CN220054154U - Shoulder-wing joint mechanism for bird bionic robot - Google Patents
Shoulder-wing joint mechanism for bird bionic robot Download PDFInfo
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- CN220054154U CN220054154U CN202321451124.2U CN202321451124U CN220054154U CN 220054154 U CN220054154 U CN 220054154U CN 202321451124 U CN202321451124 U CN 202321451124U CN 220054154 U CN220054154 U CN 220054154U
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- 230000007246 mechanism Effects 0.000 title claims abstract description 116
- 239000011664 nicotinic acid Substances 0.000 title abstract description 11
- 230000007480 spreading Effects 0.000 claims abstract description 27
- 230000002146 bilateral effect Effects 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000003592 biomimetic effect Effects 0.000 claims description 8
- 230000009471 action Effects 0.000 abstract description 11
- 230000033001 locomotion Effects 0.000 description 6
- 238000007665 sagging Methods 0.000 description 3
- 241000692870 Inachis io Species 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 208000028804 PERCHING syndrome Diseases 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 238000013461 design Methods 0.000 description 1
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Abstract
The utility model discloses a shoulder-wing joint mechanism for a bird bionic robot, which comprises: the wing spreading mechanism, the wing mechanism and the flapping mechanism are all of a bilateral symmetry structure, and the wing mechanism and the flapping mechanism are arranged on the wing spreading mechanism and are symmetrically arranged on the symmetry axis of the wing spreading mechanism; the wing mechanism is connected with the flapping wing mechanism, and the flapping wing mechanism is connected with the wing spreading mechanism. The flapping wing mechanism of the bird bionic robot is more stable in flapping wing action and more flexible in obtaining through the cooperation of the wing spreading mechanism, the wing mechanism and the flapping wing mechanism.
Description
Technical Field
The utility model relates to the technical field of bionic mechanical design, in particular to a shoulder-wing joint mechanism for a bird bionic robot.
Background
The flapping-wing flight is a flight mode of most organisms in the nature, and has the advantages of flexibility, high efficiency, concealment and the like compared with the fixed-wing flight and the rotor wing flight. The flapping wing flying movement integrates hovering, high-speed advancing, flying, backing, perching and quick taking-off, has the characteristics of good concealment, small volume, flexibility, light weight and the like, can fly in a complex space environment, and is not limited by the ground and terrain environment. Can complete the work which the traditional aircraft can not complete. The ultra-low-altitude flight can be realized similarly to insects, specific tasks can be efficiently executed in complex terrains and narrow spaces, and the ultra-low-altitude flight device has immeasurable application potential in military and civil fields such as military investigation, hazard detection, disaster search and rescue, electronic interference, anti-terrorism monitoring and the like.
However, when birds are on the ground, their wings can also flap with their wings in a hanging and tucked state, such as: when the peacock is unfolded on the ground, the wings of the peacock need to be flapped in a sagged and folded state; when birds fly, the wings can be changed from the sagged and folded state to the horizontal unfolding state and fly with the flapping wings. The gesture conversion and flapping action of the bird wings are equivalent to the shoulder-wing joint movement, while the traditional symmetrical crank rocker flapping mechanism only imitates the flapping action of the bird wings in the unfolding state, the wing sagging and furling action can not be completed, the flexibility of the flapping action is low, and the experimental requirement of the bird bionic robot can not be met. There is therefore a need to develop a shoulder-wing joint mechanism for bird biomimetic robots to address the above-mentioned problems.
Disclosure of Invention
The utility model mainly aims to provide a shoulder-wing joint mechanism for a bird bionic robot, and aims to solve the problems that the existing symmetrical crank rocker flapping wing mechanism only imitates the flapping wing action of a bird wing in an unfolding state, the flapping wing can not droop and fold, the flexibility of the flapping wing action is low, and the experimental requirement of the bird bionic robot can not be met.
To achieve the above object, the present utility model provides a shoulder-wing joint mechanism for a bird-type biomimetic robot, comprising: the wing spreading mechanism, the wing mechanism and the flapping mechanism are all of a bilateral symmetry structure, and the wing mechanism and the flapping mechanism are arranged on the wing spreading mechanism and are symmetrically arranged on the symmetry axis of the wing spreading mechanism; the wing mechanism is connected with the flapping wing mechanism, and the flapping wing mechanism is connected with the wing spreading mechanism.
Optionally, the fin spreading mechanism comprises: the device comprises a first driving assembly, a frame, a transmission assembly, a connecting rod, a rocker, a supporting rod and a supporting plate, wherein the first driving assembly is installed on the frame, the transmission assembly is connected with the first driving assembly, the transmission assembly is rotationally connected with the connecting rod assembly, the connecting rod assembly is rotationally connected with the rocker, the rocker is rotationally connected with one end of the supporting rod, the other end of the supporting rod is connected with the supporting plate, and the supporting plate is installed on the frame.
Optionally, the transmission component is a gear, and the connecting rod is rotationally connected with a non-center point of the gear.
Optionally, the two gears are meshed with each other and are respectively and symmetrically connected with the connecting rods on two sides in a rotating way.
Optionally, the first drive assembly is an electric motor.
Optionally, the wing mechanism includes: the wing main rod is rotationally connected with the flapping wing mechanism; one end of the wing moving rod is rotationally connected with the flapping wing mechanism, and the other end of the wing moving rod is rotationally connected with the wing main rod; the first parallel rod is parallel to the wing main rod, one end of the first parallel rod is rotationally connected with the wing moving rod, and the other end of the first parallel rod is rotationally connected with the second parallel rod; the second parallel rod is parallel to the wing moving rod and is in rotary connection with the wing main rod; the middle wing main rod is parallel to the second parallel rod, one end of the middle wing main rod is rotationally connected with the wing main rod, and the other end of the middle wing main rod is rotationally connected with the middle wing tail rod; the middle wing tail rod is parallel to the wing main rod, and the middle wing tail rod is rotationally connected with the middle wing main rod and the second parallel rod.
Optionally, the flapping wing mechanism comprises: the wing mechanism comprises a second driving assembly, a first guiding assembly, a guiding groove, a push plate assembly, a power block, a guiding pin, a connecting block, a fixing block and a second guiding assembly, wherein the guiding groove is formed in the first guiding assembly, the second driving assembly is connected with the push plate assembly through a pushing rod, the power block and the fixing block are sleeved and installed on the first guiding assembly, the power block is in sliding connection with the first guiding assembly, the fixing block is fixedly connected with the first guiding assembly, the connecting block is connected with the power block, a wing mechanism is connected with the connecting block and the fixing block, the push plate assembly is connected with the power block, the guiding pin is installed in the power block, the guiding pin is matched with the guiding groove, the second guiding assembly is parallel to the first guiding assembly and is in sliding connection with the power block, and the first guiding assembly is connected with the wing mechanism.
Optionally, the guide groove is spirally formed on the surface of the first guide component.
Optionally, the second driving component is a linear motor.
Optionally, the middle wing tail rod is in a three-fork shape.
The shoulder-wing joint mechanism for the bird bionic robot provided by the embodiment of the utility model enables flapping wing actions to be more stable through the cooperation of the wing spreading mechanism, the wing mechanism and the flapping wing mechanism, and obtains a more flexible bird bionic robot flapping wing mechanism.
Drawings
FIG. 1 is a schematic view of the wing mechanism of the present utility model in a deployed configuration;
FIG. 2 is a schematic view of the wing mechanism of the present utility model when it is in a closed position;
FIG. 3 is a schematic view of a wing structure of the present utility model;
legend: the device comprises a 1-wing spreading mechanism, a 101-rack, a 102-transmission assembly, a 103-connecting rod, a 104-rocker, a 105-supporting rod, a 106-supporting plate, a 2-wing mechanism, a 201-wing main rod, a 202-wing moving rod, a 203-first parallel rod, a 204-middle wing main rod, a 205-second parallel rod, a 206-middle wing tail rod, a 3-flapping wing mechanism, a 301-second driving assembly, a 302-first guiding assembly, a 303-guiding groove, a 304-pushing plate assembly, a 305-power block, a 306-guiding pin, a 307-connecting block, a 308-fixed block and a 309-second guiding assembly.
The achievement of the objects, functional features and advantages of the present utility model will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present utility model are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
In the present utility model, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present utility model, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" as it appears throughout includes three parallel schemes, for example "A and/or B", including the A scheme, or the B scheme, or the scheme where A and B are satisfied simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.
As shown in fig. 1, 2 and 3, a shoulder-wing joint mechanism for a bird-like biomimetic robot, comprising: the wing spreading mechanism 1, the wing mechanism 2 and the flapping mechanism 3 are all of a bilateral symmetry structure, and the wing mechanism 2 and the flapping mechanism 3 are arranged on the wing spreading mechanism 1 and are symmetrically arranged on the symmetry axis of the wing spreading mechanism 1; the wing mechanism 2 is connected with the flapping wing mechanism 3, and the flapping wing mechanism 3 is connected with the wing spreading mechanism 1.
The fin spreading mechanism 1 includes: the device comprises a first driving assembly, a frame 101, a transmission assembly 102, a connecting rod 103, a rocker 104, a supporting rod 105 and a supporting plate 106, wherein the first driving assembly is installed on the frame 101, the transmission assembly 102 is connected with the first driving assembly, the transmission assembly 102 is rotationally connected with the connecting rod assembly 103, the connecting rod assembly 103 is rotationally connected with the rocker 104, the rocker 104) is rotationally connected with one end of the supporting rod 105, the other end of the supporting rod 105 is connected with the supporting plate 106, and the supporting plate 106 is installed on the frame 101. The transmission assembly 102 is a gear, and the connecting rod 103 is rotatably connected with a non-center point of the gear. The number of the gears is two, and the two gears are meshed with each other and are respectively and rotationally connected with the connecting rods 103 which are symmetrically arranged on two sides. The first drive assembly is an electric motor.
The wing mechanism 2 includes: wing main rod 201, wing moving rod 202, first parallel rod 203, middle wing main rod 204, second parallel rod 205, middle wing tail rod 206, wherein wing main rod 201 is rotatably connected with flapping wing mechanism 3; one end of the wing moving rod 202 is rotatably connected with the flapping wing mechanism 3, and the other end of the wing moving rod 202 is rotatably connected with the wing main rod 201); the first parallel rod 203 is parallel to the main wing rod 201, one end of the first parallel rod 203 is rotatably connected to the moving wing rod 202, and the other end of the first parallel rod 203 is rotatably connected to the second parallel rod 205; the second parallel rod 205 is parallel to the wing moving rod 202, and the second parallel rod 205 is rotatably connected with the wing main rod 201; the middle wing main rod 204 is parallel to the second parallel rod 205, one end of the middle wing main rod 204 is rotatably connected with the wing main rod 201, and the other end of the middle wing main rod 204 is rotatably connected with the middle wing tail rod 206; the middle wing tail rod 206 is parallel to the wing main rod 201, and the middle wing tail rod 206 is rotatably connected with the middle wing main rod 204 and the second parallel rod 205.
The flapping wing mechanism comprises: the wing mechanism comprises a second driving assembly 301, a first guiding assembly 302, a guiding groove 303, a push plate assembly 304, a power block 305, a guiding pin 306, a connecting block 307, a fixed block 308 and a second guiding assembly 309, wherein the first guiding assembly 302 is provided with the guiding groove 303, the second driving assembly 301 is connected with the push plate assembly 304 through the push rod, the power block 305 and the fixed block 308 are sleeved on the first guiding assembly 302, the power block 305) is in sliding connection with the first guiding assembly 302, the fixed block 308 is fixedly connected with the first guiding assembly 302, the connecting block 308 is connected with the power block 305, the wing mechanism 2 is connected with the connecting block 307 and the fixed block 308, the push plate assembly 304 is connected with the power block 305, the guiding pin 306 is arranged in the power block 305, the guiding pin 306 is matched with the guiding groove 303, the second guiding assembly 309 is parallel to the first guiding assembly 302 and is in sliding connection with the power block 305, and the first guiding assembly 302 is connected with the wing mechanism 1. The guide groove 303 is formed on the surface of the first guide assembly 302 in a spiral shape. The second driving assembly 301 is a linear motor. The middle fin tail rod 206 is trifurcated.
Working principle:
the push plate assembly 304 moves along the first guide assembly 302 and the second guide assembly 309 under the pushing of the push rod, the push plate assembly 304 drives the power block 305 to move along the first guide assembly 302, the power block 305 moves on the first guide assembly 302, and the guide pin 306 moves in the spiral guide groove 303 along the axial direction of the first guide assembly 302, so that the first guide assembly 302 rotates, and the fixed block 308 is further driven to rotate along with the first guide assembly 302, so that the wing mechanism 2 connected between the fixed block 308 and the connecting block 307 is turned from a sagging state to a horizontal state.
Meanwhile, the power block 305 drives the connecting block 307 to axially move along the first guide assembly 302 when moving along the first guide assembly 302 and the second guide assembly 309 under the action of the push plate, so as to push one end of the wing moving rod 202 to axially move along the first guide assembly 302, and drive the first parallelogram mechanism composed of the wing main rod 201, the wing moving rod 202, the first parallel rod 203 and the second parallel rod 205 to generate unfolding motion; the unfolding motion of the first parallelogram mechanism drives the second parallelogram mechanism consisting of the wing main rod 201, the middle wing main rod 204, the second parallel rod 205 and the middle wing tail rod 206 to realize the wing unfolding motion.
Because the flapping wing mechanism 3 for changing the posture of the wings and flapping the wings is connected with the wing spreading mechanism 1, and the wing mechanism 2 for stretching the wings outwards is arranged on the flapping wing mechanism 3, when the wing spreading mechanism 1 works, the flapping wing mechanism 2 swings reciprocally, so that the flapping wing action of the wing mechanism 2 can be realized in both the sagging state and the unfolding state. Furthermore, the wing spreading mechanism 1, the wing mechanism 2, the flapping mechanism 3 are symmetrically arranged about the centre plane of the frame 101, i.e. the wing deployment and flapping action is symmetrical.
In addition, one end of the first guide assembly 302 and the second guide assembly 309 are rotatably connected with the rocker 104, the other end of the first guide assembly 302 and the second guide assembly 309 are rotatably connected with the support plate 106, the support plate 106 is a triangular support plate, a support rod 105 is further arranged between the support plate 106 and the rocker 104, and the support rod 105 is fixedly connected with the support plate 106 and the rocker 104. The connection line of the section formed by the support rod 105, the first guide component 302 and the second guide component 309 in space is triangular, so that the fin spreading mechanism 1 is more stable
The foregoing description is only of the preferred embodiments of the present utility model, and is not intended to limit the scope of the utility model, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. A shoulder-wing joint mechanism for a bird biomimetic robot, comprising: the wing spreading mechanism (1), the wing mechanism (2) and the flapping mechanism (3) are of a bilateral symmetry structure, and the wing mechanism (2) and the flapping mechanism (3) are arranged on the wing spreading mechanism (1) and are symmetrically arranged by the symmetry axis of the wing spreading mechanism (1); the wing mechanism (2) is connected with the flapping wing mechanism (3), and the flapping wing mechanism (3) is connected with the wing spreading mechanism (1).
2. Shoulder-wing joint mechanism for bird biomimetic robots according to claim 1, characterized in that the wing spreading mechanism (1) comprises: first drive assembly, frame (101), drive assembly (102), connecting rod (103), rocker (104), bracing piece (105), backup pad (106), first drive assembly installs on frame (101), drive assembly (102) with first drive assembly connects, drive assembly (102) with connecting rod (103) rotate and are connected, connecting rod (103) with rocker (104) rotate and are connected, rocker (104) with bracing piece (105) one end rotates and is connected, the other end of bracing piece (105) with backup pad (106) are connected, backup pad (106) are installed on frame (101).
3. The shoulder-wing joint mechanism for a bird-like biomimetic robot of claim 2, wherein the transmission assembly (102) is a gear, and the connecting rod (103) is rotatably connected to a non-center point of the gear.
4. The shoulder-wing joint mechanism for bird-like robot according to claim 3, wherein the number of gears is two, and the two gears are engaged with each other and are rotatably connected with two symmetrically arranged links (103), respectively.
5. The shoulder-wing joint mechanism for a bird-like biomimetic robot of claim 2, wherein the first drive assembly is a motor.
6. Shoulder-wing joint mechanism for bird biomimetic robots according to claim 1, characterized in that the wing mechanism (2) comprises: the wing main rod (201) is rotationally connected with the flapping wing mechanism (3); one end of the wing moving rod (202) is rotationally connected with the flapping wing mechanism (3), and the other end of the wing moving rod (202) is rotationally connected with the wing main rod (201); the first parallel rod (203) is parallel to the main wing rod (201), one end of the first parallel rod (203) is rotationally connected with the movable wing rod (202), and the other end of the first parallel rod (203) is rotationally connected with the second parallel rod (205); the second parallel rod (205) is parallel to the wing moving rod (202), and the second parallel rod (205) is rotationally connected with the wing main rod (201); the middle wing main rod (204) is parallel to the second parallel rod (205), one end of the middle wing main rod (204) is rotationally connected with the wing main rod (201), and the other end of the middle wing main rod (204) is rotationally connected with the middle wing tail rod (206); the middle wing tail rod (206) is parallel to the wing main rod (201), and the middle wing tail rod (206) is rotatably connected with the middle wing main rod (204) and the second parallel rod (205).
7. The shoulder-wing joint mechanism for a bird-biomimetic robot of claim 1, wherein the flapping wing mechanism comprises: the second driving component (301), the first guiding component (302), the guiding groove (303), the push plate component (304), the power block (305), the guiding pin (306), the connecting block (307), the fixing block (308), the second guiding component (309) and the push rod, wherein the guiding groove (303) is formed in the first guiding component (302), the second driving component (301) is connected with the push plate component (304) through the push rod, the power block (305) and the fixing block (308) are sleeved on the first guiding component (302), the power block (305) is in sliding connection with the first guiding component (302), the fixing block (308) is fixedly connected with the first guiding component (302), the connecting block (307) is connected with the power block (305), the wing mechanism (2) is connected with the connecting block (307) and the fixing block (308), the push plate component (304) is connected with the power block (305), the guiding pin (306) is arranged in the power block (305), the guiding pin (306) is in sliding connection with the second guiding block (305) and is parallel to the guiding groove (303), the first guide assembly (302) is connected with the wing spreading mechanism (1).
8. The shoulder-wing joint mechanism for a bird-biomimetic robot of claim 7, wherein the guide groove (303) is spirally opened on the surface of the first guide member (302).
9. The shoulder-wing joint mechanism for a bird-biomimetic robot of claim 7, wherein the second drive assembly (301) is a linear motor.
10. The shoulder-wing joint mechanism for a bird-biomimetic robot of claim 6, wherein the mid-wing tail (206) is trifurcated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321451124.2U CN220054154U (en) | 2023-06-08 | 2023-06-08 | Shoulder-wing joint mechanism for bird bionic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321451124.2U CN220054154U (en) | 2023-06-08 | 2023-06-08 | Shoulder-wing joint mechanism for bird bionic robot |
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| Publication Number | Publication Date |
|---|---|
| CN220054154U true CN220054154U (en) | 2023-11-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321451124.2U Active CN220054154U (en) | 2023-06-08 | 2023-06-08 | Shoulder-wing joint mechanism for bird bionic robot |
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| Country | Link |
|---|---|
| CN (1) | CN220054154U (en) |
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2023
- 2023-06-08 CN CN202321451124.2U patent/CN220054154U/en active Active
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