The invention discloses a bionic underwater vehicle flapping wing propulsion device. An underwater vehicle comprises a drive motor assembly, a transmission gear set, a ball screw, a steering engine, asteering shaft, an adaptive under-actuated flexible wing framework, a single-sliding block and double-rocker mechanism, and a fixing seat, the drive motor assembly, the ball screw and the fixing seatare connected with an underwater vehicle body separately, the drive motor assembly is composed of a motor, a speed reducer and an encoder, the ball screw is composed of a screw rod, a screw nut and ascrew fixing seat, and an output shaft of the speed reducer is connected with a driving gear of the transmission gear set; a driven gear of the transmission gear set is connected with the screw rod of the ball screw, and the motor drives the screw rod to rotate through the transmission gear set. The bionic underwater vehicle flapping wing propulsion device has the advantages that the integral structure is provided with a front end swing and a rear end swing, the whole device has two degrees of freedom, and propulsion, turning, floating, submergence and other movements of the underwater vehicle can be achieved.

Bionic underwater vehicle flapping wing propulsion device

The invention discloses an elastic passive folding and twisting wing. The elastic passive folding and twisting wing comprises a main wing and an aileron, wherein the aileron is elastically connected with the main wing, and the flapping motion lags behind the flapping motion of the main wing during movement; during the flapping movement, the main wing and the aileron are deformed to change the angle of attack of the wing, thereby achieving passive twisting of the wing in the flapping process. By controlling 'flapping' of a single degree of freedom, during the premise of not adding the complexity of a mechanical mechanism and control system, the synergetic movement of 'flapping-folding-twisting' is achieved, the aerodynamic efficiency is effectively improved, and an aircraft is closer to real bird flying in the bionics.

Mechanism capable of achieving passive folding and twisting of wing

The invention discloses a wall climbing-gliding robot with retractable and extendable wing membranes. The wall climbing-gliding robot comprises a body module, leg modules, a retractable and extendablewing membrane module and a tail module; each leg module is composed of four telescopic joints with the same structure, wherein the foot ends of the telescopic joints are provided with hook thorns, each telescopic joint makes linear reciprocating motion through a gear and rack mechanism, and driving steering engines A of the leg modules are connected with a bottom plate of the body module throughleg steering engine supports; the retractable and extendable wing membrane module is composed of four sets of rocker sliding block mechanisms and the flexible wing membranes attached to connecting rods, and all the sets of rocker sliding block mechanisms can be driven by the telescopic joints to make plane motion to achieve retraction and extension of the flexible wing membranes; and the tail module is mounted at the rear end of the body module, and under driving of a steering engine B, through double rocker mechanisms, a tail membrane can make up-down pitch motion relative to a body to achieve the effect of air pitch attitude adjustment. Climbing-gliding integrated design is adopted, climbing-gliding mode driving multiplex is achieved, the wing membranes are retractable and extendable, modular mounting is achieved, the structure is compact, and the weight is low.

Wall climbing-gliding robot with retractable and extendable wing membranes

The invention provides a double-section flapping wing aircraft with deployable active folding wings, which comprises an aircraft body, two deployable active folding double-section wings symmetricallyarranged on two sides of the aircraft body and an empennage connected to the rear of the aircraft body, and the aircraft body comprises a frame and a transmission mechanism in transmission connectionwith the deployable active folding double-section wings; the transmission mechanism comprises a reduction gear set and two sets of double-shaking mechanisms in driving connection, the two sets of double-shaking mechanisms are symmetrically arranged on the left side and the right side of the central axis of the aircraft body, and the reduction gear set drives the two sets of double-shaking mechanisms to transmit power to flapping of the double-section wings. Flexible maneuverability and aerodynamic performance are both considered, and the overall performance of the double-section type wing aircraft is improved.

Double-section flapping wing aircraft with deployable active folding wings

The invention discloses a bionic crawling robot. The robot is characterized by comprising a controller, a trunk (5), a driving mechanism, a transmission mechanism and a plurality of mechanical legs; the driving mechanism and the transmission mechanism are both installed on the trunk (5); the driving mechanism is fixedly connected with the transmission mechanism; the mechanical legs are hinged to the trunk (5); the mechanical legs are in transmission connection with the transmission mechanism, and the controller is electrically connected with the driving mechanism. Four crank gears are driven by two motors to rotate to drive four rockers to rotate, and the crank rocker mechanism is good in structural stability; the trunk is driven by the four mechanical legs to move forwards and backwards,the carrying capacity of the trunk is large, and transmission of the robot is stable.

Bionic crawling robot

The invention discloses a fluttering-folding-active torsion hybrid drive bionic ornithopter. The bionic ornithopter comprises a machine body, a fluttering mechanism, torsion mechanisms, wings on the two sides and a tail wing mechanism. The machine body comprises a front fixed frame and a rear fixed frame which are connected through a fixing shaft. Fluttering transmission gears are arranged on thefront fixed frame, torsion transmission gears are arranged on the rear fixed frame, and the transmission gears are connected with flapping wing frameworks through transmission devices. When a fluttering motor is started, synchronous pulleys on an output shaft of the fluttering motor rotate, flapping wing transmission gears are driven to rotate, and fluttering folding motion of the wings is achieved. Similarly, a torsion motor is started, and torsion motion of the wings is achieved. A tail wing transmission mechanism is fixed to the tail of the machine body, and the ornithopter steers through adjustment of a tail wing steering engine. The whole ornithopter comprises the two motors, the flexibility of the ornithopter is improved, flight efficiency is improved, the bird wing motion mode is truly simulated, and various flight functions can be achieved.

Fluttering-folding-active torsion hybrid drive bionic ornithopter

The utility model relates to a hexapod robot driven by multiple connecting rods. According to the technical scheme, a left leg mechanism (4) and a right leg mechanism (3) are symmetrically installed on the left side and the right side in a rack (1), a control system (2) is installed in the rack (1), and the control system (2) is connected with the left leg mechanism (4) and the right leg mechanism(3). When the left main motor (34) is started, the left front foot (35), the left middle foot (32) and the left rear foot (29) move; and when the left front foot (35) and the left rear foot (29) falldown, the left middle foot (32) is lifted. When the left auxiliary motor (19) is started, the motion trails of the left front foot (35), the left middle foot (32) and the left rear foot (29) are changed. And the right leg mechanism (3) and the left leg mechanism (4) have the same movement process and opposite sequences. Motion modes of double drive + single stride and four drive + changing strideare realized. The stair climbing robot is simple in structure, low in cost, good in stability, high in walking speed, high in backward and turning capacity and capable of climbing stairs and continuous steps of standard specifications.

Shi Wei

Papers

Fluttering-folding-active torsion hybrid drive bionic ornithopter

Hexapod robot driven by multiple connecting rods