Novel bird-like empennage multi-degree-of-freedom platform

Abstract

The invention discloses a novel bird-imitating empennage multi-degree-of-freedom platform, and relates to the technical field of flying robots, the novel bird-imitating empennage multi-degree-of-freedom platform comprises a first driving structure, a support, a second driving structure, an empennage driving structure and an empennage assembly, the second driving structure and the empennage driving structure are both arranged on the support, the first driving structure can drive the empennage assembly to rotate in the heading direction, and the second driving structure can drive the empennage assembly to rotate in the pitching direction and the rolling direction. And the empennage driving structure can control the area change of the empennage assembly. According to the novel bird-imitating empennage multi-degree-of-freedom platform, control over the heading direction, the rolling direction and the pitching direction can be achieved, and the area of the empennage assembly can be changed.

Description

Technical Field

[0001] The present invention relates to the technical field of flying robots, in particular to a novel bird-like tail wing multi-degree-of-freedom platform. Background Art

[0002] In recent years, with the in-depth study of bionic applications, bionic tails have gradually become a key area of research in flying robot design. Traditional flight control systems typically rely on rigid control surfaces and mechanical structures, which often exhibit low flexibility and adaptability in complex environments. In contrast, bionic tails, by mimicking the natural motion characteristics of biological tails, enable more precise posture adjustments, resulting in greater maneuverability and adaptability. This is particularly true for controlling the heading, roll, and pitch of flying robots, where bionic tails offer more flexible control.

[0003] Existing technologies typically rely on a single mechanical control system. This single mechanical control system only offers limited single-axis or dual-axis control of the bionic tail's heading, roll, and pitch, and is unable to simultaneously control movement in multiple directions. Furthermore, many existing technologies fail to fully consider the dynamic adjustment of the tail's area, a crucial factor in enhancing flight stability and maneuverability. Summary of the Invention

[0004] The purpose of the present invention is to provide a novel bird-like tail multi-degree-of-freedom platform to solve the problems existing in the above-mentioned prior art, which can realize the control of heading direction, roll direction and pitch direction, and can change the area of the tail assembly.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a novel bird-like tail multi-degree-of-freedom platform, comprising: a first drive structure, a bracket, a second drive structure, a tail drive structure and a tail assembly, wherein the power output shaft of the first drive structure is transmission-connected to the bracket, the second drive structure and the tail drive structure are both arranged on the bracket, the first drive structure can drive the tail assembly to rotate in the heading direction, the second drive structure can drive the tail assembly to rotate in the pitch direction and the roll direction, and the tail drive structure can control the area change of the tail assembly.

[0007] In some specific schemes, the bracket includes a transmission fixed bracket and a tail fixed bracket, the power output shaft of the first driving structure is transmission-connected to the transmission fixed bracket, the second driving structure is arranged on the transmission fixed bracket, the transmission fixed bracket and the tail fixed bracket are rotationally connected, and the tail driving structure is rotationally connected to the tail fixed bracket.

[0008] In some specific embodiments, the second driving structure drives the tail assembly to rotate in pitch and roll directions through a transmission structure.

[0009] In some specific embodiments, the transmission structure includes a first gear, a second gear and a third gear, the first gear is arranged on the power output shaft of the second drive structure, the second gear is rotatably arranged on the transmission fixed bracket, the second gear is engaged with the first gear, the third gear and the second gear are coaxially fixedly connected, and a fourth gear is arranged on the tail wing drive structure, and the fourth gear is engaged with the third gear.

[0010] In some specific embodiments, there are two second drive structures and two transmission structures; when the power output shafts of the two second drive structures rotate in the same direction, the tail assembly rotates in the roll direction; when the power output shafts of the two second drive structures rotate in opposite directions, the tail assembly rotates in the pitch direction.

[0011] In some specific schemes, it also includes a tail wing bracket, the tail wing bracket is arranged on the bracket, the tail wing drive structure is arranged on the tail wing bracket, the tail wing assembly includes several feather assemblies arranged in sequence, the feather assembly includes a feather fixing part and feathers, one end of the feather fixing part is rotatably connected to the tail wing bracket, the other end of the feather fixing part is fixedly connected to one end of the feather, adjacent feather fixing parts are connected by an elastic rope, and the tail wing drive structure is transmission-connected to the feather fixing part of the feather assembly at one end of the tail wing assembly; when the tail wing assembly is unfolded, the feathers of several feather assemblies are stacked in sequence from one end of the tail wing assembly to the other end of the tail wing assembly.

[0012] In some specific embodiments, a fixing column is provided on the tail wing bracket, the power output end of the tail wing drive structure is connected to one end of a pull rope, the pull rope passes around the fixing column, and the other end of the pull rope is connected to the feather fixing part of the feather assembly at one end of the tail wing assembly.

[0013] In some specific embodiments, there are two tail wing drive structures, two tail wing assemblies and two pull ropes, each of the tail wing drive structures is connected to the feather fixing member at the end of the tail wing assembly through a pull rope, and the two pull ropes pass around the fixing column in opposite directions.

[0014] In some specific solutions, the elastic rope is connected to the upper part of one feather fixing component and the lower part of an adjacent feather fixing component respectively.

[0015] Compared with the prior art, the present invention has achieved the following technical effects:

[0016] The first drive structure of the present invention is capable of driving the tail assembly to rotate in the heading direction, while the second drive structure is capable of driving the tail assembly to rotate in the pitch and roll directions. The tail drive structure is capable of controlling changes in the tail assembly's area. This invention not only enables control in heading, roll, and pitch directions, but also introduces a dynamic tail assembly area adjustment function, enabling the tail assembly to adjust in real time based on flight conditions. This improves the flexibility and adaptability of the tail assembly's movement, enabling the new bird-like tail multi-degree-of-freedom platform to better simulate the motion characteristics of biological tails in nature, enhancing its operability and precision in scientific research and practical applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 An axonometric diagram of a novel bird-like tail wing multi-degree-of-freedom platform in some embodiments of the present invention;

[0019] Figure 2 A top view of a novel bird-like tail wing multi-degree-of-freedom platform in some embodiments of the present invention;

[0020] Figure 3 Schematic diagram of a transmission fixing bracket and a guide rod in some embodiments of the present invention;

[0021] Figure 4 Schematic diagram of a tail wing fixing bracket in some embodiments of the present invention;

[0022] Figure 5 is an axonometric view of a tail drive structure and a tail assembly in some embodiments of the present invention;

[0023] Figure 6 A top view of the tail drive structure and tail assembly in some embodiments of the present invention (excluding the fourth gear and the first fixing plate);

[0024] In the figure: 100-new bird-like tail multi-degree-of-freedom platform, 1-first drive structure, 2-second drive structure, 3-tail drive structure, 4-transmission fixing bracket, 5-tail fixing bracket, 6-base, 7-guide rod, 8-guide groove, 9-first gear, 10-second gear, 11-third gear, 12-fourth gear, 13-tail bracket, 14-feather fixing part, 15-feather, 16-fixing column, 17-pull rope, 18-pin, 19-elastic rope. DETAILED DESCRIPTION

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0026] The purpose of the present invention is to provide a novel bird-like tail multi-degree-of-freedom platform to solve the problems existing in the above-mentioned prior art, which can realize the control of heading direction, roll direction and pitch direction, and can change the area of the tail assembly.

[0027] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] like Figures 1 to 6 As shown, this embodiment provides a novel bird-like tail multi-degree-of-freedom platform 100, comprising: a base 6, a first drive structure 1, a bracket, a second drive structure 2, a tail drive structure 3, and a tail assembly. The first drive structure 1 is disposed on the base 6, and a power output shaft of the first drive structure 1 is transmission-connected to the bracket. The second drive structure 2 and the tail drive structure 3 are both disposed on the bracket. The first drive structure 1 is capable of driving the tail assembly to rotate in the heading direction, the second drive structure 2 is capable of driving the tail assembly to rotate in the pitch and roll directions, and the tail drive structure 3 is capable of controlling the area change of the tail assembly. This embodiment not only enables control in the heading, roll, and pitch directions, but also introduces a dynamic tail assembly area adjustment function, enabling the tail assembly to adjust in real time according to flight conditions, thereby improving the flexibility and adaptability of the tail assembly movement. This enables the novel bird-like tail multi-degree-of-freedom platform 100 to better simulate the motion characteristics of biological tails in nature, improving its operability and precision in scientific research and practical applications.

[0029] In some embodiments, the support includes a transmission mounting bracket 4 and a tail mounting bracket 5. The power output shaft of the first drive structure 1 is in transmission connection with the transmission mounting bracket 4. The second drive structure 2 is disposed on the transmission mounting bracket 4. The transmission mounting bracket 4 and the tail mounting bracket 5 are rotationally connected. The tail drive structure 3 is rotationally connected to the tail mounting bracket 5. When the first drive structure 1 is in operation, it drives the second drive structure 2, the transmission mounting bracket 4, the tail mounting bracket 5, the tail drive structure 3, and the tail assembly to rotate simultaneously around the power output shaft of the first drive structure 1. The heading direction is the direction of rotation around the axis of the power output shaft of the first drive structure 1.

[0030] In some specific implementations of the embodiments, the first drive structure 1 and the second drive structure 2 are both motors, and the first drive structure 1 and the second drive structure 2 are preferably stepper motors HANPOSE 20HS24; the power output shaft of the first drive structure 1 and the power output shaft of the second drive structure 2 are arranged vertically.

[0031] In some embodiments, the second drive structure 2 drives the tail assembly to rotate in pitch and roll directions via a transmission structure. Specifically, the transmission structure includes a first gear 9, a second gear 10, and a third gear 11. The first gear 9 is disposed on a power output shaft of the second drive structure 2. The second gear 10 is rotatably disposed on a transmission fixed bracket 4. The second gear 10 meshes with the first gear 9. The third gear 11 is coaxially fixedly connected to the second gear 10. A fourth gear 12 is disposed on the tail drive structure 3, and the fourth gear 12 meshes with the third gear 11. The first gear 9, the second gear 10, the third gear 11, and the fourth gear 12 are all bevel gears. The power output shaft of the second drive structure 2 drives the first gear 9 to rotate, which in turn drives the second gear 10 and the third gear 11 to rotate. The third gear 11 drives the fourth gear 12 to move, thereby enabling the tail drive structure 3 and the tail assembly to rotate in pitch and roll directions.

[0032] In the specific implementation of some embodiments, there are two second drive structures 2 and two transmission structures. A guide rod 7 is provided on the second drive structure 2, and the guide rod 7 can be extended into the guide groove 8 on the base 6. When the first drive structure 1 drives the tail assembly to rotate in the heading direction, the guide rod 7 slides in the guide groove 8; when the power output shafts of the two second drive structures 2 rotate in the same direction and at a constant speed, the two first gears 9 rotate in the same direction and at a constant speed, and then the two second gears 10 rotate in the opposite direction and at a constant speed, and the two third gears 11 rotate in the opposite direction and at a constant speed, and the fourth gear 12 rotates around its axis, so that the tail drive structure 3 and the tail assembly rotate in the roll direction, and the roll direction is the direction of rotation around the axis of the fourth gear 12; when the power output shafts of the two second drive structures 2 rotate in the opposite direction and at a constant speed, the two first gears 9 rotate in the opposite direction and at a constant speed, and then the second gears 10 rotate in the same direction and at a constant speed, and the two third gears 11 rotate in the same direction and at a constant speed, so that the tail drive structure 3 and the tail assembly rotate in the pitch direction, and the pitch direction is the direction in which the tail fixing bracket 5 rotates around the transmission fixing bracket 4.

[0033] In specific implementations of some embodiments, the novel bird-mimicking tail multi-degree-of-freedom platform 100 of this embodiment further includes a tail bracket 13, which is arranged on a tail fixing bracket 5, and a tail drive structure 3 is arranged on the tail bracket 13. The tail bracket 13, the tail fixing bracket 5, the tail drive structure 3 and the fourth gear 12 are all fixedly connected. The tail drive structure 3 is preferably a servo. The tail assembly includes a plurality of feather assemblies arranged in sequence. When the tail assembly is unfolded, the plurality of feather assemblies arranged in sequence form a fan-shaped structure. The feather assembly includes a feather fixing part 14 and feathers 15. One end of the feather fixing part 14 is rotatably connected to the tail bracket 13, and the other end of the feather fixing part 14 is fixedly connected to one end of the feather 15. Adjacent feather fixing parts 14 are connected by an elastic rope 19. The tail drive structure 3 is transmission-connected to the feather fixing part 14 of the feather assembly at one end of the tail assembly. When the tail assembly is unfolded, the feathers 15 of the plurality of feather assemblies are stacked in sequence from one end of the tail assembly to the other end of the tail assembly.

[0034] In the specific implementation of some embodiments, the tail wing bracket 13 includes a first fixing plate and a second fixing plate, the first fixing plate and the second fixing plate are both connected to the tail wing fixing bracket 5, the tail wing drive structure 3 is fixedly connected to the first fixing plate or the second fixing plate, a fixing column 16 is fixedly arranged between the first fixing plate and the second fixing plate, and one end of each feather fixing member 14 is arranged between the first fixing plate and the second fixing plate, and one end of each feather fixing member 14 is rotatably connected to the first fixing plate and the second fixing plate respectively, the power output end of the tail wing drive structure 3 is connected to one end of the pull rope 17, the pull rope 17 passes around the fixing column 16, and the other end of the pull rope 17 is connected to the feather fixing member 14 of the feather assembly at one end of the tail wing assembly, the feather fixing member 14 of the feather assembly at one end of the tail wing assembly is an outer feather fixing member, and the feather 15 connected to the outer feather fixing member is an outer feather.

[0035] In specific implementations of some embodiments, there are two tail wing drive structures 3, two tail wing assemblies and two pull ropes 17. Each tail wing drive structure 3 is connected to the feather fixing part 14 of the feather assembly at the end of a tail wing assembly through a pull rope 17. The feather fixing part 14 of the feather assembly at the end of the tail wing assembly here refers to the feather fixing part 14 located at the end after the two tail wing assemblies are combined, and the two pull ropes 17 pass around the fixing column 16 in opposite directions. After the two fan-shaped tail wing assemblies are unfolded, a large fan-shaped structure is formed. The adjacent feather fixing parts 14 in the two tail wing assemblies are not connected, and the adjacent feathers 15 in the two tail wing assemblies partially overlap. The fixing column 16 is located on the center line of the large fan-shaped structure formed after the two tail wing assemblies are unfolded.

[0036] In some embodiments, an elastic cord 19 is connected to the upper portion of a feather fixture 14 and the lower portion of an adjacent feather fixture 14. The upper portion of the feather fixture 14 refers to the upper portion of the tail assembly when the tail assembly is horizontal, and the lower portion of the feather fixture 14 refers to the lower portion of the tail assembly when the tail assembly is horizontal. Specifically, each feather fixture 14 is provided with a pin 18 that passes through the fixture. The upper portion of the pin 18 is located above the feather fixture 14, while the lower portion of the pin 18 is located below the feather fixture 14. The elastic cord 19 is connected to the upper portion of the pin 18 above the feather fixture 14, and is connected to the lower portion of the pin 18 below the adjacent feather fixture 14. This allows adjacent feathers 15 to overlap when the tail assembly is folded to reduce its area, thereby reducing the area.

[0037] In this embodiment, the power outputs of the two tail drive structures 3 pull the two outer feather fixtures via pull cords 17 to expand and retract the outer feathers. Simultaneously, the feathers 15 of adjacent feather assemblies are connected by elastic cords 19, achieving synchronized movement of each feather 15. The two tail drive structures 3 rotate at different angles, thereby achieving asymmetric contraction of the tail assemblies and dynamic area adjustment. The tail drive structure 3 and tail assembly of this embodiment ensure that the tail wing exhibits excellent biomimetic properties during movement, ensuring flexibility and stability in complex flight conditions.

[0038] The novel bird-like tail multi-degree-of-freedom platform 100 of this embodiment can precisely control rotation in three directions: heading, roll, and pitch, as well as dynamically adjust the tail assembly area asymmetrically. By introducing a bracket, a transmission structure, and a fourth gear 12, this embodiment achieves coupled motion in heading, roll, and pitch. Simultaneously, through the tail drive structure 3 and the tail assembly, the tail assembly can contract asymmetrically, allowing its area to be dynamically adjusted according to demand. This accurately simulates the motion characteristics of a biological tail, improving motion accuracy and adaptability. While reducing the complexity of the control system, this embodiment significantly improves the flexibility and adaptability of the tail, enhancing the controllability and flight stability of the flying robot.

[0039] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A novel bird-like tail wing multi-degree-of-freedom platform, characterized by: include: A first drive structure, a bracket, a second drive structure, a tail drive structure and a tail assembly, wherein the power output shaft of the first drive structure is transmission-connected to the bracket, the second drive structure and the tail drive structure are both arranged on the bracket, the first drive structure can drive the tail assembly to rotate in the heading direction, the second drive structure can drive the tail assembly to rotate in the pitch direction and the roll direction, and the tail drive structure can control the area change of the tail assembly.

2. The novel bird-like tail wing multi-degree-of-freedom platform according to claim 1 is characterized by: The bracket includes a transmission fixing bracket and a tail wing fixing bracket, the power output shaft of the first driving structure is transmission-connected to the transmission fixing bracket, the second driving structure is arranged on the transmission fixing bracket, the transmission fixing bracket and the tail wing fixing bracket are rotationally connected, and the tail wing driving structure is rotationally connected to the tail wing fixing bracket.

3. The novel bird-like tail wing multi-degree-of-freedom platform according to claim 2 is characterized by: The second driving structure drives the tail assembly to rotate in the pitch direction and the roll direction through the transmission structure.

4. The novel bird-like tail wing multi-degree-of-freedom platform according to claim 3 is characterized by: The transmission structure includes a first gear, a second gear and a third gear. The first gear is arranged on the power output shaft of the second drive structure. The second gear is rotatably arranged on the transmission fixed bracket. The second gear is engaged with the first gear. The third gear and the second gear are coaxially fixedly connected. A fourth gear is provided on the tail wing drive structure, and the fourth gear is engaged with the third gear.

5. The novel bird-like tail wing multi-degree-of-freedom platform according to claim 3 is characterized by: There are two of the second drive structures and the transmission structure; when the power output shafts of the two second drive structures rotate in the same direction, the tail assembly rotates in the roll direction; when the power output shafts of the two second drive structures rotate in opposite directions, the tail assembly rotates in the pitch direction.

6. The novel bird-like tail wing multi-degree-of-freedom platform according to claim 1 is characterized by: The invention also includes a tail bracket, which is arranged on the bracket, and a tail drive structure is arranged on the tail bracket. The tail assembly includes a plurality of feather assemblies arranged in sequence, and the feather assembly includes a feather fixing part and feathers. One end of the feather fixing part is rotatably connected to the tail bracket, and the other end of the feather fixing part is fixedly connected to one end of the feather. Adjacent feather fixing parts are connected by an elastic rope, and the tail drive structure is transmission-connected to the feather fixing part of the feather assembly at one end of the tail assembly. When the tail assembly is unfolded, the feathers of the plurality of feather assemblies are stacked in sequence from one end of the tail assembly to the other end of the tail assembly.

7. The novel bird-like tail wing multi-degree-of-freedom platform according to claim 6 is characterized by: A fixing column is provided on the tail wing bracket, and the power output end of the tail wing driving structure is connected to one end of a pull rope. The pull rope passes around the fixing column, and the other end of the pull rope is connected to the feather fixing part of the feather assembly at one end of the tail wing assembly.

8. The novel bird-like tail wing multi-degree-of-freedom platform according to claim 7 is characterized by: There are two tail wing drive structures, two tail wing assemblies and two pull ropes. Each tail wing drive structure is connected to the feather fixing piece at the end of a tail wing assembly through a pull rope, and the two pull ropes pass around the fixing column in opposite directions.

9. The novel bird-like tail wing multi-degree-of-freedom platform according to claim 6 is characterized by: The elastic ropes are respectively connected to the upper portion of a feather fixing component and the lower portion of an adjacent feather fixing component.

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