CN114455071B

CN114455071B - Wing-like dragon carrying robot

Info

Publication number: CN114455071B
Application number: CN202110451544.XA
Authority: CN
Inventors: 梁丹; 胡凯; 傅云龙; 梁冬泰; 刘涛
Original assignee: Ningbo University
Current assignee: Ningbo University
Priority date: 2021-04-24
Filing date: 2021-04-24
Publication date: 2023-06-06
Anticipated expiration: 2041-04-24
Also published as: CN114455071A

Abstract

The invention discloses a wing-like dragon carrying robot which mainly comprises a bionic wing, a leg bouncing device, a bionic neck, a main body, a tail swinging device and a head. Two bionic wings are arranged on two sides of the main body, each bionic wing consists of a large wing and a small wing, and flapping wing actions are completed by using a connecting rod mechanism, so that lifting and advancing are realized. The bottom of the main body is provided with a storage box which can store heavy objects; the leg bouncing device can ensure that the leg bouncing device has larger driving force and can effectively store energy during bouncing. The bionic neck adopts a line-driven bionic design, and the tail swinging device can control the left and right swinging angle of the tail fin to change the direction of the simulated pterosaur carrying robot. The camera module is arranged in the head part, so that the current environment can be monitored in real time. The invention has the advantages of large carrying capacity, suitability for long-distance flight and gliding, high flexibility and the like, and can realize the function of transporting the carrier in the air.

Description

Wing-like dragon carrying robot

Technical Field

The invention relates to the field of bionic robots, in particular to a pterosaur-like carrying robot.

Background

Bionic robots have found great rapidity and aircraft have been successfully developed in many countries. Since the 90 s of the 20 th century, tiny ornithopters simulating birds and insects have gradually become a hotspot of research and have achieved some results. However, in general, research on flapping wing flight is still in an initial stage, and most of the flapping wing flight is simulated by insects and birds, such as a micro-aircraft simulating insects, and is applied to sea gull-simulated aircraft for marine investigation. For example, chinese patent publication No. CN212401546U discloses a bionic aircraft, which includes a fuselage having a cavity, and a first opening and a second opening communicating with the cavity are provided on the fuselage; wings, which are arranged on two sides of the fuselage; the tail wings are arranged on two sides of the fuselage, the tail wings on the two sides are respectively positioned at the rear parts of the wings on the two sides, the front ends of the tail wings on the two sides are connected to the second opening, and the distance between the tail wings on the two sides in the upward direction is gradually increased; the wing driving mechanism is arranged in the accommodating cavity, and part of the wing driving mechanism extends out of the first opening and is connected with the wings at the two sides and is used for driving the wings at the two sides to reciprocate up and down; the tail wing driving mechanism is arranged in the fuselage and is connected with the tail wings on two sides and used for driving the tail wings on two sides to swing relative to the fuselage. Chinese patent publication No. CN112078792a discloses a bionic bird aircraft, two wings are correspondingly arranged on two opposite sides of the aircraft body, wherein one end of each wing is hinged with the side surface of the aircraft body; the wing is uniformly provided with a plurality of exhaust holes for air to flow through, the bottom of the wing is provided with an opening and closing exhaust structure for controlling the exhaust holes I, the inside of the wing is provided with a driving structure for providing power for the wing to move up and down, and a reciprocating mechanism arranged below the wing, the input end of the reciprocating mechanism is connected with the output end of the driving structure, and the output end of the reciprocating mechanism is connected with the bottom of the wing through a universal joint.

At present, the existing bionic aircraft has the disadvantages of small loading capacity, poor cruising performance, poor maneuverability, unsafe and reliable landing, inapplicability to long-distance flight and gliding, and the need of people to assist in giving a certain initial speed for taking off, and the improvement is needed. Pterosaurs, especially Fengshen pterosaurs, are the biggest flying animals known to humans as ancient large flying dinosaurs weighing 500 jin. The wing dragon flies by relying on the wing films instead of the feathers on the wings like birds, has huge double wings, is very suitable for long-distance flight and gliding, and has the characteristics of large load and wide visual field compared with the bats and birds. And simulating the structural characteristics and the flight principle of the pterosaurs, and promoting the development of the design technology of the carrier aircraft.

Disclosure of Invention

Aiming at the defects of the prior art, the invention aims to provide the simulated pterosaur carrying robot which has the effects of strong maneuverability, capability of realizing safe take-off and landing, capability of carrying heavy objects, suitability for long-distance flight and gliding and the like.

In order to achieve the above purpose, the present invention provides the following technical solutions:

a wing-like carrying robot comprises a head, a bionic neck, a bionic wing, a main body, a tail swinging device and a leg bouncing device. The head comprises a camera; the bionic neck comprises a driving rope, a base and a neck spring; the neck spring is sleeved on the round boss of the base, a section of neck spring close to the head is sleeved on the round boss of the head, four driving ropes mutually penetrate through four round holes of the base and are connected to the tail end of the head, the other ends of the driving ropes penetrate through four small holes at the front end of the main body and extend to a control box at the rear part of the main body all the time, the driving ropes are connected to rope driving belt wheels, the rope driving belt wheels are connected to an output shaft of the driving motor through keys, the rotation of the output shaft of the driving motor drives the driving ropes and the neck spring to shrink, and finally the bionic neck is driven to bend; the tail fin of the tail swing device is hinged with the rear part of the main body, and the output shaft of the steering engine is connected with the tail fin to realize the left-right swing of the tail fin.

The bionic wing comprises a right winglet, a bearing shaft, a gear rotation long shaft, a disc with a sliding block, a left winglet, a straight-tooth cylindrical gear 1, a sliding block with a lug, a disc rotation shaft, a short connecting rod, a long connecting rod, a winglet connecting rod, a straight-tooth cylindrical gear 2, a driven straight-tooth cylindrical gear, a driving straight-tooth cylindrical gear, an RV reducer, a fuel engine, a rotation connecting rod and a rear short connecting rod; the right winglet is connected with the right winglet through a hinge, and the right winglet is connected with the left winglet through a hinge on the bearing shaft to form a revolute pair; the fuel engine output shaft is connected with the RV reducer, the RV reducer output shaft is connected with the driving straight-tooth cylindrical gear through a flat key, the driving straight-tooth cylindrical gear is meshed with the driven straight-tooth cylindrical gear, the driven straight-tooth cylindrical gear and the straight-tooth cylindrical gear are fixed on a gear rotation long shaft through flat keys and shaft shoulders, and the gear rotation long shaft is fixed at the upper ends of two support columns of the main body through bearings; the straight-tooth cylindrical gear 1 and the straight-tooth cylindrical gear 2 are meshed with each other, and the straight-tooth cylindrical gear 1 and a disc with a sliding block are fixed on a disc rotating shaft; the circular slide block of the disc with the slide block is embedded in the groove of the slide block with the lug, and the slide block on the slide block with the lug is embedded in the rectangular groove in the support column at the front end of the main body; the right large wing and the left large wing are connected to the lugs of the sliding block through two short connecting rods by pins; the rotary connecting rod is axially fixed on the gear rotary long shaft through a sleeve, one section of short rod of the rotary connecting rod is connected with the winglet connecting rod through a long connecting rod, and the winglet connecting rod is fixed at the rear end of the winglet; the other long rod of the rotating connecting rod is connected with the sliding block with the lug at the rear part through the rear short connecting rod.

The leg bouncing device comprises a motor, a leg small belt wheel, a belt, a leg belt wheel rotating shaft, a leg large belt wheel, a leg rotating shaft, a straight-tooth cylindrical gear 3, a straight-tooth cylindrical gear 4, a thigh framework, a thigh bouncing spring, pneumatic muscles, pneumatic muscle movable hinges, spring movable hinges and feet. The motor is fixed on a rear supporting plate of the main body, and an output shaft of the motor is connected with the leg small belt wheel through a flat key; the leg large belt wheel is fixed on a leg belt wheel rotating shaft through a shaft shoulder and a flat key, and the leg belt wheel rotating shaft is supported on a support column at the rear part of the main body through a bearing; the leg small belt pulley is connected with the leg large belt pulley through a belt; the straight-tooth cylindrical gear 3 is fixed on a leg belt wheel rotating shaft, the straight-tooth cylindrical gear 3 and the straight-tooth cylindrical gear 4 are meshed with each other, the straight-tooth cylindrical gear 4 is fixed on a thigh skeleton, the thigh skeleton is fixed on a leg rotating shaft, the leg rotating shaft is supported on a support column at the rear part of the main body through a bearing, and the lifting and lowering of the leg are realized through belt rotation; the pneumatic muscle movable hinge, the spring movable hinge, the supporting column below the foot and the thigh bone are hinged, the thigh jump spring is fixed on a circular bulge of the spring movable hinge, two ends of the pneumatic muscle are respectively connected to the pneumatic muscle movable hinge connected with the foot (614) and the pneumatic muscle movable hinge connected with the thigh bone, and two pneumatic muscles are introduced with air to transversely expand and longitudinally contract to drive the thigh jump spring to contract, so that thigh jump is realized by releasing.

Further, imitative pterosaur carries thing robot, its characterized in that: the front ends of the right winglet and the left winglet at the rotating shaft are provided with metacarpals, and the metacarpals are just stuck to the ground and the leg bouncing device support a wing-like carrying robot together during landing.

Further, imitative pterosaur carries thing robot, its characterized in that: the surfaces of the right winglet, the left winglet and the left winglet are covered with a layer of high-strength glass fiber, so that aerodynamic force generated by the surfaces of the winglet membranes is transferred to the forelimbs.

Further, imitative pterosaur carries thing robot, its characterized in that: the front end of the main body is provided with two storage box doors which are hinged with the storage box at the lower side of the main body, and the outer side of the storage box doors is provided with a small handle, so that the door can be opened manually.

The invention also provides an application method of the simulated pterosaur carrying robot, which comprises the following specific processes:

firstly, opening a storage box door, and placing an object into the storage box of the main body; the four pneumatic muscles are filled with air, the pneumatic muscles transversely expand and longitudinally contract to compress thigh jump springs, then the pneumatic muscles are decompressed, the thigh jump springs rapidly stretch to drive the robot to jump, at the moment, the fuel engine is started to drive the driven straight-tooth cylindrical gear to rotate through the reduction of the RV reducer, the rotation is transmitted to the straight-tooth cylindrical gear 1 through the gear rotation long shaft, the straight-tooth cylindrical gear 1 is meshed with the straight-tooth cylindrical gear 2, and the straight-tooth cylindrical gear 2 rotates to drive the disc with the sliding block to rotate on the disc rotation shaft; the circular slide block of the disc with the slide block is embedded in the groove of the slide block with the lug to move left and right, and then the slide block with the lug is driven to move up and down in the groove in the support column at the front end of the main body; the sliding block with the lugs moves up and down to drive the right big wing and the left big wing to up and down flapping wings through the short connecting rod; the circular slide block of the disk with slide block at the rear part of the bionic wing and the circular slide block of the disk with slide block at the front part are on the same axis, thus the front and rear two slide blocks with lugs are on the same horizontal line, the lug at the right side of the slide block with lug at the rear part is connected with a long connecting rod on the rotating connecting rod through a short connecting rod at the rear part, the other short connecting rod on the rotating connecting rod is connected with a winglet connecting rod on the left winglet through the long connecting rod, the winglet connecting rod, the long connecting rod and the short connecting rod on the rotating connecting rod form a parallelogram, and the slide block with lug moves upwards to drive the rotating connecting rod at the rearmost end to rotate anticlockwise, and finally the left winglet is driven to flapping downwards;

compared with the background technology, the invention has the following beneficial effects:

1. the bionic wing dragon is designed, and the bionic double-wing structure and the leg bouncing mechanism enable the aircraft to have stronger maneuverability, be suitable for long-distance flight and gliding and have stronger carrying capacity; when falling, the wings can be automatically retracted, the metacarpals on the wings can effectively contact the ground, the contact area between the wings and the ground can be increased when falling, and the falling is more stable. The wing membrane material adopted on the surface of the wing is high-strength glass fiber, and has better flexibility, strength and elasticity.

2. The leg bouncing device adopts a mode of combining spring driving and bionic pneumatic muscle, so that the leg bouncing device has larger driving force and can effectively store energy during bouncing. The spring drive has the functions of energy storage, energy locking and releasing and energy storage size changing. The pneumatic muscle can provide great force, but the weight is smaller, and the pneumatic muscle is automatically braked when the push-pull limit is reached, so that the whole device is lighter, smaller and convenient to lighten the weight of the robot, thereby reducing the driving load and facilitating the control of the bouncing height. During flight, the whole leg and the body are kept on the same horizontal line and are streamline, and before landing, the whole leg can be controlled to retract, and the leg is adjusted to form a joint angle capable of stably landing, so that stable landing is realized.

3. The neck part adopts a linear driving bionic design, has good elasticity, can meet the requirement of continuous bending movement, can realize changeable and flexible movement, can change the pose of the wing-like dragon carrying robot in the air through the movement of the neck part to keep balance, and has the advantages of stable and flexible flight and the like.

In summary, compared with the prior art, the robot has the advantages of high load, strong maneuverability, capability of realizing safe deceleration and landing, suitability for long-distance flight and gliding, portability and small size of the bouncing device, easiness in controlling the bouncing height, easiness in storing energy, locking and releasing energy, capability of changing the pose of the robot to keep balance through multiple degrees of freedom of the neck, stable and flexible flight, capability of automatically retracting wings, more stable landing and the like.

Drawings

FIG. 1 is a schematic diagram of the overall structure of a wing-like carrier robot;

FIG. 2 is a front view of a head of a simulated pterosaur carrier robot;

FIG. 3 is an isometric view of a simulated neck of a simulated pterosaur cargo robot;

FIG. 4 is an isometric view of a simulated wing of a simulated pterosaur cargo robot;

FIG. 5 is an isometric view of a simulated wing of a simulated pterosaur cargo robot;

FIG. 6 is an isometric view of a main body of a simulated pterosaur carrier robot;

FIG. 7 is a cross-sectional view of a main body of a simulated pterosaur carrier robot;

FIG. 8 is an isometric view of a tail swing device of a simulated pterosaur carrier robot;

FIG. 9 is an isometric view of a leg bouncing device of the simulated pterosaur cargo robot;

FIG. 10 is an isometric view of a simulated pterosaur cargo robot at the thigh and foot junction;

in the figure: 1. head, 2, bionic neck, 3, bionic wing, 4, main body, 5, tail swing device, 6, leg bouncing device, 101, camera, 102, head shell, 201 driving rope, 202, base, 203, neck spring, 301, right winglet, 302, right winglet, 303, bearing shaft, 304, gear rotation long shaft, 305, disk with sliding block, 306, left winglet, 307, left winglet, 308, straight toothed

cylindrical gear

2, 309, sliding block with lug, 310, disk rotation shaft, 311, short connecting rod, 312, long connecting rod, 313, winglet connecting rod, 314, straight toothed

cylindrical gear

1, 315, driven spur gear, 316, driving spur gear, 317, RV reducer, 318, fuel engine, 319, rotating link, 320, rear short link, 401, storage box door, 501, steering engine, 502, tail fin, 601, motor, 602, leg small pulley, 603, belt, 604, leg pulley rotating shaft, 605 leg large pulley, 606, leg rotating shaft, 607

spur gear

3, 608,

spur gear

4, 609, thigh skeleton, 610, thigh jump spring, 611, pneumatic muscle, 612, pneumatic muscle living hinge, 613, spring living hinge, 614, foot.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described below are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

As shown in fig. 1, the simulated pterosaur-shaped carrying robot mainly comprises a head 1, a simulated neck 2, simulated wings 3, a main body 4, a tail swing device 5 and a leg bouncing device 6; the head 1 is connected and installed at the front end of the bionic neck 2, the rear end of the bionic neck 2 is connected and installed at the front end of the main body 4, the two sides of the main body 4 are provided with bionic wings 3, the rear control box of the main body 4 is provided with two leg bouncing devices 6, and the tail swinging device 5 is hinged with the rear end of the main body 4.

As shown in fig. 3, the bionic neck 2 comprises a driving rope 201, a base 202 and a neck spring 203, and as shown in fig. 7, a rope driving belt wheel 402 and a driving motor 403 are arranged at the lower part of a control box at the rear part of the main body 4; the output shaft of the driving motor 403 is connected with the rope driving belt wheel 402 through a key, and the rope driving belt wheel 402 is just arranged below four small holes of the control box at the rear part of the main body 4; the neck spring 203 is sleeved on a circular boss of the base 202, a section of neck spring 203 close to the head 1 is sleeved on the circular boss of the head 1, four driving ropes 201 mutually penetrate through four round holes of the base 202 and are connected to the tail end of the head 1, the other ends of the driving ropes 201 penetrate through four small holes at the front end of the main body 4 and extend all the way to a control box at the rear part of the main body 4, the control box is connected to a rope driving belt wheel 402, the rope driving belt wheel 402 is connected to an output shaft of the driving motor 403 through a key, the rotation of the output shaft of the driving motor 403 drives the driving ropes 201 and the neck spring 203 to shrink, and finally the bionic neck 2 is driven to bend, so that the position of the wing-like carrying robot in the air is changed;

as shown in fig. 8, the tail swing device 5 includes a steering engine 501 and a tail fin 502; the tail fin 502 is hinged with the rear part of the main body 4, an output shaft of the steering engine 501 is connected with small holes in a rotating shaft of the tail fin 502 in an expanding mode, left-and-right swinging of the tail fin 502 is achieved, and the flying direction of the wing-like carrier robot can be changed.

As shown in fig. 4 and 5, the bionic wing 3 includes a right winglet 301, a right winglet 302, a carrying shaft 303, a gear rotation long shaft 304, a disk with a slider 305, a left winglet 306, a left winglet 307, a spur gear 2308, a slider with lugs 309, a disk rotation shaft 310, a short link 311, a long link 312, a winglet link 313, a spur gear 1314, a driven spur gear 315, a driving spur gear 316, an RV reducer 317, a fuel engine 318, a rotation link 319, a rear short link 320; the right winglet 301 and the right winglet 302 are connected by a hinge, and the right winglet 302 and the left winglet 306 are connected on the bearing shaft 303 by a hinge to form a revolute pair; an output shaft of the fuel engine 318 is connected with the RV reducer 317, an output shaft of the RV reducer 317 is connected with the driving straight-tooth cylindrical gear 316 through a flat key, the driving straight-tooth cylindrical gear 316 is meshed with the driven straight-tooth cylindrical gear 315, the driven straight-tooth cylindrical gear 315 and the straight-tooth cylindrical gear 1314 are fixed on the gear rotation long shaft 304 through flat keys and shaft shoulders, and the gear rotation long shaft 304 is fixed at the upper ends of two support columns of the main body 4 through bearings; the spur gear 1314 and the spur gear 2308 are meshed with each other, and the spur gear 2308 and the disk 305 with a slider are fixed on the disk rotation shaft 310; the circular slide of the disk 305 with slide is embedded in the groove of the slide 309 with lug, the slide on the slide 309 with lug is embedded in the rectangular groove in the front pillar of the main body 4; the right and

left winglets

302, 306 are pinned to the lugs of the slider 309 by two short links 311; the rotating connecting rod 319 is axially fixed on the gear rotating long shaft 304 through a sleeve, one section of short rod of the rotating connecting rod 319 is connected with the winglet connecting rod 313 through the long connecting rod 312, and the winglet connecting rod 313 is fixed at the rear end of the winglet; the other long rod of the rotating link 319 is connected to the rear lobed slider 309 by a rear short link 320.

As shown in fig. 9 and 10, the leg bouncing device 6 includes a motor 601, a leg small pulley 602, a belt 603, a leg pulley rotation shaft 604, a leg large pulley 605, a leg rotation shaft 606, a spur gear 3607, a spur gear 4608, a thigh frame 609, a thigh bouncing spring 610, a pneumatic muscle 611, a pneumatic muscle living hinge 612, a spring living hinge 613, a foot 614; the motor 601 is fixed on the rear supporting plate of the main body 4, an output shaft of the motor 601 is connected with the leg small belt wheel 602 through a flat key, and the motor 601 is used for driving the leg small belt wheel 602 to rotate; the leg big belt pulley 605 is fixed on the leg belt pulley rotating shaft 604 through a shaft shoulder and a flat key, and the leg belt pulley rotating shaft 604 is supported on a support column at the rear part of the main body 4 through a bearing; leg small pulley 602 and leg large pulley 605 are connected by belt 603; the straight-tooth cylindrical gear 3607 is fixed on the leg belt wheel rotating shaft 604, the straight-tooth cylindrical gear 3607 and the straight-tooth cylindrical gear 4608 are meshed with each other, the straight-tooth cylindrical gear 4608 is fixed on the thigh skeleton 609, the thigh skeleton 609 is fixed on the leg rotating shaft 606, the leg rotating shaft 606 is supported on a supporting column at the rear part of the main body 4 through a bearing, and the belt 603 rotates to realize the lifting and lowering of the leg; the pneumatic muscle movable hinge 612, the spring movable hinge 613, the foot 614 and the supporting column below the thigh frame 609 are hinged, the thigh jump spring 610 is fixed on the circular bulge of the spring movable hinge 613, two ends of the pneumatic muscle 611 are respectively connected with the pneumatic muscle movable hinge 612 connected with the foot 614 and the pneumatic muscle movable hinge 612 connected with the thigh frame 609, and the two pneumatic muscles 611 are introduced with air to transversely expand and longitudinally contract to drive the thigh jump spring 610 to contract, so that thigh jump is realized.

As shown in fig. 10, the straight-tooth cylindrical gear 3607 is welded on the thigh skeleton 609, the rotation of the straight-tooth cylindrical gear 3607 will drive the straight-tooth cylindrical gear 3607 to rotate so as to drive the whole leg bouncing device 6 to swing back and forth, when a simulated pterosaur-shaped carrying robot lands, the motor 601 is controlled to swing the leg bouncing device 6 to a proper position to contact with the ground, the robot lands steadily, and in the flying process of the simulated pterosaur-shaped carrying robot, the motor 601 is controlled to swing the leg bouncing device 6 to the horizontal direction, the whole robot is streamline, and the resistance is reduced.

The front ends of the right winglet 301 and the left winglet 307 at the rotating shaft are provided with metacarpals, the rotating shaft is just at the lowest point during landing, and the metacarpals on the metacarpals are just attached to the ground and the leg bouncing device 6 support a wing-like carrying robot together, so that landing is more stable.

The surfaces of the right winglet 301, right winglet 302, left winglet 306 and left winglet 307 are covered with a layer of high strength fiberglass composite material that is important for transmitting the aerodynamic forces generated by the foil surfaces to the forelimb. In particular, high strength glass fibers may be used as the high strength glass fiber roving material.

The foremost end of the main body 4 is provided with two storage box doors 401 which are hinged with a storage box at the lower side of the main body 4, the outer side of the storage box doors 401 is provided with a small handle, the door is convenient to open manually, the storage box is used for storing heavy objects, and the storage box doors 401 are in a closed state in the flying process of the wing-like robot; the rear control box of the main body 4 is used for placing power supplies, controllers, and the like.

As shown in fig. 2, cameras 101 are arranged on two sides of the head 1, the cameras 101 are used for recording and storing environment image data of an imitation pterosaur carrying robot in the air in the course of navigation in real time, and meanwhile, the cameras 101 can provide more stereoscopic images and videos.

The rotating connecting rod 319 is formed by welding a long connecting rod and a short connecting rod, and a drilling hole and a key slot are arranged at the junction of the two connecting rods and can be fixed on the gear rotating long shaft 304.

As shown in fig. 6 and 7, the front panel of the control box at the rear of the main body 4 is provided with 6 protruding panels, the uppermost panel is for fixing the fuel motor 318, the downward panel is for fixing the motor 601, and the last four panels are for fixing the driving motor 403.

As shown in fig. 6, the horizontal plate at the front end of the main body 4 has two support plates disposed in parallel and vertically for fixing the disc rotation shaft 310, and a bearing hole is formed between the circular hole on the support plate and the disc rotation shaft 310 for fixing the bearing.

An application method of a pterosaur-like carrying robot comprises the following steps:

the user opens the storage box door 401 to put the object to be stored into the storage box of the main body 4; the four pneumatic muscles 611 are filled with air, the pneumatic muscles 611 transversely expand and longitudinally contract to compress the thigh jump spring 610, then the pneumatic muscles 611 decompress, the thigh jump spring 610 rapidly stretches to drive the robot to jump, at the moment, the fuel engine 318 starts to reduce speed through the RV reducer 317 to drive the driven straight-tooth cylindrical gear 315 to rotate, the rotation is transmitted to the straight-tooth cylindrical gear 1314 through the gear rotation long shaft 304, the straight-tooth cylindrical gear 1314 is meshed with the straight-tooth cylindrical gear 2308, and the straight-tooth cylindrical gear 2308 rotates to drive the disc 305 with the sliding block to rotate on the disc rotation shaft 310; the circular slide block of the disc 305 with the slide block is embedded in the groove of the slide block 309 with the lug to move left and right, and then the slide block 309 with the lug is driven to move up and down in the groove in the support column at the front end of the main body; the up-and-down movement of the lug-attached slider 309 drives the right side winglet 302 and the left side winglet 306 up-and-down via the short link 311; the circular slide block of the disc 305 with slide block at the rear part of the bionic wing 3 and the circular slide block of the disc 305 with slide block at the front part are on the same axis, so that the two slide blocks 309 with lugs at the front and rear parts are on the same horizontal line, the lug at the right side of the slide block 309 with lugs at the rear part is connected with one section of long connecting rod on the rotating connecting rod 319 through a rear short connecting rod 320, the other section of short connecting rod on the rotating connecting rod 319 is connected with the winglet connecting rod 313 on the left winglet 307 through a long connecting rod 312, the winglet connecting rod 313, the long connecting rod 312 and one section of short connecting rod on the rotating connecting rod 319 form a parallelogram, the slide block 309 with lugs moves upwards to drive the rotating connecting rod 319 at the rearmost end to rotate anticlockwise, finally drives the left winglet 307 to flapping downwards, and the wings at the left and the right and the left winglet and the wing are arranged in a symmetrical design.

The foregoing detailed description is provided to illustrate the technical spirit and features of the present invention and not to limit the present invention, but to make any modifications and changes within the spirit of the present invention and the scope of the appended claims.

The present invention has been described in terms of preferred embodiments, but is not limited to the above-described embodiments, and any simple modification, equivalent changes and variation of the above-described embodiments according to the technical principles of the present invention will be within the scope of the present invention when the above-described structures and technical principles can be utilized to make a few equivalent embodiments without departing from the technical scope of the present invention.

Claims

1. The utility model provides an imitative pterosaur year thing robot which characterized in that: the bionic robot comprises a head (1), a bionic neck (2), bionic wings (3), a main body (4), a tail swinging device (5) and a leg bouncing device (6), wherein the head (1) comprises a camera (101) and a head shell (102);

the tail swinging device (5) comprises a steering engine (501) and tail fins (502), wherein the tail fins (502) are hinged with the rear part of the main body (4), and an output shaft of the steering engine (501) is connected with the tail fins (502) to realize left and right swinging of the tail fins (502); the bionic neck (2) comprises a driving rope (201), a base (202) and a neck spring (203); the neck spring (203) is sleeved on a circular boss of the base (202), a section of neck spring (203) close to the head (1) is sleeved on the circular boss of the head (1), four driving ropes (201) mutually take 90 degrees, pass through four round holes of the base (202) and are connected to the tail end of the head (1), the other end of each driving rope (201) passes through four small holes at the front end of the main body (4) and extends to a control box at the rear part of the main body (4), the control box is connected to the rope driving belt wheel (402), the rope driving belt wheel (402) is connected to an output shaft of the driving motor (403) through keys, the driving motor (403) drives the driving ropes (201) and the neck spring (203) to shrink, and finally drives the bionic neck (2) to bend;

the bionic wing (3) comprises a right winglet (301), a right winglet (302), a bearing shaft (303), a gear rotation long shaft (304), a disc (305) with a sliding block, a left winglet (306), a left winglet (307), a straight-tooth cylindrical gear 2 (308), a sliding block (309) with a lug, a disc rotation shaft (310), a short connecting rod (311), a long connecting rod (312), a winglet connecting rod (313), a straight-tooth cylindrical gear 1 (314), a driven straight-tooth cylindrical gear (315), a driving straight-tooth cylindrical gear (316), an RV reducer (317), a fuel engine (318), a rotation connecting rod (319) and a rear short connecting rod (320); the right winglet (301) is connected with the right winglet (302) through a hinge, and the right winglet (302) is connected with the left winglet (306) through a hinge on a bearing shaft (303) to form a revolute pair; an output shaft of the fuel engine (318) is connected with an RV reducer (317), the output shaft of the RV reducer (317) is connected with a driving straight-tooth cylindrical gear (316) through a flat key, the driving straight-tooth cylindrical gear (316) and a driven straight-tooth cylindrical gear (315) are meshed with each other, the driven straight-tooth cylindrical gear (315) and the straight-tooth cylindrical gear 1 (314) are fixed on a gear rotation long shaft (304) through flat keys and shaft shoulders, and the gear rotation long shaft (304) is fixed at the upper ends of two support columns of a main body (4) through bearings; the straight-tooth cylindrical gear 1 (314) and the straight-tooth cylindrical gear 2 (308) are meshed with each other, and the straight-tooth cylindrical gear 2 (308) and the disc (305) with the sliding block are fixed on a disc rotating shaft (310); the round slide block of the disc (305) with the slide block is embedded in the groove of the slide block (309) with the lug, and the slide block on the slide block (309) with the lug is embedded in the rectangular groove in the front end pillar of the main body (4); the right big wing (302) and the left big wing (306) are connected on the lug of the sliding block (309) through two short connecting rods (311) by pins; the rotating connecting rod (319) is axially fixed on the gear rotating long shaft (304) through a sleeve, one section of short rod of the rotating connecting rod (319) is connected with the winglet connecting rod (313) through a long connecting rod (312), and the winglet connecting rod (313) is fixed at the rear end of the winglet; the other long rod of the rotating connecting rod (319) is connected with the rear sliding block (309) with lugs through the rear short connecting rod (320);

the leg bouncing device (6) comprises a motor (601), a leg small belt wheel (602), a belt (603), a leg belt wheel rotating shaft (604), a leg big belt wheel (605), a leg rotating shaft (606), a straight-tooth cylindrical gear 3 (607), a straight-tooth cylindrical gear 4 (608), a thigh skeleton (609), a thigh bouncing spring (610), pneumatic muscles (611), pneumatic muscle movable hinges (612), spring movable hinges (613) and feet (614); the motor (601) is fixed on a rear supporting plate of the main body (4), and an output shaft of the motor (601) is connected with the leg small belt wheel (602) through a flat key; the leg big belt wheel (605) is fixed on a leg belt wheel rotating shaft (604) through a shaft shoulder and a flat key, and the leg belt wheel rotating shaft (604) is supported on a support column at the rear part of the main body (4) through a bearing; the leg small belt wheel (602) is connected with the leg large belt wheel (605) through a belt (603); the straight-tooth cylindrical gear 3 (607) is fixed on the leg belt wheel rotating shaft (604), the straight-tooth cylindrical gear 3 (607) and the straight-tooth cylindrical gear 4 (608) are meshed with each other, the straight-tooth cylindrical gear 4 (608) is fixed on the thigh skeleton (609), the thigh skeleton (609) is fixed on the leg rotating shaft (606), the leg rotating shaft (606) is supported on a supporting column at the rear part of the main body (4) through a bearing, and the belt (603) rotates to realize the lifting and lowering of the leg; pneumatic muscle activity hinge (612), spring activity hinge (613) and foot (614), the support column articulated of thigh skeleton (609) below, thigh jump spring (610) are fixed on the circular arch of spring activity hinge (613), pneumatic muscle (611) both ends connect respectively on pneumatic muscle activity hinge (612) that link to each other with foot (614) and pneumatic muscle activity hinge (612) that link to each other with thigh skeleton (609), two pneumatic muscle (611) lets in the horizontal expansion longitudinal contraction of gas and drives thigh jump spring (610) shrink, release realization thigh spring.

2. The simulated pterosaur carrier robot of claim 1 wherein: the front ends of the right winglet (301) and the left winglet (307) at the rotating shaft are provided with metacarpals, and the metacarpals are just stuck to the ground and the leg bouncing device (6) support a wing-like dragon carrying robot together during landing.

3. The simulated pterosaur carrier robot of claim 1 wherein: the surfaces of the right winglet (301), the right winglet (302), the left winglet (306) and the left winglet (307) are covered with a layer of high-strength glass fiber composite material, so that aerodynamic force generated on the surfaces of the winglet membranes is transferred to the forelimbs.

4. The simulated pterosaur carrier robot of claim 1 wherein: the front end of the main body (4) is provided with two storage box doors (401), the storage box doors (401) are hinged with the storage box at the lower side of the main body (4), and small handles are arranged at the outer sides of the storage box doors (401).

5. An application method of a simulated pterosaur carrying robot, which adopts the simulated pterosaur carrying robot defined in any one of claims 1-4, is characterized by comprising the following steps: firstly, a storage box door (401) is opened, and objects to be stored are placed in the storage box of the main body (4); the four pneumatic muscles (611) are filled with air, the pneumatic muscles (611) transversely expand and longitudinally contract to enable thigh jump springs (610) to compress, then the pneumatic muscles (611) are decompressed, the thigh jump springs (610) rapidly stretch to drive a robot to jump, at the moment, a fuel engine (318) is started to drive a driven straight-tooth cylindrical gear (315) to rotate through the speed reduction of an RV reducer (317), rotation is transmitted to a straight-tooth cylindrical gear 1 (314) through a gear rotation long shaft (304), the straight-tooth cylindrical gear 1 (314) is meshed with a straight-tooth cylindrical gear 2 (308), and the straight-tooth cylindrical gear 2 (308) rotates to drive a disc (305) with a sliding block to rotate on a disc rotation shaft (310); the round slide block of the disc (305) with the slide block is embedded in the groove of the slide block (309) with the lug to move left and right, and then the slide block (309) with the lug is driven to move up and down in the groove in the support column at the front end of the main body; the sliding block (309) with the lugs moves up and down to drive the right large wing (302) and the left large wing (306) to flapping the wings up and down through the short connecting rod (311); the round slide block of the disc (305) with slide block at the rear part of the bionic wing (3) and the round slide block of the disc (305) with slide block at the front part are on the same axis, thus the two slide blocks (309) with lugs at the front and rear parts are on the same horizontal line, the lug at the right side of the slide block (309) with lugs at the rear part is connected with a long connecting rod on a rotating connecting rod (319) through a rear short connecting rod (320), the other short connecting rod on the rotating connecting rod (319) is connected with a winglet connecting rod (313) on a left winglet (307) through a long connecting rod (312), the winglet connecting rod (313), the long connecting rod (312) and a short connecting rod on the rotating connecting rod (319) form a parallelogram, the slide block (309) with lugs moves upwards to drive the rotating connecting rod (319) at the rearmost end to rotate anticlockwise, and finally the left winglet (307) is driven to flapping downwards; through symmetrical design and arrangement, the flapping wing flying action is completed by the large and small wings on the left side and the right side.