bat-inspired unmanned aerial vehicle

Abstract

The utility model belongs to the field of unmanned plane, disclose bat -imitating type unmanned plane, including the organism, and extend along the vertical direction, and the organism is according to its thickness direction respectively as organism front side and organism rear side, the organism front side is installed with tertiary gear drive group, and the organism rear side is fixedly installed with two fixed columns, and two fixed columns extend in the direction of organism front side to organism rear side parallelly, the organism rear side is installed with gear set and cam type piston structure, gear set and tertiary gear drive group linkage, gear set and cam type piston structure linkage, every fixed column is rotatably installed with rotating column through crank rocker mechanism, and every crank rocker mechanism is linked with tertiary gear drive group, and rotating column is installed with airfoil. Because the utility model in the modification here tertiary gear meshing drive group in gear modulus and the change of flapping angle is realized to the motion frequency and amplitude optimization of flapping wing unmanned plane through the modification connecting rod mechanism.

Description

Technical Field

[0001] This utility model belongs to the field of unmanned aerial vehicles (UAVs), specifically relating to a bat-inspired UAV. Background Technology

[0002] Drones are a general term for unmanned aerial vehicles, also known as "aerial robots." They can be divided into various types according to their flight platform structure, including flapping-wing drones.

[0003] However, with the rapid development of technology, the technical requirements for flapping-wing drones are increasing. Traditional flapping-wing drones, such as the single-motor flapping-wing flying robot spatial structure disclosed in announcement number CN103224025A, imitate the flapping motion of a bat on one hand and the contraction of its wings on the other. It uses a single motor to realize the flapping-wing flight of a bat-like aircraft. Compared with other bat-like flying robots, it has the characteristics of light weight and high maneuverability. Specifically, a DC motor drives a crank to make circular motion, and a connecting rod drives a pin to move up and down in a vertical plane. The pin is restricted in a guide plate and can only move up and down along the groove in the guide plate. The pin is connected to an elastic connecting rod. When the pin moves up and down along the guide groove, it drives the elastic connecting rod to reciprocate. The elastic connecting rod drives the double-wing flapping mechanism to reciprocate around the wing rotation axis to realize the flapping motion of the wings. The cam and crank rotate simultaneously under the drive of the DC motor, and the two have the same rotation frequency and a fixed phase difference. When the cam rotates, it drives the cam push rod to move up and down reciprocally. The cam push rod and the wing extension mechanism are connected by a steel wire. When the cam push rod moves downward, the steel wire pulls the deployable wing mechanism to retract. When the cam push rod moves upward, the deployable wing mechanism extends under the action of the spring. The retraction and extension of the wings can be achieved through this mechanism.

[0004] However, this kind of up-and-down flapping mechanism controlled by a simple crank has the following drawbacks: due to the overly simple design of this simple crank mechanism, the movement of the drone is too monotonous, the movement frequency and amplitude are difficult to optimize, and the planar flapping mechanism increases air resistance.

[0005] In addition, the reciprocating extension and retraction motion of this type of wing also has defects. The addition of a spring at the tail of the cam mechanism to control its reciprocating extension and retraction, and the integrated control of the extension and retraction of the wing will result in a limited extension range; moreover, the instability of the center of gravity caused by this cam mechanism cannot be ignored, and the nose will sway from side to side during flight. Utility Model Content

[0006] To address the shortcomings of existing technologies, this utility model provides a bat-like drone, which aims to optimize the drone's up-and-down flapping motion and the reciprocating extension and retraction motion of its wings by employing a three-stage meshing transmission with a piston assembly and a new spring connection method.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A bat-shaped unmanned aerial vehicle (UAV) includes a body extending vertically, with the body's thickness serving as the front and rear sides. A three-stage gear transmission assembly is mounted on the front side of the body. Two fixing posts are fixedly installed on the rear side of the machine body, and the two fixing posts extend parallel to the front side of the machine body toward the rear side of the machine body. A gear set and a cam-type piston structure are installed on the rear side of the machine body. The gear set is linked to a three-stage gear transmission group, and the gear set is also linked to the cam-type piston structure. Each of the fixed columns is rotatably mounted with a rotating column via a crank-rocker mechanism, and each of the crank-rocker mechanisms is linked to the three-stage gear transmission group. An wing is mounted on the rotating column, and the cam-type piston structure is connected to the wing via a cable. The cam-type piston structure converts the rotational motion of the cam into the extension and retraction motion of the piston, thereby pulling / releasing the cable to cause the wing to retract / open relative to the fuselage.

[0008] Preferably, the three-stage gear transmission group includes a lower external gear, a lower right external gear, a right external gear, and a left external gear, all rotatably mounted on the front side of the machine body. The lower external gear meshes with the lower right external gear, the right external gear meshes with the lower right external gear, and the left external gear meshes with the right external gear. The tip circle diameter of the lower external gear is equal to that of the lower right external gear; the tip circle diameter of the left external gear is equal to that of the right external gear, and the transmission ratio between the tip circle diameter of the left external gear and the tip circle diameter of the lower external gear is 2-3. The left external gear is linked with the gear set on the rear side of the machine body.

[0009] Preferably, the gear set includes, The left internal gear is coaxially mounted with the left external gear and is located at the rear of the machine body; The central internal gear is rotatably mounted on the rear side of the machine body and meshes with the left internal gear. The cam-type piston structure is installed at the end of the central internal gear, so that the rotation of the left internal gear drives the rotation of the central internal gear, thereby driving the cam on the cam-type piston structure to rotate, and then driving the piston on the cam-type piston structure to move.

[0010] Preferably, the cam-type piston structure includes, A cam is fixedly mounted on the end of the central internal gear and is coaxial with the central internal gear; A piston sleeve, which is fixedly mounted on the machine body and extends vertically upward. A piston, one end of which is inserted into a piston sleeve, and the other end extends vertically and corresponds to the cam; The rotation of the left internal gear drives the rotation of the central internal gear, which in turn drives the cam to rotate. The cam has a raised part, and when the cam rotates, the raised part abuts against the piston, causing the piston to move in the vertical direction.

[0011] Preferably, the wing is a five-bar linkage structure, with one end of its cable connected to the five-bar linkage structure and the other end connected to the piston.

[0012] Preferably, the five-bar linkage structure includes, The first connecting rod has one end hinged to one end of the rotating column; The second link has one end hinged to the other end of the rotating column; The third link has one end hinged to the first link; the second link is hinged to the side wall of the third link. The fourth link has one end hinged to the second link; The tail fin has one end hinged to the fourth link and another end near the end of the third link. The hinge point between the first connecting rod and the rotating column is designated as hinge point A, and the hinge point between the fourth connecting rod and the second connecting rod is designated as hinge point B. A compression spring is installed between hinge point A and hinge point B. The other end of the cable is connected to the hinge B, and the cable is always taut at the hinge B and on the piston. When the cam moves, the distance between the two annular holes between the piston and the piston sleeve increases. Since the cable length is constant, the distance between the annular holes on the hinge B and the piston sleeve will shorten. When the piston presses down, the wings retract due to the pull of the cables connected to the wings at both ends.

[0013] Preferably, the piston sleeve has a first circular hole, the piston has a second sleeve, and the cable passes through the first arc and is wound around the second circular hole; the cable is always in a taut state; when the cam moves, the distance between the first and second circular holes increases because the length of the cable is constant, so the distance between the hinge B and the first circular hole will shorten, and when the piston moves downward, the wings retract under the action of the cables connected to the wings at both ends.

[0014] Preferably, the crank-rocker mechanism includes, Linkage No. 1 is rotatably mounted on the right external gear; Link No. 2, one end of which is rotatably connected to the end of Link No. 1; A balance link, one end of which is rotatably connected to the end of the second link; Link No. 3 is rotatably connected at one end to the end of Link No. 1. The motion observation rod has one end rotatably connected to the end of the third connecting rod, and the first connecting rod, the second connecting rod, the balance connecting rod, the third connecting rod and the motion observation rod are all located on the front side of the machine body; The balance link and motion observation rod are detachably and rotatably mounted on the rotating column; and the motion angle of the balance link is the same as the motion angle of the wing.

[0015] Preferably, the balance link is connected to the rotating column via a pin.

[0016] Preferably, the body and the three-stage gear transmission assembly are made of high-strength steel, and the cam-type piston structure is made of polymer material.

[0017] Compared with the prior art, the beneficial effects of this utility model are: 1. Because the flapping angle is changed by modifying the gear module in the three-stage gear meshing transmission group and modifying the linkage mechanism in this utility model, the movement frequency and amplitude of the flapping-wing UAV are optimized.

[0018] 2. Because this invention controls the extension and retraction of the wings by changing the size of the cam, it indirectly makes the overall movement more adaptable to the airflow environment, reduces the frontal area, thereby reducing the problem of increased air resistance caused by the planar flapping structure and improving the lift efficiency during wing flapping.

[0019] 3. Because the center of gravity of the drone's head is controlled by selecting materials in this utility model, the instability of the cam-type piston structure to the drone during movement is reduced.

[0020] 4. Because this utility model achieves separate control of wing extension and retraction by changing the connection method of the compression spring and using the contraction of the compression spring to control the extension structure of the wing. Attached Figure Description

[0021] Figure 1 This is a three-dimensional schematic diagram of the present invention; Figure 2 This is a front view of the present invention; Figure 3 This is a perspective view of the present invention from the front side of the body; Figure 4 This is a perspective view of the present invention from the rear side of the body; Figure 5 This is a rear view of the present invention; Figure 6 This is a perspective view of the present invention from another angle; Figure 7This is a top view of the present invention; In the diagram: 1. Body; 2. Lower external gear; 3. Lower right external gear; 4. Right external gear; 5. Left external gear; 6. Balance link; 7. Motion observation rod; 8. Link 3; 9. Link 1; 10. Link 2; 11. Central internal gear; 12. Left internal gear; 13. Cam; 14. Piston; 15. Piston sleeve; 16. Rotating column; 17. Fixed column; 18. First link; 19. Third link; 20. Second link; 21. Fourth link; 22. Tail fin; 23. Compression spring; 24. Cable; 25. Motor; 26. First circular hole; 27. Second circular hole; 28. Roller; 29. ​​Camera. Detailed Implementation

[0022] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the following embodiments are described in detail with reference to the accompanying drawings. It should be noted that the description of these embodiments is for the purpose of helping to understand this utility model, but does not constitute a limitation on this utility model.

[0023] like Figure 1-7 As shown, a bat-shaped unmanned aerial vehicle (UAV) includes a body 1 extending vertically. The body has a front side and a rear side, defined by its thickness. A three-stage gear transmission assembly is mounted on the front side of the body. Specifically, the three-stage gear transmission assembly includes a lower external gear 2, a lower right external gear 3, a right external gear 4, and a left external gear 5, all rotatably mounted on the front side of the body. The lower external gear 2 meshes with the lower right external gear 3, the right external gear 4 meshes with the lower right external gear 3, and the left external gear 5 meshes with the lower right external gear 5. Gear 4 meshes with each other, and the tip circle diameter of the lower external gear 2 is equal to that of the lower right external gear 3; the tip circle diameter of the left external gear 5 is equal to that of the right external gear 4; the left external gear 5 is linked with the gear set on the rear side of the body; a motor 25 is also installed on the rear side of the body, the free end of the motor 25 is inserted into the body 1 and extends to the front side of the body, and the lower external gear 2 is sleeved on the free end of the motor 25 located on the front side of the body; the motor 25 serves as the power output part of the entire UAV; Two fixing posts 17 are fixedly installed on the rear side of the fuselage, and the two fixing posts 17 extend parallel to the front side of the fuselage toward the rear side of the fuselage. A gear set and a cam-type piston structure are installed on the rear side of the machine body. The gear set is linked with a three-stage gear transmission group and the cam-type piston structure. Specifically, the gear set includes a left internal gear 12, which is coaxially mounted with the left external gear 5 and located on the rear side of the machine body; a central internal gear 11, which is rotatably mounted on the rear side of the machine body and meshes with the left internal gear 12; the cam-type piston structure is installed at the end of the central internal gear 11, so that the rotation of the left internal gear 12 drives the rotation of the central internal gear 11, thereby driving the cam on the cam-type piston structure to rotate, and then driving the piston on the cam-type piston structure to move. The cam-type piston structure includes a cam 13, which is fixedly mounted on the end of the central internal gear 11 and coaxial with the central internal gear 11; a piston sleeve 15, which is fixedly mounted on the machine body 1 and extends upward in the vertical direction; and a piston 14, one end of which is inserted into the piston sleeve 15, and the other end extends vertically and corresponds to the cam 13. The rotation of the left internal gear 5 drives the rotation of the central internal gear 11, thereby driving the cam 13 to rotate. The cam 13 has a protruding portion. When the cam rotates, the protruding portion abuts against the piston 14, causing the piston 14 to move in the vertical direction. In addition, a roller 28 is rotatably mounted on the end of the piston 14. The roller 28 contacts the cam 13 so that the roller 28 rolls on the cam 13 as the cam 13 rotates. Each fixed column 17 is rotatably mounted with a rotating column 16 via a crank-rocker mechanism, and each crank-rocker mechanism is linked to a three-stage gear transmission group. An wing is mounted on the rotating column 16, and a cam-type piston structure is connected to the wing via a cable 24. The cam-type piston structure converts the cam rotational motion into piston extension and retraction motion, thereby pulling / releasing the cable 24 to cause the wing to retract / open relative to the fuselage.

[0024] Furthermore, the wing in this utility model is a five-link structure, with one end of the cable connected to the five-link structure and the other end connected to the piston 14; specifically, the five-link structure includes: a first link 18, one end of which is hinged to one end of a rotating column 16; a second link 20, one end of which is hinged to the other end of the rotating column 16; a third link 19, one end of which is hinged to the first link 18; the second link 20 is hinged to the side wall of the third link 19; a fourth link 21, one end of which is hinged to the second link 20; and a tail fin 22, one end of which is hinged to the fourth link 21, and the side of one end of which is hinged to the end of the third link 19; the first link 18 is hinged to the piston 14. The hinge point between connecting rod 18 and rotating column 16 is designated as hinge point A, and the hinge point between fourth connecting rod 21 and second connecting rod 20 is designated as hinge point B. A compression spring 23 is installed between hinge point A and hinge point B. When the piston presses down towards the piston sleeve, causing one end of cable 24 to move towards the sleeve and follow the piston's movement, the resulting tension on the wing causes it to retract. As a result, the distance between the compression springs 23 shortens, storing elastic potential energy. When the cam-type piston structure completes its downward movement and prepares to return to its original position, the elastic potential energy of the compression springs 23 is released, giving the second connecting rod 20 an outward elastic force, which drives the wing to extend outward. The other end of the cable 24 is connected to hinge B, and the cable 24 is always taut at hinge B and on piston 14. This is so that when cam 13 moves, the distance between the two annular holes between piston 14 and piston sleeve 15 increases. Since the length of cable 24 is constant, the distance between hinge B and the annular holes on piston sleeve 15 will shorten. When piston 14 moves downwards, the wings retract due to the pull of the cable 24 connected to the wings at both ends. Specifically, the cable 24 is wound around the connection between the second link 20 and the fourth link 21, and the cable 24 is passed through piston sleeve 15. The designed annular hole, through which the cable 24 passes, is also connected to the connecting annular hole on the piston 14, i.e., the cable 24 is connected to the second annular hole 27. The cable 24 is always taut. The connections on the left and right sides of the wing are exactly the same. When the cam 13 moves, the distance between the first annular hole 26 and the second annular hole 27 will increase. Since the length of the cable 24 is constant, the distance between the hinge point B and the first annular hole 26 will shorten. Thus, when the piston 14 moves downward, the wing retracts under the action of the cable 24 connected to the wings at both ends. At this time, the distance between hinge point B and the annular hole on piston sleeve 15 will increase. Under the action of elastic force, the distance between piston 14 and the two annular holes on piston sleeve 15 will shorten until the piston 14 moves to the highest point when it is fully extended, and piston 14 is reset. This is one cycle of the mechanism. When selecting the connecting compression spring 23, the length of compression spring 23 should be longer than the farthest distance between rotating column 16 and first connecting rod 18, and between second connecting rod 20 and fourth connecting rod 21.

[0025] Furthermore, the crank-rocker mechanism includes: a first connecting rod 9, rotatably mounted on the right external gear 4; a second connecting rod 10, one end of which is rotatably connected to the end of the first connecting rod 9; a balance connecting rod 6, one end of which is rotatably connected to the end of the second connecting rod 10; a third connecting rod 8, one end of which is rotatably connected to the end of the first connecting rod 9; and a motion observation rod 7, one end of which is rotatably connected to the end of the third connecting rod 8. The first connecting rod 9, the second connecting rod 10, the balance connecting rod 6, the third connecting rod 8, and the motion observation rod 7 are all located on the front side of the fuselage. The balance connecting rod 6, the motion observation rod 7, and the rotating column 16 are coaxially mounted, and the motion angle of the balance connecting rod 6 is the same as the motion angle of the wing. The purpose is that the balance connecting rod 6 and the motion observation rod 7 are not only part of the crank-rocker mechanism, but also serve as motion observation... Rod 7 allows a direct view of the crank's motion cycle and trajectory on the crank-rocker mechanism; the motion observation rod 7 and the rotating connecting rod 16 are coaxially aligned, but their motions do not interfere with each other; the motion angle of the balance link 6 is the same as that of the wing, which not only keeps the mechanism parallel but also allows for observation of the wing's flapping angle; in addition, a small hole is designed on the balance link 6, which is connected to the rotating column 16 via a pin, and the rotating column 16 and the balance link 6 are in the same period; thus, when the crank-rocker mechanism starts to move, the balance link 6 will drive the rotating column 16 to move together, and the two rotating columns 16 are respectively connected to the entire wing mechanism, enabling the wing to complete the up-and-down flapping motion.

[0026] This utility model operates in the following manner: The lower external gear 2 is connected to the free end of the motor 25, and the motion is transferred to the lower right external gear 3. The motion is then transmitted to the right external gear 4 and drives the meshing left external gear 5 to move together. A pair of five-bar linkages are designed on the gear surfaces of the right external gear 4 and the left external gear 5 to transmit the motion brought by the gears to the wings, so that the wings can flap up and down. In addition, the piston sleeve 14, piston 14 and connecting parts are connected to the external mechanism to transmit the motion generated by the piston; the transmission shaft of the left external gear 5 is designed with a connecting key, so that the left external gear 5 can cooperate with the left internal gear 12 through the connecting key, so that the motion cycles of the left external gear 5 and the left internal gear 12 are the same. The left internal gear 12 meshes with the central internal gear 11 and transmits the motion to the central internal gear 11. The central internal gear 11 is connected to the cam-type piston structure and starts the cam-type piston structure to move. The piston 14 and piston sleeve 15 are connected to the deployable wing structure through the cable 24, thereby controlling the retraction motion of the wings. Furthermore, the wing is connected to the rotating column 16 by a first link 18 and a second link 20. The first link 18 is connected to the second link 20 and then to the third link 19. At approximately three-fifths of the length of the second link 20, the second link 20 is connected to the fourth link 21. The third link 19 and the fourth link 21 are connected to the tail fin 22, forming a flexible and foldable composite mechanism—the wing. The spring controlling the reciprocating extension and retraction of the cam-type piston structure is omitted. A compression spring 23 is connected between the rotating column 16 and the first link 18, and between the second link 20 and the fourth link 21. Specifically, the compression spring 23 is installed between hinge points A and B. The cam 13 applies downward pressure to the piston 14, and the retraction of the wings, controlled by the cable 24, compresses the compression spring 23. When the cam 13 stops pressing down on the piston 14, the elastic force generated by the compression spring 23 controls the extension of the wing.

[0027] 1. This utility model optimizes the flapping angle of a flapping-wing UAV by modifying the gear module in the three-stage gear meshing transmission group and the crank-rocker mechanism. Specifically, for example, the left and right external gears each have 24 teeth, and the lower and right lower external gears each have 12 teeth. According to the transmission ratio calculation formula, the transmission ratio is 2. This UAV can control the transmission ratio by changing the size of the gears, thus indirectly controlling the flapping frequency of the wings. The smaller the transmission ratio, the higher the flapping frequency, and vice versa. The crank-rocker mechanism controls the swing angle by changing the ratio of the crank and rocker lengths. The three components are geometrically constrained. ;in, The crank length, The length of the joystick. It is the swing angle.

[0028] 2. Because this invention controls the extension and retraction of the wings by changing the size of the cam, it indirectly makes the overall motion more adaptable to the airflow environment, reduces the frontal area, and thus reduces the problem of increased air resistance from the wings, improving the lift efficiency during wing flapping. Specifically, the sway angle is equal to the flapping angle of the wings, so changing the sway angle changes the flapping amplitude of the wings. By changing the size of the cam, the extension and retraction of the wings are controlled. For example, the longer the path of the roller on the base circle surface, the longer the wing extends in one cycle. By controlling the path of the roller 28 on the base circle surface, the ratio of wing contraction to extension time in one cycle is controlled, indirectly controlling the wing contraction. This also indirectly makes the overall motion more adaptable to the airflow environment, reduces the frontal area, and thus reduces the problem of increased air resistance from the wings, improving the lift efficiency during wing flapping.

[0029] 3. Because this utility model controls the center of gravity of the drone's head by selecting materials, it reduces the instability of the cam-type piston structure during movement. Specifically, since the three-stage gear transmission group occupies a large space in the wing-nose section, the center of gravity problem can be solved by material selection. The fuselage 1 and the three-stage gear transmission group are usually made of high-strength steel with hard chrome plating or stainless steel to enhance wear resistance and corrosion resistance and increase service life. The cam-type piston structure can use lightweight and easily moldable materials such as polymer materials to reduce the mass ratio so that it is no longer the main factor affecting the center of gravity of the head, thereby reducing the instability of the cam mechanism on the drone during movement.

[0030] 4. Because this utility model achieves separate control of wing extension and retraction by changing the connection method of the compression spring and using the contraction of the compression spring to control the extension structure of the wing.

[0031] It should be noted that, as Figure 2 As shown, the inner side of the body 1 is equipped with a camera 29, which extends from its lower side and can be used for both forward linear observation and downward observation (this camera 29 is existing technology and has its own gimbal function; it can rotate left and right or up and down).

[0032] The above embodiments are preferred embodiments of this utility model and are not intended to limit the scope of protection of this utility model. Various modifications or variations that can be made by those skilled in the art without creative effort within the scope of the appended claims are still within the scope of protection of this patent.

Claims

1. A bat-shaped unmanned aerial vehicle (UAV) comprising a body extending vertically, wherein the body, according to its thickness direction, serves as the front and rear sides of the body, characterized in that, The front of the machine body is equipped with a three-stage gear transmission. Two fixing posts are fixedly installed on the rear side of the machine body, and the two fixing posts extend parallel to the front side of the machine body toward the rear side of the machine body. A gear set and a cam-type piston structure are installed on the rear side of the machine body. The gear set is linked to a three-stage gear transmission group, and the gear set is also linked to the cam-type piston structure. Each of the fixed columns is rotatably mounted with a rotating column via a crank-rocker mechanism, and each of the crank-rocker mechanisms is linked to the three-stage gear transmission group. An wing is mounted on the rotating column, and the cam-type piston structure is connected to the wing via a cable. The cam-type piston structure converts the rotational motion of the cam into the extension and retraction motion of the piston, thereby pulling / releasing the cable to cause the wing to retract / open relative to the fuselage.

2. The bat-like drone according to claim 1, characterized in that: The three-stage gear transmission assembly includes a lower external gear, a lower right external gear, a right external gear, and a left external gear, all rotatably mounted on the front side of the machine body. The lower external gear meshes with the lower right external gear, the right external gear meshes with the lower right external gear, and the left external gear meshes with the right external gear. The tip circle diameter of the lower external gear is equal to that of the lower right external gear; the tip circle diameter of the left external gear is equal to that of the right external gear; and the transmission ratio between the tip circle diameter of the left external gear and the tip circle diameter of the lower external gear is 2-3. The left external gear is linked with the gear set on the rear side of the machine body.

3. The bat-like drone according to claim 2, characterized in that: The gear set includes, The left internal gear is coaxially mounted with the left external gear and is located at the rear of the machine body; The central internal gear is rotatably mounted on the rear side of the machine body and meshes with the left internal gear. The cam-type piston structure is installed at the end of the central internal gear, so that the rotation of the left internal gear drives the rotation of the central internal gear, thereby driving the cam on the cam-type piston structure to rotate, and then driving the piston on the cam-type piston structure to move.

4. The bat-like drone according to claim 3, characterized in that: The cam-type piston structure includes, A cam is fixedly mounted on the end of the central internal gear and is coaxial with the central internal gear; A piston sleeve, which is fixedly mounted on the machine body and extends vertically upward. A piston, one end of which is inserted into a piston sleeve, and the other end extends vertically and corresponds to the cam; The rotation of the left internal gear drives the rotation of the central internal gear, which in turn drives the cam to rotate. The cam has a raised part, and when the cam rotates, the raised part abuts against the piston, causing the piston to move in the vertical direction.

5. The bat-like drone according to claim 4, characterized in that: The wing is a five-bar linkage structure, with one end of its cable connected to the five-bar linkage structure and the other end connected to the piston; specifically, the five-bar linkage structure includes, The first connecting rod has one end hinged to one end of the rotating column; The second link has one end hinged to the other end of the rotating column; The third link has one end hinged to the first link; the second link is hinged to the side wall of the third link. The fourth link has one end hinged to the second link; The tail fin has one end hinged to the fourth link and another end near the end of the third link. The hinge point between the first connecting rod and the rotating column is designated as hinge point A, and the hinge point between the fourth connecting rod and the second connecting rod is designated as hinge point B. A compression spring is installed between hinge point A and hinge point B. The other end of the cable is connected to the hinge B, and the cable is always taut at the hinge B and on the piston. When the cam moves, the distance between the two annular holes between the piston and the piston sleeve increases. Since the cable length is constant, the distance between the annular holes on the hinge B and the piston sleeve will shorten. When the piston presses down, the wings retract due to the pull of the cables connected to the wings at both ends.

6. The bat-like drone according to claim 5, characterized in that: The piston sleeve has a first circular hole, and the piston has a second sleeve. The cable passes through the first arc and is wound around the second circular hole. The cable is always taut. When the cam moves, the distance between the first and second circular holes increases. Since the length of the cable is constant, the distance between the hinge B and the first circular hole will shorten. Therefore, when the piston moves downward, the wings retract under the action of the cables connected to the wings at both ends.

7. The bat-like drone according to claim 6, characterized in that: The body and the three-stage gear transmission assembly are made of high-strength steel, and the cam-type piston structure is made of polymer material.

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