A bionic bee camouflage survey robot

Abstract

The present invention relates to a bionic bee camouflaged survey robot, comprising a body, a driving mechanism, a telescopic mechanism, a plurality of transmission mechanisms and a plurality of flapping wings; the transmission mechanism comprises a secondary shaft and a plurality of input gears with different diameters, and the plurality of input gears with different diameters are all fixedly connected coaxially with the secondary shaft; the driving mechanism comprises an output main shaft and a plurality of output gears with different diameters, and the plurality of output gears with different diameters are all fixedly connected coaxially with the output main shaft, and the driving mechanism is used to drive the output main shaft to rotate; the plurality of output gears can be selectively meshed and connected with corresponding input gears located on different secondary shafts; the telescopic end of the telescopic mechanism is fixedly connected with the driving mechanism, and the telescopic mechanism is used to move the output gear so that it can selectively mesh and connect with the corresponding input gears located on different secondary shafts; the plurality of flapping wings are respectively transmission-connected with adjacent transmission mechanisms, and the meshing connection change of the input gear and the output gear is used to adjust the differential motion state of the plurality of flapping wings.

Description

Technical Field

[0001] The invention relates to the technical field of bionic robots, and in particular to a bionic bee camouflage survey robot. Background Art

[0002] In recent years, with the continuous development of biology, robotics and materials science, bionic robots have gradually become a research hotspot. As a robot with good motion stability, operation ability and miniaturization, bionic bee robots are widely used in surveying and detection and other fields.

[0003] However, when performing amphibious missions on land and in the air, existing bionic bee robots achieve flight by flapping their wings on both sides. However, the flapping of the wings of existing robots is generally achieved by controlling multiple control motors or devices, and the structure is very complex, which is very unfavorable for miniaturized robots. Wing flapping robots with simple structures often achieve the purpose of steering through gyroscopes, but the steering of gyroscopes is quite different from the real bionic flapping steering, which seriously affects the bionic nature of the wing flapping. That is, it is difficult for existing bionic bee robots to achieve bionic wing flapping and steering control under a simple structure.

[0004] Therefore, it is of great significance to study a bionic bee camouflage survey robot with a simple structure that can control the bionic flapping and steering of its wings. Summary of the invention

[0005] The purpose of the present invention is to provide a bionic bee camouflage survey robot to solve the problem that the existing bionic bee robot is difficult to control the bionic flapping and steering of the wing body under a simple structure.

[0006] In order to solve the above technical problems, the present invention provides a bionic bee camouflaged survey robot, comprising a body, a driving mechanism, a telescopic mechanism and a plurality of transmission mechanisms arranged on the body, and a plurality of flapping wings arranged on both sides of the body; the transmission mechanism comprises a secondary shaft and a plurality of input gears with different diameters, and the plurality of input gears with different diameters are all coaxially fixedly connected to the secondary shaft; the driving mechanism comprises an output main shaft and a plurality of output gears with different diameters, and the plurality of output gears with different diameters are all coaxially fixedly connected to the output main shaft, and the driving mechanism is used to drive the output main shaft to rotate; the plurality of output gears can be selectively meshed and connected with the corresponding input gears located on different secondary shafts; the telescopic end of the telescopic mechanism is fixedly connected to the driving mechanism, The extension and retraction of the telescopic mechanism is used to move the output gear so that it can be selectively meshed and connected with the corresponding input gear located on different secondary shafts; the multiple flapping wings are respectively transmission-connected with the adjacent transmission mechanisms, and the meshing connection change between the input gear and the output gear is used to adjust the differential motion state of the multiple flapping wings; if the output gear is meshed and connected with input gears of the same diameter located on different secondary shafts, the two input gears drive the two secondary shafts to rotate at the same speed, so that the flapping frequencies of the flapping wings on both sides rotationally connected to the two secondary shafts are the same; if the output gear is meshed and connected with input gears of different diameters located on different secondary shafts, the two input gears drive the two secondary shafts to rotate at different speeds, so that the flapping frequencies of the flapping wings on both sides rotationally connected to the two secondary shafts are different, thereby realizing the turning of the entire robot in the air.

[0007] In one of the embodiments, any of the input gears located on different secondary shafts is meshed and connected with at least one corresponding output gear. During the movement of the output gear, the output gear is always meshed and connected with the input gear, thereby ensuring the continuity of the flapping motion.

[0008] In one embodiment, the transmission mechanism also includes a co-diameter gear; the co-diameter gear is coaxially fixedly connected to the secondary shaft, and the co-diameter gears located on different secondary shafts are all meshed with the output gear, and the meshing of multiple co-diameter gears with the output gear is used to drive the flapping wings to flap at the same speed.

[0009] In one of the embodiments, it also includes a connecting rod; the flapping wing is rotatably connected to the body, the flapping wing is rotatably connected to the connecting rod, the flapping wing is rotatably connected to the same-diameter gear through the connecting rod, one end of the flapping wing is fixed to the body, and the other end of the flapping wing flaps under the rotation of the same-diameter gear.

[0010] In one embodiment, the input gears with the same diameter are arranged staggeredly on different auxiliary shafts, and each output gear is respectively used for selectively meshing and connecting with two input gears with the same diameter. The movement of the output main shaft is used to control the output gear to switch to mesh and connect with the input gear with the same diameter.

[0011] In one embodiment, the output gear at least includes a first output tooth and a second output tooth, and the diameter of the first output tooth is smaller than that of the second output tooth; the input gear at least includes a first input tooth and a second input tooth, and the diameter of the first input tooth is larger than that of the second input tooth; the first output tooth is selectively meshed and connected with the first input tooth, and the second output tooth is selectively meshed and connected with the second input tooth. When the first output gear with a smaller diameter is meshed and connected with the first input tooth with a larger diameter on one side, and the second output gear with a larger diameter is meshed and connected with the second input tooth with a smaller diameter on the other side, the output gear will drive the auxiliary shafts on both sides to rotate at different speeds, thereby driving the flapping wings on both sides to flap at different frequencies, that is, realizing the differential flapping of the flapping wings on both sides.

[0012] In one embodiment, along the direction of the auxiliary shaft adjacent to the flapping wing, the first output tooth and the second output tooth are sequentially fixedly connected to the output main shaft; along the direction of the auxiliary shaft adjacent to the flapping wing, the first input tooth and the second input tooth are sequentially fixedly connected to the auxiliary shaft.

[0013] In one embodiment, the telescopic direction of the telescopic mechanism is the same as the axis direction of the output main shaft and the axis direction of the auxiliary shaft.

[0014] In one embodiment, the telescopic mechanism includes a fixed slide rail seat, a fixed slider, a lead screw motor, a lead screw and a nut; the fixed slide rail seat is fixedly connected to the machine body, the fixed slider is slidably clamped in the fixed slide rail seat, the fixed slider is rotatably and fixedly connected to the driving mechanism, the lead screw motor is fixed in the fixed slide rail seat, the lead screw motor is in transmission connection with the lead screw, the lead screw is in threaded connection with the nut, the nut is rotatably and fixedly connected to the fixed slider, the lead screw is used to rotate under the drive of the lead screw motor and drive the nut to move up and down. The telescopic mechanism with an axial telescopic function can drive the output gear to move axially and make the output gear mesh and connect with different required input gears.

[0015] In one embodiment, the body further includes a clamping body; the clamping body includes a clamping servo, two clamping pliers, and two connecting gear plates; the two clamping pliers are arranged opposite to each other, the two clamping pliers are respectively fixedly connected to the two connecting gear plates, and the two connecting gear plates are meshed and connected to the clamping servo. Driven by the clamping servo, the two clamping pliers can achieve clamping.

[0016] In one embodiment, the clamping pliers include a plurality of partition columns and multiple layers of stacked arc-shaped clamping plates, and the multiple layers of arc-shaped clamping plates are fixedly connected by the plurality of partition columns.

[0017] In one embodiment, along the direction away from the clamping servo, the arc-shaped clamping plate narrows.

[0018] In one embodiment, the clamping surface of the arc-shaped clamping plate is provided with serrations.

[0019] In one embodiment, it further includes a foot body; the foot body includes a rotating motor, a fixed block, a moving motor, a moving block, and a connecting rod member; the rotating motor is rotatably connected to the fixed block; the connecting rod member is rotatably connected to the fixed block, the movable end of the moving motor is fixedly connected to the moving block, and the moving block is rotatably connected to the connecting rod member. The connecting rod member with circumferential rotation and vertical lifting can bionically imitate the walking behavior of animals and improve the bionic degree.

[0020] In one embodiment, the connecting rod member includes a first connecting rod, a second connecting rod, and a third connecting rod; the first connecting rod is rotatably connected to the second connecting rod, and the first connecting rod is rotatably connected to the fixed block through the second connecting rod; the first connecting rod is rotatably connected to the third connecting rod, and the first connecting rod is rotatably connected to the moving block through the third connecting rod. The third connecting rod is also fixedly rotatably connected to the fixed block.

[0021] In one embodiment, bristles are provided on the bottom surface of the first connecting rod. The design of the first connecting rod with bristles further increases its grip and avoids the sliding of the foot body.

[0022] The beneficial effects of the present invention are as follows:

[0023] Since each transmission mechanism includes a secondary shaft and an input gear, and the secondary shaft is provided with a plurality of input gears with different diameters, and the output main shaft is also provided with a corresponding plurality of input gears with different diameters, the output gear is driven to move by the telescopic end of the telescopic mechanism so that it is meshed and connected with input gears with different diameters, and a plurality of flapping wings are respectively transmission-connected with adjacent transmission mechanisms, and a plurality of transmission mechanisms are used to drive the flapping wings to flap differentially. Therefore, when the output gear is meshed and connected with input gears with different diameters on different secondary shafts during application, the output gear will drive different secondary shafts to rotate at different speeds, thereby driving the flapping wings to flap at different frequencies, i.e., differential flapping, to achieve the purpose of robot steering. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the implementation mode will be briefly introduced below. Obviously, the drawings described below are only some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is a schematic diagram of the overall structure provided by a preferred embodiment of the present invention;

[0026] Figure 2 is a side view of a foot structure provided by a preferred embodiment of the present invention;

[0027] Figure 3 It is a schematic diagram of the foot structure provided by a preferred embodiment of the present invention;

[0028] Figure 4 It is a schematic diagram of the structure of the clamping body provided in a preferred embodiment of the present invention;

[0029] Figure 5 is a top view of the clamping body structure provided in a preferred embodiment of the present invention;

[0030] Figure 6 It is a schematic diagram of a local structure provided by a preferred embodiment of the present invention;

[0031] Figure 7 It is a side view of a local structure provided by a preferred embodiment of the present invention;

[0032] Figure 8 It is a front view of a local structure provided by a preferred embodiment of the present invention;

[0033] Figure 9 It is a side view of the driving mechanism, telescopic mechanism and transmission mechanism provided in the preferred embodiment of the present invention;

[0034] Figure 10It is a schematic structural diagram of the driving mechanism, telescopic mechanism and transmission mechanism provided by the preferred embodiment of the present invention;

[0035] Figure 11 It is a front orthographic view of the flapping wing, driving mechanism and transmission mechanism provided by the preferred embodiment of the present invention;

[0036] Figure 12 It is a front perspective orthographic view of the flapping wing, driving mechanism and transmission mechanism provided by the preferred embodiment of the present invention.

[0037] The reference numerals are as follows:

[0038] 1. Body; 10. Foot body; 100. Rotating motor; 101. Gear group plate; 102. Fixed block; 103. Moving motor; 104. Moving block; 105. Link member; 1050. First link; 1051. Second link; 1052. Third link; 106. Bristle; 11. Clamping body; 110. Clamping servo; 111. Clamp; 1110. Partition column; 1111. Arc-shaped clamping plate; 112. Connecting gear plate; 113. Clamping fixed seat;

[0039] 2. Driving mechanism; 20. Driving motor; 21. Output main shaft; 22. Output gear; 220. First output tooth; 221. Second output tooth; 222. Third output tooth; 23. Limit block;

[0040] 3. Telescopic mechanism; 30. Lead screw motor; 31. Lead screw; 32. Fixed slider; 33. Fixed slide rail seat;

[0041] 4. Transmission mechanism; 40. Sub-shaft; 41. Same-diameter gear; 42. Input gear; 420. First input tooth; 421. Second input tooth;

[0042] 5. Flapping wing; 50. Flapping wing link. Detailed implementation manners

[0043] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention.

[0044] In the prior art, there are two major problems. First, the camouflage ability of bionic robots in the prior art is insufficient. Specifically, when the existing bionic robots are on land or in the air, the bionic degree of the robot's external shape characteristics is insufficient, and they cannot blend in with the surrounding environment, making it easy to identify their robot identity. Second, the motion bionics ability of bionic robots in the prior art is insufficient, especially the ability to bionically flutter and turn under a simple structure. Specifically, in the prior art, to control the bionic flutter and turn, generally, a gear mechanism, a crank transmission mechanism, and a special steering mechanism are required to cooperate. Only when a steering mechanism is designed can the bionic flutter turn be achieved, but this will lead to the complication of the structure. In a simple structure, the control module needs to be combined with a gyroscope to detect in real time the flight parameters such as the pitch angle, heading angle, and roll angle during the flight of a micro flapping-wing aircraft, and determine its accurate attitude and position through flight control and attitude measurement to achieve the flight control and cruise functions, that is, its flight turn is controlled by a gyroscope, which is quite different from the turn caused by differential flapping (referring to different flapping frequencies) in real flapping.

[0045] To solve the above problems, the present application provides a bionic bee camouflage survey robot, as Figures 1 to 12 shown, which includes a body 1, a driving mechanism 2, a telescopic mechanism 3, and a plurality of transmission mechanisms 4 provided on the body 1, and a plurality of flapping wings 5 provided on both sides of the body 1. The core lies in the special design of the gear transmission mechanism 4, which can eliminate the need for a dedicated steering mechanism to cooperate. Only through the internal cooperation of the gear transmission mechanism 4 can the plurality of flapping wings 5 be driven to achieve bionic flutter and turn. Specifically, it will be elaborated in detail below.

[0046] In the embodiment of the present application, regarding the above-mentioned body 1, as Figure 1 shown, the body 1 has only a dumbbell-shaped structure. The front end ( Figure 1 left side) of the body 1 is smaller than the rear end ( Figure 1 right side) of the body 1. Both the front end and the rear end of the body 1 are designed with an arc shape. After adopting this setting method, the external shape of the body 1 is similar to that of a bee, and the bionic degree is relatively high.

[0047] In some embodiments of the present application, the body 1 further includes foot bodies 10, as Figure 2 and Figure 3 shown. Six foot bodies 10 are arranged oppositely on both sides of the body 1. On one side of the body 1, there are three foot bodies 10. Two of the foot bodies 10 face forward, and the other foot body 10 faces backward. Such an arrangement facilitates the movement and turning of the body 1.

[0048] Specifically, each foot body 10 includes a rotation motor 100, a fixed block 102, a movement motor 103, a movement block 104, and a connecting rod member 105. The rotation motor 100 is fixedly connected to the body 1 through a rotation motor 100 mounting seat. The output main shaft 21 of the rotation motor 100 is rotationally connected to the fixed block 102 through a gear set plate 101. The connecting rod member 105 on the fixed block 102 is rotationally connected to the fixed block 102. The movable end of the movement motor 103 is fixedly connected to the movement block 104, and the movement block 104 is rotationally connected to the connecting rod member 105. After adopting this setting method, the rotation motor 100 can drive the connecting rod member 105 to perform circumferential rotation, and the movement motor 103 drives the connecting rod member 105 to move up and down through front and back movement, which can accurately control the movement process of the foot body 10, that is, bionically simulate the walking behaviors of a bee's leg lifting, leg lowering, and leg rotating on land, and improve the bionic degree.

[0049] For the connecting rod member 105, the connecting rod member 105 includes a first connecting rod 1050, a second connecting rod 1051, and a third connecting rod 1052. The first connecting rod 1050 is rotationally connected to the second connecting rod 1051, and the first connecting rod 1050 is rotationally connected to the fixed block 102 through the second connecting rod 1051. The first connecting rod 1050 is rotationally connected to the third connecting rod 1052, and the first connecting rod 1050 is rotationally connected to the movement block 104 through the third connecting rod 1052. After adopting this setting method, the first connecting rod 1050 can perform circumferential rotation under the drive of the second connecting rod 1051 to imitate the leg rotating behavior of a bee, and the first connecting rod 1050 can be lifted or lowered in the up and down direction under the telescopic push of the third connecting rod 1052 to imitate the leg lifting and leg lowering behaviors of a bee.

[0050] In some possible embodiments, such as Figure 2 and Figure 3 shown, bristles 106 are provided on the bottom surface of the first connecting rod 1050. The bristles 106 are preferably gecko foot sole-like bristles 106, which can increase the grip of the foot body 10.

[0051] For the gear set plate 101, the gear set plate 101 includes two rotating gears and a gear plate. The two rotating gears are respectively fixedly connected to the output main shaft 21 of the movement motor 103 and the fixed block 102, and the two rotating gears are fixedly and meshingly connected through the gear plate.

[0052] For the movement motor 103, the output main shaft 21 of the movement motor 103 is rotationally connected to a lead screw 31. The movement block 104 is rotationally connected to the lead screw 31. The movement block 104 drives the front and back movement of the third connecting rod 1052. Through the cooperation of the lead screw 31 and the movement block 104, the speed regulation of the movement process is more convenient and accurate.

[0053] In some embodiments of the present application, the body 1 further includes a clamping body 11, such asFigure 4 and Figure 5 As shown, the clamping body 11 includes a clamping servo 110, two clamps 111 and two connecting gear plates 112. The two clamps 111 are arranged opposite to each other. The two clamps 111 are fixedly connected to the two connecting gear plates 112 respectively. The two connecting gear plates 112 are both meshed and connected with the clamping servo 110. The clamping servo 110 is fixed on the body 1 through a clamping fixing seat 113. After adopting this setting method, the two clamps 111 clamp and release under the forward and reverse rotation of the clamping servo 110, simulating the clamping method of the mountain big-toothed ant and improving the degree of bionics.

[0054] For the clamp 111, the clamp 111 includes three partition columns 1110 and six stacked arc-shaped splints 1111. The six arc-shaped splints 1111 are fixedly connected by three partition columns 1110. The arc-shaped splints 1111 narrow in the direction away from the clamping servo 110. The clamps 111 on both sides have a total of twelve arc-shaped splints 1111, all of which are designed to imitate the tooth shape of the hunting scythe ant. The combination of the holding methods and mouthparts of the two ants can make the robot's clamping more stable and reliable.

[0055] In some possible embodiments, the clamping surface of the arc-shaped clamping plate 1111 is provided with serrations. The serration design improves the adaptability to the object, increases the clamping contact area, and can clamp objects with complex shapes.

[0056] In the embodiment of the present application, regarding the above-mentioned telescopic mechanism 3, as Figure 6 , Figure 7 and Figure 9 As shown, the telescopic mechanism 3 includes a fixed slide rail seat 33, a fixed slider 32, a screw rod 31, a motor 30, a screw rod 31 and a nut; the fixed slide rail seat 33 is fixedly connected to the body 1, the fixed slider 32 is slidably clamped in the fixed slide rail seat 33, the fixed slider 32 is fixedly connected to the drive mechanism 2, the screw rod 31, the motor 30 is fixed in the fixed slide rail seat 33, the screw rod 31, the motor 30 is transmission-connected to the screw rod 31, the screw rod 31 is threadedly connected to the nut, the axial direction of the screw rod 31 is the same as the axial direction of the body 1, and the nut is fixedly rotationally connected to the fixed slider 32. After adopting this setting method, the screw rod 31, the motor 30 drives the nut to move in the axial direction, and the nut drives the drive mechanism 2 to move in the axial direction, thereby driving the output gear 22 in the drive mechanism 2 to move.

[0057] In some embodiments of the present application, the axial direction of the telescopic shaft of the telescopic mechanism 3, i.e., the screw rod 31, is the same as the axial direction of the drive mechanism 2 and the axial direction of the transmission mechanism 4. After adopting this setting, the meshing efficiency of the drive mechanism 2 and the transmission mechanism 4 can be improved.

[0058] In an embodiment of the present application, regarding the above-mentioned drive mechanism 2 and transmission mechanism 4, as Figure 9 shown, the drive mechanism 2 drives its meshing connection with the transmission mechanism 4 through the telescopic mechanism 3. The connection between the drive mechanism 2 and the transmission mechanism 4 is selectively meshed through the movement of the telescopic mechanism 3.

[0059] For the drive mechanism 2, as Figure 9 and Figure 10 shown, the drive mechanism 2 includes a drive motor 20, an output main shaft 21, and three output gears 22 with different diameters. The drive motor 20 is fixedly connected to the fixed slider 32 of the telescopic mechanism 3. The other end of the fixed slider 32 rotatably fixes the output main shaft 21. The output main shaft 21 rotatably extends in and out within the fixed slider 32. The drive motor 20 is in transmission connection with the output main shaft 21. Three output gears 22 with different diameters are fixed on the output main shaft 21. The axes of the three output gears 22 are the same as the axis of the output main shaft 21.

[0060] For the transmission mechanism 4, as Figure 9 and Figure 10 shown, the transmission mechanism 4 includes at least two. The two transmission mechanisms 4 are arranged on both sides of the drive mechanism 2 with the drive mechanism 2 as the axis. The two transmission mechanisms 4 are arranged at the bottom of the drive mechanism 2. The transmission mechanism 4 includes a secondary shaft 40, a same-diameter gear 41, and at least two input gears 42 with different diameters. The same-diameter gear 41 and the two input gears 42 with different diameters are both fixed on the secondary shaft 40. The axis of the secondary shaft 40 is the same as that of the same-diameter gear 41 and the two input gears 42. The same-diameter gears 41 located on different secondary shafts 40 are all meshed with the output gears 22.

[0061] After the drive mechanism 2 and the transmission mechanism 4 adopt this setting method, the output main shaft 21 can move along the axial direction under the telescopic drive of the telescopic mechanism 3. The movement of the output main shaft 21 drives the movement of the output gears 22, so that the output gears 22 can selectively mesh with the corresponding input gears 42 on both sides. When the output gears 22 are meshed with the same-diameter gears 41 on both sides, the output gears 22 drive the secondary shafts 40 on both sides to rotate at the same speed, thereby driving the flapping wings 5 in transmission connection with the secondary shafts 40 to flap at the same frequency, that is, synchronous flapping. When the output gears 22 are meshed with the input gears 42 with different diameters on both sides, the output gears 22 drive the secondary shafts 40 on both sides to rotate at different speeds, thereby driving the flapping wings 5 in transmission connection with the secondary shafts 40 to flap at different frequencies, that is, differential flapping.

[0062] The bionic flapping and steering achieved by the present application have two major advantages. First, the structure is simple and there is no need to add an additional steering mechanism, which reduces the complexity of the structure, helps to miniaturize the bionic bee robot, achieve integration with the surrounding environment, and effectively improve its concealment, thereby playing an important role in surveying, reconnaissance and other tasks; second, the flight flapping has good bionics, and the continuity of the flapping and the authenticity of the steering are achieved through the meshing connection of the gears, so that when performing flight missions, the flying flapping and steering are no different from those of real animals.

[0063] In some embodiments of the present application, Figure 9 and Figure 10 As shown, the same-diameter gears 41 located on different secondary shafts 40 are arranged relative to each other and meshed with the output gear 22. The same-diameter gears 41 are arranged at the end of the secondary shaft 40, which is the end closest to the flapping wing 5. After adopting this arrangement, the same-diameter gears 41 that control the same-speed rotation and the input gears 42 that control the differential rotation are separately arranged on the secondary shaft 40, which is convenient for controlling the flapping wing 5.

[0064] In some embodiments of the present application, input gears 42 of the same diameter are staggered on different secondary shafts 40, and each output gear 22 is used to selectively mesh with two input gears 42 of the same diameter. The movement of the output main shaft 21 is used to control the output gear 22 to switch and mesh with the input gear 42 of the same diameter. After adopting this setting, each output gear 22 needs to be moved before it can be meshed with the input gear 42 of different secondary shafts 40, and the staggered position is exactly the thickness of a gear. When each output gear 22 is disengaged from the previous input gear 42 or the same-diameter gear 41, the output gear 22 will be meshed with the next input gear 42 or the same-diameter gear 41. Regardless of whether the two flapping wings 5 ​​are changing from the same-speed rotation process to the differential rotation process, or from the differential rotation process to the same-speed rotation process, the flapping wings 5 ​​can keep flapping, which can maintain the stability of flight on the one hand, and improve the degree of bionics on the other hand.

[0065] In some embodiments of the present application, Figure 9 and Figure 10As shown, the output gear 22 includes a first output gear tooth 220 and a second output gear tooth 221, and the diameter of the first output gear tooth 220 is smaller than the diameter of the second output gear tooth 221; the input gear 42 includes at least a first input gear tooth 420 and a second input gear tooth 421, and the diameter of the first input gear tooth 420 is larger than the diameter of the second input gear tooth 421; the first output gear tooth 220 is selectively meshed and connected with the first input gear tooth 420, and the second output gear tooth 221 is selectively meshed and connected with the second input gear tooth 421, that is, the first output gear tooth 220 with a small diameter can be meshed and connected with the first input gear tooth 420 with a large diameter, and the second output gear tooth 221 with a large diameter can be meshed and connected with the second input gear tooth 421 with a small diameter. If the output main shaft 21 moves forward, the first output gear tooth 220 will mesh with the first input gear tooth 420 with a large diameter on one side (such as Figure 9 The second output gear teeth 221 will also be meshed with the second input gear teeth 421 with a smaller diameter on the other side (such as Figure 9 The second input gear teeth 421) in the meshing connection are connected to achieve Figure 6 The flapping frequency of the flapping wing 5 at the lower middle part is greater than the flapping frequency of the flapping wing 5 at the upper part, thereby achieving the purpose of differential steering. Similarly, when the output spindle 21 moves backward, Figure 6 The flapping frequency of the flapping wing 5 in the middle and lower part is lower than the flapping frequency of the flapping wing 5 in the upper part, which can also achieve the purpose of differential steering.

[0066] It should be noted that when the first output gear teeth 220 mesh with the adjacent first input gear teeth 420 , the second output gear teeth 221 will also mesh with the adjacent second input gear teeth 421 , so that the flapping wings 5 ​​on both sides can rotate at the same time.

[0067] In some embodiments of the present application, Figure 9 and Figure 10 As shown, any input gear 42 located on different secondary shafts 40 is meshed and connected with at least one corresponding output gear 22. During the movement of the output gear 22, the output gear 22 will always be meshed and connected with the input gear 42. After adopting this setting, during the movement of the output gear 22, no matter how the output gear 22 moves, the output gear 22 will always be meshed and connected with the input gear 42, thereby ensuring the continuity of the flapping of the flapping wing 5.

[0068] Specifically, two limit blocks 23 are sleeved on the output main shaft 21, and the two limit blocks 23 are fixedly connected to the fixed slider 32. The two limit blocks 23 are arranged outside the first output gear tooth 220 and the second output gear tooth 221. The diameter of the limit blocks 23 is larger than the input gear 42 on the transmission mechanism 4, so that the secondary shaft 40 has limited movement. The limit blocks 23 therefore also have limited movement of the output gear 22, which can provide a basis for the output gear 22 to always be meshed and connected with the input gear 42.

[0069] In some embodiments of the present application, as Figure 9 and Figure 10 shown, the output gear 22 further includes a third output tooth 222 fixedly arranged on the output main shaft 21. The third output tooth 222 is coaxially arranged with both the first output tooth 220 and the second output tooth 221. The third output tooth 222 is used for meshing connection with the same-diameter gear 41. When applied, when neither the first output tooth 220 nor the second output tooth 221 is in meshing connection with the adjacent input gear 42, the third output tooth 222 will be in meshing connection with the same-diameter gear 41 to achieve the same-speed rotation of the two flapping wings 5. Similarly, when the third output tooth 222 is not in meshing connection with the same-diameter gear 41, both the first output tooth 220 and the second output tooth 221 will be in meshing connection with the adjacent input gear 42 to achieve the differential rotation of the two flapping wings 5. The switching between the two is completed by the movement of the telescopic mechanism 3 driving the output main shaft 21.

[0070] In some embodiments of the present application, as Figure 9 and Figure 10 shown, along the direction of the auxiliary shaft 40 adjacent to the flapping wing 5, the first output tooth 220 and the second output tooth 221 are fixedly connected to the output main shaft 21 in sequence; along the direction of the auxiliary shaft 40 adjacent to the flapping wing 5, the first input tooth 420 and the second input tooth 421 are fixedly connected to the auxiliary shaft 40 in sequence, that is, the large-diameter input teeth and the small-diameter output teeth are arranged on the Figure 9 left side in Figure 9 and the small-diameter input teeth and the large-diameter output teeth are arranged on the

[0071] right side in Figure 9 and Figure 10 shown, along the direction of the auxiliary shaft 40 adjacent to the flapping wing 5, the second output tooth 221 and the first output tooth 220 are fixedly connected to the output main shaft 21 in sequence; along the direction of the auxiliary shaft 40 adjacent to the flapping wing 5, the second input tooth 421 and the first input tooth 420 are fixedly connected to the auxiliary shaft 40 in sequence, that is, the small-diameter input teeth and the large-diameter output teeth are arranged on the Figure 9 left side in Figure 9 and the large-diameter input teeth and the small-diameter output teeth are arranged on the

[0072] In the embodiments of the present application, regarding the above-mentioned flapping wing 5, as Figure 11 and Figure 12 shown, the flapping wing 5 is fixedly rotationally connected to the body 1 through a rotating rod, and the flapping wing 5 is also fixedly rotationally connected to the same-diameter gear 41 through a flapping wing connecting rod 50. Driven by the rotation of the auxiliary shaft 40, the same-diameter gear 41 will drive the connecting rod to perform circumferential rotation.

[0073] For the connecting rod, the connecting rod is provided with a hollow groove, and a connecting rod slider is slidably clamped on the hollow groove. The connecting rod slider is also rotatably connected to the same-diameter gear 41 through a rotating rod. After the same-diameter gear 41 rotates, the connecting rod slider will rotate circumferentially with the same-diameter gear 41, and the connecting rod slider will move back and forth in the hollow groove, thereby driving the flapping wing 5 to flap.

[0074] In some embodiments of the present application, the flapping wing 5 is in the airfoil shape of a bionic bee and is flexible, and can generate a strong lift force in the flapping state.

[0075] In addition, sensors such as digital cameras can be installed on the robot for surveying.

[0076] The above are the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present invention.

Claims

1. A bionic bee-like camouflage survey robot, It is characterized in that It comprises a machine body, a driving mechanism, a telescopic mechanism and a plurality of transmission mechanisms arranged on the machine body, and a plurality of flapping wings arranged on both sides of the machine body; The transmission mechanism comprises a countershaft and a plurality of input gears with different diameters, wherein the plurality of input gears with different diameters are coaxially fixedly connected to the countershaft; The driving mechanism comprises an output main shaft and a plurality of output gears with different diameters, wherein the plurality of output gears with different diameters are coaxially fixedly connected to the output main shaft, and the driving mechanism is used to drive the output main shaft to rotate; The plurality of output gears can be selectively meshed and connected with the corresponding input gears located on different layshafts; The retractable end of the retractable mechanism is fixedly connected to the driving mechanism, and the retractability of the retractable mechanism is used to move the output gear so that it can selectively mesh with the corresponding input gear located on different countershafts; The plurality of flapping wings are respectively connected to the adjacent transmission mechanisms in a transmission manner, and the meshing connection change between the input gear and the output gear is used to adjust the differential motion state of the plurality of flapping wings.

2. A bionic bee camouflage survey robot according to claim 1, It is characterized in that Any of the input gears located on different layshafts is meshedly connected with at least one corresponding output gear.

3. The bionic bee camouflage survey robot according to claim 1, It is characterized in that The transmission mechanism also includes gears of the same diameter; The co-diameter gears are coaxially fixedly connected to the secondary shaft, and the co-diameter gears on different secondary shafts are all meshed with the output gear. The meshing of multiple co-diameter gears with the output gear is used to drive the flapping wings to flap at the same speed.

4. The bionic bee camouflage survey robot according to claim 3, It is characterized in that Also includes connecting rods; The flapping wing is rotationally connected to the body, the flapping wing is rotationally connected to the connecting rod, and the flapping wing is rotationally connected to the gear with the same diameter through the connecting rod.

5. The bionic bee camouflage survey robot according to claim 1, It is characterized in that The input gears of the same diameter are staggered on different secondary shafts, and each output gear is used for selectively meshing and connecting with two input gears of the same diameter. The movement of the output main shaft is used to control the output gear to switch and mesh with the input gears of the same diameter.

6. The bionic bee camouflage survey robot according to claim 1, It is characterized in that The output gear comprises at least a first output gear tooth and a second output gear tooth, wherein the diameter of the first output gear tooth is smaller than the diameter of the second output gear tooth; The input gear comprises at least a first input gear tooth and a second input gear tooth, wherein the diameter of the first input gear tooth is greater than the diameter of the second input gear tooth; The first output gear teeth are selectively meshed and connected with the first input gear teeth, and the second output gear teeth are selectively meshed and connected with the second input gear teeth.

7. The bionic bee camouflage survey robot according to claim 6, It is characterized in that In the direction along the auxiliary shaft adjacent to the flapping wing, the first output gear teeth and the second output gear teeth are sequentially and fixedly connected to the output main shaft; In the direction along the auxiliary shaft adjacent to the flapping wing, the first input gear teeth and the second input gear teeth are sequentially and fixedly connected to the auxiliary shaft.

8. A bionic bee camouflage survey robot according to claim 1, characterized in that the telescopic direction of the telescopic mechanism is the same as the axis direction of the output main shaft and the axis direction of the auxiliary shaft.

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