WO2021136398A1 - 一种飞行器 - Google Patents

一种飞行器 Download PDF

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Publication number
WO2021136398A1
WO2021136398A1 PCT/CN2020/141483 CN2020141483W WO2021136398A1 WO 2021136398 A1 WO2021136398 A1 WO 2021136398A1 CN 2020141483 W CN2020141483 W CN 2020141483W WO 2021136398 A1 WO2021136398 A1 WO 2021136398A1
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WO
WIPO (PCT)
Prior art keywords
rocker
axis
left end
right end
section
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PCT/CN2020/141483
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English (en)
French (fr)
Inventor
李治国
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仿翼（深圳）科技有限公司
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Publication of WO2021136398A1 publication Critical patent/WO2021136398A1/zh

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

Definitions

  • the present disclosure relates to the technical field of bionic flight, in particular to an aircraft.
  • a flapping-wing aircraft refers to an aircraft that generates lift and forward force through the active movement of the wings like a bird, and relies on the reaction force of the wings to beat the air as the lift and forward force.
  • a dual-crank-rocker without phase difference double-wing flapping-wing aircraft includes a frame and an opposite-wing flapping-wing mechanism mounted on the frame, wherein the opposite-wing flapping-wing mechanism is a cross between a front rocker and a rear rocker.
  • the upper and lower pairs of wings are set on the front rocker and the rear rocker.
  • the upper and lower pairs of wings are both left and right asymmetric structures.
  • the technical problem to be solved by the present disclosure is to overcome the defect that the aircraft in the prior art deviates to the left or the right in the flight process of the aircraft causing unstable flight, so as to provide an aircraft with a stable flight.
  • the present disclosure provides an aircraft, including: a frame; at least one rocker assembly, the rocker assembly includes two rockers, the two rockers are connected to the frame through a rotating shaft
  • one of the rockers has a bent portion that is bent toward the other rocker, so that the axes of the left and right ends of the two rockers are both located in the same plane
  • the drive mechanism is arranged in the The frame is respectively connected with the two rockers for driving the two rockers to move at the same time
  • the wing module is installed on the rocker assembly.
  • the two joysticks include: a first joystick, the first joystick is arranged close to the head of the aircraft, and the axis of the first joystick is located at the same position as the rotation shaft.
  • the first rocker includes a first body, a first left end and a first right end; a second rocker, the second rocker is opposite to the first rocker Adjacent to and arranged at a position farther away from the head of the aircraft than the first rocker; wherein, the second rocker includes a second body, a bending portion bent toward the first rocker, and a first rocker Two left end and second right end; the first body and the second body are both connected to the rotating shaft; and, the first left end and the first right end extend along the direction in which the first rocker extends
  • the axis, the axis of the second left end and the second right end along the extending direction of the second rocker are all located in the first vertical plane.
  • the first rocker further includes a first connecting section extending upward from one end of the first body, and a second connecting section extending downward from the other end of the first body, so An end of the first connecting section away from the first body is connected to the first left end, and an end of the second connecting section away from the first body is connected to the first right end.
  • the bending portion includes a first bending section bent forward along one end of the second body, and a second bending section bent forward along the other end of the second body, An end of the first bending section away from the second body is connected to the second left end, and an end of the second bending section away from the second body is connected to the second right end.
  • the first left end is located above the second left end
  • the first right end is located below the second right end
  • the aircraft has the first left end and the second right end. The initial position where the second left end is parallel and the first right end is parallel to the second right end.
  • the first left end and the second left end are spaced apart, and/or between the first right end and the second right end With spacing.
  • the distance is 3 mm.
  • the first body includes a first front branch section and a second front branch section.
  • the angle between the first front branch section and the second front branch section is an obtuse angle
  • the The vertical plane on which the axis is located is a second vertical plane
  • the first front branch section, the first connecting section, and the first left end are located on the same side of the second vertical plane
  • the second front branch Section, the second connecting section, and the first right end are located on the other side of the second vertical plane
  • the axis of the first left end is parallel to the axis of the first front branch
  • the first The axis of a right end is parallel to the axis of the second front branch.
  • the second body includes a first rear branch section and a second rear branch section.
  • the included angle between the first rear branch section and the second rear branch section is an obtuse angle, and the first rear branch section.
  • the branch section, the first bending section, and the second left end are located on the same side of the second vertical plane, the second rear branch section, the second bending section, and the second right end Located on the other side of the second vertical plane, the axis of the second left end is parallel to the axis of the first rear branch, and the axis of the second right end is parallel to the axis of the second rear branch parallel.
  • the axis of the first left end portion is offset upward in parallel with the axis of the first front branch, and the axis of the first right end portion is parallel and downward with respect to the axis of the second front branch. Offset.
  • the axis of the second left end portion is parallel and offset downward relative to the axis of the first rear branch, and the axis of the second right end portion is parallel and upward relative to the axis of the second rear branch. Offset.
  • the wing module includes two layers of upper and lower wing films, and each layer of the wing film includes at least two connecting rods and a film body connecting the connecting rods.
  • the end is hollow and tubular, and the connecting rod is suitable for being inserted into the rocker.
  • the film body is a semi-elliptical film or includes two right-angle fan-shaped films.
  • FIG. 1 is a schematic diagram of the position structure of the wing module, the rocker assembly, and the driving mechanism provided in the embodiments of the disclosure;
  • FIG. 2 is a schematic diagram of the structure of the first rocker shown in FIG. 1;
  • Figure 3 is the front view shown in Figure 2;
  • Figure 4 is a top view shown in Figure 3;
  • FIG. 5 is a schematic diagram of the structure of the second rocker shown in FIG. 1;
  • Figure 6 is the front view shown in Figure 5;
  • Figure 7 is a top view shown in Figure 6;
  • Figure 8 is a schematic diagram of the assembled structure of the first rocker and the second rocker
  • Figure 9 is a schematic top view of the assembly structure of the first rocker and the second rocker
  • FIG. 10 is a schematic structural diagram of the connection between the rocker assembly and the driving mechanism provided in the embodiment of the disclosure.
  • Figure 11 is a schematic diagram of the structure of the wing membrane
  • Figure 12 is a schematic diagram of the flight state of the aircraft.
  • the terms “installed”, “connected”, and “connected” should be understood in a broad sense. For example, they may be fixed or detachable. Connected or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • Connected or integrally connected it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • the specific meanings of the above-mentioned terms in the present disclosure can be understood in specific situations.
  • an aircraft which may be a flapping-wing aircraft, for example, and may include a frame, a rocker assembly, a driving mechanism, and a wing module 400.
  • the rocker assembly can be arranged on the frame, and the drive mechanism is also arranged on the frame.
  • the drive mechanism can be connected with the rocker assembly and can drive the rocker assembly to move.
  • the wing module 400 can be detachably arranged on the rocker. On the rod assembly.
  • the rocker assembly may be provided with one rocker assembly, which may include two rocker rods, and the two rocker rods may be connected to the frame through a rotating shaft 303, and one of the rocker rods may have The bent portion bent toward the other rocker, so that the axis of the left end and the axis of the right end of the two rockers can be located in the same plane.
  • the wing module 400 when the wing module 400 is larger, multiple rocker assemblies may be provided.
  • the two rockers can also be connected to the frame in other ways.
  • the two joysticks can be the first joystick 301 and the second joystick 302 respectively.
  • the head of the aircraft can be the front end of the aircraft, and the tail can be the rear end of the aircraft. Forward means Towards the head, backward refers to towards the tail.
  • the first rocker 301 may be arranged close to the head of the aircraft, and the axis of the first rocker 301 may be located in a first vertical plane perpendicular to the shaft 303; wherein, the first rocker 301 may include a first body , The first left end portion 3012 and the first right end portion 3014; the first body can be connected to the shaft 303, the first left end portion 3012 and the first right end portion 3014 can be located in the first vertical plane along the axis of the extending direction of the first rocker 301 Inside.
  • the second rocker 302 may be arranged adjacent to the first rocker 301 and located at a position farther from the head of the aircraft than the first rocker 301; wherein, in this embodiment, the bending portion may be provided on the second rocker On the rod 302, the second rocker 302 may include a second body, a bent portion bent toward the first rocker 301, and a second left end 3022 and a second right end 3024; the second body may be connected to the rotating shaft 303; The two left end 3022 and the second right end 3024 may also be located in the first vertical plane along the axis of the extending direction of the two ends of the second rocker 302.
  • the first rocker 301 may also include a first connecting section 3011 extending upward from one end of the first body, and a second connecting section extending downward from the other end of the first body 3013, the first connecting section 3011 may be connected to the first left end 3012 at an end away from the first body, and the second connecting section 3013 may be connected to the first right end 3014 at an end away from the first body.
  • the first left end 3012, the first connecting section 3011, the first body, the second connecting section 3013, and the first right end 3014 of the first rocker 301 may be integrally formed, and the first body may be provided with a hole for fixing the rotating shaft 303 .
  • the first body may include a first front branch 3015 located on one side of the shaft 303 and a second front branch 3016 located on the other side of the shaft 303.
  • the first front branch 3015 and the second front branch 3015 The angle formed by 3016 around the rotating shaft 303 may be an obtuse angle. Taking the vertical plane where the axis of the rotating shaft 303 is located as the second vertical plane, the first front branch 3015, the first connecting section 3011, and the first left end 3012 may be located on the same side of the second vertical plane, and the second front branch 3016
  • the second connecting section 3013 and the first right end 3014 may be located on the other side of the second vertical plane.
  • This arrangement of the first body can make the left and right sides of the same wing membrane have a certain angle, which conforms to the morphological characteristics of the wings of flying creatures, and is more similar in appearance to flying creatures.
  • the first body may be a straight rod.
  • the axis A′ of the first left end 3012 may be parallel to the axis A of the first front branch 3015, and the axis B′ of the first right end 3014 may be parallel to the second front branch 3015.
  • the axis B of 3016 is parallel.
  • the axis A′ of the first left end 3012 may be offset upward by 1.3 mm in parallel with the axis A of the first front branch 3015, and the axis B′ of the first right end 3014 may be relative to the axis of the second front branch 3016.
  • B is offset downward by 1.3mm in parallel.
  • the offset of 1.3 mm is determined in actual applications according to the diameter of the cross section of the rocker. In this embodiment, the offset may be half of the diameter of the cross section of the rocker, which is not specifically limited in this application. In other embodiments, the specific offset can be adjusted according to actual conditions.
  • FIG. 4 is a top view of FIG. 3, the axis A'of the first left end 3012, the axis A of the first front branch 3015, the axis B'of the first right end 3014, and the second front branch 3016
  • the axes B can all be located in the same plane, and the plane can be a first vertical plane perpendicular to the rotating shaft 303.
  • the bending portion of the second rocker 302 may be bent in the direction of the first rocker 301.
  • the bending of the second rocker 302 in the direction of the first rocker 301 can be regarded as a forward bending.
  • the bent portion of the second rocker 302 may include a first bent section 3021 bent forward along one end of the second body, and a second bent section 3023 bent forward along the other end of the second body.
  • the two left end portions 3022 may be connected to the end of the first bending section 3021 away from the second body, and the second right end portion 3024 may be connected to the end of the second bending section 3023 away from the second body.
  • the bending portion may also be provided on the first rocker 301, and the bending portion provided on the first rocker 301 is bent in the direction of the second rocker 302, which can be regarded as being bent backward.
  • the second left end portion 3022, the bent portion, the second body, and the second right end portion 3024 of the second rocker 302 may be integrally formed, and a hole for fixing the rotating shaft 303 may be provided in the second body.
  • the second body may include a first rear branch 3025 on one side of the shaft 303 and a second rear branch 3026 on the other side of the shaft 303.
  • the first rear branch 3025 and the second The included angle formed by the two rear branches 3026 around the shaft 303 may be an obtuse angle.
  • the first rear branch 3025, the first bending section 3021, and the second left end 3022 may be located in the second vertical plane (as described above, the angle of the shaft 303
  • the second rear branch section 3026, the second bending section 3023, and the second right end 3024 may be located on the other side of the second vertical plane, the second left end
  • the axis of 3022 may be parallel to the axis of the first rear branch 3025, and the axis of the second right end 3024 may be parallel to the axis of the second rear branch 3026.
  • This arrangement of the second body can make the left and right sides of the same wing membrane have a certain angle, which conforms to the morphological characteristics of the wings of flying creatures, and is more similar in appearance to flying creatures.
  • the second body may be a straight rod.
  • the axis C'of the second left end 3022 may be offset downward in parallel with the axis C of the first rear branch 3025, and the axis D'of the second right end 3024 may be relative to the first rear branch 3025.
  • the axis D of the two rear branches 3026 is parallel and offset upward.
  • the axis C′ of the second left end 3022 may be offset downward in parallel with respect to the axis C of the first rear branch 3025 by 1.3 mm
  • the axis D′ of the second right end 3024 may be relative to the axis C of the second rear branch 3026.
  • the axis D is offset upwards in parallel by 1.3 mm.
  • the offset of 1.3 mm is determined according to the diameter of the cross section of the rocker in practical applications. In this embodiment, the offset is half of the diameter of the cross section of the rocker, which is not specifically limited in this application. In other embodiments, the specific offset can be adjusted according to actual conditions.
  • Figure 7 is a top view of Figure 6.
  • the axis C of the first rear branch section 3025 of the second body may coincide with the axis D of the second rear branch section 3026, as shown in the axis CD in Figure 7, the second
  • the axis C′ of the left end 3022 may coincide with the axis D′ of the second right end 3024, as shown in the axis C′D′ in FIG. 7, and the distance between the axis CD and the axis C′D′ may be 3.4 mm.
  • the vertical plane on which the axis C'D' is located may be the above-mentioned first vertical plane.
  • the axis A′ of the first left end 3012 of the first rocker 301, the axis B′ of the first right end 3014 and the second left end 3022 of the second rocker 302 may both be located in the same vertical plane, and the vertical plane is the first vertical plane.
  • first connecting section 3011 formed by one end of the first body extending upward can be connected with the first left end 3012
  • the second connecting section 3013 formed by the other end of the first body extending downward. It can be connected with the first right end 3014
  • the first bending section 3021 formed by bending one end of the second body forward can be connected with the second left end 3022
  • the folding section 3023 can be connected with the second right end 3024, so that the lower side of the first left end 3012 has a space for accommodating the second left end 3022, and the upper side of the first right end 3014 has a space for accommodating the second right end 3024. space.
  • the first left end 3012 may be located above the second left end 3022
  • the first right end 3014 may be located below the second right end 3024
  • the aircraft may have the first left end 3012 and the second left end 3022 parallel
  • the first right end The initial position where the portion 3014 is parallel to the second right end portion 3024. That is, the initial position where the axis A'of the first left end 3012 is parallel to the axis C'of the second left end 3022, and the axis D'of the first right end 3014 and the axis B'of the second right end 3024 are parallel.
  • the angle between the upper wing film and the lower wing film of the wing module 400 arranged on the first rocker 301 and the second rocker 302 can reach 0°, so that the wing module 400 of the aircraft
  • the working range is larger and the flight effect is better.
  • the first left end 3012 may have a distance from the second left end 3022, and/or the first right end 3014 may There is a distance from the second right end 3024.
  • the size of the gap may be 3mm.
  • the size of the spacing is not limited.
  • the driving mechanism and the rocker assembly may jointly form the transmission mechanism module 300 of the aircraft, and the transmission mechanism module 300 may be installed on the frame and connected with two rockers respectively. (The first rocker 301 and the second rocker 302) are connected for driving the two rockers to move at the same time.
  • the specific structure and transmission process of the drive structure in the prior art have been introduced in detail, and will not be described in this embodiment.
  • the first rocker 301 can be placed in the front and the second rocker 301
  • the rocker 302 can be placed at the rear, and they can be connected to the frame through the pin as the shaft 303, and then the front fulcrum 304 of the first rocker 301 can be hinged with the first connecting rod 305, and the second rocker can be hinged.
  • the rear fulcrum 307 of 302 is hinged with the second link 308, the other end of the first link 305 can be hinged with the pin hole on the first gear 306, and the other end of the second link 308 can be hinged with the pin on the second gear 309 Hole hinged.
  • the first gear 306 and the second gear 309 can rotate synchronously through the meshing of teeth, driving the first connecting rod 305 and the second connecting rod 308 to move synchronously, thereby driving the first rocker 301 and the second rocker 302 to move synchronously.
  • the wing module 400 of the aircraft can be detachably mounted on the rocker assembly.
  • the wing module 400 may include upper and lower wing films.
  • each wing film may include at least two connecting rods 401 and a film body 402 connecting the connecting rods 401.
  • the two ends of the rocker are A hollow tube, the connecting rod 401 is suitable for being inserted in the rocker.
  • the membrane body 402 can be connected between the two connecting rods 401 by bonding.
  • the above-mentioned rocker assembly structure of the first rocker 301 and the second rocker 302 is taken as an example for installation instructions.
  • the two connecting rods 401 of the film are respectively inserted on the first left end 3012 and the second right end 3024, and the two connecting rods of the lower wing film can be detachably inserted at the second left end 3022 and the first right end 3014, respectively. on.
  • multiple rocker assemblies may be provided, and/or multiple connecting rods 401 are correspondingly added to the wing module 400 to support and install the membrane body 402.
  • the connecting rod 401 is correspondingly added to the wing membrane with a larger area, so that the connecting rod 401 can support the wing membrane to ensure that the wing membrane will not be deformed due to wind resistance during flight, which will affect the flight.
  • the film body 402 of this embodiment may be a semi-elliptical film or include two right-angle fan-shaped films.
  • the film body 402 of the upper wing film may be a semi-elliptical film or include two right-angle fan-shaped films
  • the film body 402 of the lower wing film may also be a semi-elliptical film or include two right-angle fan-shaped films.
  • the membrane bodies 402 of the upper and lower wing membranes are completely overlapped, and the upper and lower wing membranes are completely symmetrical about the second vertical plane (the above-mentioned vertical plane where the axis of the rotating shaft 303 is located).
  • the angle between the upper and lower wing films can be 0 degrees, the first rocker 301 and the second rocker
  • the left and right ends of 302 are parallel up and down, with a distance of 3mm, and no motion interference will occur; with the swing of the first rocker 301 and the second rocker 302, as shown in position b in Figure 12, the upper and lower wings
  • the included angle ⁇ between the films increases, as shown in position c in Figure 12, the included angle ⁇ reaches the maximum, and the maximum can reach 74 degrees, and then the included angle ⁇ decreases again, as shown in position d in Figure 12. Because the shape of the wing membrane is completely symmetrical, when flapping up and down, the force area of the left and right wings is the same, which ensures the aerodynamic symmetry when flapping and makes the whole machine more stable.
  • 300-transmission mechanism module 301-first rocker; 3011-first connecting section; 3012-first left end; 3013-second connecting section; 3014-first right end; 3015-first front branch; 3016-second front branch; 302-second rocker; 3021-first bending section; 3022-second left end; 3023-second bending section; 3024-second right end; 3025-first rear Support section; 3026-second rear support section; 303-rotation shaft; 304-front fulcrum; 305-first link; 306-first gear; 307-rear fulcrum; 308-second link; 309-second gear ; 400-wing module; 401-connecting rod; 402-membrane body.

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Abstract

一种飞行器，包括：机架；至少一个摇杆组件，所述摇杆组件包括两个摇杆，通过转轴（303）连接在所述机架上，其中一个摇杆具有朝向另一个摇杆弯折的弯折部，以使两个所述摇杆的左部端的轴线、右端部的轴线均位于同一平面内；驱动机构，设于所述机架上，并分别与两个所述摇杆连接，用于同时驱动两个所述摇杆移动；翅膀模组（400），安装在所述摇杆组件上，所述飞行器克服了现有技术中空气动力不对称导致飞行不平稳的缺陷。

Description

一种飞行器 技术领域
本公开涉及仿生飞行技术领域，具体涉及一种飞行器。
背景技术
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，靠机翼拍打空气的反力作为升力及前行力。
在一些情形下，一种双曲柄摇杆无相差双对翼扑翼飞行器包括机架、安装于机架的对翼扑翼机构，其中对翼扑翼机构为前摇杆和后摇杆交叉的结构,上下两对翼设置在前摇杆和后摇杆上，其中上下两对翼均为左右不对称的结构，在运动过程中很容易造成整机空气动力左右不对称，影响扑翼飞行器的动力学性能，出现飞行左偏或右偏的情况，导致飞行不平稳。
发明内容
因此，本公开要解决的技术问题在于克服现有技术中的飞行器飞行过程中左偏或右偏导致飞行不平稳的缺陷，从而提供一种飞行平稳的飞行器。
为解决上述技术问题，本公开提供的一种飞行器，包括：机架；至少一个摇杆组件，所述摇杆组件包括两个摇杆，两个所述摇杆通过转轴连接在所述机架上，其中一个摇杆具有朝向另一个摇杆弯折的弯折部，以使两个所述摇杆的左端部的轴线、右端部的轴线均位于同一平面内；驱动机构，设于所述机架上，并分别与两个所述摇杆连接，用于同时驱动两个所述摇杆移动；翅膀模组，安装在所述摇杆组件上。
在一个实施例中，两个所述摇杆包括：第一摇杆，所述第一摇杆靠近所述飞行器的头部的位置设置，且所述第一摇杆的轴线位于与所述转轴垂直的第一垂直平面内；其中，所述第一摇杆包括第一本体、第一左端部和第一右端部；第二摇杆，所述第二摇杆与所述第一摇杆相邻设置且在相较于所述第一摇杆远离所述飞行器的头部的位置设置；其中，所述第二摇杆包括第二本体、朝向第一摇杆弯折的弯折部以及第二左端部和第二右端部；所述第一本体、第二本体均与所述转轴连接；以及，所述第一左端部和所述第一右端部沿所述第一摇杆延伸方向的轴线、所述第二左端部和所述第 二右端部沿所述第二摇杆延伸方向的轴线均位于所述第一垂直平面内。
在一个实施例中，所述第一摇杆还包括由所述第一本体的一端向上延伸的第一连接段、和由所述第一本体的另一端向下延伸的第二连接段，所述第一连接段远离所述第一本体的一端与所述第一左端部连接，所述第二连接段远离所述第一本体的一端与所述第一右端部连接。
在一个实施例中，所述弯折部包括沿所述第二本体一端向前弯折的第一弯折段，和沿所述第二本体另一端向前弯折的第二弯折段，所述第一弯折段远离所述第二本体的一端与所述第二左端部连接，所述第二弯折段远离所述第二本体的一端与所述第二右端部连接。
在一个实施例中，所述第一左端部位于所述第二左端部的上方，所述第一右端部位于所述第二右端部的下方，所述飞行器具有所述第一左端部与所述第二左端部平行、且所述第一右端部与所述第二右端部平行的初始位置。
在一个实施例中，所述飞行器位于所述初始位置时，所述第一左端部与所述第二左端部具有间距，和/或所述第一右端部与所述第二右端部之间具有间距。
在一个实施例中，所述间距为3mm。
在一个实施例中，所述第一本体包括第一前支段、第二前支段，所述第一前支段与所述第二前支段的夹角为钝角，以所述转轴的轴线所在的竖直面为第二垂直平面，所述第一前支段、所述第一连接段、所述第一左端部位于所述第二垂直平面的同一侧，所述第二前支段、所述第二连接段、所述第一右端部位于所述第二垂直平面的另一侧，所述第一左端部的轴线与所述第一前支段的轴线平行，所述第一右端部的轴线与所述第二前支段的轴线平行。
在一个实施例中，所述第二本体包括第一后支段、第二后支段，所述第一后支段与所述第二后支段的夹角为钝角，所述第一后支段、所述第一弯折段、所述第二左端部位于所述第二垂直平面的同一侧，所述第二后支段、所述第二弯折段、所述第二右端部位于所述第二垂直平面的另一侧，所述第二左端部的轴线与所述第一后支段的轴线平行，所述第二右端部的轴线与所述第二后支段的轴线平行。
在一个实施例中，所述第一左端部的轴线相对所述第一前支段的轴线 平行向上偏移，所述第一右端部的轴线相对所述第二前支段的轴线平行向下偏移。
在一个实施例中，所述第二左端部的轴线相对所述第一后支段的轴线平行向下偏移，所述第二右端部的轴线相对所述第二后支段的轴线平行向上偏移。
在一个实施例中，所述翅膀模组包括上、下两层翅膀膜，每一层所述翅膀膜包括至少两个连接杆、以及连接所述连接杆的膜本体，所述摇杆的两端为中空的管状，所述连接杆适于插设在所述摇杆内。
在一个实施例中，所述膜本体为半椭圆形膜或包括两个直角扇形膜。
附图说明
为了更清楚地说明本公开具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本公开的一些实施方式，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。
图1为本公开的实施例中提供的翅膀模组、摇杆组件和驱动机构的位置结构示意图；
图2为图1所示的第一摇杆的结构示意图；
图3为图2所示的主视图；
图4为图3所示的俯视图；
图5为图1所示的第二摇杆的结构示意图；
图6为图5所示的主视图；
图7为图6所示的俯视图；
图8为第一摇杆和第二摇杆的组装结构示意图；
图9为第一摇杆和第二摇杆组装结构的俯视示意图；
图10为本公开的实施例中提供的摇杆组件与驱动机构连接的结构示意图；
图11为翅膀膜的结构示意图；
图12为飞行器的飞行状态示意图。
具体实施方式
下面将结合附图对本公开的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
在本公开的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本公开的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本公开中的具体含义。
此外，下面所描述的本公开不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
如图1至图12所示，本公开实施例提供一种飞行器，例如可以为扑翼飞行器，可以包括机架、摇杆组件、驱动机构、翅膀模组400。其中，摇杆组件可以设置在机架上,驱动机构也设置在机架上,驱动机构可以与摇杆组件连接，并可以驱动摇杆组件进行移动,翅膀模组400可以可拆卸地设在摇杆组件上。
在本实施例中，如图1所示，摇杆组件可以设有一个，摇杆组件可以包括两个摇杆，两个摇杆可以通过转轴303连接在机架上，其中一个摇杆可以具有朝向另一个摇杆弯折的弯折部，以使两个摇杆的左端部的轴线、右端部的轴线均可以位于同一平面内。在其他可替换的实施例中，当翅膀模组400较大时，可设置多个摇杆组件。在其他可替换的实施例中，两个摇杆也可以以其他方式与机架连接。
例如，两个摇杆可以分别为第一摇杆301、第二摇杆302，需要说明的是，该飞行器的头部可以为飞行器的前端、尾部可以为飞行器的后端，向前指的是朝向头部，向后指的是朝向尾部。
第一摇杆301可以靠近所述飞行器的头部的位置设置，且第一摇杆301的轴线可以位于与转轴303垂直的第一垂直平面内；其中，第一摇杆301可以包括第一本体、第一左端部3012和第一右端部3014；第一本体可以连接在转轴303上，第一左端部3012和第一右端部3014可以沿第一摇杆301延伸方向的轴线位于第一垂直平面内。
第二摇杆302可以与第一摇杆301相邻设置且在相较于第一摇杆301远离飞行器的头部的位置设置；其中，本实施例中，弯折部可以设在第二摇杆302上，第二摇杆302可以包括第二本体、朝向第一摇杆301弯折的弯折部以及第二左端部3022和第二右端部3024；第二本体可以与转轴303连接；第二左端部3022和第二右端部3024可以沿第二摇杆302两端延伸方向的轴线也位于第一垂直平面内。
例如，如图2、图3所示，第一摇杆301还可以包括由第一本体的一端向上延伸的第一连接段3011、和由第一本体的另一端向下延伸的第二连接段3013，第一连接段3011可以远离第一本体的一端与第一左端部3012连接，第二连接段3013可以远离第一本体的一端与第一右端部3014连接。第一摇杆301的第一左端部3012、第一连接段3011、第一本体、第二连接段3013、第一右端部3014可以为一体形成，第一本体内可以设有固定转轴303的孔。
在本实施例中，第一本体可以包括位于转轴303一侧的第一前支段3015和位于转轴303另一侧的第二前支段3016，第一前支段3015与第二前支段3016围绕转轴303形成的夹角可以为钝角。以转轴303的轴线所在的竖直面为第二垂直平面，第一前支段3015、第一连接段3011、第一左端部3012可以位于第二垂直平面的同一侧，第二前支段3016、第二连接段3013、第一右端部3014可以位于第二垂直平面的另一侧。第一本体的这种设置方式能够使同一层翅膀膜的左右两侧之间具有一定的角度，符合飞行类生物翅膀的形态特征，外观上与飞行类生物更加相似。当然，在其他可替换的实施例中，第一本体可为直杆。
在一个实施例中，如图3所示，第一左端部3012的轴线A′可以与 第一前支段3015的轴线A平行，第一右端部3014的轴线B′可以与第二前支段3016的轴线B平行。
例如，第一左端部3012的轴线A′可以相对于第一前支段3015的轴线A平行向上偏移1.3mm，第一右端部3014的轴线B′可以相对于第二前支段3016的轴线B平行向下偏移1.3mm。该偏移量1.3mm是实际应用中根据摇杆横截面直径确定，本实施例中，偏移量可以为摇杆横截面直径的一半，本申请对此不作具体限定。在其他实施例中，具体的偏移量根据实际情况可进行调整。
参阅图4，图4是图3的俯视图，第一左端部3012的轴线A′、第一前支段3015的轴线A、第一右端部3014的轴线B′，和第二前支段3016的轴线B均可以位于同一平面内，且该平面可以为与转轴303垂直的第一垂直平面。
在一个实施例中，如图5、图6所示，第二摇杆302的弯折部可以向第一摇杆301方向弯折。在此，第二摇杆302的弯折部可以向第一摇杆301方向的弯折可以视为向前弯折。例如，第二摇杆302的弯折部可以包括沿第二本体一端向前弯折的第一弯折段3021，和沿第二本体另一端向前弯折的第二弯折段3023，第二左端部3022可以与第一弯折段3021远离第二本体的一端连接，第二右端部3024可以与第二弯折段3023远离第二本体的一端连接。在其他实施例中，弯折部也可以设在第一摇杆301上，设在第一摇杆301上的弯折部向第二摇杆302方向弯折，可视为向后弯折。第二摇杆302的第二左端部3022、弯折部、第二本体以及第二右端部3024可以为一体形成，第二本体内可以设有固定转轴303的孔。
例如，继续参阅图5、图6，第二本体可以包括位于转轴303一侧的第一后支段3025和位于转轴303另一侧的第二后支段3026，第一后支段3025与第二后支段3026围绕转轴303形成的夹角可以为钝角，第一后支段3025、第一弯折段3021、第二左端部3022可以位于第二垂直平面(如上所述地，转轴303的轴线所在的竖直面为第二垂直平面)的同一侧，第二后支段3026、第二弯折段3023、第二右端部3024可以位于第二垂直平面的另一侧，第二左端部3022的轴线可以与第一后支段3025的轴线平行，第二右端部3024的轴线可以与第二后支段3026的轴线平行。第二本体的这种设置方式能够使同一层翅膀膜的左右两侧之间具有一定的角度，符合 飞行类生物翅膀的形态特征，外观上与飞行类生物更加相似。当然，在其他可替换的实施例中，第二本体可为直杆。
在一个实施例中，如图6所示，第二左端部3022的轴线C′可以相对第一后支段3025的轴线C平行向下偏移，第二右端部3024的轴线D′可以相对第二后支段3026的轴线D平行向上偏移。
例如，第二左端部3022的轴线C′可以相对于第一后支段3025的轴线C向下平行偏移1.3mm，第二右端部3024的轴线D′可以相对于第二后支段3026的轴线D向上平行偏移1.3mm。该偏移量1.3mm是实际应用中根据摇杆横截面直径确定，本实施例中，偏移量为摇杆横截面直径的一半，本申请对此不作具体限定。在其他实施例中，具体的偏移量根据实际情况可进行调整。
参阅图7，图7是图6的俯视图，第二本体的第一后支段3025的轴线C可以与第二后支段3026的轴线D重合，如图7中所示的轴线CD，第二左端部3022的轴线C′可以与第二右端部3024的轴线D′重合，如图7中所示的轴线C′D′，轴线CD与轴线C′D′之间的距离可以为3.4mm。且轴线C′D′所在的竖直面可以为上述第一垂直平面。
也就是说，如图8、图9所示，第一摇杆301的第一左端部3012的轴线A′、第一右端部3014的轴线B′与第二摇杆302的第二左端部3022的轴线C′、第二右端部3024的轴线D′可以均位于同一竖直平面内，该竖直平面即为第一垂直平面。
需要说明的是，继续参阅图8，由于第一本体的一端向上延伸形成的第一连接段3011可以与第一左端部3012连接，第一本体的另一端向下延伸形成的第二连接段3013可以与第一右端部3014连接，第二本体的一端向前弯折形成的第一弯折段3021可以与第二左端部3022连接，第二本体的另一端向前弯折形成的第二弯折段3023可以与第二右端部3024连接，从而使得第一左端部3012的下侧具有容置第二左端部3022的空间，第一右端部3014的上侧具有容置第二右端部3024的空间。
第一左端部3012可以位于第二左端部3022的上方，第一右端部3014可以位于第二右端部3024的下方，飞行器可以具有第一左端部3012与第二左端部3022平行、且第一右端部3014与第二右端部3024平行的初始位置。即第一左端部3012的轴线A′与第二左端部3022的轴线C′平行、 且第一右端部3014的轴线D′与第二右端部3024的轴线B′平行的初始位置。这种设置方式，使得设置在第一摇杆301和第二摇杆302上的翅膀模组400的上层翅膀膜和下层翅膀膜之间的角度可以到达0°，使得该飞行器的翅膀模组400工作幅度较大，飞行效果更好。
为避免第一摇杆301和第二摇杆302在运动时互相干涉，飞行器位于初始位置时，第一左端部3012可以与第二左端部3022具有间距，和/或，第一右端部3014可以与第二右端部3024之间具有间距。
例如，间距的大小可以为3mm。当然，在其他可替换的实施例中，对间距的大小并不做限制。
在一个实施例中，如图10所示，驱动机构和摇杆组件可以共同形成该飞行器的传动机构模组300，该传动机构模组300可以设于机架上，并分别与两个摇杆(第一摇杆301和第二摇杆302)连接，用于同时驱动两个摇杆移动。现有技术中关于驱动结构的具体结构以及传动过程已经有很详细的介绍，在本实施例中不再说明，仅对安装过程简单说明：将第一摇杆301可以摆放在前方、第二摇杆302可以摆放在后方，可以先把它们通过作为转轴303的销钉连接在机架上，然后可以将第一摇杆301的前支点304与第一连杆305铰接，将第二摇杆302的后支点307与第二连杆308铰接，第一连杆305的另一端可以与第一齿轮306上的销钉孔铰接，第二连杆308的另一端可以与第二齿轮309上的销钉孔铰接。第一齿轮306、第二齿轮309可以通过齿的啮合同步转动，带动第一连杆305、第二连杆308同步运动，从而带动第一摇杆301、第二摇杆302同步移动。
飞行器的翅膀模组400可以可拆卸地安装在摇杆组件上。翅膀模组400可以包括上、下两层翅膀膜，如图11所示，每一层翅膀膜可以包括至少两个连接杆401、以及连接连接杆401的膜本体402，摇杆的两端为中空的管状，连接杆401适于插设在摇杆内。例如，膜本体402可以通过粘接的方式连在两个连接杆401之间，以上述第一摇杆301及第二摇杆302的摇杆组件结构为例进行安装说明，安装时将上层翅膀膜的两个连接杆401分别插在第一左端部3012和第二右端部3024上，将下层翅膀膜的两个连杆可以分别可拆卸地插在第二左端部3022和第一右端部3014上。当翅膀模组400较大时，可设置多个摇杆组件，和/或，在翅膀模组400上对应增加多个连接杆401，用于支撑安装膜本体402。其中，在面积较大的翅 膀膜上对应增加连接杆401可使连接杆401支撑起翅膀膜，保证飞行过程中翅膀膜不会因风阻变形，影响飞行。
本实施例的膜本体402可以为半椭圆形膜或包括两个直角扇形膜。例如，上层翅膀膜的膜本体402可以为半椭圆形膜或包括两个直角扇形膜，下层翅膀膜的膜本体402也可以为半椭圆形膜或包括两个直角扇形膜。例如，上、下两层翅膀膜的膜本体402完全重合，且上、下层翅膀膜关于第二垂直平面(上述的转轴303的轴线所在的竖直面)完全对称。
飞行器飞行过程中，如图12所示，在初始位置时，如图12中a位置，上、下两层翅膀膜之间的夹角可以为0度，第一摇杆301和第二摇杆302的左、右两端上下平行，间距为3mm，不会发生运动干涉情况；随着第一摇杆301、第二摇杆302的摆动，如图12中b位置，上、下两层翅膀膜之间的夹角θ增大，如图12中c位置，夹角θ达到最大，最大能够达到74度，之后的夹角θ再减小，如图12中d位置。因为翅膀膜的形状完全对称，上下扑动时，左、右侧翅膀的受力面积相同，保证了翅膀扑打时空气动力学的对称性，使整机更加稳定。
附图标记说明：
300-传动机构模组；301-第一摇杆；3011-第一连接段；3012-第一左端部；3013-第二连接段；3014-第一右端部；3015-第一前支段；3016-第二前支段；302-第二摇杆；3021-第一弯折段；3022-第二左端部；3023-第二弯折段；3024-第二右端部；3025-第一后支段；3026-第二后支段；303-转轴；304-前支点；305-第一连杆；306-第一齿轮；307-后支点；308-第二连杆；309-第二齿轮；400-翅膀模组；401-连接杆；402-膜本体。
显然，上述实施例仅仅是为清楚地说明所作的举例，而并非对实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。而由此所引伸出的显而易见的变化或变动仍处于本公开创造的保护范围之中。
本申请要求于2020年01月05日递交的中国专利申请第202020017124.1号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。

Claims (13)

  1. 一种飞行器，其中，包括：
    机架；
    至少一个摇杆组件，所述摇杆组件包括两个摇杆，两个所述摇杆通过转轴(303)连接在所述机架上，其中一个摇杆具有朝向另一个摇杆弯折的弯折部，以使两个所述摇杆的左端部的轴线、右端部的轴线均位于同一平面内；
    驱动机构，设于所述机架上，并分别与两个所述摇杆连接，用于同时驱动两个所述摇杆移动；
    翅膀模组(400)，安装在所述摇杆组件上。
  2. 根据权利要求1所述的飞行器，其中，两个所述摇杆包括：
    第一摇杆(301)，所述第一摇杆(301)靠近所述飞行器的头部的位置设置，且所述第一摇杆(301)的轴线位于与所述转轴(303)垂直的第一垂直平面内；其中，所述第一摇杆(301)包括第一本体、第一左端部(3012)和第一右端部(3014)；
    第二摇杆(302)，所述第二摇杆(302)与所述第一摇杆(301)相邻设置且在相较于所述第一摇杆(301)远离所述飞行器的头部的位置设置；其中，所述第二摇杆(302)包括第二本体、朝向第一摇杆(301)弯折的弯折部、第二左端部(3022)和第二右端部(3024)；所述第一本体、第二本体均与所述转轴(303)连接；以及，
    所述第一左端部(3012)和所述第一右端部(3014)沿所述第一摇杆(301)延伸方向的轴线、所述第二左端部(3022)和所述第二右端部(3024)沿所述第二摇杆(302)延伸方向的轴线均位于所述第一垂直平面内。
  3. 根据权利要求2所述的飞行器，其中，所述第一摇杆(301)还包括由所述第一本体的一端向上延伸的第一连接段(3011)、和由所述第一本体的另一端向下延伸的第二连接段(3013)，所述第一连接段(3011)远离所述第一本体的一端与所述第一左端部(3012)连接，所述第二连接段(3013)远离所述第一本体的一端与所述第一右端部(3014)连接。
  4. 根据权利要求3所述的飞行器，其中，所述弯折部包括沿所述第二本体一端向前弯折的第一弯折段(3021)，和沿所述第二本体另一端向前 弯折的第二弯折段(3023)，所述第一弯折段(3021)远离所述第二本体的一端与所述第二左端部(3022)连接，所述第二弯折段(3023)远离所述第二本体的一端与所述第二右端部(3024)连接。
  5. 根据权利要求2所述的飞行器，其中，所述第一左端部(3012)位于所述第二左端部(3022)的上方，所述第一右端部(3014)位于所述第二右端部(3024)的下方，所述飞行器具有所述第一左端部(3012)与所述第二左端部(3022)平行、且所述第一右端部(3014)与所述第二右端部(3024)平行的初始位置。
  6. 根据权利要求5所述的飞行器，其中，所述飞行器位于所述初始位置时，所述第一左端部(3012)与所述第二左端部(3022)具有间距，和/或所述第一右端部(3014)与所述第二右端部(3024)之间具有间距。
  7. 根据权利要求6所述的飞行器，其中，所述间距为3mm。
  8. 根据权利要求4所述的飞行器，其中，所述第一本体包括第一前支段(3015)、第二前支段(3016)，所述第一前支段(3015)与所述第二前支段(3016)的夹角为钝角，以所述转轴(303)的轴线所在的竖直面为第二垂直平面，所述第一前支段(3015)、所述第一连接段(3011)、所述第一左端部(3012)位于所述第二垂直平面的同一侧，所述第二前支段(3016)、所述第二连接段(3013)、所述第一右端部(3014)位于所述第二垂直平面的另一侧，所述第一左端部(3012)的轴线与所述第一前支段(3015)的轴线平行，所述第一右端部(3014)的轴线与所述第二前支段(3016)的轴线平行。
  9. 根据权利要求8所述的飞行器，其中，所述第二本体包括第一后支段(3025)、第二后支段(3026)，所述第一后支段(3025)与所述第二后支段(3026)的夹角为钝角，所述第一后支段(3025)、所述第一弯折段(3021)、所述第二左端部(3022)位于所述第二垂直平面的同一侧，所述第二后支段(3026)、所述第二弯折段(3023)、所述第二右端部(3024)位于所述第二垂直平面的另一侧，所述第二左端部(3022)的轴线与所述第一后支段(3025)的轴线平行，所述第二右端部(3024)的轴线与所述第二后支段(3026)的轴线平行。
  10. 根据权利要求8所述的飞行器，其中，所述第一左端部(3012)的轴线相对所述第一前支段(3015)的轴线平行向上偏移，所述第一右端部 (3014)的轴线相对所述第二前支段(3016)的轴线平行向下偏移。
  11. 根据权利要求9所述的飞行器，其中，所述第二左端部(3022)的轴线相对所述第一后支段(3025)的轴线平行向下偏移，所述第二右端部(3024)的轴线相对所述第二后支段(3026)的轴线平行向上偏移。
  12. 根据权利要求1-11中任一项所述的飞行器，其中，所述翅膀模组(400)包括上、下两层翅膀膜，每一层所述翅膀膜包括至少两个连接杆(401)、以及连接所述连接杆(401)的膜本体(402)，所述摇杆的两端为中空的管状，所述连接杆(401)适于插设在所述摇杆内。
  13. 根据权利要求12所述的飞行器，其中，所述膜本体(402)为半椭圆形膜或包括两个直角扇形膜。
PCT/CN2020/141483 2020-01-05 2020-12-30 一种飞行器 WO2021136398A1 (zh)

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