The invention discloses a bionic flapping-wing robot based on a slider-crank mechanism. The bionic flapping-wing robot comprises a rack, a flapping-wing mechanism arranged at the head end of the rackand an empennage mechanism arranged at the tail end of the rack. The flapping-wing mechanism comprises a motor, a gear speed reducer, a first connecting rod, a first sliding block, a guide frame, a sleeve, a wing rod piece and a wing, the motor transmits power to the first connecting rod through the gear speed reducer, the first connecting rod and the sliding block form a crank sliding block mechanism with an eccentric distance, and the action of the first sliding block is transmitted to the wing through the wing rod piece; the empennage mechanism comprises a rotary steering engine, a linear steering engine, a rotary plate, a second sliding block, a second connecting rod, an empennage fixing piece and an empennage, the rotary steering engine achieves rotary motion of the empennage throughthe rotary plate, and the linear steering engine drives the second sliding block to conduct linear motion and drives the empennage fixing piece to rotate through the second connecting rod to achieve pitching motion of the empennage; according to the bionic flapping-wing robot based on the slider-crank mechanism, the flapping-wing structure is simple and clear, the flapping-wing flying process is more stable, and the bionic performance is good.

    本发明公开了一种基于曲柄滑块机构的仿生扑翼机器人,包括机架、设置于机架首端的扑翼机构和设置于机架尾端的尾翼机构;扑翼机构包括电机、齿轮减速装置、连杆一、滑块一、导向框、套筒、翅膀杆件和翅膀,电机通过齿轮减速装置传递动力给连杆一,连杆一与滑块构成了含偏心距的曲柄滑块机构,滑块一的动作由翅膀杆件传递给翅膀;尾翼机构包括旋转舵机、直线舵机、旋转板、滑块二、连杆二、尾翼固定件和尾翼,旋转舵机通过旋转板实现尾翼的旋转运动,直线舵机驱动滑块二直线运动,经连杆二带动尾翼固定件的转动,实现尾翼的俯仰运动;本发明中的基于曲柄滑块机构的仿生扑翼机器人,扑翼结构简单明了,扑翼飞行过程更加稳定,且仿生性好。


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    Title :

    Bionic flapping-wing robot based on slider-crank mechanism


    Additional title:

    一种基于曲柄滑块机构的仿生扑翼机器人


    Contributors:
    SHI QING (author) / LIU JIANG (author) / JIA GUANGLU (author) / GUO XIAOWEN (author) / HUANG QIANG (author) / YU ZHANGGUO (author) / CHEN XUECHAO (author)

    Publication date :

    2021-01-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64C AEROPLANES , Flugzeuge



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