阅读说明：本技术 一种双电机驱动仿生蜻蜓机器人 (A kind of bionical dragonfly robot of Dual-motors Driving ) 是由 陈光荣 出家铭 郭盛 王向阳 宋马军 曲海波 陈亚琼 赵福群 汪培义 于 2019-09-16 设计创作，主要内容包括：本发明涉及仿生飞行机器人领域,特别涉及一种双电机驱动仿生蜻蜓机器人。它的总体结构由第一、第二扑翼机构组件(1-1、1-2),直连杆(2),配重(3),转向片(4)构成,其结构简单,分别通过两个电机驱动机器人前后侧两对翅膀,每对翅膀设计有四个扑翼以提高飞行升力,且两个电机均通过输出轴的主动轮带动两个对称的从动轮及其连杆机构实现仿生蜻蜓机器人的扑翼动作,简化了机器人的机械结构和控制系统,使机器人操作更简单,飞行更自如,负载能力更强,续航时间更长。(The present invention relates to Bionic Flying Robot field, in particular to a kind of bionical dragonfly robot of Dual-motors Driving.Its overall structure is by first, second flapping wing mechanism component (1-1, 1-2), straight connecting rod (2), counterweight (3), direction turning piece (4) is constituted, its structure is simple, respectively by side two before and after Liang Ge motor driven robot to wing, there are four flapping wings to improve flight lift for each pair of wing design, and two motors pass through the flapping wing movement that the driving wheel of output shaft drives two symmetrical driven wheels and its link mechanism to realize bionical dragonfly robot, simplify the mechanical construction and control system of robot, keep robot manipulation simpler, flight is more freely, load capacity is stronger, cruise duration is longer.)

1. a kind of bionical dragonfly robot of Dual-motors Driving, it is characterised in that: its overall structure is by the first, second flapping wing mechanism Component (1-1,1-2), straight connecting rod (2), counterweight (3), direction turning piece (4) are constituted；

Wherein, the first flapping wing mechanism component (1-1) is identical with the structure of the second flapping wing mechanism component (1-2), by direct-connected Bar (2) is connected；First flapping wing mechanism component (1-1) is located at one end of straight connecting rod (2), the other end and counterweight (3) of straight connecting rod (2) It is connected, direction turning piece (4) and counterweight (3) are formed hingedly.

2. the bionical dragonfly robot of a kind of Dual-motors Driving according to claim 1, it is characterised in that: the first flapping wing mechanism Component (1-1) is by the first, second gear (5-1,5-2), stepped gear (6), fixed frame (7), first, second fin (8-1,8- 2), the first, second connecting rod (9-1,9-2), output gear (10) and motor (11) composition；

Wherein the middle through-hole of the first, second fin (8-1,8-2) is concentric, and passes through pin connection with the hole D of fixed frame (7)；Electricity Machine (11) is fixed on fixed frame (7), and output shaft is fixedly connected with output gear (10)；Stepped gear (6) and fixed frame (7) The hole C is concentric, and canine tooth is engaged with output gear (10), and small tooth is then engaged with second gear (5-2)；First, second gear (5-1,5- 2) it is symmetrically distributed on two sides the cylinder boss A and B of fixed frame (7), intermeshes；

One end of first connecting rod (9-1) and the cylindrical projection on first gear (5-1) are formed and are rotatablely connected, the other end and first wing The hole A of piece (8-1) forms rotation connection；One end of second connecting rod (9-2) and the cylindrical projection on second gear (5-2) form and turn The hole A of dynamic connection, the other end and the second fin (8-2), which is formed, to be rotatablely connected.

3. the bionical dragonfly robot of a kind of Dual-motors Driving according to claim 1, it is characterised in that: it has holotype state The bionic mechanical of formula designs, and the freedom degree and driving quantity of various components can redesign according to demand, Dual-motors Driving Single motor can be redesigned into drive.

4. the bionical dragonfly robot of a kind of Dual-motors Driving according to claim 1, it is characterised in that: designed double electricity Machine drives bionical dragonfly robot, a kind of reconfigurable Fang Niao robot driven at single motor.

Technical field

The present invention relates to bio-robot field, in particular to the bionical dragonfly robot of a kind of Dual-motors Driving.

Background technique

Bionic Flying Robot is realized by the driving method of dexterous mechanism design and lower-mobility and is similar to flight life The flight performance of object.A kind of bionical dragonfly robot of Dual-motors Driving that the present invention designs passes through two motor driven machines respectively Side two is to wing before and after device people, and there are four flapping wings for each pair of wing design to improve flight lift, and two motors pass through output The driving wheel of axis drives two symmetrical driven wheels and its link mechanism to realize that the flapping wing of bionical dragonfly robot acts；Meanwhile The robot has single-degree-of-freedom tail structure, is driven by hot-wire coil and magnetic pole, robot yaw maneuver may be implemented；Machine The pitching motion of people is realized by flapping wing speed of the front and back side two to wing, makes the more flexible freedom of pitching.

Summary of the invention

The problem to be solved in the present invention is to design a kind of bionical dragonfly robot of Dual-motors Driving, and structure is simple, tool There are two perfect class wing mesh, has lower-mobility drive characteristic, and can realize dogled by changing tail portion direction turning piece, pass through Is realized to the flapping wing speed of wing by pitching motion for front and back side two.

The technical solution used to solve the technical problems of the present invention is that:

A kind of bionical dragonfly robot of Dual-motors Driving, its overall structure are direct-connected by the first, second flapping wing mechanism component Bar, counterweight, direction turning piece are constituted；Wherein, the first flapping wing mechanism component is identical with the structure of the second flapping wing mechanism component, passes through Straight connecting rod is connected；First flapping wing mechanism component is located at one end of straight connecting rod, and the other end of straight connecting rod is connected with counterweight, direction turning piece with It is hinged with reforming.

First flapping wing mechanism component is by the first, second gear, stepped gear, fixed frame, the first, second fin, and first, Two connecting rods, output gear and motor form；Wherein the middle through-hole of the first, second fin is concentric, and passes through pin with the hole D of fixed frame Connection；Motor is fixed on fixed frame, and output shaft is fixedly connected with output gear；The hole C of stepped gear and fixed frame is concentric, Canine tooth and output tooth engagement, small tooth are then engaged with second gear；First, second gear is symmetrically distributed in the two sides cylinder of fixed frame On boss A and B, intermesh；

Cylindrical projection on one end and first gear of first connecting rod forms rotation connection, the A of the other end and the first fin Hole forms rotation connection；Cylindrical projection on one end and second gear of second connecting rod forms rotation connection, the other end and second The hole A of fin forms rotation connection.

The utility model has the advantages that the present invention passes through to side before and after bionical dragonfly robot possessed by the present invention is compared with prior art The design of joint respectively the driving design and single-degree-of-freedom tail portion of two pairs of wings, greatly reduces bionical dragonfly robot It drives quantity to reduce robot own wt, simplifies the mechanical construction and control system of robot, make robot manipulation more Simply, more freely, load capacity is stronger, and cruise duration is longer for flight.

Detailed description of the invention

The bionical dragonfly robot general structure schematic diagram of Fig. 1 Dual-motors Driving；

Fig. 2 the first flapping wing construction package schematic diagram；

Fig. 3 flapping wing construction package perspective view of the explosion；

Fig. 4 fixed frame schematic diagram；

Fig. 5 the first fin partial schematic diagram；

In figure: the first, second flapping wing mechanism component (1-1,1-2), straight connecting rod (2), counterweight (3), direction turning piece (4), first, Second gear (5-1,5-2), stepped gear (6), fixed frame (7), the first, second fin (8-1,8-2), the first, second connecting rod (9-1,9-2), output gear (10), motor (11).

Specific embodiment

In conjunction with attached drawing, the present invention will be further described.

The problem to be solved in the present invention is to design a kind of bionical dragonfly robot of Dual-motors Driving, and structure is simple, tool There are two perfect class wing mesh, has lower-mobility drive characteristic, and can realize dogled by changing tail portion direction turning piece, pass through Is realized to the flapping wing speed of wing by pitching motion for front and back side two.

The technical solution used to solve the technical problems of the present invention is that:

A kind of bionical dragonfly robot of Dual-motors Driving, its overall structure by the first, second flapping wing mechanism component (1-1, 1-2), straight connecting rod (2), counterweight (3), direction turning piece (4) are constituted, as shown in Figure 1.

Wherein, the first flapping wing mechanism component (1-1) is identical with the structure of the second flapping wing mechanism component (1-2), passes through Straight connecting rod (2) is connected；First flapping wing mechanism component (1-1) is located at one end of straight connecting rod (2), the other end of straight connecting rod (2) with match Weight (3) is connected, and direction turning piece (4) and counterweight (3) are formed hingedly.

First flapping wing mechanism component (1-1) is by the first, second gear (5-1,5-2), stepped gear (6), fixed frame (7), First, second fin (8-1,8-2), the first, second connecting rod (9-1,9-2), output gear (10) and motor (11) composition, such as Fig. 2 It is shown.

As shown in figure 3, the middle through-hole of the first, second fin (8-1,8-2) is concentric, and pass through with the hole D of fixed frame (7) Pin connection；Stepped gear (6) and the hole C of fixed frame (7) are concentric, and canine tooth is engaged with output gear (10), small tooth then with the second tooth Take turns (5-2) engagement；First, second gear (5-1,5-2) is symmetrically distributed on two sides the cylinder boss A and B of fixed frame (7), mutually It is meshed；Motor (11) is fixed on fixed frame (7), and output shaft is fixedly connected with output gear (10), as shown in Figure 4；

Cylindrical projection on one end of first connecting rod (9-1) and first gear (5-1), which is formed, to be rotatablely connected, the other end and the The hole A of one fin (8-1) forms rotation connection；One end of second connecting rod (9-2) and the cylindrical projection shape on second gear (5-2) At rotation connection, the hole A of the other end and the second fin (8-2) forms rotation connection, sees Fig. 5.

The utility model has the advantages that the present invention passes through to side before and after bionical dragonfly robot possessed by the present invention is compared with prior art The design of joint respectively the driving design and single-degree-of-freedom tail portion of two pairs of wings, greatly reduces bionical dragonfly robot It drives quantity to reduce robot own wt, simplifies the mechanical construction and control system of robot, make robot manipulation more Simply, more freely, load capacity is stronger, and cruise duration is longer for flight.