WO2018032662A1 - 扑翼飞行器 - Google Patents

扑翼飞行器 Download PDF

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Publication number
WO2018032662A1
WO2018032662A1 PCT/CN2016/108967 CN2016108967W WO2018032662A1 WO 2018032662 A1 WO2018032662 A1 WO 2018032662A1 CN 2016108967 W CN2016108967 W CN 2016108967W WO 2018032662 A1 WO2018032662 A1 WO 2018032662A1
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WO
WIPO (PCT)
Prior art keywords
flapping wing
flapping
rod
crankshaft
linkage
Prior art date
Application number
PCT/CN2016/108967
Other languages
English (en)
French (fr)
Inventor
刘均
陈其敏
黄雄凯
Original Assignee
深圳市元征科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市元征科技股份有限公司 filed Critical 深圳市元征科技股份有限公司
Publication of WO2018032662A1 publication Critical patent/WO2018032662A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C33/00—Ornithopters
    • B64C33/02—Wings; Actuating mechanisms therefor

Definitions

  • the present invention relates to an aircraft, and more particularly to a flapping wing aircraft.
  • a flapping wing aircraft is an aircraft that, like a bird, generates propulsion and forward force through active motion of the wing, and its characteristics are:
  • the flapping wing aircraft also has the following advantages:
  • the flapping wing aircraft can vertically rise without a runway
  • the flapping wing aircraft has low conversion efficiency and low energy utilization rate
  • the commercial flapping wing aircraft is huge in size and requires a large area of flapping wings to meet its flight conditions, and the huge flapping wings also make it difficult to store and transport.
  • the object of the present invention is to provide a flapping wing aircraft to solve the problem of low transmission efficiency in the prior art.
  • the present invention provides a flapping wing aircraft, comprising a rotating crankshaft assembly, two linkage rods, two transmission modules and a mounting shaft; the rotating crankshaft assembly is provided with two crankshafts, two The crankshafts are respectively disposed on opposite sides of the rotating crankshaft assembly; one ends of the two linkage rods are respectively coupled to one of the crankshaft shafts, and the other ends of the two linkage rods respectively correspond to one of the transmission modules a shaft coupling; two of the transmission modules are coupled to the mounting shaft, each of the transmission modules is provided with a flapping wing; the rotating crankshaft assembly is configured to drive the linkage rod to perform a rocking motion, and the linkage The rod is used to drive the two transmission modules to move away from each other and to face the mounting shaft, and the transmission module is configured to drive the flapping wing to perform flapping motion.
  • one end of the linkage rod is recessed inward to form a first curved surface
  • the end of the linkage rod is mounted with a detachable rod cover, and the rod cover faces the surface of the first curved surface
  • the inner recess forms a second curved surface, and the first curved surface and the second curved surface are enclosed outside the crankshaft.
  • a first bearing bush is mounted in the first curved surface
  • a second bearing bush is mounted in the second curved surface, and the first bearing bush and the second bearing bush are enclosed outside the crankshaft.
  • the flapping wing aircraft further includes a pin shaft, and one end of the linkage rod is provided with a first mounting hole, and the opposite side walls of the transmission module are provided with a second mounting hole disposed opposite to each other.
  • the pin shaft is mounted in the first mounting hole and the second mounting hole.
  • the second mounting hole is a through hole that penetrates a sidewall of the transmission module.
  • the flapping wing can be extended and stored, and the flapping wing comprises a flapping wing main pole, a flapping wing auxiliary pole, a plurality of flapping wing skeletons and a flapping wing skin; the flapping wing main pole, the The flapping wing auxiliary rod is coupled with a plurality of the flapping wing skeleton shafts, and the plurality of flapping wing skeletons are disposed between the flapping wing main rod and the flapping wing auxiliary rod; the surface and the surface of the flapping wing skin
  • the flapping wing main rod, the flapping wing auxiliary rod and the flapping wing skin are fixedly coupled; the flapping wing main rod and the flapping wing auxiliary rod are capable of driving the flapping wing skin by a separation movement,
  • the flapping wing main pole and The flapping wing sub-bar is also capable of accommodating the flapping flap skin by opposing movement.
  • the end of the flapping wing main pole is provided with a blocking lever, the blocking lever is perpendicular to the flapping main pole; the end of the flapping auxiliary lever is provided with a stopper, The stopper is formed to extend along a longitudinal direction of the flapping wing auxiliary rod; and the stopper rod and the stopper block abut each other when the flapping flap is in a storage state.
  • the transmission module is provided with a receiving groove, and the flap is installed in the receiving groove, and the receiving groove is used to define a maximum range in which the flapping wing extends.
  • the rotating crankshaft assembly includes a center plate and two crank baffles, and the two crankshaft baffles are respectively disposed on opposite sides of the center plate, and the crankshaft is disposed on the crank baffle Between the center plate
  • the two crankshafts are not opposite each other.
  • the present invention cancels the gear linkage, and is changed to the crankshaft linkage, specifically: providing a rotating crankshaft assembly, two linkage rods, two transmission modules and a mounting shaft, wherein the opposite sides of the rotating crankshaft assembly are provided with a crankshaft,
  • the two linkage rods are respectively coupled with a crankshaft shaft, so when the rotary crankshaft assembly rotates, the linkage lever will perform a circumferentially swinging motion, and the two linkage rods are respectively coupled to a transmission module shaft, and two The transmission module is integrated by the mounting shaft, so the oscillating motion of the linkage rod will drive the two transmission modules to move away from each other and toward the opposite direction of the installation shaft.
  • the flapping wing will be repeatedly repeated. The fluttering wing motion was achieved, thus achieving the flight of the flapping wing aircraft.
  • the transmission process of the present invention drives the linkage rod to rotate the crankshaft assembly, and the linkage rod drives the transmission module to perform phase separation and opposite movement, and the flapping wing follows the transmission module to swing, thereby realizing the flapping wing of the flapping wing aircraft.
  • the flight that is, the main energy loss occurs between the rotating crankshaft assembly and the linkage rod, and between the linkage rod and the transmission module.
  • the gear is required to realize multiple transmissions.
  • the invention reduces the number of transmissions and makes the transmission of power more Direct and rapid, thus improving the transmission efficiency, enabling the long-span flight of the flapping wing aircraft to be realized.
  • FIG. 1 is a schematic perspective view of a flapping wing aircraft provided by a preferred embodiment of the present invention
  • FIG. 2 is a schematic enlarged view of a portion A of FIG. 1 according to a preferred embodiment of the present invention
  • FIG. 3 is a schematic enlarged view of a portion B of FIG. 1 according to a preferred embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a dismantled structure of a flapping wing aircraft provided by a preferred embodiment of the present invention
  • FIG. 5 is a first schematic structural view of a flapping wing aircraft in a stretched state according to a preferred embodiment of the present invention
  • FIG. 6 is a second schematic structural view of a flapping wing aircraft in a stretched state according to a preferred embodiment of the present invention.
  • FIG. 7 is a schematic structural view 1 of a storage state of a flapping wing aircraft provided by a preferred embodiment of the present invention.
  • FIG. 8 is a second schematic structural view of a flapping wing aircraft in a storage state according to a preferred embodiment of the present invention.
  • crankshaft assembly 11, the center plate; 12, the crankshaft baffle; 13, the crankshaft;
  • flapping wing 41, flapping wing main pole; 411, blocking rod; 42, flapping wing auxiliary rod; 421, block; 43, flapping wing skeleton; 44, flapping wing skin; 45, storage slot;
  • the flapping wing aircraft of the present invention comprises a rotating crankshaft assembly 1, two linkage rods 2, two transmission modules 3 and a mounting shaft 5;
  • the rotating crankshaft assembly 1 is provided with two a crankshaft 13 and two crankshafts 13 respectively disposed on opposite sides of the rotating crankshaft assembly 1; one ends of the two linkage rods 2 are respectively coupled to one of the crankshafts 13 and two of the linkage rods The other ends of the two are respectively coupled to one of the transmission modules 3;
  • two of the transmission modules 3 are coupled to the mounting shaft 5, and each of the transmission modules 3 is provided with a flapping wing 4;
  • the crankshaft assembly 1 is used to drive the linkage rod 2 to perform a wobble motion, and the linkage rod 2 is used to drive the two transmission modules 3 to move apart and opposite to each other around the mounting shaft 5, and the transmission module 3 is used for
  • the flapping wing 4 is driven to perform a flapping motion.
  • the flapping wing aircraft mostly uses a plurality of gears and the linkage rod 2 to cooperate with each other to realize the flapping wing motion of the flapping wing aircraft, but due to the multiple energy loss caused by the transmission between the multiple gears, As a result, the transmission efficiency of the existing flapping wing aircraft is low, and it is difficult to achieve long day flight.
  • the embodiment cancels the gear linkage and changes to the crankshaft linkage, specifically: setting the rotating crankshaft assembly 1, the two linkage rods 2, the two transmission modules 3, and the mounting shaft 5, wherein the rotating crankshaft assembly A crankshaft 13 is disposed on each of the opposite sides, and the two linkage rods 2 are respectively coupled to a crankshaft 13 shaft.
  • the linkage rod 2 will perform a circumferentially swinging motion of the crankshaft, and Since the two linkage rods 2 are respectively coupled to one of the transmission modules 3, and the two transmission modules 3 are integrally coupled by the mounting shaft 5, the meandering motion of the linkage rod 2 will drive the two transmission modules 3 around the mounting shaft 5.
  • the separation and the relative movement by repeating this phase separation and the relative movement, will cause the flapping wing 4 to repeatedly repeat the flapping motion of the flapping wing, thereby realizing the flight of the flapping wing aircraft.
  • the transmission process of the present embodiment is that the rotating crankshaft assembly 1 drives the linkage rod 2 to swing, and the linkage rod 2 drives the transmission module 3 to move away from each other, and the flapping wing 4 follows the transmission module 3 to swing.
  • the flapping wing flight of the flapping wing aircraft is realized, that is, the main energy loss occurs between the rotating crankshaft assembly 1 and the linkage rod 2, and between the linkage rod 2 and the transmission module 3, and the gear is required to realize multiple transmissions compared with the prior art.
  • the embodiment reduces the number of transmissions, making the transmission of power more direct and rapid, thereby improving the transmission efficiency, enabling the long-span flight of the flapping wing aircraft to be realized.
  • FIG. 3 A preferred embodiment of the present invention is shown in FIG. 3, one end of the linkage rod 2 is recessed inwardly to form a first curved surface, and the end of the linkage rod 2 is mounted with a detachable rod cover 21, The rod cover 21 is recessed inwardly toward the surface of the first curved surface to form a second curved surface, and the first curved surface and the second curved surface are surrounded by the crankshaft 13 .
  • a through hole may be provided at one end of the linkage rod 2, and the through hole is sleeved on the crankshaft 13, so that the shaft rod of the linkage rod 2 and the crankshaft 13 can be coupled, but in order to prevent the linkage rod 2 from being
  • an anti-dropout structure such as a baffle plate is often added to the crankshaft 13.
  • the ⁇ linkage rod 2 cannot be directly installed through the baffle plate, which causes inconvenience in the installation of the linkage rod 2.
  • a detachable lever cover 21 is attached to the end of the interlocking lever 2, and when the baffle prevents the linkage lever 2 from being mounted, the lever cover 21 can be removed first, and then The rod cover 21 and the linkage rod 2 are respectively sleeved outside the crankshaft 13, and then the rod cover 21 and the linkage rod 2 are coupled and fixed, so that the linkage rod 2 can be realized. It is coupled to the shaft of the crankshaft 13, and the crankshaft 13 is surrounded by the first curved surface and the second curved surface, which also facilitates smooth rotation of the crankshaft 13.
  • the rod cover 21 and the linkage rod 2 can have various coupling modes, one of which is preferably connected as shown in FIG. 4, and a first through hole is disposed on both sides of the end portion of the linkage rod 2, in the rod A second through hole is disposed on both sides of the cover 21, the first through hole is opposite to the second through hole, and then the first through hole and the second through hole are passed through the screw 26, and the rod 27 is coupled with the screw 26 to realize the rod.
  • the cover 21 is fixed to the linkage rod 2.
  • FIG. 4 A preferred embodiment of the present invention is shown in FIG. 4, a first bearing shell 22 is mounted in the first curved surface, and a second bearing shell 23 is mounted in the second curved surface, the first bearing shell 22 and The second bearing shell 23 is enclosed outside the crankshaft 13.
  • the present embodiment has a first bearing shell 22 mounted in the first curved surface and a second curved surface mounted in the second curved surface.
  • the second bearing shell 23 since the surfaces of the first bearing shell 22 and the second bearing shell 23 are very smooth, the first bearing shell 22 and the second bearing shell 23 are enclosed outside the crankshaft 13 to reduce the frictional force of the crankshaft 13 and thus the flapping wing The aircraft can run smoothly.
  • first bearing shell 22 and the second bearing shell 23 are made of a special high temperature resistant alloy material, the high temperature generated by direct friction is still sufficient to burn it, so it is also possible to use the first bearing shell 22 and the first A lubricating oil layer is added to the surface of the two bearing pads 23 to reduce the direct contact between the crankshaft 13 and the first bearing shell 22 and the second bearing shell 23, thereby avoiding the burning of the first bearing shell 22 and the second bearing shell 23, and further reducing the movement of the crankshaft 13 Friction.
  • the flapping wing aircraft further includes a pin shaft 24, and one end of the linkage rod 2 is provided with a first mounting hole 25, and opposite sides of the transmission module 3
  • the wall is provided with a second mounting hole 31 disposed oppositely, and the pin 24 is mounted in the first mounting hole 25 and the second mounting hole 31.
  • the present embodiment provides oppositely disposed second mounting holes 31 on the opposite side walls of the transmission module 3, which meets the requirement that the linkage rod 2 is mounted on the left side wall and the right side wall. , eliminating the production of two different transmission modules 3, greatly reducing the production cost; and because the two transmission modules 3 are completely identical, there will be no installation error of the transmission module 3, eliminating unnecessary installation of the flapping wing aircraft. Trouble.
  • the second mounting hole 31 is a through hole that penetrates the side wall of the transmission module 3.
  • the second mounting hole 31 may be disposed on the outer surface or the inner surface of the side wall of the transmission module 3.
  • the installer can directly observe the first mounting hole. 25 is aligned with the second mounting hole 31, and is installed after the two are aligned, but when the second mounting hole 31 is provided on the inner surface of the side wall of the transmission module 3, since the internal space of the transmission module 3 is small, It is difficult for the installer to observe whether the first mounting hole 25 and the second mounting hole 31 are aligned, which brings difficulties for the installation of the flapping wing aircraft.
  • the second mounting hole 31 is disposed as a through hole for penetrating the side wall of the transmission module 3. If the first mounting hole 25 and the second mounting hole 31 are not aligned, the installer may The linkage rod 2 can be found from the outside of the transmission module 3 to block the second mounting hole 31, that is, the first mounting hole 25 and the second mounting hole 31 can be quickly aligned regardless of whether the linkage rod 2 is installed outside or inside the transmission module 3. Great convenience for the installation of the flapping wing aircraft.
  • the transmission module 3 is preferably The inner part is arranged as a hollow structure, and the end of the linkage rod 2 is hidden in the hollow structure, so that the side wall of the transmission module 3 protects the linkage rod 2, so as to reduce the chance of the linkage rod 2 colliding with the outside.
  • the flapping wing 4 is capable of being extended and housed, and the flapping wing 4 includes a flapping wing main pole 41, a flapping wing auxiliary rod 42, a plurality of flapping wing frames 43 and a flapping wing skin 44; the flapping wing main pole 41, the flapping wing auxiliary rod 42 and a plurality of the flapping wing skeletons 43 are axially coupled, and a plurality of the flapping wing skeletons 43 are placed on the flapping wing main shaft 41 Between the flapping wing sub-bar 42 and the flapping wing main 44, the flapping wing sub-rod 42 and the flapping flap 44 are fixedly coupled; The flapping wing main pole 41 and the flapping wing auxiliary rod 42 are capable of driving the flapping wing skin 44 by a separation movement, the flapping wing main pole 41 and the flapping wing The secondary lever 42 is also capable of accommodating the flapping flap 44 by opposing movement
  • the flapping wing 4 of the flapping wing aircraft is bulky and cannot be stored, which will cause the flapping wing aircraft to be oversized and not portable; in order to solve this problem, the present embodiment is configured to be able to stretch and
  • the flapping wing 4 is mainly composed of a flapping wing main pole 41, a flapping wing auxiliary pole 42, a plurality of flapping wing skeletons 43 and a flapping wing skin 44, since the flapping wing main pole 41 and the flapping wing auxiliary pole 42 It is coupled with a plurality of flapping flaps 43 so that they can rotate about the same axis of rotation.
  • the flapping main pole 41 and the flapping wing sub-bar 42 can extend the flapping flap skin 44 by the disengagement movement, and the flapping main pole 41 and the flapping flap sub-bar 42 can also drive the flapping flap skin 44 through the opposite movement.
  • the working principle is consistent with the folding fan, that is, the flapping wing 4 can be stretched into the fan shape shown in Fig. 6, and can also be accommodated as the strip shape shown in Fig. 8, so when the flapping wing aircraft is not required, the flapping wing 4 can be accommodated. Striped, greatly reduced Space vehicles, to achieve portability flapping wing aircraft.
  • the plurality of flapping wing frames 43 of the present embodiment are disposed between the flapping wing main rod 41 and the flapping wing auxiliary rod 42, and the installation process is as follows:
  • the flapping wing main rod 41 and the flapping wing auxiliary rod 42 are arranged in parallel relative to each other, and a sufficient installation space is left between the two;
  • FIGS. 1 to 3 A preferred embodiment of the present invention is shown in FIGS. 1 to 3, and the end of the flapping main pole 41 is provided with a blocking lever 411, and the blocking lever 411 and the flapping main pole 41 are perpendicular to each other;
  • the end of the flapping wing auxiliary rod 42 is provided with a stopper 421 which is formed to extend along the longitudinal direction of the flapping wing auxiliary rod 42; the blocking rod 411 and the stopper 421 are in the flapping wing 4 is in a state of storage and abuts each other.
  • the flapping wing 4 realizes the folding collection by the same principle as the folding fan, and greatly reduces the occupation space of the flapping wing aircraft, wherein the storage process is to move the flapping wing main rod 41 toward The flapping wing 42 or the flapping wing 42 is moved to the flapping main pole 41 until the flapping wing main 41 and the flapping wing 42 are in a relative state, and the receiving process will drive the flapping wing 43 and flapping Wing skin 44 moves together until the flap The wing frame 43 and the flapping wing skin 44 are hidden between the flapping wing main rod 41 and the flapping wing auxiliary rod 42. However, if the storage force is too large, the flapping main shaft 41 and the flapping wing auxiliary rod 42 are still aligned. The relative rotation is performed so that the flapping wing 4 is reversely expanded.
  • the present embodiment is provided with a stopper rod 411 at the end of the flapping wing main rod 41, and a stopper 421 at the end of the flapping wing auxiliary rod 42 due to the stopper rod 411 and the flapping wing main rod.
  • 41 is perpendicular to each other, and the stopper 421 is formed to extend along the longitudinal direction of the flapping wing sub-bar 42. Therefore, when the flapping main pole 41 and the flapping wing sub-rod 42 are disposed opposite to each other, the blocking lever 411 and the stopper 421 will abut each other, thereby The flapping wing main rod 41 and the flapping wing sub rod 42 are restrained from being reversely extended.
  • the flapping wing main rod 41 and the flapping wing auxiliary rod 42 may be the same component, and the difference between the two is to distinguish the two as relatively independent components, that is, the blocking lever 411 may be disposed at On the flapping wing sub-bar 42, the stopper 421 is disposed on the flapping wing main rod 41, and can maintain the corresponding arrangement relationship between the blocking rod 411 and the stopper 421.
  • a preferred embodiment of the present invention is as shown in FIG. 1.
  • the transmission module 3 is provided with a receiving groove 45, and the flapping wing 4 is mounted in the receiving groove 45, and the receiving groove 45 is used to define a The maximum range in which the flapping wing 4 is stretched.
  • the flapping wing 4 adopts the same principle as the folding fan to realize the folding collection, which greatly reduces the occupation space of the flapping wing aircraft, and needs to use the flapping wing 4 ⁇ , only the flapping wing main
  • the rod 41 and the flapping wing 42 are separated from each other, so that the flapping wing 4 can be extended; however, the thickness of the flapping flap 44 is relatively thin, and if the flapping flap main rod 41 and the flapping wing sub rod 42 are excessively forced, it is possible Causes the flapping wing 4 to stretch beyond the limit, tearing the flapping wing skin 44.
  • the present embodiment is provided with a receiving groove 45 in the transmission module 3, and the flapping wing 4 is installed in the receiving groove 45.
  • the flapping main shaft 41 and the flapping wing auxiliary rod 42 will abut against the receiving groove 45, which limits the rotation of the flapping wing main rod 41 and the flapping wing auxiliary rod 42, that is, defines the maximum range of the flapping wing 4 to be extended, and avoids occurrence.
  • the flapping skin 44 was torn.
  • the rotating crankshaft assembly 1 includes a center plate 11 and two crank baffles 12, and the two crankshaft baffles 12 are respectively disposed on the center plate 11 On both sides, the crankshaft 13 is disposed between the crank baffle 12 and the center plate 11.
  • a through hole may be formed at one end of the linkage rod 2, and the through hole is sleeved on the crankshaft 13, so that the shaft of the linkage rod 2 and the crankshaft 13 can be coupled, but in an unprotected state.
  • the linkage rod 2 is easy to come out, thereby affecting the normal operation of the flapping wing aircraft.
  • the crank plate 12 is disposed on both sides of the center plate 11, and since the crankshaft 13 is disposed between the crank plate 12 and the center plate 11, when the link plate is coupled with the crankshaft 13 It will then be placed between the crankshaft baffle 12 and the center baffle, ie the crankshaft baffle 12 limits the disengagement of the linkage rod 2, thus ensuring that the flapping wing aircraft can maintain normal operation for a long time.
  • a preferred embodiment of the invention is as follows, the two said crankshafts 13 are not opposite each other.
  • the meandering motion of the linkage rod 2 is the key to realizing the flapping wing flight. If the two crankshafts 13 are arranged opposite each other, the two flapping wings 4 are difficult to be symmetrically synchronized, and additional assistance is needed. The component adjusts the tapping relationship of the two flapping wings 4.
  • the two crankshafts 13 are disposed so as not to oppose each other. As shown in FIG. 1, since the two crankshafts 13 are not opposed to each other, the two interlocking levers 2 can be directly maintained in a V-shape. The open shape, the two maintain a mirror image correspondence, so that the flapping wing 4 can be symmetrically synchronized.
  • the flapping wing type 4 aircraft can also be equipped with a temperature and humidity sensor, a wind direction sensor, a GPS, an acceleration sensor, a gyroscope, an infrared sensor, and a camera device, and the functions thereof are as follows:
  • the flapping wing aircraft assists in flying by collecting data of each sensor, and can control the flapping wing aircraft to gliding through data such as a wind direction sensor, an acceleration sensor, and a gyroscope, thereby saving energy;
  • the flapping wing aircraft can use the temperature sensor to collect various temperature and humidity information for local weather information forecasting;
  • flapping wing aircraft can use infrared sensors and camera equipment for photography or disaster area rescue; [0094] 4, flapping wing aircraft can use the built-in GPS navigation system to achieve automatic flight and through infrared sensors and camera equipment for moving targets track.

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Abstract

一种扑翼飞行器，属于飞行器领域的技术方案，包括旋转曲轴组件（1）、两根联动杆（2）、两个传动模块（3）和安装轴（5）；旋转曲轴组件（1）设有两个曲轴（13），两个曲轴（13）分别设于旋转曲轴组件（1）相对的两侧面上；两根联动杆（2）的一端分别与一个曲轴（13）轴联接，两根联动杆（2）的另一端分别与一个传动模块（3）轴联接；两个传动模块（3）均与安装轴（5）轴联接，每个传动模块（3）上均设有扑翼（4）；旋转曲轴组件（1）用于带动联动杆（2）进行曲摆运动，联动杆（2）用于带动两个传动模块（3）绕安装轴（5）进行相离和相向运动，传动模块（3）用于带动扑翼（4）进行扑翼运动。相对于现有技术需要齿轮实现多次传动，该扑翼飞行器减少了传动次数，使得动力的传递更直接迅速，从而提高了传动效率，使得扑翼飞行器的长时间飞行得以实现。

Description

扑翼飞行器
[0001] 本申请要求于 2016年 8月 19日提交中国专利局、 申请号为 201610692704.9、 发 明名称为"扑翼飞行器"的中国专利申请的优先权， 上述在先申请的内容以引入的 方式并入本文本中。
[0002] 技术领域
[0003] 本发明涉及一种飞行器， 特别涉及一种扑翼飞行器。
[0004] 背景技术
[0005] 扑翼飞行器是指像鸟一样通过机翼主动运动产生升力和前行力的飞行器， 其特 征是：
[0006] 1.机翼主动运动；
[0007] 2.靠机翼拍打空气的反作用力作为升力及前行力；
[0008] 3.通过扑翼及尾翼的位置改变进行飞行。
[0009] 并且扑翼飞行器还具有以下优点：
[0010] 1.扑翼飞行器无需跑道便可垂直起落；
[0011] 2.动力系统和控制系统合为一体；
[0012] 3.机械效率高于固定翼飞机；
[0013] 4.可以像飞行鸟一样进行滑翔而节约能源。
[0014] 但是目前常见的无人飞行器都是固定翼或多旋翼飞行器， 大部分扑翼飞行器都 是用于高校的研究用途， 量产机型难以在市面上发现， 导致这一情况的原因是 多方面的， 但其中主要原因如下：
[0015] 1.扑翼飞行器扑翼转换效率低， 能量利用率低；
[0016] 2.传动机构复杂影响其发展；
[0017] 3.传动机构小型化， 高效化还待进一步的幵发；
[0018] 4.商用化的扑翼飞行器体型巨大， 需要大面积的扑翼才能满足其飞行条件， 而 巨大的扑翼也导致其难以储存及运输。
[0019] 目前可见的扑翼飞行器大都采用齿轮传动辅以联动杆机构进行传动， 传动效率 相对较低， 扑翼飞行器无法实现长距离或长吋间飞行； 同吋当前无人机其扑翼 都是整体固定在传动机构上， 无法进行收缩， 这对扑翼飞行器的携带或存放带 来巨大困难， 这也使得扑翼飞行器在推广上出现障碍， 制约其发展。
[0020] 发明内容
[0021] 本发明的目的在于提供一种扑翼飞行器， 以解决现有技术传动效率低下的问题
[0022] 为了解决上述技术问题， 本发明提供了一种扑翼飞行器， 包括旋转曲轴组件、 两根联动杆、 两个传动模块和安装轴； 所述旋转曲轴组件设有两个曲轴， 两个 所述曲轴分别设于所述旋转曲轴组件相对的两侧面上； 两根所述联动杆的一端 分别与一个所述曲轴轴联接， 两根所述联动杆的另一端分别与一个所述传动模 块轴联接； 两个所述传动模块均与所述安装轴轴联接， 每个所述传动模块上均 设有扑翼； 所述旋转曲轴组件用于带动所述联动杆进行曲摆运动， 所述联动杆 用于带动两个所述传动模块绕所述安装轴进行相离和相向运动， 所述传动模块 用于带动所述扑翼进行扑翼运动。
[0023] 优选的， 所述联动杆的一端往内凹陷形成第一弧面， 所述联动杆的该端安装有 能够拆卸的杆盖， 所述杆盖朝向所述第一弧面的表面往内凹陷形成第二弧面， 所述第一弧面和所述第二弧面包围在所述曲轴外。
[0024] 优选的， 所述第一弧面内安装有第一轴瓦， 所述第二弧面内安装有第二轴瓦， 所述第一轴瓦和所述第二轴瓦包围在所述曲轴外。
[0025] 优选的， 所述扑翼飞行器还包括销轴， 所述联动杆的一端设有第一安装孔， 所 述传动模块相对的两侧壁上设有相对布置的第二安装孔， 所述销轴安装在所述 第一安装孔和所述第二安装孔内。
[0026] 优选的， 所述第二安装孔为将所述传动模块侧壁贯通的通孔。
[0027] 优选的， 所述扑翼能够伸展和收纳， 所述扑翼包括扑翼主杆、 扑翼副杆、 多根 扑翼骨架和扑翼蒙皮； 所述扑翼主杆、 所述扑翼副杆与多根所述扑翼骨架轴联 接， 多根所述扑翼骨架置于所述扑翼主杆与所述扑翼副杆之间； 所述扑翼蒙皮 的表面与所述扑翼主杆、 所述扑翼副杆和所述扑翼蒙皮固定联接； 所述扑翼主 杆和所述扑翼副杆能够通过相离运动带动所述扑翼蒙皮伸展， 所述扑翼主杆和 所述扑翼副杆还能够通过相向运动带动所述扑翼蒙皮收纳。
[0028] 优选的， 所述扑翼主杆的端部设有挡杆， 所述挡杆与所述扑翼主杆相互垂直； 所述扑翼副杆的端部设有挡块， 所述挡块沿所述扑翼副杆的长度方向延伸形成 ； 所述挡杆与所述挡块在所述扑翼为收纳状态吋相互抵接。
[0029] 优选的， 所述传动模块上设有收纳槽， 所述扑翼安装在所述收纳槽内， 所述收 纳槽用于限定所述扑翼伸展的最大范围。
[0030] 优选的， 所述旋转曲轴组件包括中心板和两块曲轴挡板， 两块所述曲轴挡板分 别设于所述中心板相对的两侧， 所述曲轴设于所述曲轴挡板与所述中心板之间
[0031] 优选的， 两个所述曲轴互不相对。
[0032] 本发明的有益效果如下：
[0033] 本发明取消齿轮联动， 改为曲轴联动， 具体为： 设置旋转曲轴组件、 两根联动 杆、 两个传动模块和安装轴， 其中， 旋转曲轴组件相对的两侧面上均设有曲轴 ， 而两根联动杆分别与一个曲轴轴联接， 所以当旋转曲轴组件转动吋， 联动杆 将进行周向来回摆动的曲摆运动， 又由于两根联动杆分别与一个传动模块轴联 接， 且两个传动模块通过安装轴联接为一体， 所以联动杆的曲摆运动将带动两 个传动模块绕安装轴进行相离和相向运动， 通过重复进行这种相离、 相向运动 ， 将使得扑翼不断重复上下拍打的扑翼运动， 从而实现了扑翼飞行器的飞行。
[0034] 综上可知， 本发明的传动过程为旋转曲轴组件带动联动杆进行曲摆， 联动杆带 动传动模块进行相离、 相向运动， 扑翼跟随传动模块摆动， 以此实现扑翼飞行 器的扑翼飞行， 即主要能量损耗发生在旋转曲轴组件与联动杆之间， 以及联动 杆与传动模块之间， 相对于现有技术需要齿轮实现多次传动， 本发明减少了传 动次数， 使得动力的传递更直接迅速， 从而提高了传动效率， 使得扑翼飞行器 的长吋间飞行得以实现。
[0035] 附图说明
[0036] 为了更清楚地说明本发明的技术方案， 下面将对实施方式中所需要使用的附图 作简单地介绍， 显而易见地， 下面描述中的附图仅仅是本发明的一些实施方式 ， 对于本领域普通技术人员来讲， 在不付出创造性劳动的前提下， 还可以根据 这些附图获得其他的附图。
[0037] 图 1是本发明优选实施方式提供的扑翼飞行器立体结构示意图；
[0038] 图 2是本发明优选实施方式提供的图 1的 A部分放大结构示意图；
[0039] 图 3是本发明优选实施方式提供的图 1的 B部分放大结构示意图；
[0040] 图 4是本发明优选实施方式提供的扑翼飞行器拆解结构示意图；
[0041] 图 5是本发明优选实施方式提供的扑翼飞行器伸展状态结构示意图一；
[0042] 图 6是本发明优选实施方式提供的扑翼飞行器伸展状态结构示意图二；
[0043] 图 7是本发明优选实施方式提供的扑翼飞行器收纳状态结构示意图一；
[0044] 图 8是本发明优选实施方式提供的扑翼飞行器收纳状态结构示意图二。
[0045] 附图标记如下：
[0046] 1、 旋转曲轴组件； 11、 中心板； 12、 曲轴挡板； 13、 曲轴；
[0047] 2、 联动杆； 21、 杆盖； 22、 第一轴瓦； 23、 第二轴瓦； 24、 销轴； 25、 第一 安装孔； 26、 螺钉； 27、 螺母；
[0048] 3、 传动模块； 31、 第二安装孔；
[0049] 4、 扑翼； 41、 扑翼主杆； 411、 挡杆； 42、 扑翼副杆； 421、 挡块； 43、 扑翼 骨架； 44、 扑翼蒙皮； 45、 收纳槽；
[0050] 5、 安装轴。
[0051] 具体实施方式
[0052] 下面将结合本发明实施方式中的附图， 对本发明实施方式中的技术方案进行清 楚、 完整地描述。
[0053] 从图 1至 8可知， 本发明所述的扑翼飞行器， 包括旋转曲轴组件 1、 两根联动杆 2 、 两个传动模块 3和安装轴 5; 所述旋转曲轴组件 1设有两个曲轴 13， 两个所述曲 轴 13分别设于所述旋转曲轴组件 1相对的两侧面上； 两根所述联动杆 2的一端分 别与一个所述曲轴 13轴联接， 两根所述联动杆 2的另一端分别与一个所述传动模 块 3轴联接； 两个所述传动模块 3均与所述安装轴 5轴联接， 每个所述传动模块 3 上均设有扑翼 4; 所述旋转曲轴组件 1用于带动所述联动杆 2进行曲摆运动， 所述 联动杆 2用于带动两个所述传动模块 3绕所述安装轴 5进行相离和相向运动， 所述 传动模块 3用于带动所述扑翼 4进行扑翼运动。 [0054] 在现有技术中， 扑翼飞行器大多采用多个齿轮与联动杆 2相互配合， 以实现扑 翼飞行器的扑翼运动， 但由于多个齿轮之间的传动会产生多次能量损耗， 从而 导致现有扑翼飞行器的传动效率低下， 难以实现长吋间飞行。
[0055] 为了解决这个问题， 本实施方式取消齿轮联动， 改为曲轴联动， 具体为： 设置 旋转曲轴组件 1、 两根联动杆 2、 两个传动模块 3和安装轴 5， 其中， 旋转曲轴组 件 1相对的两侧面上均设有曲轴 13， 而两根联动杆 2分别与一个曲轴 13轴联接， 所以当旋转曲轴组件 1转动吋， 联动杆 2将进行周向来回摆动的曲摆运动， 又由 于两根联动杆 2分别与一个传动模块 3轴联接， 且两个传动模块 3通过安装轴 5联 接为一体， 所以联动杆 2的曲摆运动将带动两个传动模块 3绕安装轴 5进行相离和 相向运动， 通过重复进行这种相离、 相向运动， 将使得扑翼 4不断重复上下拍打 的扑翼运动， 从而实现了扑翼飞行器的飞行。
[0056] 综上可知， 本实施方式的传动过程为旋转曲轴组件 1带动联动杆 2进行曲摆， 联 动杆 2带动传动模块 3进行相离、 相向运动， 扑翼 4跟随传动模块 3摆动， 以此实 现扑翼飞行器的扑翼飞行， 即主要能量损耗发生在旋转曲轴组件 1与联动杆 2之 间， 以及联动杆 2与传动模块 3之间， 相对于现有技术需要齿轮实现多次传动， 本实施方式减少了传动次数， 使得动力的传递更直接迅速， 从而提高了传动效 率， 使得扑翼飞行器的长吋间飞行得以实现。
[0057] 本发明的优选实施方式如图 3所示， 所述联动杆 2的一端往内凹陷形成第一弧面 ， 所述联动杆 2的该端安装有能够拆卸的杆盖 21， 所述杆盖 21朝向所述第一弧面 的表面往内凹陷形成第二弧面， 所述第一弧面和所述第二弧面包围在所述曲轴 1 3外。
[0058] 一般情况下， 可以在联动杆 2的一端幵设通孔， 并将该通孔套在曲轴 13上， 便 可实现联动杆 2与曲轴 13的轴联接， 但是为了防止联动杆 2的脱出， 常会在曲轴 1 3上增设挡板等的防脱出结构， 此吋联动杆 2将无法直接穿过挡板进行安装， 为 联动杆 2的安装带来不便。
[0059] 为了解决这个问题， 本实施方式在联动杆 2的端部安装有能够拆卸的杆盖 21， 当存在挡板阻碍联动杆 2安装吋， 可以先将杆盖 21卸下， 然后再将杆盖 21、 联动 杆 2分别套在曲轴 13外， 此吋再将杆盖 21与联动杆 2联接固定， 便可实现联动杆 2 与曲轴 13的轴联接， 而且曲轴 13由第一弧面和第二弧面所包围， 也便于曲轴 13 的顺畅转动。
[0060] 而杆盖 21与联动杆 2可以有多种联接方式， 其中一种较优的联接方式如图 4所示 ， 在联动杆 2端部的两侧均设置第一通孔， 在杆盖 21两侧均设置第二通孔， 第一 通孔与第二通孔相对布置， 然后再使用螺钉 26穿过第一通孔和第二通孔， 并由 螺母 27与螺钉 26联接实现杆盖 21与联动杆 2的固定。
[0061] 本发明的优选实施方式如图 4所示， 所述第一弧面内安装有第一轴瓦 22， 所述 第二弧面内安装有第二轴瓦 23， 所述第一轴瓦 22和所述第二轴瓦 23包围在所述 曲轴 13外。
[0062] 为了使得扑翼飞行器能够飞行顺畅， 保证传动机构的流畅运转尤为重要， 为了 实现这个目的， 本实施方式在第一弧面内安装有第一轴瓦 22， 在第二弧面内安 装有第二轴瓦 23， 由于第一轴瓦 22和第二轴瓦 23的表面非常光滑， 所以第一轴 瓦 22和第二轴瓦 23包围在曲轴 13外能够减少曲轴 13运动吋受到的摩擦力， 从而 使得扑翼飞行器能够流畅运转。
[0063] 另外， 虽然第一轴瓦 22和第二轴瓦 23是由特殊的耐高温合金材料制成， 但发生 直接摩擦产生的高温仍然足以将其烧坏， 所以还可以在第一轴瓦 22和第二轴瓦 2 3表面增设润滑油层， 以减少曲轴 13与第一轴瓦 22和第二轴瓦 23的直接接触， 不 但避免第一轴瓦 22和第二轴瓦 23烧坏， 更进一步减少曲轴 13运动吋受到的摩擦 力。
[0064] 本发明的优选实施方式如图 4所示， 所述扑翼飞行器还包括销轴 24， 所述联动 杆 2的一端设有第一安装孔 25， 所述传动模块 3相对的两侧壁上设有相对布置的 第二安装孔 31， 所述销轴 24安装在所述第一安装孔 25和所述第二安装孔 31内。
[0065] 如图 1所示， 在安装过程中， 若一根联动杆 2与一个传动模块 3的左侧壁联接， 则另一根联动杆 2将会与另一个传动模块 3的右侧壁联接， 即一个传动模块 3需要 在其左侧壁幵设安装孔， 另一个传动模块 3需要在其右侧壁幵设安装孔， 这将需 要生产两套不同的传动模块 3， 大大增加了生产成本； 又由于两套传动模块 3除 安装孔设置位置不一致外， 其外观完全一致， 所以容易导致安装错误， 如同吋 使用了两个安装孔设在右壁的传动模块 3， 为扑翼飞行器的安装带来不必要的麻 烦。
[0066] 为了解决这个问题， 本实施方式在传动模块 3相对的两侧壁上设有相对布置的 第二安装孔 31， 同吋满足了联动杆 2安装在左侧壁和右侧壁的需求， 免去生产两 套不同的传动模块 3， 大大降低了生产成本； 而且由于两个传动模块 3完全一致 ， 也不会出现传动模块 3安装错误的情况， 为扑翼飞行器的安装免去不必要的麻 烦。
[0067] 本发明的优选实施方式如图 1所示， 所述第二安装孔 31为将所述传动模块 3侧壁 贯通的通孔。
[0068] 第二安装孔 31可以设于传动模块 3侧壁的外表面或内表面， 当第二安装孔 31设 于传动模块 3侧壁的外表面吋， 安装人员能够直接观测第一安装孔 25与第二安装 孔 31是否对准， 并在两者对准后进行安装， 但当第二安装孔 31设于传动模块 3侧 壁的内表面吋， 由于传动模块 3内部空间较少， 从而导致安装人员难以观测第一 安装孔 25与第二安装孔 31是否对准， 为扑翼飞行器的安装带来了困难。
[0069] 为了解决这个问题， 本实施方式将第二安装孔 31设置为将传动模块 3侧壁贯通 的通孔， 若第一安装孔 25与第二安装孔 31并未对准， 安装人员便能从传动模块 3 外部发现联动杆 2对第二安装孔 31存在遮挡， 即无论联动杆 2在传动模块 3外部或 内部安装， 亦可快速对准第一安装孔 25和第二安装孔 31， 为扑翼飞行器的安装 带来极大的便利。
[0070] 另外， 若联动杆 2与传动模块 3的外侧壁联接， 则会增加联动杆 2与外界碰撞脱 落的机会， 如图 1和 4所示， 为了解决这个问题， 优选将传动模块 3的内部设置为 中空结构， 并将联动杆 2的端部藏于该中空结构内， 从而使得传动模块 3的侧壁 对联动杆 2实现保护， 以减少联动杆 2与外界碰撞脱落的机会。
[0071] 本发明的优选实施方式如图 1所示， 所述扑翼 4能够伸展和收纳， 所述扑翼 4包 括扑翼主杆 41、 扑翼副杆 42、 多根扑翼骨架 43和扑翼蒙皮 44; 所述扑翼主杆 41 、 所述扑翼副杆 42与多根所述扑翼骨架 43轴联接， 多根所述扑翼骨架 43置于所 述扑翼主杆 41与所述扑翼副杆 42之间； 所述扑翼蒙皮 44的表面与所述扑翼主杆 4 1、 所述扑翼副杆 42和所述扑翼蒙皮 44固定联接； 所述扑翼主杆 41和所述扑翼副 杆 42能够通过相离运动带动所述扑翼蒙皮 44伸展， 所述扑翼主杆 41和所述扑翼 副杆 42还能够通过相向运动带动所述扑翼蒙皮 44收纳。
[0072] 在现有技术中， 扑翼飞行器的扑翼 4体积较大， 而且不能收藏， 这将导致扑翼 飞行器体积过大、 不便携带； 为了解决这个问题， 本实施方式设置了能够伸展 和收纳的扑翼 4， 该扑翼 4主要由扑翼主杆 41、 扑翼副杆 42、 多根扑翼骨架 43和 扑翼蒙皮 44组成， 由于扑翼主杆 41、 扑翼副杆 42与多根扑翼骨架 43轴联接， 所 以它们可以绕相同的转轴中心转动， 当所述扑翼蒙皮 44的表面与扑翼主杆 41、 扑翼副杆 42和扑翼蒙皮 44固定联接后， 扑翼主杆 41和扑翼副杆 42能够通过相离 运动带动扑翼蒙皮 44伸展， 并且扑翼主杆 41和扑翼副杆 42还能够通过相向运动 带动扑翼蒙皮 44收纳， 其工作原理与折扇相一致， 即扑翼 4能够伸展为图 6所示 的扇状， 也能收纳为图 8所示的条状， 所以当无需使用扑翼飞行器吋， 可以将扑 翼 4收纳为条状， 大大减少了扑翼飞行器的占用空间， 实现了扑翼飞行器的携带 轻便。
[0073] 需要指出， 本实施方式的多根扑翼骨架 43置于扑翼主杆 41与扑翼副杆 42之间， 其安装过程大致如下：
[0074] 1、 将扑翼主杆 41和扑翼副杆 42平行相对布置， 并在两者之间留有足够的安装 空间；
[0075] 2、 将多根扑翼骨架 43堆叠， 并将所有扑翼骨架 43放置在扑翼主杆 41和扑翼副 杆 42之间；
[0076] 3、 通过一转轴同吋穿过扑翼主杆 41、 扑翼副杆 42和扑翼骨架 43的同一端， 使 得扑翼主杆 41、 扑翼副杆 42和扑翼骨架 43联接为一体。
[0077] 本发明的优选实施方式如图 1至 3所示， 所述扑翼主杆 41的端部设有挡杆 411， 所述挡杆 411与所述扑翼主杆 41相互垂直； 所述扑翼副杆 42的端部设有挡块 421 ， 所述挡块 421沿所述扑翼副杆 42的长度方向延伸形成； 所述挡杆 411与所述挡 块 421在所述扑翼 4为收纳状态吋相互抵接。
[0078] 在本发明的优选实施方式中， 扑翼 4采用与折扇相同的原理实现了折叠收藏， 大大减少了扑翼飞行器的占用空间， 其中， 其收纳过程为将扑翼主杆 41移向扑 翼副杆 42， 或将扑翼副杆 42移向扑翼主杆 41， 直至扑翼主杆 41与扑翼副杆 42变 为相对状态， 而收纳过程将会带动扑翼骨架 43和扑翼蒙皮 44一同移动， 直至扑 翼骨架 43和扑翼蒙皮 44藏于扑翼主杆 41和扑翼副杆 42之间， 但若收纳用力过大 ， 则会导致扑翼主杆 41和扑翼副杆 42对准后依然进行相对转动， 从而使得扑翼 4 反向展幵。
[0079] 为了解决这个问题， 本实施方式在扑翼主杆 41的端部设有挡杆 411， 在扑翼副 杆 42的端部设有挡块 421， 由于挡杆 411与扑翼主杆 41相互垂直， 而挡块 421沿扑 翼副杆 42的长度方向延伸形成， 所以当扑翼主杆 41与扑翼副杆 42相对布置吋， 挡杆 411与挡块 421将相互抵接， 从而限制扑翼主杆 41与扑翼副杆 42进行反向伸 展。
[0080] 需要指出， 所述扑翼主杆 41与扑翼副杆 42可以是相同的部件， 两者称谓不同是 用于区分两者为相对独立的部件， 即也可以是挡杆 411设于扑翼副杆 42上， 挡块 421设于扑翼主杆 41上， 能够保持挡杆 411、 挡块 421两者的对应设置关系便可。
[0081] 本发明的优选实施方式如图 1所示， 所述传动模块 3上设有收纳槽 45， 所述扑翼 4安装在所述收纳槽 45内， 所述收纳槽 45用于限定所述扑翼 4伸展的最大范围。
[0082] 在本发明的优选实施方式中， 扑翼 4采用与折扇相同的原理实现了折叠收藏， 大大减少了扑翼飞行器的占用空间， 而需要使用扑翼 4吋， 只需将扑翼主杆 41和 扑翼副杆 42相互分离， 使得扑翼 4伸展便可； 但是扑翼蒙皮 44的厚度较薄， 若分 离扑翼主杆 41和扑翼副杆 42吋用力过猛， 则可能导致扑翼 4伸展超过限度、 撕裂 扑翼蒙皮 44。
[0083] 为了解决这个问题， 本实施方式在传动模块 3上设有收纳槽 45， 并将扑翼 4安装 在所述收纳槽 45内， 如图 1所示， 当扑翼 4伸展至一定程度后， 扑翼主杆 41和扑 翼副杆 42将与收纳槽 45抵接， 限制了扑翼主杆 41和扑翼副杆 42的转动， 即限定 了扑翼 4伸展的最大范围， 避免出现扑翼蒙皮 44被撕裂的情况。
[0084] 本发明的优选实施方式如图 4所示， 所述旋转曲轴组件 1包括中心板 11和两块曲 轴挡板 12， 两块所述曲轴挡板 12分别设于所述中心板 11相对的两侧， 所述曲轴 1 3设于所述曲轴挡板 12与所述中心板 11之间。
[0085] 一般情况下， 可以在联动杆 2的一端幵设通孔， 并将该通孔套在曲轴 13上， 便 可实现联动杆 2与曲轴 13的轴联接， 但在毫无防护的状态下， 联动杆 2容易脱出 ， 从而影响扑翼飞行器的正常工作。 [0086] 为了解决这个问题， 本实施方式在中心板 11的两侧均设置曲轴挡板 12， 由于曲 轴 13设于曲轴挡板 12与中心板 11之间， 所以当联动板与曲轴 13轴联接后将置于 曲轴挡板 12与中心挡板之间， 即曲轴挡板 12限制了联动杆 2的脱出， 从而保证了 扑翼飞行器能够长期维持正常工作。
[0087] 本发明的优选实施方式如下， 两个所述曲轴 13互不相对。
[0088] 在扑翼飞行器的工作过程中， 联动杆 2的曲摆运动是实现扑翼飞行的关键， 若 两个曲轴 13相对布置， 则导致两扑翼 4难以对称同步拍打， 需要增添其他辅助部 件调节两扑翼 4的拍打关系。
[0089] 为了解决这个问题， 本实施方式将两个曲轴 13设置为互不相对， 如图 1所示， 由于两曲轴 13互不相对， 所以两联动杆 2之间能够直接保持为 V型的敞口状， 两 者保持镜像对应关系， 从而使得扑翼 4能够对称同步拍打。
[0090] 另外， 所述扑翼 4式飞行器还可内置温湿度传感器、 风向传感器、 GPS、 加速 度传感器、 陀螺仪、 红外传感器和摄像器材等， 其作用大致如下：
[0091] 1、 扑翼飞行器通过收集各传感器数据进行辅助飞行， 通过风向传感器、 加速 度传感器及陀螺仪等数据可以控制扑翼飞行器进行滑翔， 从而节约能量；
[0092] 2、 扑翼飞行器可以利用温度传感器收集各种温湿度信息， 以用于局部天气信 息预报；
[0093] 3、 扑翼飞行器可以通过红外传感器及摄像器材进行摄影或进行灾区救援； [0094] 4、 扑翼飞行器可以利用内置 GPS导航系统实现自动飞行及通过红外传感器和 摄像设备对活动目标进行追踪。
[0095] 当然， 上述各个实施方式可以单独应用， 也可以组合应用， 以上所述是本发明 的优选实施方式， 应当指出， 对于本技术领域的普通技术人员来说， 在不脱离 本发明原理的前提下， 还可以做出若干改进和润饰， 这些改进和润饰也视为本 发明的保护范围。
技术问题
问题的解决方案
发明的有益效果

Claims

权利要求书
一种扑翼飞行器， 其特征在于， 包括旋转曲轴组件、 两根联动杆、 两 个传动模块和安装轴；
所述旋转曲轴组件设有两个曲轴， 两个所述曲轴分别设于所述旋转曲 轴组件相对的两侧面上；
两根所述联动杆的一端分别与一个所述曲轴轴联接， 两根所述联动杆 的另一端分别与一个所述传动模块轴联接；
两个所述传动模块均与所述安装轴轴联接， 每个所述传动模块上均设 有扑翼；
所述旋转曲轴组件用于带动所述联动杆进行曲摆运动， 所述联动杆用 于带动两个所述传动模块绕所述安装轴进行相离和相向运动， 所述传 动模块用于带动所述扑翼进行扑翼运动。
根据权利要求 1所述的扑翼飞行器， 其特征在于， 所述联动杆的一端 往内凹陷形成第一弧面， 所述联动杆的该端安装有能够拆卸的杆盖， 所述杆盖朝向所述第一弧面的表面往内凹陷形成第二弧面， 所述第一 弧面和所述第二弧面包围在所述曲轴外。
根据权利要求 2所述的扑翼飞行器， 其特征在于， 所述第一弧面内安 装有第一轴瓦， 所述第二弧面内安装有第二轴瓦， 所述第一轴瓦和所 述第二轴瓦包围在所述曲轴外。
根据权利要求 1所述的扑翼飞行器， 其特征在于， 所述扑翼飞行器还 包括销轴， 所述联动杆的一端设有第一安装孔， 所述传动模块相对的 两侧壁上设有相对布置的第二安装孔， 所述销轴安装在所述第一安装 孔和所述第二安装孔内。
根据权利要求 4所述的扑翼飞行器， 其特征在于， 所述第二安装孔为 将所述传动模块侧壁贯通的通孔。
根据权利要求 1所述的扑翼飞行器， 其特征在于，
所述扑翼能够伸展和收纳， 所述扑翼包括扑翼主杆、 扑翼副杆、 多根 所述扑翼主杆、 所述扑翼副杆与多根所述扑翼骨架轴联接， 多根所述 扑翼骨架置于所述扑翼主杆与所述扑翼副杆之间； 所述扑翼蒙皮的表面与所述扑翼主杆、 所述扑翼副杆和所述扑翼蒙皮 固定联接；
所述扑翼主杆和所述扑翼副杆能够通过相离运动带动所述扑翼蒙皮伸 展， 所述扑翼主杆和所述扑翼副杆还能够通过相向运动带动所述扑翼 蒙皮收纳。
[权利要求 7] 根据权利要求 6所述的扑翼飞行器， 其特征在于， 所述传动模块上设 有收纳槽， 所述扑翼安装在所述收纳槽内， 所述收纳槽用于限定所述 扑翼伸展的最大范围。
[权利要求 8] 根据权利要求 6所述的扑翼飞行器， 其特征在于，
所述扑翼主杆的端部设有挡杆， 所述挡杆与所述扑翼主杆相互垂直； 所述扑翼副杆的端部设有挡块， 所述挡块沿所述扑翼副杆的长度方向 延伸形成；
所述挡杆与所述挡块在所述扑翼为收纳状态吋相互抵接。
[权利要求 9] 根据权利要求 8所述的扑翼飞行器， 其特征在于， 所述传动模块上设 有收纳槽， 所述扑翼安装在所述收纳槽内， 所述收纳槽用于限定所述 扑翼伸展的最大范围。
[权利要求 10] 根据权利要求 1所述的扑翼飞行器， 其特征在于， 所述旋转曲轴组件 包括中心板和两块曲轴挡板， 两块所述曲轴挡板分别设于所述中心板 相对的两侧， 所述曲轴设于所述曲轴挡板与所述中心板之间。
[权利要求 11] 根据权利要求 1所述的扑翼飞行器， 其特征在于， 两个所述曲轴互不 相对。
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