CN113548181B - A flapping wing robot and its control method - Google Patents

Abstract

The invention discloses a flapping-wing robot and a control method thereof, wherein the flapping-wing robot comprises a machine body, a tail wing assembly, a flapping mechanism and a wing assembly, the flapping mechanism comprises a first steering engine, a transmission assembly driven by the first steering engine, two flapping assemblies and two frequency adjusting assemblies, the transmission assembly comprises two conical driving wheels respectively arranged on two sides of the machine body, the flapping assemblies comprise conical driven wheels and transmission rods, and conical surfaces of the conical driving wheels and the conical driven wheels on the same side face each other; the friction ball of each frequency adjusting component is simultaneously matched with the conical surface of the conical driving wheel and the conical surface of the conical driven wheel in a rolling way, and the friction ball retaining block is movably arranged along the gradient direction of the conical surface of the conical driving wheel; two ends of the transmission rod are respectively and movably connected with the surface of the conical driven wheel and the wing through universal joints. The invention adopts one steering engine to drive the wings at two sides to flap simultaneously, and the flapping frequency of the wings at two sides can be independently regulated by changing the position of the friction ball, so that the control process is simple and reliable.

Description

A flapping wing robot and its control method

technical field

The invention relates to the technical field of intelligent robots, in particular to a flapping-wing robot and a control method thereof.

Background technique

Birds are one of the masters of natural flight and can use limited energy to achieve long-distance migration. Research has shown that birds dynamically adjust the amplitude and frequency of their wings. This means that the energy consumption of birds is minimal under various flight conditions. By observing the flight conditions of natural birds, it is not difficult to find that birds can choose different amplitudes and frequencies in different stages of flight.

The flapping wing is an important structure of a new type of aircraft designed and manufactured based on the principle of bionics to imitate the flight of birds and insects. Compared with fixed wings and rotors, the main feature of the flapping wing is that it integrates the functions of lifting, hovering and propulsion into one flapping wing system, which can carry out long-distance flight with a small amount of energy, and at the same time, has strong maneuverability.

Bionic flapping-wing aircraft usually have the characteristics of moderate size, easy to carry, flexible flight, and good concealment. Therefore, it has very important and extensive applications in the fields of civil and national defense, and can accomplish many tasks that other aircraft cannot perform. It can carry out biochemical detection and environmental monitoring, and enter the biochemical restricted zone to perform tasks; it can monitor the ecological environment such as fires, insect disasters, and air pollution in forests, grasslands, and farmland in real time; Or accident buildings are medium; especially in the military, the bionic flapping wing aircraft can be used for battlefield reconnaissance, patrol, surprise attack, signal jamming and urban combat.

Since most of the existing flapping wing mechanisms adopt the symmetrical synchronous motion design of the left and right wings, the left and right wings cannot be controlled separately, which is not conducive to the adjustment and flexible control in response to emergencies, and cannot adapt to the changing and complex environment. The asymmetrical frequency mechanism design There are very few related documents, so it is necessary to carry out invention research in this respect. He Wei of Beijing University of Science and Technology and his team have developed a bird-like aircraft called "UST Bird". Although the wings on both sides can be independently controlled, two drivers are used to control the wings on both sides separately, resulting in the wings on both sides. The movement is truly completely independent. In order to ensure the coordination of the wing movements, a more sophisticated structure or control process is required, which increases the complexity of the design and makes it difficult to guarantee the overall reliability of the mechanism.

Contents of the invention

In view of the deficiencies in the prior art, the present invention provides a flapping-wing robot and its control method, which can accurately control the action frequency of the asymmetric frequency flapping-wing robot in a simple way, which reduces the complexity of the design and improves the overall performance of the mechanism. reliability.

In order to achieve the above object, the present invention adopts the following technical solutions:

A flapping wing robot, comprising a fuselage and an empennage assembly respectively connected to the fuselage, a flapping mechanism and a wing assembly, the wing assembly includes two wings, one end of each wing is connected to the fuselage Hinged, the free ends of the two wings open towards the left and right sides of the fuselage respectively; the flapping mechanism includes a first steering gear, a transmission assembly driven by the first steering gear, two flapping assemblies, two A frequency adjustment assembly, the transmission assembly includes two conical driving wheels respectively arranged on both sides of the fuselage, each flapping assembly includes a conical driven wheel and a transmission rod, the conical driving wheel and The tapered driven wheels on the same side are arranged adjacent to each other, and the tapered surfaces of the two face each other; each frequency adjustment assembly includes a friction ball holding block and a friction ball arranged on the friction ball holding block, and the friction The ball rolls and fits with the tapered surface of the tapered driving wheel and the tapered driven wheel at the same time, and the friction ball holding block is movably arranged along the slope direction of the tapered surface of the tapered driving wheel, to change the position of the friction ball; the two ends of the transmission rod are respectively connected with the surface of the tapered driven wheel and the wings through universal joints, so as to drive the The opening angle of the wings changes.

As one of the implementation manners, the two conical driving wheels are arranged coaxially and integrally.

As one of the implementation manners, the transmission assembly further includes a ring of gear teeth fixed coaxially with the conical driving wheel, and the first steering gear meshes with the gear teeth through a gear set.

As one of the implementation manners, the frequency adjustment assembly includes a guide rod relatively fixed to the fuselage, the guide rod is arranged between the conical driving wheel and the conical driven wheel and is opposite to the The inclination angle of the fuselage matches the slope of the conical driving wheel, and the friction ball holding block is slidably arranged on the guide rod along the length direction of the guide rod.

As one of the implementations, the frequency adjustment assembly includes a second steering gear and an adjusting link whose two ends are respectively hinged to the swing arm of the second steering gear and the friction ball holding block, and the friction ball holding block is Driven by the second steering gear, it can reciprocate along the guide rod.

As one of the implementations, the empennage assembly includes an empennage and an empennage driving mechanism, the empennage is rotatably connected with the tail of the fuselage, and the empennage driving mechanism is used to drive the empennage relative to the fuselage swinging up and down; and/or, each of the wings includes a wing bar at the end and a wing servo for driving the wing bar to swing back and forth relative to the main part of the wing.

As one of the implementations, each of the wings includes a frame hinged with the fuselage and sliders slidably arranged on the frame, and the wing assembly also includes an amplitude regulator connecting the sliders. Assemblies, the sliders are movably connected with the transmission rods through universal joints, and the amplitude adjustment components are used to move each slider along the length direction of the skeleton.

As one of the implementations, the amplitude adjustment assembly includes a third steering gear fixed on the fuselage, a driving pulley driven by the third steering gear, a first pulley fixed on each frame, and The tension rope, the first pulley is farther away from the fuselage than the slider, the tension rope is sleeved on the outer peripheral surfaces of the driving pulley and the two first pulleys and tensioned, and each Each of the sliders is relatively fixed to one strand of the tension rope.

Another object of the present invention is to provide a control method for a flapping wing robot, including:

Start the first steering gear, and the torque is transmitted to the conical driven wheel through the conical driving wheel and friction ball on both sides in turn;

The transmission rods on both sides drive the opening angle of the corresponding wings to change during the rotation of the tapered driven wheel;

When the flapping frequency of a certain wing needs to be changed, the rolling position of the friction ball on the side where the wing is located between the tapered driving wheel and the tapered driven wheel is changed.

As one of the implementation manners, when the flapping amplitude of a certain wing needs to be changed, the position of the slider connected to the transmission rod on the side where the wing is located is adjusted on the frame.

The invention adopts a steering gear to simultaneously drive the flapping wings on both sides, and in the flapping process, the flapping frequency of the wings on both sides can be independently adjusted by changing the position of the friction ball, the control process is very simple and reliable, The complexity of design is reduced, and the accuracy of flight is improved. In addition, it is also possible to change the flapping amplitude of the left and right wings, the twisting amplitude of the wings, and the attitude of the tail during the fluttering process of the wings, so as to realize the functions of asymmetrical amplitude control, stepless speed change, and wing twisting.

Description of drawings

Fig. 1 is the structural representation of a kind of flapping wing robot of the embodiment of the present invention;

Fig. 2 shows a schematic structural view of a flapping mechanism of a flapping wing robot according to an embodiment of the present invention;

Fig. 3 shows a structural exploded schematic view of a flapping mechanism of a flapping wing robot according to an embodiment of the present invention;

Fig. 4 is a partial sectional view of a flapping wing robot according to an embodiment of the present invention;

Fig. 5 shows a schematic structural diagram of a frequency adjustment assembly of a flapping wing robot according to an embodiment of the present invention;

Fig. 6 is a structural schematic diagram of the tail of a flapping wing robot according to an embodiment of the present invention;

Fig. 7 is a schematic structural view of the head of a flapping wing robot according to an embodiment of the present invention;

Fig. 8 is a schematic diagram of a flying state of a flapping-wing robot according to an embodiment of the present invention;

Fig. 9 is a state diagram of a flapping wing robot before amplitude adjustment according to an embodiment of the present invention;

Fig. 10 is a state diagram of a flapping wing robot after amplitude adjustment according to an embodiment of the present invention;

Fig. 11 is a schematic diagram of a control method of a flapping-wing robot according to an embodiment of the present invention.

Detailed ways

In the present invention, the terms "arranged", "provided", and "connected" should be interpreted broadly. For example, it may be a fixed connection, a detachable connection, or an integral structure; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediary; internal connectivity. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

The terms "center", "longitudinal", "transverse", "length", "width", "thickness", "top", "bottom", "front", "rear", "left", "right", " Vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. The orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation or be configured in a specific orientation. and operation, and therefore should not be construed as limiting the application.

It should be noted that, for the convenience of description, the terms "left", "right", "up", "down", "front", and "back" in this embodiment are all relative to each other during the flight of the flapping-wing robot. Take the orientation of the fuselage as a reference. For example, the head of the flapping wing robot faces forward and the tail faces backward. The side of the wing is called "left" and the side of the right wing is called "right".

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

Moreover, some of the above terms may be used to indicate other meanings besides orientation or positional relationship, for example, the term "upper" may also be used to indicate a certain attachment relationship or connection relationship in some cases. Those skilled in the art can understand the specific meanings of these terms in the present invention according to specific situations.

In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

Referring to Fig. 1, an embodiment of the present invention provides a flapping wing robot, including a fuselage 10 and an empennage assembly 1 connected to the fuselage 10, a flapping mechanism 2 and a wing assembly 3, and the wing assembly 3 includes two wings 30 , one end of each wing 30 is hinged to the fuselage 10 , and the other end opens outward, that is, the free ends of the two wings 30 open toward the left and right sides of the fuselage 10 respectively. The power supply 40 of the flapping wing robot can be fixed on the fuselage 10 to provide a power source for the movement of various parts.

As shown in FIG. 2 , the flapping mechanism 2 includes a first steering gear 20 , a transmission assembly 21 , two flapping assemblies 22 , and two frequency adjustment assemblies 23 . The transmission assembly 21 is driven by the first steering gear 20 and includes two conical driving wheels 210 respectively disposed on the left and right sides of the fuselage 10 . The left and right sides of the fuselage 10 are provided with a flutter assembly 22 and a frequency adjustment assembly 23, each flutter assembly 22 includes a tapered driven wheel 220 and a transmission rod 221 connected thereto, the tapered driving wheel 210 and the same The side tapered driven wheels 220 are arranged adjacently, and the tapered surfaces of the two face each other, that is, the tapered surfaces of the two form slits with intervals and equal width everywhere.

Each frequency adjustment assembly 23 includes a friction ball holding block 231 and a friction ball 230 arranged on the friction ball holding block 231, the friction ball holding block 231 is relatively fixed with the fuselage 10, the friction ball 230 is arranged in the slit, and simultaneously The tapered surface of the tapered driving wheel 210 is in contact with the tapered surface of the tapered driven wheel 220 for rolling fit, so as to transmit the torque of the tapered driving wheel 210 to the tapered driven wheel 220 . As shown in FIG. 2 and FIG. 5 , the friction ball holding block 231 is movably arranged along the slope direction of the conical surface of the conical driving wheel 210 , and the friction ball 230 is movably limited between the conical driving wheel 210 and the conical driven wheel 220 and drive the friction ball 230 to change its position in the slit. After the position of the friction ball 230 in the slit changes, the transmission ratio of the tapered driving wheel 210 and the tapered driven wheel 220 changes, and because the friction ball 230 and the tapered driving wheel 210 and the tapered driven wheel 220 are all It is a rolling contact, so the position of the friction ball 230 can be adjusted during the transmission process to realize stepless speed change, thereby changing the rotation frequency of the conical driven wheel 220, that is, changing the flapping frequency of the wings 30 connected to it.

As shown in Fig. 2 and Fig. 3, in the present embodiment, preferably the two ends of the transmission rod 221 are respectively connected with the surface of the tapered driven wheel 220 and the wings 30 through universal joints, so that the rotation of the tapered driven wheel 220 During the process, the opening angle of the wings 30 is driven to change. The universal joints at both ends of the transmission rod 221 may be of a structure such as a universal ball joint, which can ensure that the transmission rod 221 can flexibly convert the rotary motion of the conical driven wheel 220 into the up and down swing of the wing 30 . The universal ball head includes a ball head 2211 and a ball head wrapping part 2210 that rolls and fits with the ball head. The ball head 2211 has a spherical rotating part and a fixed end drawn from the rotating part. The inside of the ball head wrapping part 2210 is hollow and has a spherical surface The rotating part of the ball head 2211 is accommodated in the housing part of the ball head wrapping part 2210 and rolls with the containing part. Both ends of the transmission rod 221 are fixed with a ball head wrapping part 2210, and each ball head wrapping part A ball head 2211 is installed in the 2210, and the fixed ends of the two ball heads 2211 are respectively fixed on the tapered driven wheel 220 and the wing 30. Preferably, the ball head 2211 fixed to the tapered driven wheel 220 is installed on the disc surface of the tapered driven wheel 220 , and is spaced apart from the rotating shaft of the tapered driven wheel 220 . The conical driven wheel 220 is connected with the transmission rod 221 to form a cam driving structure, so that the wings 30 connected with the transmission rod 221 can be continuously driven to flutter up and down during the rotation of the conical driven wheel 220 .

In this embodiment, the flapping components 22 on the left and right sides of the fuselage 10 are driven by the same steering gear, so the driving structure and driving process are simpler. The transmission assembly 21 can specifically include a ring of gear teeth 2100 fixed coaxially with the conical driving wheel 210, and the first steering gear 20 can mesh with the gear teeth 2100 through a gear set, so as to transmit the drive to the conical driven wheels on both sides respectively. 220.

In addition, this embodiment further uses two flutter assemblies 22 to share one transmission assembly 21. As shown in FIG. They are arranged on the left and right sides of the fuselage 10 respectively. The gear teeth 2100 are arranged between the two conical driving wheels 210 . The gear set only needs to mesh with the gear teeth 2100 to drive the two conical driving wheels 210 to rotate synchronously. Specifically, the bracket 234 is fixed on the fuselage 10 , and the fuselage 10 has a through hole through which the conical driving wheel 210 passes, and the end of the conical driving wheel 210 is rotatably fixed on the fuselage 10 through the bracket 234 .

Preferably, the two conical driving wheels 210 are arranged symmetrically, and the closer to the fuselage 10 , the smaller the radial size of the conical driving wheels 210 . Correspondingly, the two conical driven wheels 220 are also arranged symmetrically, but the two conical driven wheels 220 are only coaxially arranged, but the movements of the two are independent of each other, so that the two wings 30 can swing at different frequencies, The shape of the tapered driven wheel 220 matches it. The closer to the fuselage 10, the larger the radial dimension of the tapered driven wheel 220, thereby ensuring that the width of the slit between the tapered driving wheel 210 and the tapered driven wheel 220 is equal everywhere. , no matter where the friction ball 230 moves, it can always be in contact with the tapered driving wheel 210 and the tapered driven wheel 220 at the same time.

Here, the gear set for transmitting torque between the conical driving wheel 210 and the first steering gear 20 may specifically include a first gear 211, a second gear 212 and a driving gear 213, and the first gear 211 and the second gear 212 are the same as Shaft setting, respectively fixed on the two ends of the same gear shaft perpendicular to the fuselage 10, the driving gear 213 fixed on the rotating shaft of the first steering gear 20 meshes with the first gear 211, and the second gear 212 is synchronized with the first gear 211 When rotating, the second gear 212 meshes with the conical driving wheel 210 , thereby driving the conical driving wheel 210 to rotate.

As shown in Figures 2 to 5, the frequency adjustment assembly 23 specifically includes a guide rod 232 and a bracket 234 fixed relatively to the fuselage 10, the guide rod 232 is arranged between the tapered driving wheel 210 and the tapered driven wheel 220 and is relatively The inclination angle of the body 10 matches the slope of the tapered drive wheel 210, and the friction ball holding block 231 is slidably arranged on the guide rod 232 along the length direction of the guide rod 232, so that the friction ball 230 is always kept in contact with the tapered drive wheel 210 at the same time. , The rolling contact of the tapered driven wheel 220. Wherein, one end of the guide rod 232 can be fixed on the bracket 234 , and the other end can be suspended in the air, or can be fixed on the fuselage 10 .

There can be two guide rods 232 , which are arranged in parallel on the left and right sides of the slit between the tapered driving wheel 210 and the tapered driven wheel 220 , and the friction ball holding block 231 is sleeved on the two guide rods 232 at the same time. It can be understood that, in other embodiments, there may be only one guide rod 232. By constructing it into a square cross-section, a corresponding square hole is opened in the friction ball holding block 231, and the square guide rod 232 is passed through. Slide in the square hole of the friction ball holding block 231 .

What this embodiment shows is the situation that the frequency adjustment assembly 23 includes a friction ball shaft 233 (as shown in FIG. 4 ). The friction ball holding block 231 is provided with a mounting hole 2310 in which the friction ball 230 is placed, and the friction ball shaft 233 is fixed on the friction ball on the holding block 231 , and its axial direction is consistent with the guide rod 232 . The friction ball shaft 233 runs through the installation hole 2310 , and the friction ball 230 is rotatably sleeved on the friction ball shaft 233 , so that it is limited in the installation hole 2310 and can rotate along the friction ball shaft 233 .

It can be understood that the friction ball 230 in this embodiment can be a roller, a ball or a roller, but it can only rotate around the friction ball axis 233 . In other embodiments, the friction ball shaft 233 can also be omitted, the friction ball 230 is a spherical ball, the mounting hole 2310 is a through hole slightly larger than the size of the friction ball 230, and only the friction ball holding block 231 is required to prevent it from falling out of the cone-shaped active shaft. The slit between the wheel 210 and the tapered driven wheel 220 is sufficient, and the balls are always in rolling fit with the tapered driving wheel 210 and the tapered driven wheel 220 .

Bracket 234 can be used as a part of frequency adjustment assembly 23, and bracket 234 is fixed on the fuselage 10, and one end of guide rod 232 is fixed on the bracket 234, and bracket 234 not only serves as the holder of conical driving wheel 210, but also as the guide rod 232. cage. Preferably, the bracket 234 is arched U-shaped, the axle of the tapered driving wheel 210 can be rotatably arranged on the arched part of the bracket 234, and the two guide rods 232 are respectively fixed on the upper and lower sides of the arched part of the bracket 234. For example, a bearing can be installed in the bracket 234, and the axle of the tapered driving wheel 210 is passed through the bearing, and the two brackets 234 of the two tapered driving wheels 210 can fix the gear teeth 2100 on the fuselage 10 in a suspended manner. .

As a driving method of the friction ball holding block 231, the frequency adjustment assembly 23 includes a second steering gear 235 and an adjustment link 236 whose two ends are respectively hinged to the swing arm of the second steering gear 235 and the friction ball holding block 231, the friction ball holding The block 231 can reciprocate along the guide rod 232 driven by the second steering gear 235, so as to freely adjust the flapping frequency of the corresponding wing 30 during flight.

1 and 6, the empennage assembly 1 includes an empennage 11 and an empennage drive mechanism, the empennage 11 is rotatably connected to the tail of the fuselage 10, and the empennage drive mechanism is used to drive the empennage 11 to swing up and down relative to the fuselage 10 to change the angle between the two. Specifically, the empennage driving mechanism comprises empennage servo 12, empennage swing arm 13, empennage connecting rod 14, and empennage swing arm 13, empennage connecting rod 14, empennage 11 are sequentially connected by rotation, and empennage servo 12 drives empennage swing arm 13 to rotate, thereby Drive empennage 11 to swing up and down, to change different flight postures. The empennage 11 is arranged at intervals with respect to the center of rotation of the fuselage 10, the connecting parts of the empennage 11 and the empennage connecting rod 14, so that the empennage steering gear 12, the empennage swing arm 13, the empennage connecting rod 14, and the empennage 11 form a crank linkage.

As shown in Figure 7, considering that the flapping wing robot may encounter various emergencies or harsh environments during flight, each wing 30 of this embodiment may include a terminal wing rod 300 and a terminal for driving the wing rod 300 The wing servo 301 swings back and forth relative to the main body of the wing 30 . Changing the front and rear twisting range of the wing bar 300 through the wing steering gear 301 can effectively cope with various airflows or changes, reduce air resistance, and make the movement more flexible.

As shown in Figure 8, each wing 30 includes a frame 31 hinged with the fuselage 10 and a slider 32 slidably arranged on the frame 31, and the wing assembly 3 also includes an amplitude adjustment assembly 33 connecting each slider 32 , the sliders 32 are movably connected to the transmission rod 221 through universal joints, and the amplitude adjustment assembly 33 is used to move each slider 32 along the length direction of the skeleton 31 .

Specifically, the amplitude adjustment assembly 33 of this embodiment includes a third steering gear 331 fixed on the fuselage 10, a driving pulley 332 driven by the third steering gear 331, a first pulley 333 fixed on each frame 31, and tension Rope 334, the first pulley 333 is farther away from the fuselage 10 relative to the slider 32, the tension rope 334 is sleeved on the outer peripheral surface of the driving pulley 332 and the two first pulleys 333 and tensioned, and each slider 32 is connected with One strand of tension rope 334 is relatively fixed. The tension rope 334 is tightened on the outer peripheral surface of the driving pulley 332 and the first pulley 333 on both sides at the same time. When the third steering gear 331 drives the driving pulley 332 to rotate, the tension rope 334 is driven to move in the corresponding direction, driving the first When a pulley 333 rotates, it also drives the positions of the sliders 32 on the left and right sides on the skeleton 31 to change, so that the amplitude of the wings 30 on both sides changes at the same time. It should be noted that the tension rope 334 is introduced from one side of each first pulley 333, after being tensioned along the surface of the first pulley 333, it is drawn out from the other side, and the introduction end and the extraction end of the tension rope 334 are called two strands Here, "a strand of tension rope 334" refers to the lead-in end or lead-out end of one side of the first pulley 333, and "the slider 32 is relatively fixed with a strand of tension rope 334" is different from the lead-in end and lead-out end at the same time as the pulley. The block 32 is relatively fixed to ensure that the sliding block 32 can slide relative to the framework 31 driven by the driving pulley 332 .

What present embodiment shows is that the slider 32 on the left and right sides moves relative to the situation of the fuselage 10, that is, when the driving pulley 332 rotates, the slider 32 on one side is towards the end of the wing 30 (facing away from the fuselage). 10) movement, the slider 32 on the other side moves away from the end of the wing 30 (towards the fuselage 10), so that the amplitudes on both sides have differential values, and the left and right flapping amplitudes are differentiated. This just requires that the sliders 32 on the left and right sides are fixed on the tension rope 334 on the same side of the respective first pulley 333 at the same time, that is, the sliders 32 on both sides are either all fixed on the head side of the first pulley 333 Either on the tension rope 334 of the first pulley 333 towards the tension rope 334 on the side of the tail.

It can be understood that, in other embodiments, the sliders 32 on the left and right sides can also move in the same state relative to the fuselage 10, that is, when the driving pulley 332 rotates, the sliders 32 on both sides move toward the sides of the wings 30 at the same time. end (towards the fuselage 10) motion, or the end (towards the fuselage 10) of the wing 30 at the same time, in this case, the flapping amplitudes of the left and right sides are completely consistent, and only synchronization, etc. can be achieved. The function of amplitude adjustment of the amplitudes on both sides cannot achieve differential adjustment of the amplitudes on both sides.

In addition, the amplitude adjustment assembly 33 of this embodiment also includes a second pulley 335 fixed on each frame 31. The second pulley 335 is fixed on the frame 31 at a position closer to the fuselage 10 relative to the slider 32. The second pulley 335 is located between the driving pulley 332 and the first pulley 333, and the two ends of the tension rope 334 are respectively drawn from the left and right sides of the driving pulley 332, and drawn out to the The side where the slider 32 is located is drawn from the bottom of the slider 32 to wrap around the outer peripheral surface of the first pulley 333 , and then detour to the outer peripheral surface of the first pulley 333 wound on the opposite side, forming a closed tension loop.

In addition, the amplitude adjustment assembly 33 may further include a third pulley 336 fixed on the head of the fuselage 10 , and the tension rope 334 is sleeved on the outer peripheral surface of the third pulley 336 and tensioned. That is, the third pulley 336 is located on the tension circuit between the left and right first pulleys 333 . In order to improve the smoothness of the movement of the tension rope 334, a fourth pulley 337 is fixed on the frame 31 near the third pulley 336 in this embodiment, and the fourth pulley 337 is located between the first pulley 333 and the third pulley 336 , is also located between the second pulley 335 and the third pulley 336 . The tension rope 334 drawn from the two ends of the third pulley 336 is drawn out to the side where the slide block 32 is located after being tensioned by the fourth pulley 337 on both sides, and then drawn out to the outer surface of the first pulley 333 after being fixed on the slide block 32, and passes through the second pulley 333. The pulley 335 is wound around the outer peripheral surface of the driving pulley 332 after being tensioned, thereby forming a complete "+"-shaped closed loop.

As shown in Figure 9, it is a state diagram before the amplitude adjustment of the flapping wing robot, and the sliders 32 on the wings 30 on both sides are arranged symmetrically at this moment; as Figure 10, it is a state diagram after the amplitude adjustment of the flapping wing robot, at this time , the wings 30 on both sides are slid toward the right in the figure, that is, the slider 32 of the right wing 30 in the figure is slid outward, and the slider 32 of the left wing 30 is slid toward the fuselage 10, as shown in Fig. The amplitude of the middle right wing 30 becomes smaller, and the amplitude of the left wing 30 becomes larger.

As shown in Figure 11, the control method of the flapping wing robot of the present embodiment mainly includes:

S01, start the first steering gear 20, the torque is transmitted to the conical driven wheel 220 through the conical driving wheel 210 and the friction ball 230 on both sides in turn, and the transmission rods 221 on both sides are driven during the rotation of the conical driven wheel 220 The opening angle of the corresponding wing 30 changes, and the torque of the first steering gear 20 is converted into the flapping action of the wing 30 up and down;

S02. When the flapping frequency of a certain wing 30 needs to be changed, start the second servo 235 to change the rolling position of the friction ball 230 on the side where the wing 30 is located between the conical driving wheel 210 and the conical driven wheel 220 .

Further, the control method also includes:

S03. When it is necessary to change the flapping amplitude of a certain wing 30, start the third steering gear 331, and adjust the position of the slider 32 connected to the transmission rod 221 on the side where the wing 30 is located on the frame 31.

S04. When the flight attitude needs to be changed, start the tail servo 12 to adjust the angle between the tail 11 and the fuselage 10 .

And, S05, when it is necessary to change the air resistance of the wing 30 on a certain side, start the wing steering gear 301 to adjust the forward and backward twisting range of the wing bar 300 on this side.

It can be understood that the above steps S02 to S05 are performed in an on-demand manner according to actual flight scenarios, in no particular order.

In summary, the present invention uses a steering gear to simultaneously drive the flapping wings on both sides, and during the flapping process, the flapping frequency of the wings on both sides can be independently adjusted by changing the position of the friction ball to control The process is very simple and reliable, which reduces the complexity of the design and improves the accuracy of the flight. In addition, it is also possible to change the flapping amplitude of the left and right wings, the twisting amplitude of the wings, and the attitude of the tail during the fluttering process of the wings, so as to realize the functions of asymmetrical amplitude control, stepless speed change, and wing twisting.

The above description is only the specific implementation of the present application. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present application, some improvements and modifications can also be made. It should be regarded as the protection scope of this application.

Claims (10)

1. The flapping wing robot is characterized by comprising a machine body (10) and a tail wing assembly (1), a flapping mechanism (2) and a wing assembly (3) which are respectively connected with the machine body (10), wherein the wing assembly (3) comprises two wings (30), one end of each wing (30) is hinged with the machine body (10), and the free ends of the two wings (30) are respectively opened towards the left side and the right side of the machine body (10); the flapping mechanism (2) comprises a first steering engine (20), a transmission assembly (21) driven by the first steering engine (20), two flapping assemblies (22) and two frequency adjusting assemblies (23), wherein the transmission assembly (21) comprises two conical driving wheels (210) respectively arranged on two sides of the machine body (10), each flapping assembly (22) comprises a conical driven wheel (220) and a transmission rod (221), the conical driving wheels (210) are arranged adjacent to the conical driven wheels (220) on the same side, and conical surfaces of the conical driving wheels and the conical driven wheels (220) face each other; each frequency adjusting assembly (23) comprises a friction ball retaining block (231) and a friction ball (230) arranged on the friction ball retaining block (231), wherein the friction ball (230) is simultaneously in rolling fit with the conical surface of the conical driving wheel (210) and the conical surface of the conical driven wheel (220), and the friction ball retaining block (231) is movably arranged along the conical gradient direction of the conical driving wheel (210) so as to change the position of the friction ball (230); the two ends of the transmission rod (221) are respectively and movably connected with the surface of the conical driven wheel (220) and the wing (30) through universal joints so as to drive the opening angle of the wing (30) to change in the rotating process of the conical driven wheel (220).

2. Flapping-wing robot according to claim 1, characterized in that two of the cone-shaped driving wheels (210) are coaxially and integrally arranged.

3. Flapping-wing robot according to claim 2, wherein the transmission assembly (21) further comprises a ring of gear teeth (2100) coaxially fixed to the conical drive wheel (210), the first steering engine (20) being engaged with the gear teeth (2100) by means of a gear set.

4. Flapping robot according to claim 1, wherein the frequency adjustment assembly (23) comprises a guide rod (232) fixed relative to the fuselage (10), the guide rod (232) being arranged between the conical driving wheel (210) and the conical driven wheel (220) and being inclined relative to the fuselage (10) at an angle matching the slope of the conical driving wheel (210), the friction ball holding block (231) being slidably arranged on the guide rod (232) in the length direction of the guide rod (232).

5. The ornithopter robot of claim 4, wherein the frequency adjustment assembly (23) comprises a second steering engine (235) and an adjustment link (236) having both ends respectively hinged to a swing arm of the second steering engine (235) and the friction ball holding block (231), the friction ball holding block (231) being reciprocally movable along the guide rod (232) under the drive of the second steering engine (235).

6. Flapping-wing robot according to claim 1, characterized in that the tail assembly (1) comprises a tail (11) and a tail driving mechanism, the tail (11) being rotatably connected to the tail of the fuselage (10), the tail driving mechanism being adapted to drive the tail (11) to swing up and down in relation to the fuselage (10); and/or each of said wings (30) includes a distal wing stick (300) and a wing steering engine (301) for driving said wing stick (300) back and forth relative to the main body portion of the wing (30).

7. Flapping wing robot according to any one of claims 1-6, characterized in that each wing (30) comprises a skeleton (31) hinged to the fuselage (10) and a slider (32) slidably arranged on the skeleton (31), the wing assembly (3) further comprises an amplitude adjustment assembly (33) connected to the sliders (32), the sliders (32) being movably connected to the transmission rod (221) by means of a universal joint, the amplitude adjustment assembly (33) being adapted to move the sliders (32) in the length direction of the skeleton (31).

8. The ornithopter robot of claim 7, wherein the amplitude modulation assembly (33) comprises a third steering engine (331) fixed to the fuselage (10), a driving pulley (332) driven by the third steering engine (331), a first pulley (333) fixed to each of the skeletons (31), and a tension rope (334), the first pulleys (333) are further away from the fuselage (10) than the sliders (32), the tension ropes (334) are simultaneously sleeved on the outer circumferential surfaces of the driving pulley (332) and the two first pulleys (333) and are tensioned, and each of the sliders (32) is fixed relative to one of the tension ropes (334).

9. A control method of the ornithopter robot of claim 7 or 8, comprising:

starting the first steering engine (20), and transmitting torque to the conical driven wheels (220) through the conical driving wheels (210) and the friction balls (230) on two sides in sequence;

the transmission rods (221) at two sides drive the opening angles of the corresponding wings (30) to change in the rotating process of the conical driven wheels (220);

when the flapping frequency of a certain wing (30) needs to be changed, the rolling position of the friction ball (230) on the side of the wing (30) between the conical driving wheel (210) and the conical driven wheel (220) is changed.

10. A control method of an ornithopter robot according to claim 9, characterized in that the position of the slider (32) connected to the drive shaft (221) on the side of the wing (30) on the skeleton (31) is adjusted when it is desired to change the amplitude of flapping of a certain wing (30).

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