotating pin mounting holes, 212, through holes C,213, through holes D,3, rear frame, 4, gear B,5, gear A,6, front frame, 7, hoop, 8, upper frame rod, 9, left inner wing rod, 10, right inner wing rod, 11, left folding rod, 12, right folding rod, 13, left outer wing rod, 14, right outer wing rod, 15, linear motor B,16, rotating frame A,17, left folding pull rod, 18, right folding pull rod, 19, left rotating shaft, 20, right rotating shaft, 21, rotating frame B,22, linear motor A, 23, middle frame rod, 24, lower frame rod, 25, main rotating shaft, 26, folding push rod, 27, left rocker A,28, right rocker A,29, left rocker B,30, right rocker B,31, connecting rod A,32, connecting rod B,33, thrust B, 34, thrust B, sliding sleeve 35, sliding sleeve, 36. the rotary sliding sleeve B,37, the fixed ring A,38, the fixed ring B,39, the folding rotating shaft A,40, the folding rotating shaft B,41, the shaft A,42, the hinge A,43, the hinge B,44 and the rotating pin.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

The utility model relates to a multi freedom flapping wing flying robot drive mechanism, as shown in fig. 1-2, including the frame, be provided with main axis of rotation 25 in the frame, main axis of rotation 25 is connected with gear A5 and gear B4 respectively through symmetrical crank rocker mechanism, and gear A5 and gear B4 mesh, and gear A5 is connected with motor 1, and motor 1 is brushless motor, and symmetrical crank rocker mechanism has connected gradually flapping wing mechanism and sweepback angle control mechanism, still includes angle of attack control mechanism.

The frame is including preceding frame 6 and the after-frame 3 that sets up around, as shown in fig. 3, be provided with lug 119 on the preceding frame 6, main axis of rotation 25 passes through lug 119 and sets up on preceding frame 6, left pivot axle mounting hole 115 and right pivot axle mounting hole 116 have been seted up respectively to main axis of rotation 25 both ends, a plurality of preceding rack pole mounting holes 207 have been seted up on the preceding frame 6, as shown in fig. 4, set up the after-frame mounting hole 208 that corresponds with preceding rack pole mounting hole 207 on the after-frame 3, be provided with upper rack pole 8 between preceding frame 6 and the after-frame 3, well rack pole 23 and under-frame pole 24, upper rack pole 8, well rack pole 23 and under-frame pole 24 all one end are fixed in preceding rack pole mounting hole 207, the other end is fixed in after-frame mounting hole 208.

The rack is further provided with a rotating frame A16, as shown in FIG. 5, the rotating frame A16 is provided with a rotating pin mounting hole 211, a linear motor mounting hole 203, a main rotating shaft mounting hole 204 and a shaft mounting hole 205, the main rotating shaft 25 passes through the main rotating shaft mounting hole 204, the rotating frame A16 is provided with a shaft A41, the shaft A41 passes through the shaft mounting hole 205 and is fixedly connected with the axis position of the gear B4, the brushless motor 1 is fixedly connected with the rotating frame A16 through the hoop 7, the brushless motor 1 is connected with the speed reducer 2, and the gear A5 is connected with the output shaft of the speed reducer 2.

As shown in fig. 6-7, the symmetric crank-rocker mechanism includes a left crank-rocker unit and a right crank-rocker unit which are identical in structure and symmetrically disposed, the left crank-rocker unit and the right crank-rocker unit are respectively connected with a gear A5 and a gear B4, the left crank-rocker unit includes a left connecting rod 31, two ends of the left connecting rod 31 are respectively provided with a hinge point I109 and a hinge point G107, a hinge point E105 is disposed at a midpoint of the left connecting rod 31, the left connecting rod 31 is hinged to a position close to an edge of the gear A5 through the hinge point I109, the left connecting rod 31 is hinged to a position close to the edge of the gear A5 through the hinge point G107, one end of the left rocker a27 is hinged to the other end of the left rocker a27 through the hinge point G107, the left rotating shaft 19 is hinged to the main rotating shaft 25 through a left rotating shaft mounting hole 115, the right crank-rocker unit includes a right connecting rod 32, two ends of the right connecting rod 32 are respectively provided with a hinge point H108 and a hinge point J110, a midpoint of the right connecting rod 32 is hinged to a position through the hinge point J110, a hinge point F106 is hinged to a position close to an edge of the right connecting rod 32, the right connecting rod 32 is hinged to a position close to an edge of the gear B4 through a hinge point H108, a right rotating shaft mounting hole 116 is hinged to the right connecting rod 32, and a20 is hinged to the other end of the right rotating shaft through a rotating shaft 116.

The flapping wing mechanism comprises a left flapping wing unit and a right flapping wing unit which are identical in structure and symmetrically arranged, the left flapping wing unit and the right flapping wing unit are respectively connected with a left crank rocker unit and a right crank rocker unit, the left flapping wing unit comprises a left inner wing rod 9, the left inner wing rod 9 is respectively hinged with a left outer wing rod 13 and a left folding rod 11 through an inner wing rod connecting hinge point A113 and a hinge point K111, the left folding rod 11 is hinged with a folding rotating shaft A39 through a hinge point R121, as shown in figure 8, the folding rotating shaft A39 is fixed in a fixed hole A209 formed in a left rocker B29, the right flapping wing unit comprises a right inner wing rod 10, the right inner wing rod 10 is respectively connected with a hinge point B114 through an inner wing rod and an outer wing rod 14 and a hinge point L112, the right folding rod 12 is respectively connected with a right outer wing rod 14 and a right folding rod 12 through a hinge point S122, and the folding rotating shaft B40 is fixed in a fixed hole B210 formed in a right rocker B30.

As shown in fig. 9, the sweepback angle control mechanism includes a folding push rod 26 formed by two segments of links hinged to each other and a linear motor B15 fixed on the rotating frame a16 through a linear motor mounting hole 203, the hinge point of the links at both ends is a hinge point Q120, the hinge point Q120 is located at the midpoint of the folding push rod 26, the end of the push rod of the linear motor B15 is hinged to the folding push rod 26 through the hinge point Q120, both ends of the folding push rod 26 are respectively provided with a hinge point C103 and a hinge point D104, both ends of the folding push rod 26 are respectively hinged to one end of a thrust sliding sleeve a33 and one end of a thrust sliding sleeve B34 through the hinge point C103 and the hinge point D104, the other end of the thrust sliding sleeve a33 is provided with a fixed ring a37, the thrust sliding sleeve a35 is sleeved in the middle of the thrust sliding sleeve a33, the rotating sliding sleeve a35 is hinged to one end of a left folding pull rod 17 through the hinge point a101, the other end of the left folding pull rod 17 is hinged to the left inner rod 9 through the hinge point O117, the other end of the rotating sliding sleeve B36 is provided with a fixed ring B38, the fixed ring B38 is provided in the middle of the thrust sliding sleeve B34, the rotating sliding sleeve B34 is provided with a rotating sliding sleeve B36, the rotating sliding sleeve B36 is hinged to the right sliding sleeve 18 through the hinge point P18, and the right sliding sleeve 10.

As shown in fig. 10, the attack angle control mechanism includes a rotating frame B21, the rotating frame B21 is fixed on the middle frame rod 23 through a hinge a42 and a hinge B43, a linear motor a22 is fixed on the rotating frame B21, a rotating pin 44 is connected to the end of a push rod of the linear motor a22, and the rotating pin 44 is arranged on the rotating frame a16 through a rotating pin mounting hole 211.

The utility model relates to a multi freedom flapping wing flying robot drive mechanism essential element's concrete effect as follows:

the brushless motor 1 outputs power to the gear A5 via the reduction gear 2.

The yoke 7 fixes the brushless motor 1 and the speed reducer 2 to the turret a 16.

The gear A5 is meshed with the gear B4, and transmits the torque generated by the brushless motor 1 to the left and right crank rocker units.

The front frame 6, the rear frame 3, the upper frame rod 8, the middle frame rod 23 and the lower frame rod 24 form a mechanism frame part, and other mechanisms realize respective functions on the basis.

In the flapping process of the wings, the left folding rod 11 and the right folding rod 12 respectively pull the left outer wing rod 13 and the right outer wing rod 14 to enable the wingtips of the wings to rotate downwards, so that the wing area in the flapping process is reduced, the upper flapping resistance is reduced, and the flapping efficiency is improved.

The linear motor B15 drives the folding push rod 26 to further drive the thrust sliding sleeve A33 to slide along the left rotating shaft 19, and further the left folding pull rod 17 pulls the left inner wing rod 9 to rotate around the through hole A201, so that the folding of the left wing is realized. The right wing fold is similar in principle to the left wing.

The gear A5 rotates to drive the connecting rod A31, the connecting rod A31 drives the left rocker A27 to rotate around the rotation axis of the left rotating shaft 19, the left rocker A27 is fixed with the left rotating shaft 19, the left rotating shaft 19 is sleeved on the left rotating shaft mounting hole 115 of the main rotating shaft 25, and the left rocker A27 can rotate around the rotation axis of the left rocker A27. The motion principle of the right rotating shaft is the same as that of the left rotating shaft.

The folding rotation axis a39 enables the left folding bar 11 to rotate about the hinge point R121 when the wing flaps. The folding rotation shaft B40 enables the right folding bar 12 to rotate about the hinge point S122 when flapping up and down.

When the linear motor A22 works, the push rod extends, the rotating frame A16 rotates, the rotating frame A16 drives the main rotating shaft 25 to rotate, and then the whole symmetrical crank rocker mechanism, the flapping wing mechanism and the sweepback angle control mechanism are driven to rotate, so that the change of the attack angle of the wing is realized.

The linear motor B15 pushes the folding push rod 26, so that the thrust sliding sleeve A33 and the thrust sliding sleeve B34 slide along the left rotating rod 19 and the right rotating rod 20.

The fixed ring a37 prevents the sliding sleeve a35 from disengaging from the thrust sliding sleeve a33, and the fixed ring B38 prevents the sliding sleeve B36 from disengaging from the thrust sliding sleeve B34.

Main rotating shaft 25 is mounted on lifting lug 119, and main rotating shaft 25 is used for mounting and positioning.

The linear motor A22 is installed on the rotating frame B21, the linear motor A22 works, and the rotating frame B21 rotates around the hinge A and the hinge B to avoid over definition of the mechanism.

The utility model relates to a multi freedom flapping wing flying robot drive mechanism when using, its working process specifically as follows:

in the takeoff stage, the sweepback angle control mechanism works, the linear motor B15 is started, the folding push rod 26 moves forwards, and the left folding pull rod 17 and the right folding pull rod 18 respectively pull the left inner wing rod 9 and the right inner wing rod 10 to drive the flapping wing mechanism to unfold.

When the flapping wing mechanism is unfolded, the attack angle control mechanism works, the linear motor A22 is started to push the tail of the rotating frame A16 to lift, and the tail stops after forming a certain included angle with the horizontal plane, at the moment, the rotating frame A16 drives the flapping wing mechanism and the sweepback angle control mechanism to rotate by a certain angle, the flying attack angle is changed, the brushless motor 1 is started, and the flapping wing mechanism works, so that the flapping wing flying robot obtains traction force and lift force.

When the takeoff speed is reached, the attack angle control mechanism works, the rotating frame A16 is pulled back to the initial position before takeoff, and the flapping wing mechanism is changed back to the attack angle in the cruising flight state, so that normal flight is realized.

In the flight stage, the brushless motor 1 continuously works, and the attack angle control mechanism and the sweepback angle control mechanism change the sizes of the attack angle and the wingspan of the wings according to the flight condition. When climbing is needed, the rotating speed of the brushless motor is increased, the flapping frequency of the flapping wing mechanism is increased, climbing is achieved, and otherwise, diving action is completed.

And in the landing stage, the rotating speed of the brushless motor 1 is reduced, the attack angle control mechanism works, the linear motor A22 is started, the tail part of the pulling rotating frame A16 is reduced, a certain included angle is formed between the tail part and the horizontal plane, and then the tail part is stopped, so that the landing resistance is improved, and the impact on the ground when the rotating frame is landed is reduced.

After the landing is finished, the brushless motor 1 stops working, the sweepback angle control mechanism works, the linear motor B15 is started, the folding push rod 26 moves backwards, and the left inner wing rod 9 and the right inner wing rod 10 drive the wings to retract.

In this way, the utility model relates to a multi freedom flapping wing flying robot drive mechanism can change the flight gesture in a flexible way in each flight phase, and the degree of freedom is many, and the flexibility ratio is high, and is rational in infrastructure, and energy usage rate is high, can fold after finishing the flight and conveniently accomodate, store and transport.

Claims

1. The multi-degree-of-freedom flapping wing flying robot transmission mechanism is characterized by comprising a rack, wherein a main rotating shaft (25) is arranged on the rack, the main rotating shaft (25) is respectively connected with a gear A (5) and a gear B (4) through a symmetrical crank rocker mechanism, the gear A (5) is meshed with the gear B (4), the gear A (5) is connected with a brushless motor (1), and the symmetrical crank rocker mechanism is sequentially connected with a flapping wing mechanism, a sweepback angle control mechanism and an attack angle control mechanism;

the frame is including preceding frame (6) and after-frame (3) that set up around, is provided with lug (119) on preceding frame (6), main axis of rotation (25) pass through lug (119) and set up on preceding frame (6), left axis of rotation mounting hole (115) and right axis of rotation mounting hole (116) have been seted up respectively to main axis of rotation (25) both ends, a plurality of preceding rack pole mounting holes (207) have been seted up on preceding frame (6), after-frame (3) seted up back rack mounting hole (208) that correspond with preceding rack pole mounting hole (207), be provided with upper computer hack lever (8), well rack lever (23) and under-frame pole (24) between preceding frame (6) and after-frame (3), upper computer hack lever (8), well rack lever (23) and under-frame pole (24) all one end be fixed in preceding rack pole mounting hole (207), the other end is fixed in after-frame mounting hole (208).

2. The transmission mechanism of the flapping-wing flying robot with multiple degrees of freedom according to claim 1, wherein a rotating frame A (16) is further arranged in the frame, a main rotating shaft mounting hole (204) and a shaft mounting hole (205) are formed in the rotating frame A (16), the main rotating shaft (25) penetrates through the main rotating shaft mounting hole (204), a shaft A (41) is arranged on the rotating frame A (16), the shaft A (41) penetrates through the shaft mounting hole (205) to be fixedly connected with the axis position of the gear B (4), the brushless motor (1) is fixedly connected with the rotating frame A (16), the brushless motor (1) is connected with the speed reducer (2), and the gear A (5) is connected with an output shaft of the speed reducer (2).

3. The transmission mechanism of a multi-degree-of-freedom flapping-wing flying robot as claimed in claim 1, wherein the symmetrical crank-rocker mechanism comprises a left crank-rocker unit and a right crank-rocker unit which are identical in structure and are symmetrically arranged, the left crank-rocker unit and the right crank-rocker unit are respectively connected with a gear A (5) and a gear B (4), the left crank-rocker unit comprises a left connecting rod (31), two ends of the left connecting rod (31) are respectively provided with a hinge point I (109) and a hinge point G (107), a hinge point E (105) is arranged at the midpoint of the left connecting rod (31), the left connecting rod (31) is hinged with the edge position close to the gear A (5) through the hinge point I (109), the left connecting rod (31) is hinged with one end of a left rocker A (27) through the hinge point G (107), the other end of the left rocker A (27) is fixedly connected with a left rotating shaft (19), the left rotating shaft (19) is hinged with a main rotating shaft (25) through a left rotating shaft mounting hole (115), the right crank-rocker unit comprises a right connecting rod (32), two ends of the right connecting rod (32) are respectively provided with a hinge point H (108) and a hinge point J) and a right connecting rod (32), and a hinge point J) is hinged with a hinge point (110) and a hinge point F (32), the right connecting rod (32) is hinged to one end of a right rocker A (28) through a hinge point H (108), the other end of the right rocker A (28) is fixedly connected with a right rotating shaft (20), and the right rotating shaft (20) is hinged to the main rotating shaft (25) through a right rotating shaft mounting hole (116).

4. The transmission mechanism of the multi-degree-of-freedom flapping wing flying robot of claim 3, wherein the flapping wing mechanism comprises a left flapping wing unit and a right flapping wing unit which are identical in structure and are symmetrically arranged, the left flapping wing unit and the right flapping wing unit are respectively connected with a left crank rocker unit and a right crank rocker unit, the left flapping wing unit comprises a left inner wing rod (9), the left inner wing rod (9) is respectively hinged with a left outer wing rod (13) and a left folding rod (11) through an inner wing rod connecting hinge point A (113) and an outer wing rod connecting hinge point K (111), the left folding rod (11) is hinged with a folding rotating shaft A (39) through a hinge point R (121), the folding rotating shaft A (39) is fixed in a fixing hole A (209) formed in a left rocker B (29), the right flapping wing unit comprises a right inner wing rod (10), the right inner wing rod (10) is respectively hinged with a right outer wing rod connecting hinge point B (14) and a right outer wing rod (112), the right flapping wing rod (12) is hinged with a right folding rod (30) through an inner wing rod connecting hinge point B (114) and an inner wing rod connecting hinge point B (40), and the right folding rod (30) is hinged with a fixing hole B (210).

5. The transmission mechanism of the multi-degree-of-freedom flapping wing flying robot of claim 4, wherein the sweep angle control mechanism comprises a folding push rod (26) formed by hinging two connecting rods and a linear motor B (15) fixed on the rotating frame A (16), the hinging points of the connecting rods at the two ends are hinge points Q (120), the hinge points Q (120) are located at the middle point of the folding push rod (26), the tail end of the push rod of the linear motor B (15) is hinged with the folding push rod (26) through the hinge points Q (120), the two ends of the folding push rod (26) are respectively provided with a hinge point C (103) and a hinge point D (104), folding push rod (26) both ends are articulated through hinge point C (103), hinge point D (104) and thrust sliding sleeve A (33) one end, thrust sliding sleeve B (34) one end respectively, the cover has rotatory sliding sleeve A (35) in the middle of thrust sliding sleeve A (33), rotatory sliding sleeve A (35) articulates through hinge point A (101) has left side folding pull rod (17) one end, left side folding pull rod (17) other end passes through hinge point O (117) and articulates with left side inner wing pole (9), the cover has rotatory sliding sleeve B (36) in the middle of thrust sliding sleeve B (34), rotatory sliding sleeve B (36) articulates through hinge point B (102) has right side folding pull rod (18), and right side folding pull rod (18) other end passes through hinge point P (118) and right side inner wing pole (10) hinge And (6) connecting.

6. The transmission mechanism of the ornithopter flight robot with multiple degrees of freedom of claim 5, wherein the thrust sliding sleeve A (33) is provided with a fixed ring A (37) at the other end, and the rotating sliding sleeve B (36) is provided with a fixed ring B (38) at the other end.

7. The transmission mechanism of the ornithopter flying robot with multiple degrees of freedom according to claim 2, wherein the attack angle control mechanism comprises a rotating frame B (21), the rotating frame B (21) is fixed on a middle frame rod (23) through a hinge A (42) and a hinge B (43), a linear motor A (22) is fixed on the rotating frame B (21), a rotating pin (44) is connected to the tail end of a push rod of the linear motor A (22), and the rotating pin (44) is arranged on the rotating frame A (16).