Bionic flapping wing flying robot with deflectable driving mechanism

Abstract

The invention provides a bionic flapping wing flying robot with a deflectable driving mechanism. The bionic flapping wing flying robot with the deflectable driving mechanism comprises a driving mechanism, a deflection mechanism, a tail fin control mechanism, a robot body, a flight control board, wings and a tail fin; the driving mechanism is used for driving the wings to flap at a high frequency to generate main power; the tail fin control mechanism is used for controlling a left-and-right deflection angle and an up-and-down upturning angle of the tail fin; and the deflection mechanism is usedfor enabling the driving mechanism to swing from left to right around a central axis of the flapping wing flying robot so as to drive the wings to deflect so that the direction of aerodynamic force of a flapping wing is changed. According to the bionic flapping wing flying robot with the deflectable driving mechanism, controllable amounts comprise flapping wing frequency, the direction of the aerodynamic force of the flapping wing and the left-and-right deflection angle and the up-and-down upturning angle of the tail fin; the bionic flapping wing flying robot with the deflectable driving mechanism realizes flying attitudes of straight flying, hovering and steering when being combined with the flight control board and has an attitude self-stabilizing function; and as the controllable amount of a flapping wing flying robot driven by a motor is additionally arranged, more stable flight and flexible attitude control can be realized.

Description

technical field [0001] The invention relates to the technical field of bionic flapping-wing flying robots, in particular to a motor-driven bionic flapping-wing flying robot with a deflectable drive mechanism. Background technique [0002] Flapping-wing aerial vehicles (FWAV) is an emerging bionic aircraft, which can generate thrust and lift by flapping its wings like birds or insects, and can control the direction of flight by swinging the tail. Compared with the flight mode of fixed-wing aircraft, the wing-flapping flight mode commonly used by birds and insects in nature is not only more efficient, but also can achieve higher flight maneuverability by virtue of the combination of wings and tails, such as sharp turns, hovering Stop, or even fly upside down. The flapping-wing flying robot designed and realized based on the principle of bionics can achieve better flight by using the drive structure and the control mechanism of the wings and tail. [0003] The traditional fla...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a bionic flapping-wing flying robot with a deflectable drive mechanism. On the one hand, the existing flapping-wing flying robot can only change the lift by adjusting the motor speed to change the flapping frequency, but However, the direction of the aerodynamic force generated by the flapping wing cannot be changed, and the overall stability is poor; the motor-gear set is used as the driving mechanism to provide the main force, and the linear steering gear is used to control the entire driving mechanism around the central axis of the flapping wing flying robot. Swing left and right, so that the direction of the aerodynamic force generated by the drive mechanism driving the wings can be adjusted, and the direction of the aerodynamic force generated by the flapping wing can be adjusted in real time through the flight control board combined with the roll angle information fed back by the angle sensor, so that the flapping wing flying robot can fly more smoothly ;

[0006] On the other hand, in view of the lack of precise, stable and effective control of the tail angle of the existing flapping-wing flying robot, a two-degree-of-freedom tail control mechanism is realized by using a miniature digital linear servo design, which has the advantage of small mass and is suitable for small The flapping wing flying robot is used, and the inherent locking advantage of the linear servo can make the tail angle maintain stable output under the action of external wind

Images