A flapping-wing bionic steering mechanism

Abstract

The present invention discloses a flapping-wing bionic steering mechanism, comprising a base plate, on which two sets of flapping-wing units are symmetrically distributed, each set of flapping-wing units comprises a set of bionic swing mechanisms and a set of bionic rotating mechanisms, each set of bionic swing mechanisms comprises a first motor, a driving gear, and a driven gear; each set of bionic rotating mechanisms comprises a second motor and a bionic flapping wing; the first motor drives the driving gear to rotate, and the driving gear then drives the driven gear to rotate, and the bionic rotating mechanism installed on the driven gear rotates together with the driven gear, thereby driving the bionic flapping wing to rotate around the axis of the driven gear, so as to adjust the angle between the two bionic flapping wings in the two sets of flapping-wing units; the second motor drives the bionic flapping wing to rotate around the axis of the connecting shaft, so as to adjust the angle of the bionic flapping wing itself. The present invention has the advantages of simple structure, high flexibility, low noise, and high energy utilization.

Description

Technical Field

[0001] The invention relates to the field of bionic robots, and in particular to a flapping-wing bionic steering mechanism. Background Art

[0002] The high maneuverability of underwater robots is an important indicator to meet the needs of marine environment research, seabed resource exploration and coastal defense strategy. The steering mechanism is the key mechanism to achieve the high maneuverability of underwater robots. The steering mechanism of existing underwater robots has the problems of poor flexibility, high noise and low energy utilization when operating underwater. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a flapping-wing bionic steering mechanism with simple structure, good flexibility, low noise and high energy utilization rate.

[0004] The present invention is achieved through the following technical solutions:

[0005] A flapping-wing bionic steering mechanism comprises a base plate, on which two sets of flapping-wing units are symmetrically distributed, each set of flapping-wing units comprises a set of bionic swing mechanisms and a set of bionic rotation mechanisms;

[0006] Each set of bionic swing mechanisms includes a first motor, a driving gear, and a driven gear. The first motor is fixedly mounted on a base plate. The driving gear is fixedly sleeved on an output shaft of the first motor. The driven gear is rotatably mounted on the base plate. The axis of the driven gear is perpendicular to the base plate. The driven gear is meshed with the driving gear.

[0007] Each set of bionic rotating mechanisms includes a second motor and a bionic flapping wing, wherein the second motor is fixedly mounted on the end face of the driven gear away from the base plate, and one end of the bionic flapping wing is provided with a connecting shaft, the connecting shaft of the bionic flapping wing is coaxially fixedly connected with the output shaft of the second motor, and the connecting shaft of the bionic flapping wing is perpendicular to the axis of the driven gear;

[0008] The first motor drives the driving gear to rotate, and the driving gear in turn drives the driven gear to rotate. The bionic rotating mechanism installed on the driven gear rotates together with the driven gear, thereby driving the bionic flapping wing to rotate around the axis of the driven gear, thereby adjusting the angle between the two bionic flapping wings in the two sets of flapping wing units; the second motor drives the bionic flapping wing to rotate around the axis of the connecting shaft, thereby adjusting the angle of the bionic flapping wing itself.

[0009] Furthermore, the connecting shaft of the bionic flapping wing is rotatably supported by a bearing seat, the bearing seat is fixedly mounted on the base plate, and the connecting shaft of the bionic flapping wing is connected to the output shaft of the second motor via a coupling.

[0010] Furthermore, the bionic flapping wing is flat.

[0011] Furthermore, the driven gear is rotatably sleeved on a central shaft through a bearing, the central shaft is fixed on the base plate, and a retaining spring is sleeved on the central shaft at the outer side of the bearing.

[0012] Furthermore, the first motor is mounted on the substrate via a first Z-shaped motor support.

[0013] Furthermore, the second motor is mounted on the driven gear via an L-shaped second motor support.

[0014] Compared with the prior art, the present invention has the following advantages:

[0015] The present invention provides a flapping-wing bionic steering mechanism, which is provided with two sets of left-right symmetrical flapping-wing units, each set of flapping-wing units includes a set of bionic swinging mechanisms and a set of bionic rotating mechanisms. The bionic swinging mechanism can drive the entire bionic rotating mechanism to swing as a whole, thereby driving the bionic flapping wing to swing back and forth, so as to realize the forward or backward movement of the bionic steering mechanism; the bionic flapping wing itself can be driven to rotate by the bionic rotating mechanism, thereby adjusting the angle between the bionic flapping wing and the water surface, and then adjusting the size of the forward resistance. When the forward resistance of the left and right flapping-wing units is adjusted to be different, the bionic steering mechanism can be controlled to turn left or right. The bionic steering mechanism is applied to an underwater robot, and flexible control of forward, backward, left turn or right turn can be realized, and the present invention has a simple structure, low noise and high energy utilization rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 It is a structural schematic diagram of the bionic rotating mechanism of the present invention.

[0018] Figure 3 It is a schematic diagram of the structure of the bionic swing mechanism of the present invention.

[0019] Numbers in the figure: 1 substrate; 2 flapping wing unit; 3 bionic swing mechanism; 4 bionic rotation mechanism; 5 first motor; 6 driving gear; 7 driven gear; 8 first motor support; 9 bearing; 10 center shaft; 11 retaining spring; 12 second motor; 13 bionic flapping wing; 14 second motor support; 15 connecting shaft; 16 bearing seat; 17 coupling. DETAILED DESCRIPTION

[0020] The following is a detailed description of an embodiment of the present invention. This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiment.

[0021] The following is a detailed description of an embodiment of the present invention. This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiment.

[0022] See also Figures 1 to 3 This embodiment discloses a flapping-wing bionic steering mechanism, including a substrate 1, on which are provided two sets of flapping-wing units 2 symmetrically distributed left and right, each set of flapping-wing units 2 including a set of bionic swing mechanisms 3 and a set of bionic rotation mechanisms 4.

[0023] Each bionic swing mechanism 3 includes a first motor 5, a driving gear 6, and a driven gear 7. The first motor 5 is installed on the base plate 1 through a Z-shaped first motor support 8. The first motor support 8 and the base plate 1, and the first motor 5 and the first motor support 8 are fixedly installed by screws. The first motor support 8 is set in a Z shape to reserve space for the installation of the driving gear 6, thereby ensuring that the overall layout of the entire bionic swing mechanism 3 is compact. The driving gear 6 is fixedly sleeved on the output shaft of the first motor 5, and the driven gear 7 is rotatably installed on the base plate 1, and the axis of the driven gear 7 is perpendicular to the base plate 1. The driven gear 7 is rotatably sleeved on a central shaft 10 through a bearing 9, and the central shaft 10 is fixed on the base plate 1. A retaining spring 11 is sleeved on the outside of the bearing 9 on the central shaft 10, and the retaining spring 11 can prevent the bearing 9 from falling off; the driven gear 7 is meshed with the driving gear 6.

[0024] Each group of bionic rotating mechanisms 4 includes a second motor 12 and a bionic flapping wing 13. The second motor 12 is fixedly mounted on the end face of the driven gear 7 away from the substrate 1. The second motor 12 is mounted on the driven gear 7 through an L-shaped second motor support 14. The second motor 12 and the second motor support 14, and the second motor support 14 and the driven gear 7 are fixedly mounted by screws respectively. The bionic flapping wing 13 is flat, and a connecting shaft 15 is provided at one end of the bionic flapping wing 13. The connecting shaft 15 of the bionic flapping wing 13 is rotatably supported by a bearing seat 16, and the bearing seat 16 is fixedly mounted on the substrate 1. The connecting shaft 15 of the bionic flapping wing 13 is coaxially fixedly connected with the output shaft of the second motor 12. The connecting shaft 15 of the bionic flapping wing 13 and the output shaft of the second motor 12 are connected by a coupling 17, and the connecting shaft 15 of the bionic flapping wing 13 is perpendicular to the axis of the driven gear 7.

[0025] The first motor 5 drives the driving gear 6 to rotate, and the driving gear 6 drives the driven gear 7 to rotate. The bionic rotating mechanism 4 installed on the driven gear 7 rotates together with the driven gear 7, thereby driving the bionic flapping wing 13 to rotate around the axis of the driven gear 7, thereby adjusting the angle between the two bionic flapping wings 13 in the two sets of flapping wing units 2; the second motor 12 drives the bionic flapping wing 13 to rotate around the axis of the connecting shaft 15, thereby adjusting the angle of the bionic flapping wing 13 itself.

[0026] The working process of the flapping-wing bionic steering mechanism provided in this embodiment is as follows:

[0027] When the entire bionic steering mechanism needs to move forward, the second motor 12 drives the bionic flapping wing 13 to rotate, so that the bionic flapping wing 13 rotates to the state with the least resistance in the forward direction, and then the first motor 5 drives the driving gear 6 to rotate, the driving gear 6 drives the driven gear 7 to rotate, and the driven gear 7 drives the entire bionic rotating mechanism 4 to swing in the forward direction, so that the bionic flapping wing 13 swings to the frontmost position. Then the second motor 12 drives the bionic flapping wing 13 to rotate, so that it rotates to the state with the greatest resistance in the forward direction; then the first motor 5 rotates in the opposite direction, drives the driving gear 6 to rotate in the opposite direction, the driving gear 6 drives the driven gear 7 to rotate in the opposite direction, and the driven gear 7 drives the entire bionic rotating mechanism 4 to swing in the opposite direction, so that the bionic flapping wing 13 swings backwards to the rearmost position, thereby pushing the entire bionic steering mechanism forward; repeat the above process, so that the entire bionic steering mechanism always maintains a forward state.

[0028] When the entire bionic steering mechanism needs to turn left, according to the size of the turning radius, the second motor 12 on the left side drives the bionic flapping wing 13 on the left side to rotate and adjust to a suitable angle, and then the first motor 5 on the left side drives the bionic rotating mechanism 4 and the bionic flapping wing 13 on the left side to open to a certain position and maintain this state; the bionic rotating mechanism 4 and the bionic swinging mechanism 3 on the right side move according to the normal forward steps; in this way, due to the large resistance on the left side, the power on the right side of the entire bionic steering mechanism causes the entire bionic steering mechanism to deflect to the left, thereby achieving the purpose of turning left.

[0029] When the entire bionic steering mechanism needs to turn right, according to the size of the turning radius, the second motor 12 on the right side drives the bionic flapping wing 13 on the right side to adjust to a suitable angle, and then the first motor 5 on the right side drives the entire bionic rotating mechanism 4 and the bionic flapping wing 13 to open to a certain position and maintain this state; the bionic rotating mechanism 4 and the bionic swinging mechanism 3 on the left side move according to the normal forward steps. In this way, due to the large resistance on the right side, the power on the left side of the entire bionic steering mechanism causes the entire bionic steering mechanism to deflect to the right, thereby achieving the purpose of turning right.

[0030] Emperor penguins have extremely high swimming ability, and have the characteristics of strong explosive power, high maneuverability, good stability, etc. When hunting and avoiding attacks, they can easily achieve turning, floating, rolling, U-turns and other maneuvers through a small flip of their flapping wings; the flapping-wing bionic steering mechanism provided in this embodiment is a bionic flapping-wing steering mechanism of the emperor penguin, which is a highly maneuverable flapping-wing bionic steering mechanism for underwater robots. The swing of the bionic flapping wings combined with the flipping of the bionic flapping wings can easily achieve turning underwater, breaking through the bottleneck of inflexible steering of underwater robots in the prior art, and has a good application prospect.

[0031] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A flapping-wing bionic steering mechanism, comprising a base plate (1), Features: The base plate (1) is provided with two sets of flapping-wing units (2) which are symmetrically distributed on the left and right sides. Each set of flapping-wing units (2) comprises a set of bionic swing mechanisms (3) and a set of bionic rotation mechanisms (4). Each set of bionic swing mechanisms (3) comprises a first motor (5), a driving gear (6), and a driven gear (7); the first motor (5) is fixedly mounted on a base plate (1); the driving gear (6) is fixedly sleeved on an output shaft of the first motor (5); the driven gear (7) is rotatably mounted on the base plate (1); the axis of the driven gear (7) is perpendicular to the base plate (1); and the driven gear (7) is meshed with the driving gear (6); Each group of bionic rotating mechanisms (4) comprises a second motor (12) and a bionic flapping wing (13), wherein the second motor (12) is fixedly mounted on an end surface of a driven gear (7) that is away from the base plate (1), and one end of the bionic flapping wing (13) is provided with a connecting shaft (15), the connecting shaft (15) of the bionic flapping wing (13) is coaxially fixedly connected to an output shaft of the second motor (12), and the connecting shaft (15) of the bionic flapping wing (13) is perpendicular to the axis of the driven gear (7); The first motor (5) drives the driving gear (6) to rotate, and the driving gear (6) in turn drives the driven gear (7) to rotate, and the bionic rotating mechanism (4) mounted on the driven gear (7) rotates together with the driven gear (7), thereby driving the bionic flapping wing (13) to rotate around the axis of the driven gear (7), thereby adjusting the angle between the two bionic flapping wings (13) in the two sets of flapping wing units (2); the second motor (12) drives the bionic flapping wing (13) to rotate around the axis of the connecting shaft (15), thereby adjusting the angle of the bionic flapping wing (13) itself; When the entire bionic steering mechanism needs to move forward, the second motor (12) drives the bionic flapping wing (13) to rotate, so that the bionic flapping wing (13) rotates to a state with the least resistance to the forward direction, then the first motor (5) drives the driving gear (6) to rotate, the driving gear (6) drives the driven gear (7) to rotate, and the driven gear (7) drives the entire bionic rotating mechanism (4) to swing together in the forward direction, so that the bionic flapping wing (13) swings together to the frontmost position; then the second motor (12) drives the bionic flapping wing (13) to rotate, so that it rotates to a state with the greatest resistance to the forward direction; then the first motor (5) rotates in the opposite direction, drives the driving gear (6) to rotate in the opposite direction, the driving gear (6) drives the driven gear (7) to rotate in the opposite direction, and the driven gear (7) drives the entire bionic rotating mechanism (4) to swing in the opposite direction, so that the bionic flapping wing (13) swings backwards together to the rearmost position, thereby driving the entire bionic steering mechanism forward.

2. A flapping-wing bionic steering mechanism as claimed in claim 1, Features: The connecting shaft (15) of the bionic flapping wing (13) is rotatably supported by a bearing seat (16); the bearing seat (16) is fixedly mounted on the base plate (1); and the connecting shaft (15) of the bionic flapping wing (13) is connected to the output shaft of the second motor (12) via a coupling (17).

3. A flapping-wing bionic steering mechanism as claimed in claim 1, Features: The bionic flapping wing (13) is flat.

4. A flapping-wing bionic steering mechanism as claimed in claim 1, Features: The driven gear (7) is rotatably mounted on a central shaft (10) via a bearing (9); the central shaft (10) is fixed on a base plate (1); and a retaining spring (11) is mounted on the central shaft (10) outside the bearing (9).

5. A flapping-wing bionic steering mechanism as claimed in claim 1, Features: The first motor (5) is mounted on the base plate (1) via a Z-shaped first motor support (8).

6. A flapping-wing bionic steering mechanism as claimed in claim 1, Features: The second motor (12) is mounted on the driven gear (7) via an L-shaped second motor support (14).

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