Material delivery type bionic flapping wing unmanned aerial vehicle

Abstract

The utility model belongs to the technical field of unmanned aerial vehicles, and discloses a material throwing type bionic flapping wing unmanned aerial vehicle which comprises an unmanned aerial vehicle body which comprises a first front support, a second front support, a rear support and a main shaft. The material putting mechanism is arranged on the main shaft and used for storing and putting materials; the flapping wing mechanisms are arranged on the two sides of the first front support and the two sides of the second front support and used for simulating wing flapping to achieve flying. The unmanned aerial vehicle main body is controlled to take off and land through the arduino single-chip microcomputer, and the material putting and steering are controlled through the multi-path steering engine; meanwhile, 4G communication is used for information transmission, remote control over the bionic flapping-wing unmanned aerial vehicle is achieved, urgency of medical protection material requirements in a major disaster area is solved, the problem of limited medical protection material distribution in the disaster area is better solved, and therefore people are helped to meet the requirements of emergency materials and transport of first-aid medical medicines, and the medical protection material distribution efficiency is improved. And meanwhile, aiming at the congestion urban traffic, emergency medicine and substances can be put in time in case of emergencies on the road.

Description

Technical Field

[0001] The utility model belongs to the technical field of unmanned aerial vehicles, and more specifically, relates to a biomimetic flapping-wing unmanned aerial vehicle for material delivery. Background Art

[0002] Material transportation is usually divided into three situations: land transportation, water transportation, and air transportation. Currently, the main way of transporting materials is still land transportation, mainly because the current road network covers a wide area and is very flexible, and materials do not need to be transferred or transshipped. However, due to road congestion, traffic restrictions, and limitations of transportation tools, the transportation efficiency is greatly reduced. Water transportation can transport materials all over the world, but it has great limitations and needs to be combined with land transportation to transport materials to fixed locations. The material transportation process by air is less restricted and has the advantages of being fast, convenient, and highly reliable. However, the transportation cost is relatively high, and the material transportation volume is also limited.

[0003] With the improvement of people's living standards, the proportion of private cars has increased year by year, which has led to serious urban traffic congestion, thus reducing the material transportation efficiency. Especially in case of emergencies or major disasters on the road, emergency drugs and materials cannot be delivered to the scene in time, which has brought serious troubles to people. Content of the Utility Model

[0004] The utility model provides a biomimetic flapping-wing unmanned aerial vehicle for material delivery to solve the urgency and difference in the demand for medical protective materials in disaster areas due to urban traffic congestion or various special situations on the way, and to solve practical problems such as the distribution of limited medical protective materials to disaster areas. It can better help people solve the demand for emergency materials and the transportation of emergency medical drugs, improve the transportation efficiency of medical materials, and reduce the human resources and time costs required in the transportation process of medical materials.

[0005] To achieve the above object, the utility model provides the following technical solution: A biomimetic flapping-wing unmanned aerial vehicle for material delivery, comprising:

[0006] An unmanned aerial vehicle main body, which includes a front support one, a front support two, a rear support, and a main shaft;

[0007] A material delivery mechanism, which is arranged on the main shaft and is used for storing and delivering materials;

[0008] A flapping-wing mechanism, which is arranged on both sides of the front support one and the front support two and is used for imitating the flapping of wings to achieve flight;

[0009] A speed reduction mechanism, which is arranged on the main shaft and between the front support one and the front support two and is used for driving the flapping-wing mechanism;

[0010] A steering mechanism, which is arranged at the bottom and one end of the main shaft and is used for controlling the flight direction of the unmanned aerial vehicle main body.

[0011] Further preferably, the material delivery mechanism includes a bin cage, an end cover disposed at the delivery opening of the bin cage, and a first steering gear disposed on one side of the bin cage, and the first steering gear is used to drive the end cover to open and close the delivery opening.

[0012] Further preferably, at least one fixing rod is commonly passed through the interiors of the first front bracket, the second front bracket, and the rear bracket.

[0013] Further preferably, the flapping wing mechanism includes an inner wing and an outer wing. The inner wing includes a main inner wing bracket and a secondary inner wing bracket arranged vertically. The middle part of the main inner wing bracket is sleeved on the fixing rod between the first front bracket and the second front bracket at a position biased towards the main shaft.

[0014] Further preferably, the outer wing includes an outer wing bracket. One end of the outer wing bracket is connected to one ends of the main inner wing bracket and the secondary inner wing bracket through a first connecting member, a second connecting member, and a third connecting member, and the first connecting member, the second connecting member, and the third connecting member are combined into a triangle.

[0015] Further preferably, an inner wing support rod is movably disposed on one side of the second connecting member. The other end of the inner wing support rod is connected to the fixing rod on one side of the rear bracket. A wing film is commonly adhered to the outer wing bracket, the main inner wing bracket, and the inner wing support rod.

[0016] Further preferably, the speed reduction mechanism includes a first driving gear, a first driven gear drivingly connected to the first driving gear, a small gear disposed on one side of the first driven gear, a second driven gear meshing with the small gear, and a second driving gear disposed on one side of the second driven gear. A driving motor with an output end one drivingly connected to the first driving gear is disposed on one side of the second front bracket.

[0017] Further preferably, the speed reduction mechanism further includes a first large gear and a second large gear arranged symmetrically. The second driving gear is drivingly connected to the first large gear. A crank is disposed on one side of each of the first large gear and the second large gear. One end of each crank is movably provided with a curved rod. The two curved rods are respectively connected to the main inner wing bracket and the secondary inner wing bracket in the two flapping wing mechanisms, and the two flapping wing mechanisms are arranged symmetrically.

[0018] Further preferably, the steering mechanism includes a tail wing main body and a steering gear bracket disposed on one side of the rear bracket. The tail wing main body is disposed at the end of the main shaft through a tail wing turning joint, and a tail wing film covers the tail wing main body.

[0019] Further preferably, two second steering gears are disposed on the top of the steering gear bracket and are respectively located on both sides of the main shaft. The output ends of the second steering gears are provided with turning operating rods through eccentric connecting rods, and the other ends of the two turning operating rods are respectively movably connected to both ends of the tail wing turning joint.

[0020] Compared with the prior art, the present utility model provides a material-dropping bionic flapping-wing unmanned aerial vehicle, which has the following beneficial effects:

[0021] The material-dropping bionic flapping-wing unmanned aerial vehicle controls the driving mechanism through an Arduino single-chip microcomputer to take off and land the main body of the unmanned aerial vehicle, and controls the material dropping and steering through multiple servos; at the same time, 4G communication is used for information transmission to realize the control of the bionic flapping-wing unmanned aerial vehicle at a long distance, solve the urgency and difference in the demand for medical protection materials in major disaster areas, and solve practical problems such as the distribution of limited medical protection materials to epidemic areas, better help people solve the demand for emergency materials and the transportation of emergency medical drugs, and also aim at the congested urban traffic. For emergencies occurring on the road, first aid drugs can be dropped in time. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is the front view of the structure of the present utility model;

[0023] Figure 2 It is the top view of the structure of the present utility model;

[0024] Figure 3 It is the side view of the structure of the material dropping mechanism of the present utility model;

[0025] Figure 4 It is the top view of the structure of the speed reduction mechanism of the present utility model;

[0026] Figure 5 It is the front view of the structure of the speed reduction mechanism of the present utility model;

[0027] Figure 6 It is the top view of the structure of the steering mechanism of the present utility model;

[0028] Figure 7 It is a simplified schematic diagram of the driving principle of the flapping-wing mechanism of the present utility model.

[0029] In the figure: 1. UAV body; 11. First front bracket; 12. Second front bracket; 13. Rear bracket; 14. Main shaft; 15. Fixed rod; 2. Material delivery mechanism; 21. Bin cage; 22. End cover; 23. First servo; 3. Flapping wing mechanism; 31. Main inner wing bracket; 32. Sub-inner wing bracket; 33. Outer wing bracket; 34. First connecting piece; 35. Second connecting piece; 36. Third connecting piece; 37. Inner wing support rod; 38. Wing membrane; 4. Deceleration mechanism; 41. First driving gear; 42. First driven gear; 43. Small gear; 44. Second driven gear; 45. Second driving gear; 46. Driving motor; 47. First large gear; 48. Second large gear; 49. Crank; 491. Curved rod; 5. Steering mechanism; 51. Tail wing body; 52. Servo bracket; 53. Tail wing turning joint; 54. Second servo; 55. Eccentric connecting rod; 56. Turning operating rod; 57. Tail wing membrane. Detailed implementation manners

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0031] Please refer to Figures 1 - 7 , the present invention discloses a bionic flapping wing UAV for material delivery, including a UAV body 1, which includes a first front bracket 11, a second front bracket 12, a rear bracket 13 and a main shaft 14. A material delivery mechanism 2, which is arranged on the main shaft 14 and is used for storing and delivering materials. A flapping wing mechanism 3, which is arranged on both sides of the first front bracket 11 and the second front bracket 12 and is used for imitating the flapping of wings to achieve flight. A deceleration mechanism 4, which is arranged on the main shaft 14 and between the first front bracket 11 and the second front bracket 12 and is used for driving the flapping wing mechanism 3. A steering mechanism 5, which is arranged at the bottom and one end of the main shaft 14 and is used for controlling the flight direction of the UAV body 1. In addition, an Arduino single-chip microcomputer for controlling the first servo 23, the second servo 54 and the driving motor 46 is arranged on the UAV body 1. The Arduino single-chip microcomputer internally integrates a 4G communication module and a GPS positioning module. A plurality of ultrasonic ranging modules and cameras controlled by the Arduino single-chip microcomputer are also arranged on the UAV body 1.

[0032] Such as Figure 1 , Figure 3As shown, the material delivery mechanism 2 includes a cage 21, an end cover 22 arranged at the delivery port of the cage 21, and a steering gear 23 arranged on one side of the cage 21. The steering gear 23 is used to drive the end cover 22 to open and close the delivery port. The cage 21 is a barrel-shaped storage bin with a rectangular hole.

[0033] like Figure 2 As shown, the front bracket 1 11 , the front bracket 2 12 and the rear bracket 13 are provided with at least one fixing rod 15 inside, and the main shaft 14 runs through the front bracket 1 11 , the front bracket 2 12 and the rear bracket 13 , and cooperates with the fixing rod 15 to stabilize the drone body 1 .

[0034] like Figure 2 , Figure 6 As shown, the flapping mechanism 3 includes two major parts, the inner wing and the outer wing. Specifically, the inner wing includes a main inner wing bracket 31 and a secondary inner wing bracket 32 ​​arranged up and down, and the middle part of the main inner wing bracket 31 is biased toward the main shaft 14 and is connected to the fixed rod 15 between the front bracket 11 and the front bracket 2 12, so that the main inner wing bracket 31 and the secondary inner wing bracket 32 ​​perform a periodic up and down swinging motion of a certain amplitude when pulled by the curved rod 491. The outer wing includes an outer wing bracket 33, and one end of the outer wing bracket 33 is connected to one end of the main inner wing bracket 31 and the secondary inner wing bracket 32 ​​through a connecting piece 1 34, a connecting piece 2 35 and a connecting piece 3 36. The connecting piece 1 34, the connecting piece 2 35 and the connecting piece 3 36 are combined to form a triangle, and the stability of the triangle is utilized to ensure that the flapping mechanism 3 will not get stuck. In addition, an inner wing support rod 37 is movably provided on one side of the connecting piece 2 35, and the other end of the inner wing support rod 37 is connected to the fixing rod 15 on one side of the rear bracket 13. The wing membrane 38 is bonded to the outer wing bracket 33, the main inner wing bracket 31 and the inner wing support rod 37. The flapping action of the wing is completed through the cooperation of the main inner wing bracket 31, the auxiliary inner wing bracket 32 ​​and the outer wing bracket 33. The entire wing membrane 38 is bonded to the main inner wing bracket 31, the inner wing support rod 37 and the outer wing bracket 33 to ensure that there is a sufficiently large air force area during flight. One end of the inner wing support rod 37 is connected to the fixing rod 15, and the other end is connected to the connecting piece 2 35, so that the entire wing membrane 38 will not have bulges and depressions during flight.

[0035] like Figure 4 , Figure 5 As shown, the deceleration mechanism 4 includes a driving gear 41, a driven gear 42 transmission-connected to the driving gear 41, a pinion 43 arranged on one side of the driven gear 42, a driven gear 44 meshing with the pinion 43, and a driving gear 45 arranged on one side of the driven gear 44. A driving motor 46 transmission-connected to the driving gear 41 is arranged at one side of the front bracket 12.

[0036] like Figure 5 , Figure 7 As shown, the reduction mechanism 4 also includes a symmetrically arranged large gear 1 47 and a large gear 2 48, the large gear 1 47 is transmission-connected with the driving gear 2 45 and the large gear 1 47, a crank 49 is arranged on one side of the large gear 1 47 and the large gear 2 48, and a crank 49 is movably arranged on one end of the crank 49, and the two cranks 491 are respectively connected to the main inner wing bracket 31 and the auxiliary inner wing bracket 32 ​​in the two flapping-wing mechanisms 3, and the two flapping-wing mechanisms 3 are symmetrically arranged, and the driving motor 46 is started to drive the driving gear 1 41 to rotate, and the driving gear 1 41 drives the driven gear 1 42, the small gear 43, the driven gear 2 44, the driving gear 2 45, the large gear 1 47 and the large gear 2 48 in turn, and finally drives the crank 491 to swing back and forth up and down to drive the entire flapping-wing mechanism 3 to complete the flapping-wing action, and utilizes the characteristic of the three-stage reduction structure that can output large torque, so that the flapping-wing mechanism 3 can overcome the resistance brought by the air, so as to meet the power required for the entire bionic flapping-wing UAV to fly.

[0037] like Figure 6 , Figure 7 As shown, the steering mechanism 5 includes a tail body 51 and a steering gear bracket 52 arranged on one side of the rear bracket 13. The tail body 51 is arranged at the end of the main shaft 14 through a tail turning joint 53. The tail body 51 is covered with a tail film 57 to ensure that the tail body 51 has a sufficiently large air force area when flying. The top of the steering gear bracket 52 is provided with two steering gears 54 located on both sides of the main shaft 14 respectively. The output end of the steering gear 54 is provided with a turning operating rod 56 through an eccentric connecting rod 55. The eccentric connecting rod 55 has the same principle as the crank 49 and the crank rod 491. When the steering gear 54 rotates, it pulls the turning operating rod 56 to move forward and backward. The change of the turning operating rod 56 causes the tail body 51 to swing left and right, resulting in unequal air pressure differences on the left and right sides of the tail body 51, and finally realizes the steering operation during flight.

[0038] The principle of the utility model is: the operator sends a signal remotely, and the Arduino single-chip microcomputer controls the steering gear 23 on one side of the cage 21 to rotate and open the end cover 22 connected to the steering gear 23, and the operator puts the materials into the cage 21, and then remotely operates to close the end cover 22; then the operator remotely inputs the material delivery location, and the 4G communication system obtains real-time air traffic information, weather conditions, etc. according to the material delivery location, so as to plan an optimal route.

[0039] Meanwhile, the Arduino single-chip microcomputer controls the driving motor 46 to start. The driving motor 46 drives the entire reduction mechanism 4 to work. The driving motor 46 drives the large gear 47 and the large gear 48 to rotate through the driving gear 41. The large gear 47 and the large gear 48 respectively drive the two cranks 49 to rotate, thereby driving the curved rod 491 to swing up and down reciprocally. The main inner wing bracket 31 and the auxiliary inner wing bracket 32 connected by the curved rod 491 simultaneously perform up and down reciprocating swing movements, thereby completing the flapping wing action, and further realizing the flight of the bionic flapping wing unmanned aerial vehicle. During the flight, the bionic flapping wing unmanned aerial vehicle uses a camera and ultrasonic ranging to determine the current position and detect obstacles. When encountering obstacles or when special circumstances require avoidance, the Arduino single-chip microcomputer controls the servo motor 54 to drive the eccentric connecting rod 55 to rotate. When the eccentric connecting rod 55 rotates, it pulls the turning operating rod 56 to move back and forth, causing the tail wing turning joint 53 to drive the tail wing main body 51 to deflect left and right, so that the left and right pressures on the tail wing main body 51 are unequal, and finally realizing left and right turning. When reaching the material dropping location, the camera explores the surrounding environment to find a suitable location for dropping materials. Finally, under the control of the Arduino single-chip microcomputer, the servo motor 23 drives the end cover 22 to rotate, and finally realizes the fixed-point dropping of materials.

[0040] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A material delivery bionic flapping wing drone, characterized in that: include: A drone body (1), comprising a front bracket 1 (11), a front bracket 2 (12), a rear bracket (13) and a main shaft (14); A material delivery mechanism (2), which is arranged on the main shaft (14) and is used for storing and delivering materials; A flapping mechanism (3) is arranged on both sides of the front bracket one (11) and the front bracket two (12) and is used to imitate the flapping of wings to achieve flight; A speed reduction mechanism (4), which is arranged on the main shaft (14) and located between the front bracket one (11) and the front bracket two (12), and is used to drive the flapping-wing mechanism (3); A steering mechanism (5), which is arranged at the bottom and one end of the main shaft (14) and is used to control the flight direction of the drone body (1); The material delivery mechanism (2) comprises a cage (21), an end cover (22) arranged at a delivery opening of the cage (21), and a steering gear (23) arranged at one side of the cage (21), wherein the steering gear (23) is used to drive the end cover (22) to open and close the delivery opening.

2. The material delivery bionic flapping wing drone according to claim 1, characterized in that: The front bracket one (11), the front bracket two (12) and the rear bracket (13) are provided with at least one fixing rod (15) passing through their interiors.

3. The material delivery bionic flapping wing drone according to claim 1, characterized in that: The flapping wing mechanism (3) comprises an inner wing and an outer wing, the inner wing comprising a main inner wing bracket (31) and a secondary inner wing bracket (32) arranged vertically, the middle portion of the main inner wing bracket (31) being positioned towards the main axis (14) and being sleeved with a fixing rod (15) between the first front bracket (11) and the second front bracket (12).

4. The material delivery bionic flapping-wing UAV according to claim 3, characterized in that: The outer wing comprises an outer wing bracket (33), one end of the outer wing bracket (33) being connected to one end of a main inner wing bracket (31) and a secondary inner wing bracket (32) via a connecting piece 1 (34), a connecting piece 2 (35) and a connecting piece 3 (36), wherein the connecting piece 1 (34), the connecting piece 2 (35) and the connecting piece 3 (36) are combined to form a triangle.

5. The material delivery bionic flapping wing drone according to claim 4, characterized in that: An inner wing support rod (37) is movably provided on one side of the second connecting member (35), and the other end of the inner wing support rod (37) is connected to a fixing rod (15) on one side of the rear bracket (13). A wing membrane (38) is bonded to the outer wing bracket (33), the main inner wing bracket (31) and the inner wing support rod (37).

6. The material delivery bionic flapping-wing UAV according to claim 1, characterized in that: The speed reduction mechanism (4) comprises a driving gear 1 (41), a driven gear 1 (42) drivingly connected to the driving gear 1 (41), a pinion gear (43) arranged on one side of the driven gear 1 (42), a driven gear 2 (44) meshing with the pinion gear (43), and a driving gear 2 (45) arranged on one side of the driven gear 2 (44). A driving motor (46) having an output end 1 drivingly connected to the driving gear 1 (41) is arranged on one side of the front bracket 2 (12).

7. The material delivery bionic flapping-wing UAV according to claim 6, characterized in that: The speed reduction mechanism (4) further comprises a large gear 1 (47) and a large gear 2 (48) which are symmetrically arranged, the large gear 1 (47) being transmission-connected to the driving gear 2 (45) and the large gear 1 (47), a crank (49) being arranged on one side of the large gear 1 (47) and the large gear 2 (48), a crank rod (491) being movably arranged on one end of the crank rod (49), the two crank rods (491) being respectively connected to the main inner wing bracket (31) and the auxiliary inner wing bracket (32) in the two flapping wing mechanisms (3), and the two flapping wing mechanisms (3) being symmetrically arranged.

8. The material delivery bionic flapping-wing UAV according to claim 1, characterized in that: The steering mechanism (5) comprises a tail body (51) and a steering gear bracket (52) arranged on one side of the rear bracket (13); the tail body (51) is arranged at the end of the main shaft (14) via a tail turning joint (53); and the tail body (51) is covered with a tail membrane (57).

9. The material delivery bionic flapping-wing UAV according to claim 8, characterized in that: The top of the steering gear bracket (52) is provided with two steering gears (54) respectively located on both sides of the main shaft (14); the output end of the steering gear (54) is provided with a turning operating rod (56) via an eccentric connecting rod (55); the other ends of the two turning operating rods (56) are respectively movably connected to the two ends of the tail turning joint (53).

Images