Multi-degree-of-freedom linkage transmission mechanism of bionic flapping-wing unmanned aerial vehicle

Abstract

The invention discloses a multi-degree-of-freedom linkage transmission mechanism of a bionic flapping-wing unmanned aerial vehicle, and belongs to the technical field of simulation unmanned aerial vehicles, the multi-degree-of-freedom linkage transmission mechanism comprises a skeleton assembly, two groups of vibration wing assemblies, an empennage assembly and a distance adjusting unit, the two groups of vibration wing assemblies are slidably assembled on the skeleton assembly, and the distance adjusting unit is movably assembled on the skeleton assembly; the distance adjusting unit is movably arranged at the tail end of the framework assembly and used for adjusting the distance between the two groups of vibration wing assemblies, the distance adjusting unit is in transmission connection with the vibration wing assemblies and used for adjusting the distance between the two groups of vibration wing assemblies, and the empennage assembly is movably arranged at the tail end of the framework assembly and is in transmission connection with the distance adjusting unit. And through a multi-degree-of-freedom linkage structure, the wing surface state can be adaptively adjusted according to flight requirements, so that the flapping-wing unmanned aerial vehicle has better universality.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of simulation unmanned aerial vehicles, and particularly relates to a multi-degree-of-freedom linkage transmission mechanism of a bionic flapping-wing unmanned aerial vehicle. BACKGROUND

[0002] The bionic flapping-wing machine is a structure for realizing the complex wing movement of birds by using a machine, and comprises multi-degree-of-freedom coordinated actions such as folding and twisting.

[0003] Chinese patent CN118145035A discloses a bionic flapping-wing unmanned aerial vehicle, which comprises a fuselage and wings; the wings comprise a tail wing arranged at the tail end of the fuselage, and a left wing and a right wing arranged at the left and right sides of the fuselage respectively; the fuselage comprises a main body framework, a side wing rudder motor is arranged on the main body framework close to the front end, a tail wing rudder motor is arranged on the main body framework close to the rear end, and the tail wing and the tail wing rudder motor are connected through a pull rod structure; a battery and a flight control circuit board are arranged in the middle of the main body framework; and a driving structure adopts a direct driving mode of a rudder motor.

[0004] The bionic flapping-wing unmanned aerial vehicle has a fixed rudder motor structure, so the wing spacing and the tail wing surface structure are fixed, and in various types of flight tasks, the comprehensive coordination of flight stability, flight maneuverability and aerodynamic efficiency cannot be met. SUMMARY

[0005] In view of the problems in the prior art, the multi-degree-of-freedom linkage transmission mechanism of the bionic flapping-wing unmanned aerial vehicle is provided to solve the problems in the background.

[0006] To achieve the above-mentioned purpose, the application provides the following technical scheme. A multi-degree-of-freedom linkage transmission mechanism of a bionic flapping-wing unmanned aerial vehicle, comprising a framework assembly, a wing assembly, a tail wing assembly and a distance adjusting unit; Two groups of wing assemblies are symmetrically assembled on the framework assembly; The distance adjusting unit is movably assembled on the framework assembly, and the distance adjusting unit is in transmission connection with the wing assembly, and the distance adjusting unit is used for adjusting the wing spacing of the two groups of wing assemblies; The tail wing assembly is movably arranged at the tail end of the framework assembly and in transmission connection with the distance adjusting unit.

[0007] As a further scheme of the present application, the wing vibration assembly comprises wing root frames, main wing driving gears, main wing driving discs, main traction arms, connecting frames, main wing profile arms, auxiliary wing profile arms and coordination rods, two groups of the wing root frames are slidingly arranged on the framework assembly, the middle part of the wing root frame is rotationally assembled with the main wing driving gear, one end of the main wing driving disc is coaxially fixedly connected with the main wing driving gear, the other end of the main wing driving disc is fixedly assembled with the main traction arm, the tail end of the main traction arm is rotationally assembled with the connecting frame, the main wing profile arm and the auxiliary wing profile arm are parallel arranged and rotationally connected with the connecting frame, and the coordination rod is rotationally assembled at the tail end of the main wing profile arm and the auxiliary wing profile arm.

[0008] As a further scheme of the present application, the wing vibration assembly further comprises connecting arms, tail connecting rods, wing tip profile arms and fixed shaft frames, two groups of the connecting arms are rotationally assembled at two ends of the coordination rod, the tail connecting rod is rotationally assembled at the tail end of the two groups of the connecting arms, the wing tip profile arm is fixedly assembled on one side of the tail connecting rod, one end of the fixed shaft frame is fixedly connected with the wing root frame, and the other end of the fixed shaft frame is rotationally assembled on the main wing profile arm.

[0009] As a further scheme of the present application, the wing vibration assembly has a first wing vibration assembly and a second wing vibration assembly, and the first wing vibration assembly and the second wing vibration assembly are symmetrically slidingly arranged on the framework assembly.

[0010] As a further scheme of the present application, the distance adjusting unit comprises a distance adjusting assembly, a transmission assembly and a power source assembly, the distance adjusting assembly comprises a distance adjusting sliding block, traction arms and a transmission rod, the distance adjusting sliding block is slidingly arranged on the framework assembly, the distance adjusting sliding block is rotationally assembled with the traction arms at two ends, the two groups of the traction arms are rotationally connected with the first wing vibration assembly and the second wing vibration assembly, and the transmission rod is fixedly assembled on the distance adjusting sliding block.

[0011] As a further scheme of the present application, the transmission assembly comprises a first transmission shaft, a first transmission arm, a first transmission wheel, a second transmission arm, a second transmission shaft, a second transmission wheel, a third transmission shaft and a third transmission wheel, the first transmission shaft is fixedly assembled on the first wing vibration assembly, the first transmission arm is rotationally sleeved on the first transmission shaft, the first transmission shaft is further coaxially fixedly assembled with the first transmission wheel, the second transmission arm and the first transmission arm are rotationally connected through the second transmission shaft and the second transmission wheel, the second transmission shaft and the second transmission wheel are further coaxially fixedly assembled with the third transmission shaft, the second transmission arm is rotationally sleeved on the third transmission shaft, one end of the second transmission arm is further coaxially fixedly assembled with the third transmission wheel, and the first transmission wheel and the second transmission shaft and the second transmission wheel and the third transmission wheel are all rotationally connected through synchronous belts.

[0012] As a further scheme of the present application, the power source assembly comprises a first shell compartment, an electric driver, a main driving wheel, an auxiliary driving wheel, a main driving gear and a first transmission gear, the first shell compartment is slidingly assembled on the framework assembly, the electric driver is assembled in the first shell compartment and a movable shaft of the electric driver is inserted into the first wing assembly, the main driving wheel and the auxiliary driving wheel are coaxially arranged on the first wing assembly, one end of the main driving wheel is fixedly connected with the movable shaft of the electric driver, the other end of the main driving wheel is in transmission connection with the auxiliary driving wheel, the main driving gear and the auxiliary driving wheel are coaxially fixedly connected, and the first transmission gear is coaxially arranged on the first wing assembly and in meshing connection with the main driving gear at one end and with the main wing driving gear in the first wing assembly at the other end.

[0013] As a further scheme of the present application, the power source assembly further comprises a second shell compartment, an electric control telescopic device, a front traction rod, a rear traction rod and a second transmission gear, the second shell compartment is slidingly assembled on the framework assembly and fixedly connected with the second wing assembly, the electric control telescopic device is assembled in the second shell compartment and a movable shaft of the second shell compartment is fixedly connected with the front traction rod at the end, one end of the rear traction rod is slidingly inserted into the front traction rod, the other end of the rear traction rod is in fixed connection with the variable distance sliding block, one end of the second transmission gear is coaxially fixedly connected with the third transmission shaft, and the other end of the second transmission gear is in meshing connection with the main wing driving gear in the second wing assembly.

[0014] As a further scheme of the present application, the tail wing assembly comprises a rotating tail bracket, a traction support, a traction cable, a tail wing shell, a tail wing compartment, an assembling groove and a tail wing framework, the rotating tail bracket is rotatably assembled at the end of the framework assembly, the traction support is slidingly inserted into the rotating tail bracket and rotatably connected with the transmission rod, one end of the traction support is further connected with the traction cable, the tail wing shell is fixedly assembled on one side of the rotating tail bracket, the tail wing compartment is rotatably arranged in the tail wing shell, and the tail wing framework is rotatably and elastically assembled in the assembling groove and fixedly connected with the traction cable.

[0015] In summary, the embodiment of the present application has the following beneficial effects compared with the prior art: The present application can adaptively adjust the wing surface state according to the flight requirement through the multi-degree-of-freedom linkage structure by arranging the variable-distance wing assembly in the framework assembly and the linkage adjustment unit and the tail wing assembly, so that the flapping-wing UAV has better versatility. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 FIG. 1 is a schematic view of a multi-degree-of-freedom linkage transmission mechanism of a bionic flapping-wing UAV according to an embodiment of the present application.

[0017] Figure 2 FIG. 2 is another perspective view of the multi-degree-of-freedom linkage transmission mechanism of the bionic flapping-wing UAV according to the embodiment of the present application.

[0018] Figure 3 The structure diagram of the wing assembly in the multi-degree-of-freedom linkage transmission mechanism of the bionic flapping-wing unmanned aerial vehicle provided in an embodiment of the present application.

[0019] Figure 4 The structure diagram of the wing assembly in the multi-degree-of-freedom linkage transmission mechanism of the bionic flapping-wing unmanned aerial vehicle provided in an embodiment of the present application. Figure 2 The enlarged diagram of the reference sign A.

[0020] Figure 5 The structure diagram of the wing assembly in the multi-degree-of-freedom linkage transmission mechanism of the bionic flapping-wing unmanned aerial vehicle provided in an embodiment of the present application. Figure 2 The enlarged diagram of the reference sign B.

[0021] Figure 6 The structure diagram of the wing assembly in the multi-degree-of-freedom linkage transmission mechanism of the bionic flapping-wing unmanned aerial vehicle provided in an embodiment of the present application.

[0022] Figure 7 The structure diagram of the wing assembly in the multi-degree-of-freedom linkage transmission mechanism of the bionic flapping-wing unmanned aerial vehicle provided in an embodiment of the present application. Figure 6 The enlarged diagram of the reference sign C.

[0023] Reference signs: 1 - skeleton assembly, 2 - wing assembly, 201 - wing root frame, 202 - main wing driving gear, 203 - main wing driving disc, 204 - main traction arm, 205 - linkage, 206 - main wing type arm, 207 - auxiliary wing type arm, 208 - coordination rod, 209 - connecting arm, 210 - tail connecting rod, 211 - wing tip type arm, 212 - fixed shaft frame, 3 - variable pitch assembly, 301 - variable pitch slider, 302 - traction arm, 303 - transmission rod, 4 - transmission assembly, 401 - first transmission shaft, 402 - first transmission arm, 403 - first transmission wheel, 404 - second transmission arm, 405 - second transmission shaft, 406 - second transmission wheel, 407 - third transmission shaft, 408 - third transmission wheel, 5 - power source assembly, 501 - first shell compartment, 502 - electric driver, 503 - main driving wheel, 504 - auxiliary driving wheel, 505 - main driving gear, 506 - first transmission gear, 507 - second shell compartment, 508 - electric control telescopic device, 509 - front traction rod, 510 - rear traction rod, 511 - second transmission gear, 6 - tail wing assembly, 601 - tail rotating frame, 602 - traction support, 603 - traction cable, 604 - tail wing shell, 605 - tail wing compartment, 606 - assembly groove, 607 - tail wing skeleton. DETAILED DESCRIPTION

[0024] In order to more clearly illustrate the structural features and effects of the present application, the present application will be described in detail below in combination with the drawings and specific embodiments.

[0025] Please refer to Figures 1-7The multi-degree-of-freedom linkage transmission mechanism of the bionic flapping-wing unmanned aerial vehicle in one embodiment of the application has a first direction x, a second direction y and a third direction z, and comprises a framework assembly 1, a wing assembly 2, a tail assembly 6 and a pitch adjustment unit.

[0026] In actual application, the multi-degree-of-freedom linkage transmission mechanism of the bionic flapping-wing unmanned aerial vehicle is composed of the framework assembly 1, the wing assembly 2, the tail assembly 6 and the pitch adjustment unit.

[0027] In terms of aerodynamic efficiency, when the wing spacing of the unmanned aerial vehicle is narrow, the double wings are close to each other at the upper stop point of flapping and quickly separate at the beginning of the downward stroke, which produces strong circulation and significantly increases the lift at the initial stage of the downward stroke.

[0028] In terms of drag, narrow wing spacing reduces the windward area and thus the form drag, while wide wing spacing increases the frontal projection area and thus the form drag.

[0029] In terms of stability, narrow wing spacing reduces the roll stability, the distance between the center of gravity and the two wings is short, the roll inertia is small, the ability to resist lateral disturbance is weak, and roll oscillation is more likely to occur.

[0030] In terms of maneuverability, when the wing spacing is narrow, the rolling is faster when the same rolling moment is applied, which is beneficial for rapid turning and the overall response is faster, while when the wing spacing is wide, the rolling inertia is large, which leads to slow rolling, which is suitable for stable forward flight or gliding.

[0031] Referring to Figure 3 In a preferred embodiment of the present application, the wing assembly 2 comprises a wing root frame 201, a main wing driving gear 202, a main wing driving disc 203, a main traction arm 204, a connecting frame 205, a main wing type arm 206, an auxiliary wing type arm 207, and a coordination rod 208. Two groups of wing root frames 201 are slidingly arranged on the framework assembly 1. The main wing driving gear 202 is rotatably arranged in the middle of the wing root frame 201. The main wing driving disc 203 is coaxially fixed to one end of the main wing driving gear 202. The main traction arm 204 is fixedly arranged at the other end of the main wing driving disc 203. The connecting frame 205 is rotatably arranged at the end of the main traction arm 204. The main wing type arm 206 and the auxiliary wing type arm 207 are parallelly arranged and rotatably connected to the connecting frame 205. The coordination rod 208 is rotatably arranged at the end of the main wing type arm 206 and the auxiliary wing type arm 207.

[0032] In actual application, two groups of wing root frames 201 are slidingly arranged on the framework assembly 1. The main wing driving gear 202 arranged in the middle of the wing root frame 201 drives the main wing driving disc 203 to rotate in the driving state, thereby synchronously rotating the main traction arm 204. Since the main traction arm 204 is rotatably connected to the connecting frame 205, and the main wing type arm 206 on one side of the connecting frame 205 is fixedly arranged with a fixed shaft frame 212, the main wing type arm 206 is rotatably driven by the connecting frame 205 around the fixed shaft frame 212 during the circumferential rotation of the main traction arm 204, so that the main wing type arm 206 reciprocally rotates around the fixed shaft frame 212 as the rotation axis, thereby realizing the flapping motion. Since the coordination rod 208 is rotatably connected to the main wing type arm 206 and the auxiliary wing type arm 207, the main wing type arm 206 and the auxiliary wing type arm 207 move synchronously.

[0033] Referring to Figure 3 In a preferred embodiment of the present application, the wing assembly 2 further comprises a connecting arm 209, a tail connecting rod 210, a wing tip type arm 211, and a fixed shaft frame 212. Two groups of connecting arms 209 are rotatably arranged at both ends of the coordination rod 208. The tail connecting rod 210 is rotatably arranged at the end of the two groups of connecting arms 209. The wing tip type arm 211 is fixedly arranged on one side of the tail connecting rod 210. One end of the fixed shaft frame 212 is fixedly connected to the wing root frame 201, and the other end of the fixed shaft frame 212 is rotatably arranged on the main wing type arm 206.

[0034] In actual application, the two groups of connecting arms 209 are rotatably assembled at the two ends of the cooperative rod 208, the tail connecting rod 210 is rotatably connected with the ends of the two groups of connecting arms 209, and the connecting frame 205, the main wing-shaped arm 206, the auxiliary wing-shaped arm 207 and the cooperative rod 208 form a parallelogram linkage structure. Therefore, when the main wing-shaped arm 206 and the auxiliary wing-shaped arm 207 move upwards along the yoz plane, the tail connecting rod 210 rotates towards the side close to the main wing-shaped arm 206 and the auxiliary wing-shaped arm 207 under the traction of the connecting arms 209, so that when the main wing-shaped arm 206 and the auxiliary wing-shaped arm 207 move upwards, the wing tip-shaped arm 211 is folded to the side of the auxiliary wing-shaped arm 207, and when the main wing-shaped arm 206 and the auxiliary wing-shaped arm 207 move downwards, the wing tip-shaped arm 211 rotates away from the side of the auxiliary wing-shaped arm 207, thereby simulating the bird flapping wing principle through the opening and closing of the wing arms.

[0035] Referring to Figure 1 and Figure 7 In a preferred embodiment of the present embodiment, the pitch adjusting unit comprises a pitch changing assembly 3, a transmission assembly 4 and a power source assembly 5. The pitch changing assembly 3 comprises a pitch changing slider 301, a traction arm 302 and a transmission rod 303. The pitch changing slider 301 is slidingly arranged on the framework assembly. The traction arm 302 is rotatably assembled at the two ends of the pitch changing slider 301. The two groups of traction arms 302 are rotatably connected with the first wing oscillating assembly a1 and the second wing oscillating assembly a2, respectively. The transmission rod 303 is fixedly assembled on the pitch changing slider 301.

[0036] In actual application, the pitch changing slider 301 is elastically slidingly assembled on the framework assembly 1 along the first direction x. The traction arm 302 is rotatably assembled at the two ends of the pitch changing slider 301. The two groups of traction arms 302 are movably connected with the first wing oscillating unit a1 and the second wing oscillating unit a2, respectively. When the pitch changing slider 301 moves along the positive direction of the first direction x, the wing spacing between the first wing oscillating unit a1 and the second wing oscillating unit a2 increases. When the pitch changing slider 301 moves along the negative direction of the first direction x, the wing spacing between the first wing oscillating unit a1 and the second wing oscillating unit a2 decreases.

[0037] Referring to Figure 7In a preferred embodiment of the present application, the transmission assembly 4 comprises a first transmission shaft 401, a first transmission arm 402, a first transmission wheel 403, a second transmission arm 404, a second transmission shaft 405, a second transmission wheel 406, a third transmission shaft 407 and a third transmission wheel 408. The first transmission shaft 401 is fixedly arranged on the first wing assembly a1. The first transmission arm 402 is rotatably arranged on the first transmission shaft 401. The first transmission shaft 401 is coaxially fixedly arranged with the first transmission wheel 403. The second transmission arm 404 is rotatably connected to the first transmission arm 402 through the second transmission shaft 405 and the second transmission wheel 406. The third transmission shaft 407 is fixedly arranged on the second wing assembly a2. The second transmission arm 404 is rotatably arranged on the third transmission shaft 407. The second transmission arm 404 is coaxially fixedly arranged with the third transmission wheel 408. The first transmission wheel 403 and the second transmission shaft 405 are rotatably connected through a synchronous belt. The second transmission wheel 406 and the third transmission wheel 408 are rotatably connected through a synchronous belt.

[0038] In actual application, the first transmission shaft 401 and the third transmission shaft 407 are fixedly arranged on the first wing assembly a1 and the second wing assembly a2, respectively. The first transmission arm 402 and the second transmission arm 404 are rotatably arranged on the first transmission shaft 401 and the third transmission shaft 407, respectively. The first transmission shaft 401 and the third transmission shaft 407 are coaxially fixedly arranged with the first transmission wheel 403 and the third transmission wheel 408, respectively. The first transmission arm 402 and the second transmission arm 404 are rotatably arranged on the second transmission shaft 405. The second transmission wheel 406 is fixedly arranged on the second transmission shaft 405. The first transmission wheel 403 and the second transmission shaft 405 are rotatably connected through a synchronous belt. The second transmission wheel 406 and the third transmission wheel 408 are rotatably connected through a synchronous belt. When the distance between the first wing assembly a1 and the second wing assembly a2 changes, the first transmission shaft 401 and the third transmission shaft 407 are rotatably connected through the first transmission arm 402 and the second transmission arm 404, so that the transmission state is always maintained.

[0039] Please refer to Figure 4 and Figure 7In a preferred embodiment of the present application, the power source assembly 5 comprises a first housing compartment 501, an electric drive 502, a main drive wheel 503, a secondary drive wheel 504, a main drive gear 505 and a first transmission gear 506. The first housing compartment 501 is slidingly assembled on the framework assembly 1. The electric drive 502 is assembled in the first housing compartment 501, and the movable shaft of the electric drive 502 is inserted into the first wing assembly a1. The main drive wheel 503 and the secondary drive wheel 504 are coaxially arranged on the first wing assembly a1. One end of the main drive wheel 503 is fixedly connected to the movable shaft of the electric drive 502, and the other end of the main drive wheel 503 is in transmission connection with the secondary drive wheel 504. The main drive gear 505 is coaxially fixedly connected to the secondary drive wheel 504. The first transmission gear 506 is coaxially arranged on the first wing assembly a1. One end of the first transmission gear 506 is in meshing connection with the main drive gear 505, and the other end of the first transmission gear 506 is in meshing connection with the main wing driving gear 202 in the first wing assembly a1.

[0040] In actual application, the first housing compartment 501 is slidingly installed on the framework assembly 1. The movable shaft of the electric drive 502 is inserted into the first wing assembly a1, so that when the first wing assembly a1 moves along the second direction y, the first housing compartment 501 moves synchronously with the first wing assembly a1. The movable shaft of the electric drive 502 is further provided with the main drive wheel 503. The main drive wheel 503 is in transmission connection with the secondary drive wheel 504. The main drive gear 505 is coaxially fixedly arranged on the secondary drive wheel 504. One end of the first transmission gear 506 is in meshing connection with the main drive gear 505, and the other end of the first transmission gear 506 is in meshing connection with the main wing driving gear 202 on the first wing assembly a1, so that the main wing driving gear 202 in the first wing assembly a1 rotates in the clockwise direction.

[0041] Further, the power source assembly 5 further comprises a second shell compartment 507, an electric control telescopic device 508, a front traction rod 509, a rear traction rod 510 and a second transmission gear 511, the second shell compartment 507 is slidingly assembled on the framework assembly 1 and fixedly connected with the second wing assembly a2, the electric control telescopic device 508 is assembled in the second shell compartment 507, and the movable shaft end of the second shell compartment 507 is fixedly connected with the front traction rod 509, one end of the rear traction rod 510 is slidingly inserted into the front traction rod 509, and the other end of the rear traction rod 510 is fixedly connected with the variable-pitch sliding block 301, one end of the second transmission gear 511 is coaxially fixedly connected with the third transmission shaft 407, and the other end of the second transmission gear 511 is meshingly connected with the main wing driving gear 202 in the second wing assembly a2, the second shell compartment 507 is slidingly assembled on the framework assembly 1 along the second direction y, and in the telescopic process of the movable shaft of the electric control telescopic device 508, the front traction rod 509 at the end of the movable shaft synchronously drags the rear traction rod 510 to move in the first direction x, so that the rear traction rod 510 synchronously drives the variable-pitch sliding block 301 to move in the first direction x, thereby adjusting the wing spacing of the two groups of wing assemblies 2, and the second transmission gear 511 is meshingly connected with the main wing driving gear 202 in the second wing assembly a2, so as to drive the main wing driving gear 202 in the second wing assembly a2 to rotate in the counterclockwise direction.

[0042] Further, the electric driver 502 and the electric control telescopic device 508 are symmetrically arranged inside the framework assembly 1, so as to ensure the balance of the counterweight.

[0043] Please refer to Figure 5 In a preferred embodiment of the present application, the tail wing assembly 6 comprises a rotating tail bracket 601, a traction support 602, a traction cable 603, a tail wing shell 604, a tail wing compartment 605, an assembly groove 606 and a tail wing framework 607, the rotating tail bracket 601 is rotationally assembled at the end of the framework assembly 1, the traction support 602 is slidingly inserted into the rotating tail bracket 601 and rotationally connected with the transmission rod 303, one end of the traction support 602 further drags the traction cable 603, the tail wing shell 604 is fixedly assembled on one side of the rotating tail bracket 601, the tail wing compartment 605 is rotationally arranged in the tail wing shell 604, and the tail wing framework 607 is elastically rotationally assembled in the assembly groove 606 and fixedly connected with the traction cable 603.

[0044] In actual application, the rotating tail frame 601 is rotatably arranged at the end of the framework assembly 1, and the rotation of the rotating tail frame 601 can be driven by an external motor, which is not described in detail here. The rotating tail frame 601 is provided with a traction bracket 602 sliding in the first direction x, and the traction bracket 602 and the transmission rod 303 are rotatably connected, so that when the variable-distance sliding block 301 moves in the first direction x, the transmission rod 303 can synchronously drive the traction bracket 602 to move in the first direction x, and then the traction cable 603 at the end of the traction bracket 602 drives the tail wing framework 607 to move. The tail wing bin 605 is rotatably arranged in the tail wing shell 604, and the tail wing framework 607 is elastically rotatably arranged in the tail wing shell 604 at one end of the tail wing bin 605. The tail wing framework 607 is used for assembling tail wing feathers. When the traction cable 603 drives the tail wing framework 607 in the first direction x, the contraction angle of the tail wing framework 607 can be adjusted, and the tail wing has the function of variable area to adapt to the flight requirements under different wing spacings. When the wing spacing is narrow, the vertical tail area needs to be increased to enhance the yaw adaptability, and when the wing spacing is wide, the vertical tail area needs to be reduced to enhance the roll stability.

[0045] The above embodiment of the present application provides a multi-degree-of-freedom linkage transmission mechanism of a bionic flapping wing unmanned aerial vehicle. By arranging the variable-spacing wing vibration assembly 2 in the framework assembly 1, and the adjusting unit and the tail wing assembly 6 linked therewith, through the multi-degree-of-freedom linkage structure, the wing surface state can be adaptively adjusted according to the flight requirements, so that the flapping wing unmanned aerial vehicle has better versatility.

[0046] The above only describes the preferred embodiments of the present application and does not limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A multi-degree-of-freedom linkage transmission mechanism of a biomimetic ornithopter, characterized in that, The multi-degree-of-freedom linkage transmission mechanism of the bionic flapping-wing unmanned aerial vehicle comprises: a framework assembly, a wing assembly, a tail assembly and a distance adjusting unit; two sets of the wing assemblies are symmetrically assembled on the framework assembly; the distance adjusting unit is movably assembled on the framework assembly and is in transmission connection with the wing assemblies, and the distance adjusting unit is used for adjusting the wing spacing of the two sets of wing assemblies; the tail assembly is movably arranged at the end of the framework assembly and is in transmission connection with the distance adjusting unit.

2. The multi-degree-of-freedom linkage transmission mechanism of the biomimetic flapping-wing UAV according to claim 1, characterized in that, The wing assembly comprises a wing root support, a main wing driving gear, a main wing driving disc, a main traction arm, a linkage, a main wing profile arm, an auxiliary wing profile arm and a coordination rod, two sets of the wing root supports are slidably arranged on the framework assembly, the main wing driving gear is rotatably assembled in the middle of the wing root support, one end of the main wing driving disc is coaxially fixedly connected with the main wing driving gear, the other end of the main wing driving disc is fixedly connected with the main traction arm, the linkage is rotatably connected with the main wing profile arm and the auxiliary wing profile arm, and the coordination rod is rotatably connected with the ends of the main wing profile arm and the auxiliary wing profile arm.

3. The multi-degree-of-freedom linkage transmission mechanism of the biomimetic flapping-wing UAV according to claim 1, wherein, The wing assembly further comprises a connecting arm, a tail connecting rod, a wing tip profile arm and a fixed shaft support, the two ends of the connecting arm are rotatably connected with the two ends of the coordination rod, the tail connecting rod is rotatably connected with the ends of the two connecting arms, the wing tip profile arm is fixedly connected with one side of the tail connecting rod, one end of the fixed shaft support is fixedly connected with the wing root support, and the other end of the fixed shaft support is rotatably connected with the main wing profile arm.

4. The multi-degree-of-freedom linkage transmission mechanism of the biomimetic flapping-wing UAV according to claim 1, wherein, The wing assembly has a first wing assembly and a second wing assembly, and the first wing assembly and the second wing assembly are symmetrically slidably arranged on the framework assembly.

5. The multi-degree-of-freedom linkage transmission mechanism of the biomimetic flapping-wing UAV according to claim 4, characterized in that, The distance adjusting unit comprises a distance adjusting assembly, a transmission assembly and a power source assembly, the distance adjusting assembly comprises a distance adjusting sliding block, a traction arm and a transmission rod, the distance adjusting sliding block is slidably arranged on the framework assembly, the traction arm is rotatably connected with the two ends of the distance adjusting sliding block, the two traction arms are rotatably connected with the first wing assembly and the second wing assembly respectively, and the transmission rod is fixedly connected with the distance adjusting sliding block.

6. The multi-degree-of-freedom linkage transmission mechanism of a biomimetic flapping-wing UAV according to claim 5, characterized in that, The transmission assembly comprises a first transmission shaft, a first transmission arm, a first transmission wheel, a second transmission arm, a second transmission shaft, a second transmission wheel, a third transmission shaft and a third transmission wheel, the first transmission shaft is fixedly connected with the first wing assembly, the first transmission arm is rotatably sleeved on the first transmission shaft, the first transmission wheel is coaxially fixedly connected with the first transmission shaft, the second transmission shaft is rotatably connected with the second transmission arm, the second transmission wheel is coaxially fixedly connected with the second transmission shaft, the third transmission shaft is fixedly connected with the second wing assembly, the second transmission arm is rotatably sleeved on the third transmission shaft, the third transmission wheel is coaxially fixedly connected with one end of the second transmission arm, and the first transmission wheel, the second transmission wheel and the third transmission wheel are in transmission connection through synchronous belts.

7. The multi-degree-of-freedom linkage transmission mechanism of a biomimetic flapping-wing UAV according to claim 5, characterized in that, The power source assembly comprises a first shell compartment, an electric drive, a main drive wheel, an auxiliary drive wheel, a main drive gear and a first transmission gear, the first shell compartment is slidingly assembled on the framework assembly, the electric drive is assembled in the first shell compartment and the movable shaft of the electric drive is inserted into the first wing assembly, the main drive wheel and the auxiliary drive wheel are coaxially arranged on the first wing assembly, one end of the main drive wheel is fixedly connected with the movable shaft of the electric drive, the other end of the main drive wheel is in transmission connection with the auxiliary drive wheel, the main drive gear and the auxiliary drive wheel are coaxially fixedly connected, and the first transmission gear is coaxially assembled on the first wing assembly, one end of the first transmission gear is in meshing connection with the main drive gear, and the other end of the first transmission gear is in meshing connection with the main wing driving gear in the first wing assembly.

8. The multi-degree-of-freedom linkage transmission mechanism of a biomimetic flapping-wing UAV according to claim 6, characterized in that, The power source assembly further comprises a second shell compartment, an electric control telescopic device, a front traction rod, a rear traction rod and a second transmission gear, the second shell compartment is slidingly assembled on the framework assembly and fixedly connected with the second wing assembly, the electric control telescopic device is assembled in the second shell compartment, and the movable shaft of the second shell compartment is fixedly connected with the front traction rod at the end, one end of the rear traction rod is slidingly inserted into the front traction rod, the other end of the rear traction rod is in fixed connection with the variable-pitch sliding block, one end of the second transmission gear is coaxially fixedly connected with the third transmission shaft, and the other end of the second transmission gear is in meshing connection with the main wing driving gear in the second wing assembly.

9. The multi-degree-of-freedom linkage transmission mechanism of a biomimetic flapping-wing UAV according to claim 5, wherein, The tail wing assembly comprises a tail rotating frame, a traction support, a traction cable, a tail wing shell, a tail wing compartment, an assembly groove and a tail wing framework, the tail rotating frame is rotationally assembled at the end of the framework assembly, the traction support is slidingly inserted into the tail rotating frame and rotationally connected with the transmission rod, one end of the traction support is further connected with the traction cable, the tail wing shell is fixedly assembled on one side of the tail rotating frame, the tail wing compartment is rotationally arranged in the tail wing shell, and the tail wing framework is elastically rotationally assembled in the assembly groove and fixedly connected with the traction cable.

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