Transmission mechanism of eagle-flapping-wing-imitating robot

Abstract

The utility model discloses a transmission mechanism of an eagle-imitated flapping-wing robot, and relates to the technical field of flapping-wing mechanisms. The device specifically comprises an assembly plate and flapping wing mechanisms symmetrically arranged on the two sides of the assembly plate, each flapping wing mechanism comprises a main rod, a connecting rod and an auxiliary rod, one end of each main rod rotates relative to the assembly plate, and one end of each connecting rod is connected with the assembly plate and is parallel to the corresponding main rod; the auxiliary rod is rotationally connected to one ends of the main rod and the connecting rod away from the assembly plate; the connecting rods and the auxiliary rods swing back and forth relative to the assembling plate so as to drive the auxiliary rods on the two sides of the assembling plate to be unfolded or folded synchronously. When the main rod and the connecting rod synchronously swing, the auxiliary rod can be automatically driven to be unfolded and folded, so that vertical flapping movement of the main wing and the auxiliary wing of the eagle-flapping-wing-imitating robot is achieved, and the gravity centers of the two sides of the assembly plate are distributed more evenly due to the highly symmetrical arrangement on the assembly plate. The maneuverability between the main wing and the aileron of the flapping-wing robot is improved, the system structure is simplified, and the complexity is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to flapping wing mechanism technical field, especially a transmission mechanism of eagle imitating flapping wing robot. BACKGROUND

[0002] The design of eagle imitating flapping wing robot is usually based on the research on the flight characteristics of eagle, and the flapping wing mechanism generally adopts two-section wing type design, including main wing and aileron. The main wing is close to the body of the bionic eagle, and the aileron is away from the body. This design needs to meet the requirements of the up-down flapping movement of the wing, the outward expansion of the main wing and aileron in the downstroke, and the folding of the main wing and aileron in the upstroke.

[0003] In the prior art, in order to realize the highly symmetrical flapping action during the design of the flapping wing robot, transmission gears are arranged at both ends of the body, and the final main wing flapping is driven through the transmission between multiple gears to realize the flight action. However, in use, a separate steering structure needs to be used between the main wing and the aileron, such as a rudder machine. The rudder machine itself has a certain weight, and when it is installed at the free end of the main wing, it will cause uneven weight distribution of the entire wing surface, affecting the flight efficiency and maneuverability, increasing the weight of the free end of the main wing, and also increasing the angle adjustment between the main wing and the aileron, which will increase the complexity of the system, meaning that the precise control of the rudder machine is the key to realizing the coordinated movement of the main wing and the aileron.

[0004] Therefore, the present application solves the problem of maneuverability between the main wing and the aileron of the flapping wing robot, and also reduces the system complexity between the main wing and the aileron. CONTENT OF THE UTILITY MODEL

[0005] The main purpose of the utility model is to provide a transmission mechanism of eagle imitating flapping wing robot, which aims to improve the maneuverability between the main wing and the aileron of the flapping wing robot, and also reduce the system complexity between the main wing and the aileron.

[0006] In order to achieve the above purpose, the utility model provides a transmission mechanism of eagle imitating flapping wing robot, which comprises:

[0007] an assembly plate; and

[0008] a flapping wing mechanism symmetrically arranged at both sides of the assembly plate, the flapping wing mechanism comprising:

[0009] a main rod rotatably connected to one end of the assembly plate;

[0010] a connecting rod connected to one end of the assembly plate, the connecting rod being arranged in parallel with the main rod; and an auxiliary rod rotatably connected to one end of the main rod and the connecting rod away from the assembly plate;

[0011] The connecting rod and the auxiliary rod swing relative to the assembling plate to drive the auxiliary rods on both sides of the assembling plate to expand or fold synchronously.

[0012] Further, the drive assembly is installed on one side of the assembling plate to drive the main rod or the connecting rod to rotate, so as to drive the auxiliary rod to expand or fold.

[0013] Further, the transmission structure is installed on one side of the assembling plate to drive the main rod to rotate.

[0014] Further, the transmission structure comprises a swing piece symmetrically and rotatably connected to the assembling plate and a connecting part provided on the swing piece and close to one end of the main rod, and the connecting part is connected to the main rod.

[0015] Further, the connecting part is detachably connected to the main rod.

[0016] Further, the swing pieces on the opposite sides are engaged with each other.

[0017] Further, the swing pieces and the connecting part are integrally formed.

[0018] Further, the output end of the drive assembly drives the swing piece on one side of the assembling plate to swing.

[0019] Further, the transmission structure further comprises a crank rotatably provided on the assembling plate, one end of the crank away from the rotation center of the crank is rotatably connected with a transmission rod, and the other end of the transmission rod is rotatably connected to the swing piece away from the rotation shaft of the swing piece.

[0020] Further, the drive assembly at least comprises a motor, and the output end of the motor is fixed to the crank.

[0021] The above technical scheme has the following advantages:

[0022] The main rod and the connecting rod are rotatably connected to the assembling plate, and when the main rod and the connecting rod swing synchronously, the auxiliary rod can be automatically driven to expand and fold, so that the up-and-down flapping movement of the main wing and the auxiliary wing of the eagle-imitating flapping-wing robot is realized. BRIEF DESCRIPTION OF DRAWINGS

[0023] The utility model will be explained in detail below in combination with specific embodiments and drawings, in which:

[0024] Figure 1 It is the first view angle structure schematic view of the utility model;

[0025] Figure 2 It is the second view angle structure schematic view of the utility model;

[0026] Figure 3 It is the structure schematic view of the transmission structure of the utility model;

[0027] Figure 4 It is the explosion structure view of the transmission structure of the utility model.

[0028] In the drawing: 1, drive assembly; 2, assembly plate; 3, transmission structure; 31, crank; 32, transmission rod; 33, swing piece; 34, connecting portion; 4, flapping wing mechanism; 41, main rod; 42, connecting rod; 43, auxiliary rod. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the utility model more clear, the utility model is explained in detail below in combination with the drawings and examples.It should be understood that the following specific examples are only used to explain the utility model and do not limit the utility model.

[0030] As Figure 1 and Figure 2 shown, a transmission mechanism of an eagle-imitating flapping wing robot includes an assembly plate 2 and flapping wing mechanisms 4 symmetrically arranged on both sides of the assembly plate 2, the flapping wing mechanism 4 includes a main rod 41, a connecting rod 42 and an auxiliary rod 43, one end of the main rod 41 is rotatably connected to the assembly plate 2, one end of the connecting rod 42 is connected to the assembly plate 2 and is arranged in parallel with the main rod 41; the auxiliary rod 43 is rotatably connected to the ends of the main rod 41 and the connecting rod 42 away from the assembly plate 2; wherein the connecting rod 42 and the auxiliary rod 43 swing back and forth relative to the assembly plate 2 to drive the auxiliary rods 43 on both sides of the assembly plate 2 to expand or fold synchronously. The main rods 41 are symmetrically arranged on both sides of the assembly plate 2, and the number thereof can be adjusted as required, for example, two groups or three groups of main rods 41 are arranged on each side of the assembly plate 2, and correspondingly, the connecting rods 42 are arranged according to the number of groups of main rods 41 to achieve multiple groups of common flapping movements. In the present application, one group of main rods 41 is preferred. The connecting rod 42 is parallel to the main rod 41 and together forms a parallel movement pair, so that when the main rod 41 and the connecting rod 42 rotate together, the auxiliary rod 43 at the end thereof expands or folds, thereby realizing the flapping action of the flapping wing robot without using the original rudder motor drive, so as to avoid the different installation positions of the rudder motor, causing uneven stress on both sides of the flapping wing mechanism 4 and the assembly plate 2, affecting the overall structural stability, and the rudder motor also increases the driving complexity, requiring debugging programs and parameters, greatly improving the system difficulty of design.

[0031] Specifically, the driving assembly 1 is arranged on one side of the assembly plate 2, and is used to drive the main rod 41 or the connecting rod 42 to rotate, so as to drive the auxiliary rod 43 to unfold or fold. The driving assembly 1 comprises a motor, a circuit board and a battery. The battery supplies power for the motor and the circuit board. The circuit board adjusts the rotating speed of the motor. The output shaft of the motor can drive the main rod 41 to swing or drive the connecting rod 42 to swing, that is, the main rod 41 and the connecting rod 42 can swing synchronously, and the auxiliary rod 43 can be driven to realize the unfolding and folding beating action. In the present application, the motor is preferably used to drive the main rod 41 to swing.

[0032] As shown in Figure 1 and Figure 2 , as an embodiment of the present application, the shell of the motor is fixed to the assembly plate 2, the output shaft of the motor penetrates the assembly plate 2 and is insertedly fixed to the end of the main rod 41, so that the rotation of the output shaft of the motor can drive the main rod 41 to rotate. The circuit board adjusts the rotating angle range of the motor, so as to adjust the swing range of the main rod 41. The corresponding motor is arranged on the main rod 41 arranged symmetrically. The synchronous swing of the main rod 41 on both sides can be realized by adjusting and controlling the motor, and the beating operation can be realized.

[0033] As shown in Figures 2 to 4 , as an embodiment of the present application, the present application further comprises a transmission structure 3 arranged on one side of the assembly plate 2 and used to drive the main rod 41 to rotate. The output end of the motor is transmitted to the main rod 41 through the transmission structure 3, so as to drive the main rod 41 to rotate. The transmission structure 3 can adopt gear set transmission. Specifically,

[0034] As shown in Figure 3 and Figure 4 , the transmission structure 3 comprises a swing piece 33 arranged symmetrically and rotatably connected to the assembly plate 2 and a connecting part 34 arranged on one end of the swing piece 33 close to the main rod 41. The connecting part 34 is connected to the main rod 41. The swing piece 33 is a rotating disc rotatably connected to the assembly plate 2. The rotating disc is driven by the output shaft of the motor, so as to drive the swing piece 33 to swing. The swing of the swing piece 33 can drive the connecting part 34 to swing, so as to drive the main rod 41 to swing through the connecting part 34. Since the swing piece 33 is arranged on both sides of the assembly plate 2, two motors are arranged on the assembly plate 2. The two motors are used to drive the rotating discs of the swing pieces 33 to swing, so as to drive the main rod 41 to swing. In addition, the swing piece 33 can also be driven by a driven gear. That is, the output shaft of the assembly plate 2 is provided with a driving gear meshing with the swing piece 33. The driving gear and the driven gear are meshed with each other to realize the swing. The connecting part 34 is fixed to one side of the swing piece 33 by a latch, or the connecting part 34 is integrally formed on one side of the swing piece 33. When the swing piece 33 swings, the connecting part 34 swings back and forth, so as to drive the main rod 41 to swing.

[0035] AsFigure 3 and Figure 4 As shown in FIG. 34, as an embodiment of the present application, the connecting part 34 is detachably connected with the main rod 41, which can be connected by insertion, riveting or screwing, so as to improve the structural strength of the main rod 41 and the auxiliary rod 43, and facilitate the replacement of the main rod 41 for maintenance.

[0036] As shown in FIG. 34, as an embodiment of the present application, the connecting part 34 is detachably connected with the main rod 41, which can be connected by insertion, riveting or screwing, so as to improve the structural strength of the main rod 41 and the auxiliary rod 43, and facilitate the replacement of the main rod 41 for maintenance. Figure 2 and Figure 3 As shown in FIG. 34, as an embodiment of the present application, the connecting part 34 is detachably connected with the main rod 41, which can be connected by insertion, riveting or screwing, so as to improve the structural strength of the main rod 41 and the auxiliary rod 43, and facilitate the replacement of the main rod 41 for maintenance.

[0037] As shown in FIG. 34, as an embodiment of the present application, the connecting part 34 is detachably connected with the main rod 41, which can be connected by insertion, riveting or screwing, so as to improve the structural strength of the main rod 41 and the auxiliary rod 43, and facilitate the replacement of the main rod 41 for maintenance. Figure 3 and Figure 4 As shown in FIG. 34, as an embodiment of the present application, the connecting part 34 is detachably connected with the main rod 41, which can be connected by insertion, riveting or screwing, so as to improve the structural strength of the main rod 41 and the auxiliary rod 43, and facilitate the replacement of the main rod 41 for maintenance.

[0038] As shown in FIG. 34, as an embodiment of the present application, the connecting part 34 is detachably connected with the main rod 41, which can be connected by insertion, riveting or screwing, so as to improve the structural strength of the main rod 41 and the auxiliary rod 43, and facilitate the replacement of the main rod 41 for maintenance.

[0039] The above merely describes preferred embodiments of the present application, and is not intended to limit the patent scope of the present application, and any equivalent structural transformation or direct / indirect application in other related technical fields under the inventive concept of the present application, as described in the present application specification and drawings, is included in the patent protection scope of the present application.

Claims

1. A transmission mechanism of an eagle-like hoverbot, characterized by, The utility model relates to a wing mechanism, comprising: an assembly plate (2); and wing mechanisms (4) symmetrically arranged on both sides of the assembly plate (2), the wing mechanisms (4) comprising: a main rod (41) rotatably connected to the assembly plate (2) at one end; a connecting rod (42) connected to the assembly plate (2) at one end, the connecting rod (42) being arranged in parallel with the main rod (41); and a sub-rod (43) rotatably connected to the main rod (41) and the connecting rod (42) at an end away from the assembly plate (2); wherein the connecting rod (42) and the sub-rod (43) swing back and forth relative to the assembly plate (2) to drive the sub-rod (43) on both sides of the assembly plate (2) to unfold or fold synchronously.

2. The transmission mechanism of the eagle-pouncing flapping-wing robot according to claim 1, wherein, The utility model further comprises a drive assembly (1) mounted on one side of the assembly plate (2), the drive assembly (1) being used to drive the main rod (41) or the connecting rod (42) to rotate to drive the sub-rod (43) to unfold or fold.

3. The transmission mechanism of the eagle-pouncing flapping-wing robot according to claim 2, wherein, The utility model further comprises a transmission structure (3) mounted on one side of the assembly plate (2) to drive the main rod (41) to rotate.

4. The transmission mechanism of the eagle-pouncing flapping-wing robot according to claim 3, wherein, The transmission structure (3) comprises a swing piece (33) symmetrically and rotatably connected to the assembly plate (2) and a connecting part (34) arranged on the swing piece (33) close to one end of the main rod (41), the connecting part (34) being connected to the main rod (41).

5. The transmission mechanism of the eagle-pouncing flapping-wing robot according to claim 4, wherein, The connecting part (34) is detachably connected to the main rod (41).

6. The transmission mechanism of the eagle-pouncing flapping-wing robot according to claim 4, wherein, Opposite sides of the swing piece (33) are engaged in transmission.

7. The transmission mechanism of the eagle-pouncing flapping-wing robot according to claim 4, wherein, The swing piece (33) and the connecting part (34) are integrally formed.

8. The transmission mechanism of the eagle-pouncing flapping-wing robot according to claim 6, wherein, An output end of the drive assembly (1) drives the swing piece (33) on one side of the assembly plate (2) to swing.

9. The transmission mechanism of the eagle-pouncing flapping-wing robot according to claim 4 or 6, wherein, The transmission structure (3) further comprises a crank (31) rotatably arranged on the assembly plate (2), one end of the crank (31) away from a rotation center thereof being rotatably connected to a transmission rod (32), the other end of the transmission rod (32) being rotatably connected to a part of the swing piece (33) away from a rotation shaft thereof.

10. The transmission mechanism of the eagle-pouncing flapping-wing robot according to claim 9, wherein, The drive assembly (1) at least comprises a motor, an output end of the motor being fixed to the crank (31).

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