Flapping-wing robot

Abstract

The invention discloses a flapping-wing robot in the technical field of aircrafts. The flapping-wing robot comprises a robot body, a wing module, a posture adjusting module and a power module. Wherein the wing module comprises a wing main body, a wing driving joint and a wing driving electrode, the posture adjusting module comprises a posture adjusting sheet and a posture adjusting driving electrode, and the wing driving electrode and the posture adjusting driving electrode are both electrically connected with the power supply module. The wing driving joints and the posture adjusting pieces are made of IPMC (ionic polymer metal composite). According to the flapping-wing robot, the transmission mode and the driving mode are integrally designed, and the size and the weight of the flapping-wing robot are greatly reduced.

Description

Technical Field

[0001] The invention relates to the technical field of aircraft, and in particular to a flapping-wing robot. Background Art

[0002] Flapping-wing robots have good agility and concealment. Compared with general aircraft, flapping-wing robots are particularly stealthy when conducting environmental reconnaissance, and can avoid various detections to complete reconnaissance tasks. However, the transmission parts of traditional flapping-wing robots all use gear transmission, which has low transmission efficiency and complex transmission, making it difficult to achieve high-efficiency work. In addition, the noise from gear transmission and motor rotation is relatively large, making it difficult for flapping-wing robots to integrate into real groups.

[0003] On the other hand, the gear transmission system of traditional flapping-wing robots contains multiple stages of reduction, so it occupies a large space, which makes it difficult to effectively reduce the size of flapping-wing robots. At the same time, the traditional flapping-wing robot drive system uses servo motor drive, and high-stability flapping-wing robots often use multiple motors to control separately, making it difficult to reduce the weight of the robot. Summary of the invention

[0004] The object of the present invention is to overcome the deficiencies in the prior art and to provide a flapping-wing robot, wherein the flapping-wing robot has an integrated design of transmission and drive modes, which greatly reduces the size and weight of the flapping-wing robot.

[0005] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0006] The present invention provides a flapping-wing robot, comprising: a robot body, a wing module, a posture adjustment module and a power supply module;

[0007] Wherein, the wing module includes a wing body, a wing drive joint and a wing drive electrode, the wing body is connected to the robot body through the wing drive joint, and the wing drive electrode is arranged at one end of the wing drive joint close to the robot body;

[0008] The posture adjustment module includes a posture adjustment sheet and a posture adjustment driving electrode, wherein the posture adjustment sheet is connected to the robot body, and the posture adjustment driving electrode is arranged on one end of the posture adjustment sheet close to the robot body;

[0009] The wing drive electrode and the posture adjustment drive electrode are both electrically connected to a power module, and the materials used for the wing drive joint and the posture adjustment sheet are both ionic polymer metal composite material IPMC.

[0010] Furthermore, the wing body includes a wing film and a wing frame, the wing frame is connected to the wing drive joint, the wing film is attached to the wing frame, and the wing frame is used to support the wing film;

[0011] And / or, the wing module also includes a mounting bracket, and the wing drive joint is mounted on the robot body through the mounting bracket.

[0012] Furthermore, the wing module further comprises a mounting bracket packaging plate, the wing drive joint and the mounting bracket are connected by a mortise and tenon joint, and the mounting bracket packaging plate covers the mortise and tenon joint between the wing drive joint and the mounting bracket;

[0013] And / or, the wing module also includes a wing frame packaging plate, the wing drive joint is connected to the wing frame by mortise and tenon joints, and the wing frame packaging plate covers the mortise and tenon joints between the wing drive joint and the wing frame.

[0014] Furthermore, the power module includes a photovoltaic panel, a storage battery and a deformable bracket;

[0015] Wherein, the deformable bracket is fixedly connected to the side of the robot body, one end of the photovoltaic panel is hinged to the side of the robot body, and the other end is supported by the deformable bracket;

[0016] By changing the shape of the deformable bracket, the photovoltaic panel can be supported and driven to rotate, and the angle between the photovoltaic panel and the robot body can be changed;

[0017] The storage battery is installed on the robot body and is electrically connected to the photovoltaic panel, the wing driving electrode and the posture adjustment driving electrode respectively.

[0018] Furthermore, the power module also includes a deformable bracket driving electrode, which is fixed between the deformable bracket and the robot body and electrically connected to the battery. The material used for the deformable bracket is an ionic polymer metal composite material IPMC. The deformable bracket can deflect under the action of a voltage signal, thereby driving the photovoltaic panel to rotate.

[0019] Furthermore, the photovoltaic panel is provided with a slide rail at the position where the deformable bracket supports, so as to limit the movement of the deformable bracket.

[0020] Furthermore, the robot body is made of a robot control panel, and the side of the robot control panel is provided with a wing module installation area, a photovoltaic panel installation area and a deformable bracket installation area, which are used to install the wing module, the photovoltaic panel and the deformable bracket respectively.

[0021] Furthermore, the posture adjustment module also includes a tail wing rod, one end of which is mounted on the robot body and coaxial with the robot body, and the posture adjustment sheet is mounted on the other end of the tail wing rod.

[0022] Furthermore, the attitude adjustment module also includes a mounting block, the mounting block has three through holes inside, the attitude adjustment sheet is installed at the two side holes of the mounting block that are in line with each other, and the tail wing rod is installed at the middle hole of the mounting block.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The flapping-wing robot provided by the present invention comprises a robot body, a wing module, a posture adjustment module and a power module. The wing module is driven by an ionic polymer metal composite material IPMC. Compared with the driving and transmission system of a traditional flapping-wing robot, the present invention integrates the transmission and driving modes, optimizes the gear transmission and motor drive modes, greatly reduces the size and weight of the flapping-wing robot, and does not generate too much noise during flight. When driving, the wing driving joint only needs to be passed with an alternating current signal to drive the wing driving joint to reciprocate. A wing film made of a wing skeleton and a PE film is installed at the end of the wing driving joint. As the wing driving joint reciprocates, the wing film is driven to flap to complete the flapping action.

[0025] The present invention provides a flapping-wing robot, in which one side of the photovoltaic panel of the power module is hinged on the side of the robot body, and the other side is supported by a deformable bracket, the deformable bracket is made of an ionic polymer metal composite material IPMC, a deformable bracket driving electrode is connected to the bottom of the deformable bracket, and the lead-out electrode on the deformable bracket driving electrode is connected to the deformable bracket. When alternating current is passed through the lead-out electrode, the deformable bracket is deflected, thereby adjusting the angle of the photovoltaic panel and receiving as much light as possible, so that the flapping-wing robot can fly for a long time under light conditions.

[0026] The flapping-wing robot provided by the present invention has a posture adjustment module that uses a hollow tail wing rod to clamp at the tail of the robot body, and two posture adjustment plates are installed at the other end of the tail wing rod. The posture adjustment plates are made of an ionic polymer metal composite material IPMC. By passing opposite currents through the posture adjustment plates, the two posture adjustment plates are deflected in opposite directions, and the center of gravity is shifted, thereby generating a posture deflection movement of the flapping-wing robot.

[0027] The flapping-wing robot provided by the present invention uses a control system board as the robot body to replace the traditional flapping-wing robot frame, and is designed with a wing module installation area, a photovoltaic panel installation area, and a deformable bracket installation area on the robot body. In addition, a control system circuit is laid on the robot body, and an obstacle avoidance module, a six-degree-of-freedom gyroscope module, a wireless transmission module, a power storage module, etc. are integrated, which reduces the cumbersome bracket structure and makes the robot lighter. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1is a schematic structural diagram of a flapping-wing robot provided by an embodiment of the present invention;

[0029] Figure 2 is a schematic structural diagram of a wing module of a flapping-wing robot provided in an embodiment of the present invention;

[0030] Figure 3 is a schematic structural diagram of a power module of a flapping-wing robot provided in an embodiment of the present invention;

[0031] Figure 4 It is a schematic structural diagram of the robot body of the flapping-wing robot provided in an embodiment of the present invention.

[0032] In the figure: 1. wing module; 2. power module; 3. posture adjustment module; 4. robot body; 5. mounting bracket; 6. wing drive electrode; 7. mounting bracket packaging plate; 8. wing drive electrode notch; 9. wing drive joint; 10. wing skeleton packaging plate; 11. wing skeleton; 12. wing film; 13. slide rail; 14. photovoltaic panel; 15. deformable bracket; 16. hinge support; 17. deformable bracket drive electrode; 18. tail rod; 19. mounting block; 20. posture adjustment plate; 21. wing module installation area; 22. photovoltaic panel installation area; 23. deformable bracket installation area. DETAILED DESCRIPTION

[0033] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0034] Example 1

[0035] This embodiment provides a flapping-wing robot, such as Figure 1 As shown, the flapping-wing robot comprises: a robot body 4, a wing module 1, a posture adjustment module 3 and a power supply module 2;

[0036] Among them, the wing module 1 includes a wing body, a wing drive joint 9 and a wing drive electrode 6. The wing body is connected to the robot body 4 through the wing drive joint 9, and the wing drive electrode is arranged at one end of the wing drive joint 9 close to the robot body 4; the wing module 1 also includes a mounting bracket 5, and the wing drive joint 9 is installed on the robot body 4 through the mounting bracket 5.

[0037] The wing drive electrode 6 is electrically connected to the power module 2. The intelligent materials used in the wing drive joint 9 are all ionic polymer metal composite materials IPMC. When an alternating current signal is given to the wing drive joint 9, based on the electrical characteristics of the ionic polymer metal composite material IPMC, the wing drive joint 9 will deflect back and forth. Since the wing drive joint 9 is fixed at one end close to the mounting bracket 5, the other end connected to the wing body will drive the wing body to flap, thereby realizing the flapping action of the flapping robot.

[0038] The wing body includes a wing film 12 and a wing frame 11. The wing frame 11 is connected to the wing drive joint 9. The wing film 12 is applied to the wing frame 11. The wing frame 11 is used to support the wing film 12. In this embodiment, the wing frame 11 adopts a three-main-bone design, and a layer of wing film 12 is attached to its surface with double-sided tape. The wing film 12 is made of PE film.

[0039] like Figure 3 As shown, the power module 2 includes a photovoltaic panel 14, a battery and a deformable bracket 15;

[0040] Among them, the deformable bracket 15 is fixedly connected to the side of the robot body 4, one end of the photovoltaic panel 14 is hinged to the side of the robot body 4 through a hinge support 16, and the other end is supported by the deformable bracket 15; by changing the shape of the deformable bracket 15, it is possible to support and drive the photovoltaic panel 14 to rotate, thereby changing the angle between the photovoltaic panel 14 and the robot body 4.

[0041] In this embodiment, the power module 2 also includes a deformable bracket drive electrode 17. When installing, first install a deformable bracket drive electrode 17 on the side of the robot body 4, attach the deformable bracket 15 to the first deformable bracket drive electrode 17, and then align another deformable bracket drive electrode 17 with the first deformable bracket drive electrode 17, and use bolts to clamp the two electrodes to fix the deformable bracket 15. The deformable bracket drive electrode 17 has a side with an electrode leading out facing the deformable bracket 15. The material used for the deformable bracket 15 is an ionic polymer metal composite material IPMC, which can be deflected under the action of a voltage signal, thereby driving the photovoltaic panel 14 to rotate.

[0042] The battery is installed on the robot body 4 and is electrically connected to the photovoltaic panel 14, the wing drive electrode 6, the posture adjustment drive electrode and the deformable bracket drive electrode 17 respectively. The battery is used to store the electric energy converted by the photovoltaic panel 14 and apply voltage to the wing drive electrode 6, the posture adjustment drive electrode and the deformable bracket drive electrode 17.

[0043] The photovoltaic panel 14 is also provided with a slide rail 13 at the position where the deformable bracket 15 supports, so as to limit the movement of the deformable bracket 15 .

[0044] When an AC signal is passed through the lead-out electrode on the deformable bracket driving electrode 17, the lead-out electrode on the deformable bracket driving electrode 17 transmits the current to the deformable bracket 15. The side of the deformable bracket 15 away from the applied voltage will deflect under the action of the voltage, thereby applying a circumferential torque to the outside of the photovoltaic panel 14. Since the inner side of the photovoltaic panel 14 is connected with a hinge support 16, the photovoltaic panel 14 will rotate around the axis connected by the two hinge supports as the rotation axis, thereby adjusting the angle.

[0045] like Figure 4 As shown, the posture adjustment module 3 includes a posture adjustment sheet 20 and a posture adjustment driving electrode, the posture adjustment sheet 20 is connected to the robot body 4, and the posture adjustment driving electrode is arranged on one end of the posture adjustment sheet 20 close to the robot body 4; the posture adjustment module 3 also includes a tail wing rod 18, one end of the tail wing rod 18 is installed at the rear end of the robot body 4 and is coaxial with the robot body 4, and the posture adjustment sheet 20 is installed at the other end of the tail wing rod 18; the posture adjustment module 3 also includes a mounting block 19, the mounting block 19 has three through holes inside, two posture adjustment sheets 20 are respectively installed at the two side holes of the mounting block 19 in a common line, the tail wing rod 18 is installed at the middle hole of the mounting block 19, and the middle part of the tail wing rod 18 is a hollow structure for passing wires, which are connected to the posture adjustment driving electrode for applying current. By passing opposite currents through the posture adjustment sheets 20, the two posture adjustment sheets 20 are deflected in opposite directions, and the center of gravity is shifted, thereby generating the posture deflection movement of the flapping-wing robot.

[0046] Example 2

[0047] This embodiment provides a flapping-wing robot, which is different from the first embodiment in that Figure 2 As shown, the wing module 1 further includes a mounting bracket packaging plate 7, the wing drive joint 9 is connected to the mounting bracket 5 by a mortise and tenon joint, and the mounting bracket packaging plate 7 covers the mortise and tenon joint between the wing drive joint 9 and the mounting bracket 5;

[0048] The wing module 1 also includes a wing frame packaging plate 10 , the wing drive joint 9 is connected to the wing frame 11 by mortise and tenon joints, and the wing frame packaging plate 10 covers the mortise and tenon joints between the wing drive joint 9 and the wing frame 11 .

[0049] The mounting bracket packaging plate 7 is provided with a wing driving electrode notch 8 at a position corresponding to the wing driving electrode 6;

[0050] Most traditional flapping-wing robot connection methods use bolt connection or rivet connection. Although this method ensures the connection stability between the components, it greatly increases the weight of the flapping-wing robot, and drilling threaded holes on tiny parts will cause stress concentration problems, which have a great impact on the force of mechanical parts, resulting in accidental damage to parts. In this embodiment, the tenon structure at one end of the wing drive joint 9 is engaged with the mortise structure of the mounting bracket 5, and then the tenon structure at the other end of the wing drive joint 9 is engaged with the mortise structure of the wing frame 11. After the tenon and mortise structure is combined, the connection is respectively encapsulated with the mounting bracket encapsulation plate 7 and the wing frame encapsulation plate 10, and a layer of tape is wrapped around it to fix it. This design has the advantages of simple structure, light weight, and good stability.

[0051] In this embodiment, the robot body 4 is made of a robot control board, and the side of the robot control board is provided with a wing module installation area 21, a photovoltaic panel installation area 22 and a deformable bracket installation area 23, which are used to install the wing module 1, the photovoltaic panel 14 and the deformable bracket 15 respectively.

[0052] The robot body 4 made of the robot control board can also be integrated with an obstacle avoidance module, a wireless transmission module, a six-degree-of-freedom gyroscope module and a battery. When designing the PCB circuit of the main control board, the additional modules are integrated on the main control board, thereby eliminating the need to connect each separate module on the main control board and simplifying the circuit system.

[0053] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only used to explain the relative positional relationship, movement, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0054] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0055] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A flapping-wing robot, characterized in that: include: A robot body (4), a wing module (1), a posture adjustment module (3) and a power module (2); The wing module (1) comprises a wing body, a wing drive joint (9) and a wing drive electrode (6); the wing body is connected to the robot body (4) via the wing drive joint (9); and the wing drive electrode (6) is arranged at one end of the wing drive joint (9) close to the robot body (4); The posture adjustment module (3) comprises a posture adjustment sheet (20) and a posture adjustment driving electrode, the posture adjustment sheet (20) being connected to the robot body (4), and the posture adjustment driving electrode being arranged on an end of the posture adjustment sheet (20) close to the robot body (4); The wing drive electrode (6) and the attitude adjustment drive electrode are both electrically connected to the power module (2), and the materials used for the wing drive joint (9) and the attitude adjustment sheet (20) are both ionic polymer metal composite material IPMC.

2. The flapping-wing robot according to claim 1, characterized in that: The wing body comprises a wing film (12) and a wing frame (11), the wing frame (11) is connected to the wing drive joint (9), the wing film (12) is attached to the wing frame (11), and the wing frame (11) is used to support the wing film (12); And / or, the wing module (1) further comprises a mounting bracket (5), and the wing drive joint (9) is mounted on the robot body (4) via the mounting bracket (5).

3. The flapping-wing robot according to claim 2, characterized in that: The wing module (1) further comprises a mounting bracket packaging plate (7), the wing drive joint (9) and the mounting bracket (5) are connected by means of mortise and tenon joints, and the mounting bracket packaging plate (7) covers the mortise and tenon joints between the wing drive joint (9) and the mounting bracket (5); And / or, the wing module (1) further comprises a wing frame packaging plate (10), the wing drive joint (9) and the wing frame (11) are connected by means of mortise and tenon joints, and the wing frame packaging plate (10) covers the mortise and tenon joints between the wing drive joint (9) and the wing frame (11).

4. The flapping-wing robot according to claim 1, characterized in that: The power module (2) comprises a photovoltaic panel (14), a storage battery and a deformable bracket (15); The deformable bracket (15) is fixedly connected to the side of the robot body (4); one end of the photovoltaic panel (14) is hinged to the side of the robot body (4), and the other end is supported by the deformable bracket (15); By changing the shape of the deformable bracket (15), the photovoltaic panel (14) can be supported and driven to rotate, thereby changing the angle between the photovoltaic panel (14) and the robot body (4); The storage battery is mounted on the robot body (4) and is electrically connected to the photovoltaic panel (14), the wing drive electrode (6) and the posture adjustment drive electrode respectively.

5. The flapping-wing robot according to claim 4, characterized in that: The power module (2) further comprises a deformable support driving electrode (17), the deformable support driving electrode (17) being fixed between the deformable support (15) and the robot body (4) and being electrically connected to a storage battery, the deformable support (15) being made of an ionic polymer metal composite material IPMC, and the deformable support (15) being able to deflect under the action of a voltage signal, thereby driving the photovoltaic panel (14) to rotate.

6. The flapping-wing robot according to claim 5, characterized in that: The photovoltaic panel (14) is also provided with a slide rail (13) at a position supported by the deformable bracket (15), which is used to limit the movement of the deformable bracket (15).

7. The flapping-wing robot according to claim 4, characterized in that: The robot body (4) is made of a robot control panel, and a wing module installation area (21), a photovoltaic panel installation area (22) and a deformable bracket installation area (23) are provided on the side of the robot control panel, which are used to install the wing module (1), the photovoltaic panel (14) and the deformable bracket (15), respectively.

8. The flapping-wing robot according to claim 1, characterized in that: The posture adjustment module (3) further comprises a tail rod (18), one end of which is mounted on the robot body (4) and is coaxial with the robot body (4), and the posture adjustment sheet (20) is mounted on the other end of the tail rod (18).

9. The flapping-wing robot according to claim 8, characterized in that: The attitude adjustment module (3) further comprises a mounting block (19), wherein the mounting block (19) has three through holes inside, the attitude adjustment sheet (20) is mounted at two collinear holes on both sides of the mounting block (19), and the tail wing rod (18) is mounted at the middle hole of the mounting block (19).

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