WO2023070690A1 - 一种仿生鲸鱼的悬浮飞行器及其控制方法 - Google Patents

一种仿生鲸鱼的悬浮飞行器及其控制方法 Download PDF

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Publication number
WO2023070690A1
WO2023070690A1 PCT/CN2021/128029 CN2021128029W WO2023070690A1 WO 2023070690 A1 WO2023070690 A1 WO 2023070690A1 CN 2021128029 W CN2021128029 W CN 2021128029W WO 2023070690 A1 WO2023070690 A1 WO 2023070690A1
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WIPO (PCT)
Prior art keywords
wire
fuselage
tail
whale
wing
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PCT/CN2021/128029
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English (en)
French (fr)
Inventor
戴佳贝
谷达京
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上海智能制造功能平台有限公司
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Publication of WO2023070690A1 publication Critical patent/WO2023070690A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C19/00—Aircraft control not otherwise provided for
    • B64C19/02—Conjoint controls

Definitions

  • the present invention relates to the technical field of aircraft, in particular to a bionic whale suspended aircraft and a control method thereof.
  • the bionic aircraft has the characteristics of low noise, low energy consumption and high ornamental performance during flight operations by simulating the movement characteristics of biological evolution. It has a very good application prospect in large indoor factory inspections and indoor stage performances.
  • whales as the imitation object of the bionic floating flying fish has advantages that other fish-like aircraft do not have.
  • the volume of whales is similar to the volume required for products, which can greatly reduce the impact of scale effects in the process of bionic profiling design.
  • whales also have great aesthetic and artistic value.
  • the image of falling whales has been popular in the field of creation. Once a whale falls, everything is born, which can create very meaningful stage works.
  • the purpose of the present invention is to provide a bionic whale suspended aircraft and its control method, the present invention can realize the tail swing action of the suspended aircraft, thereby filling the design of the bionic flying fish tail swing function It can also realize low-noise, high-endurance, and high-expressive indoor flight cruising and performance of the aircraft.
  • a bionic whale hovercraft comprising:
  • the fuselage is an imitation whale-shaped inflatable film sphere, and the front end of the fuselage is provided with a machine head;
  • Wings located slightly lower on both sides of the front of the fuselage
  • a side auxiliary power unit located above the wing;
  • a lower auxiliary power mechanism is located below the nose
  • the tail includes a wire-drawing mechanism and a deformation mechanism, the wire-drawing mechanism is used to drive the deformation mechanism to form a bionic movement of the tail, the wire-drawing mechanism is fixedly connected to the tail of the fuselage, and the wire-drawing mechanism has an adjustable direction A pull wire, the pull wire mechanism is connected with the deformation mechanism through the pull wire.
  • the deformation mechanism includes a tail fin, two deformation bars, and four ring skeletons connected in series by the two deformation bars.
  • they are the first ring skeleton and the second ring skeleton.
  • the two deformation strips are respectively connected to the two ends of the diameter of the ring skeleton,
  • the first ring skeleton is provided with a protruding elastic rod, and the fuselage
  • a connection base is provided, and the elastic rod is inserted into the connection base;
  • the tail fin part includes a tail fin bracket and an inflatable film ball arranged on the tail fin bracket, and the tail fin bracket is connected to the tail fin bracket through a tail fin adhesive piece. Deformation strips are fixedly connected.
  • the wire-drawing mechanism includes a wire-drawing base, a guide wheel and a wire-drawing device; the wire-drawing base is fixedly connected to the tail of the fuselage; the guide wheel is mounted on one end of the wire-drawing base through a bearing;
  • the wire pulling device includes a first steering gear, a driving gear, a transmission gear, a transmission shaft and a reel, and the first steering gear is fixedly connected to the other end of the wire base, and the steering arm of the first steering gear is connected to the
  • the driving gear is fixedly connected, the driving gear meshes with the transmission gear, one end of the transmission shaft is connected to the cable base bearing, the transmission gear and the winding wheel are fixedly sleeved on the transmission shaft
  • the other end of the stay wire; one end of the stay wire is wound on the winding wheel, the other end of the stay wire goes around the guide wheel, and passes through the first ring skeleton and the second ring skeleton in turn to fix on the third ring skeleton.
  • the driving gear, the transmission gear and the winding wheel are all formed by 3D printing of photosensitive resin, and the transmission shaft is made of a hollow carbon fiber rod.
  • it also includes a wing bracket and a wing base, the wing base is located at both ends of the wing bracket, one side of the wing base is fixedly connected to the fuselage, and the wing base is fixedly connected to the fuselage. The other side of the wing base is fixedly connected with the wing through a ball and socket structure.
  • the wing includes a frame mechanism, a root drive mechanism and an end drive mechanism;
  • the frame mechanism includes elastic strips, two flexible rods and three support skeletons, the first support skeleton, the second support skeleton from the root of the wing
  • Two supporting frames and a third supporting frame one ends of the two flexible rods are respectively fixed on the wing brackets, and the other ends are connected through wingtip connectors to form a fin-shaped frame;
  • the three supporting frames are arranged in parallel, and the two The flexible rods respectively pass through the two ends of the three supporting frames in turn, and the three supporting frames are respectively fixedly connected with the elastic strips and are perpendicular to the elastic strips at the joints, and one end of the elastic strips is connected to the elastic strips.
  • the wing bracket is fixedly connected, and the other end is fixedly connected to the third supporting frame;
  • the root driving mechanism includes a second steering gear, a lead frame and wires wound on the lead frame, and the second rudder
  • the rudder arm of the engine is fixedly connected to the lead frame, one end of the lead is fixed to one end of the lead frame, and the other end of the lead passes through the first support frame and is fixedly connected to the second support frame;
  • the end driving mechanism includes a third steering gear arranged at the other end of the elastic bar, the third steering gear has a third steering gear arm, and the third steering gear arm is fixed to the third supporting frame connect.
  • the side auxiliary power mechanism includes a first propeller and a first motor, and the first motor is used to drive the first propeller to rotate;
  • the lower auxiliary power mechanism includes a second propeller and a second motor, so The second motor is used to drive the second propeller to rotate.
  • both the first propeller and the second propeller are provided with weight-reducing structures, and the fuselage is processed by distilled aluminized film with a thickness of 40 microns.
  • a film skin is attached to the surface of the deformation mechanism, the surface of the wing, and the connections between the deformation mechanism and the wing and the fuselage respectively.
  • a control method for the above-mentioned bionic whale suspended aircraft includes: controlling the pull wire mechanism to drive the deformation mechanism according to the real motion posture of the whale to form the aircraft tail swing motion of the simulated fish tail;
  • the side auxiliary power mechanism realizes the forward movement, turning movement and backward movement of the aircraft;
  • the lower auxiliary power mechanism is controlled to realize the pitching movement of the aircraft;
  • the forward movement, the turning movement, the backward movement and the pitching movement are coupled to realize Different motion attitudes of the aircraft in space.
  • the present invention has the following beneficial effects:
  • the bionic whale suspension aircraft and its control method of the present invention take the whale as the object of bionic imitation. Since the volume of the whale is similar to the volume of the product, it is beneficial to reduce the influence of the size effect on the aircraft. Moreover, the aircraft of the present invention controls the deformation mechanism through the cable mechanism Forming the bionic movement of the tail can realize the fishtail swing action of the aircraft tail, which fills the design gap of the large tail swing function of the existing bionic fish aircraft, and can realize high-expressive indoor flight cruising and performance.
  • the aircraft of the present invention adopts a lightweight design structure, so it has the characteristics of low noise and high battery life.
  • Fig. 1 is the isometric view schematic diagram of the suspended aircraft of the bionic whale in the embodiment of the present invention
  • Fig. 2 is the schematic side view of the suspended aircraft of the bionic whale in the embodiment of the present invention.
  • Fig. 3 is a structural schematic diagram of a deformation mechanism in an embodiment of the present invention.
  • Fig. 4 is a structural schematic diagram of a wire pulling mechanism in an embodiment of the present invention.
  • FIG. 5 is a schematic front view of the wire pulling mechanism in an embodiment of the present invention.
  • Fig. 6 is the structural representation of the wing in the embodiment of the present invention.
  • Fig. 7 is a structural schematic diagram of the position of the root of the wing in an embodiment of the present invention.
  • Fig. 8 is a structural schematic diagram of the twisted position of the wing end in the embodiment of the present invention.
  • 1 is the fuselage
  • 2 is the wing
  • 3 is the side auxiliary power mechanism
  • 4 is the pull wire mechanism
  • 5 is the deformation mechanism
  • 6 is the lower auxiliary power mechanism
  • 7 is the tail fin adhesive part
  • 8 is the fourth ring Skeleton
  • 9 is the third ring skeleton
  • 10 is the second ring skeleton
  • 11 is the first ring skeleton
  • 12 is the deformation strip
  • 13 is the elastic rod
  • 14 is the connection base
  • 15 is the cable base
  • 16 is the guide wheel
  • 17 is the first steering gear
  • 18 is the driving gear
  • 19 is the transmission shaft
  • 20 is the winding wheel
  • 21 is the root driving mechanism
  • 22 is the wing support
  • 23 is the wing base
  • 24 is the ball and socket structure
  • 25 is the End driving mechanism
  • 26 is the first supporting frame
  • 27 is the second supporting frame
  • 28 is the third supporting frame
  • 29 is a flexible rod
  • 30 is a vertical constraint
  • 31 is
  • the embodiment of the present invention provides a bionic whale suspended aircraft, as shown in Figure 1-2, the suspended aircraft includes a fuselage 1, a tail, a wing 2, a side auxiliary power mechanism 3 and a lower auxiliary power mechanism 6;
  • the body 1 is a whale-shaped inflatable film sphere, and the wings 2 are located at the slightly lower positions on both sides of the front of the fuselage 1.
  • the flight power is provided through the wings, and the side auxiliary power mechanism 3 is located above the wings 2.
  • the fuselage 1 The front end is provided with a nose, and the lower auxiliary power mechanism 6 is located below the nose.
  • the side auxiliary power mechanism 3 and the lower auxiliary power mechanism 6 can provide power for the aircraft to meet the requirements of different scenarios;
  • the tail includes a cable mechanism 4 and a deformation mechanism 5.
  • the wire pulling mechanism 4 is used to drive the deformation mechanism 5 to form the bionic movement of the tail.
  • the wire pulling mechanism 4 is fixedly connected to the tail of the fuselage 1.
  • the wire pulling mechanism 4 has a
  • the suspended aircraft of the embodiment of the present invention uses the whale as the object of bionic imitation. Since the volume of the whale is similar to the volume of the product, it is beneficial to reduce the impact of the size effect on the aircraft. Moreover, the aircraft in this embodiment controls the deformation frame mechanism to form the tail through the cable mechanism. The bionic movement can realize the fish tail swing action of the aircraft tail, vividly display the swimming shape of the humpback whale, fill the design gap of the existing bionic fish aircraft tail swing function, and achieve excellent stage effects. Demonstrate high expressive indoor flight cruising and performance; in addition, the aircraft fuselage of the embodiment of the present invention adopts the lightweight design structure of the inflatable film sphere, so it has the characteristics of low noise and high battery life.
  • the wing is in the shape of a bionic whale fin, and the flight power is provided through the wing, so that the aircraft has bionic motion capability;
  • the fuselage is designed to imitate the body shape of a whale in nature, and is a complete large fish-like film balloon It is filled with helium to provide upward buoyancy for the entire bionic fish aircraft.
  • the fuselage 1 is processed by distilled aluminized film with a thickness of 40 microns to reduce the weight and flight resistance during flight, which is conducive to reducing the energy consumption of flight and cruising, prolonging the endurance time, and at the same time showing a certain attitude. It is quite ornamental.
  • the tail is in the shape of a bionic elastic large deformed whale tail, and the deformation mechanism 5 is used as the main structure of the tail, which is bent by the pulling wire of the pulling wire mechanism 4 to form the swinging action of the tail.
  • the deformation mechanism 5 is used as the main structure of the tail, which is bent by the pulling wire of the pulling wire mechanism 4 to form the swinging action of the tail.
  • the deformation mechanism 5 includes a tail fin, two deformation bars 12, and four ring skeletons connected in series by the two deformation bars 12, and the order of distance from the fuselage is as follows:
  • two deformation bars 12 are respectively connected with the diameter ends of the ring skeleton, and the first ring skeleton 11 is provided with protruding
  • fuselage 1 is provided with connection base 14, and elastic bar 13 is inserted in the connection base 14, to form detachable connection mode, convenient tail deformation mechanism dismounting, specifically, elastic bar 13 and first
  • the connection of the ring frame 11 is realized by gluing the connectors;
  • the connection base 14 adopts a topology optimized weight-reducing structure, and is fixed on the fuselage 1 by double-sided adhesive tape and transparent adhesive;
  • the connection base 14 is provided with holes, and the elastic rod 13 Insert it into the hole, and the end of the hole is fixed
  • two groups of elastic rods 13 can be arranged symmetrically on the first ring frame 11, each group comprising 2 An elastic rod is used, and two sets of connection bases are correspondingly arranged on the fuselage.
  • the elastic rod 13 is made of carbon fiber. Using this kind of elastic material to make the elastic rod 13 can reduce the weight as much as possible while meeting the rigidity requirement.
  • the part of the deformation strip 12 connected to each ring skeleton is fixed to a relative angle through a constraining connector, and AB glue is used for a reinforced connection.
  • the constraining parts are made of photocurable resin, which is easy to process. It can be understood that, in some other implementation manners, those skilled in the art may also select other reinforcement connection manners according to specific conditions and actual needs, which are not specifically limited in this embodiment of the present invention.
  • the ring frame is made of carbon fiber material so that it has proper strength and weight.
  • the tail fin bonding part 7 adopts a weight-reducing structure, and a hollow structure is arranged in the middle, and the tail fin bonding part 7 is fixedly connected with the tail fin bracket by universal double-sided adhesive tape and transparent glue, so as to ensure the stability of the connection. At the same time, it is also conducive to the lightweight of the aircraft.
  • the second ring skeleton 10 for the first ring skeleton 11, the second ring skeleton 10, the third ring skeleton 9 and the fourth ring skeleton 8, between adjacent ring skeletons, and between the first ring skeleton 11 and the fuselage 1 are provided with film skins to form a closed imitation fishtail shape, and have a certain fan ability.
  • the film skin is loosely installed, so as to ensure that the film skin does not hinder its movement when the tail of the aircraft is deformed greatly, so that the tail can provide a certain propulsion force and is conducive to the pitching of the entire body.
  • the cable-drawing mechanism 4 includes a cable-staying base 15, a guide wheel 16 and a cable-staying device; It can be fixed on the tail vertical surface of the fuselage 1 by double-sided adhesive in combination with transparent glue; the guide wheel 16 is installed on one end of the cable base 15 through a bearing; the cable device includes a first steering gear 17, a driving gear 18, a transmission The gear, transmission shaft 19 and reel 20, the first steering gear 17 are fixedly connected to the other end of the cable base 15, specifically, can be fixed on the cable base 15 by bolts, of course, in some other embodiments , those skilled in the art can also use other connection methods to fix the first steering gear; the rudder arm of the first steering gear 17 is fixedly connected to the driving gear 18, the driving gear 18 is meshed with the transmission gear, and one end of the transmission shaft 19 is connected to the cable base 15 bearing connection, the transmission gear and the reel 20 are fixedly set on the other end of the transmission shaft 19; one end of the backguy
  • each ring skeleton is provided with a pull wire hole, and the stay wires pass through the stay wires on the first ring skeleton 11 and the second ring skeleton 10 in turn.
  • the hole is fixed on the third ring skeleton 9, drives the reel 20 by the first steering gear 17, and changes the direction of the backguy by the guide wheel 16, so that the aircraft produces tail wagging motion with the change of the direction of the backguy.
  • the deformation mechanism structure that cancels the skeleton of the fourth ring can also be adopted.
  • the shape of the fourth ring skeleton can also be adjusted appropriately according to the shape and length design characteristics of the caudal fin.
  • the driving gear 18, the transmission gear and the reel 20 are all formed by 3D printing of photosensitive resin, and the transmission shaft 19 is made of a hollow carbon fiber rod to reduce the weight of the aircraft as much as possible.
  • the aircraft also includes a wing bracket 22 and a wing base 23.
  • the wing base 23 is located at both ends of the wing bracket 22, one side of the wing base 23 is fixedly connected to the fuselage 1, specifically, it can be bonded to the fuselage 1 by double-sided adhesive or transparent adhesive, the other side of the wing base 23
  • One side is fixedly connected to the wing 2 through the ball-and-socket structure 24, specifically, bolts are used to penetrate the wing base 23 and the ball-and-socket structure 24 for installation and fixing, forming a structure that is convenient for disassembly.
  • the wing 2 includes a frame mechanism, a root driving mechanism 21 and an end driving mechanism 25; From the root of the wing are the first supporting frame 26, the second supporting frame 27 and the third supporting frame 28; one end of the two flexible rods 29 are respectively fixed on the wing bracket 22, and the other ends are connected by a wingtip connector 31 to form Fin-shaped frame; three supporting frames are arranged in parallel, and two flexible rods 29 respectively pass through the two ends of the three supporting frames in turn, and the supporting frames are respectively fixedly connected with the elastic strips 32 and are perpendicular to the elastic strips 32 at the joints, and the elastic strips 32 One end is fixedly connected to the wing support 22, and the other end is fixedly connected to the third support frame 28; the root driving mechanism 21 includes a second steering gear 35, a lead frame 33 and wires wound around the lead frame 33, and the second steering gear The rudder arm of 35 is fixedly connected with the lead frame 33, and one end of the lead is fixed on one end of
  • the end driving mechanism 25 includes a third steering gear 36 located at the other end of the elastic bar 32, and the third steering gear 36 has a third steering gear arm 37 , the third steering gear arm 37 is fixedly connected with the third supporting frame 28, and the third supporting frame 28 is mainly used for twisting the outer ends of the wings.
  • the third steering gear 36 is fixedly connected with the elastic bar 32 through the steering gear frame, and the third The support frame 28 is provided with a connection hole, which is connected with the third steering gear arm 37 through the connection hole, and the angle of the third support frame 28 is changed by the angle of the third steering gear 36 to realize the twisting of the end of the wing, thereby realizing the rotation of the wing end.
  • the three supporting frames in this embodiment realize the above-mentioned respective functions while making the weight of the fuselage as light as possible, and also meet the shape requirements of the wing.
  • connection between the elastic strip 32 and the wing support 22 is provided with a root restraint 38 , and the elastic strip 32 is fixedly connected to the wing support 22 through the root restraint 38 in a glued manner.
  • the elastic strip 32 adopts a variable cross-section design structure, and the cross-sectional area changes from large to small from the root of the wing to meet the deformation requirements of the wing.
  • first support frame 26 and the elastic bar 32, the second support frame 27 and the elastic bar 32 are connected by vertical restraints 30, and are fixed with structural glue, so as to maintain the connection with the elastic bar 32.
  • the elastic bar is vertical.
  • the lead frame 33 includes two sections of symmetrically arranged lead arms 34, and the two sections of lead arms 34 are symmetrically located on both sides of the rudder arm of the second steering gear 35, and the ends of the lead arms 34 are provided with lead wires.
  • the wire structure is used to limit the direction of the wire, and the wire is controlled by the rudder arm of the second steering gear 35 to realize the flapping motion of the wing.
  • the fuselage 1 and the first supporting frame 26 are also connected by a film skin, and the part connected with the fuselage needs to surround the wing base 23 .
  • the side auxiliary power mechanism 3 includes a first propeller and a first motor, and the first motor is used to drive the first propeller to rotate;
  • the lower auxiliary power mechanism 6 includes a second propeller and a second motor, and the second The motor is used to drive the second propeller to rotate; both the first propeller and the second propeller are provided with openings for connecting corresponding motors.
  • both the first propeller and the second propeller are provided with a weight-reducing structure, specifically, a hollow structure is provided on the first propeller and the second propeller, in order to ensure sufficient support strength and compatibility with the machine While improving the strength of the body connection, the weight can be reduced as much as possible.
  • first propeller and the second propeller are connected to the fuselage by combining transparent glue and double-sided tape. Surface glue, and then bond the fuselage at the hollows of the first propeller and the second propeller through transparent glue.
  • the aircraft in the embodiment of the present invention can form the bionic movement of the tail, and realize the fishtail swing action of the aircraft tail, thereby filling the design gap of the large-section swing function of the existing bionic fish aircraft tail; Moreover, because the aircraft adopts a lightweight design structure, it has the advantages of low energy consumption and long-term battery life; in addition, because the parts of the aircraft are easy to disassemble, it can save a lot of money in transportation, installation and other performance preparation activities. time.
  • the embodiment of the present invention also provides a control method of the bionic whale suspended aircraft in the above embodiment, the method includes: controlling the wire mechanism to drive the deformation mechanism to form the tail swing motion of the aircraft that simulates the fish tail according to the real motion posture of the whale;
  • the side auxiliary power mechanism realizes the forward motion, turning motion and backward motion of the aircraft;
  • the lower auxiliary power mechanism is controlled to realize the pitching motion of the aircraft;
  • the forward motion, steering motion, backward motion and pitching motion are coupled to realize different motion attitudes of the aircraft in space.
  • the control method in this embodiment can realize the flight control of the indoor flying fish and complete various flight tasks; the bionic flight action can vividly display the swimming shape of the humpback whale, thereby achieving excellent stage effects.
  • control method is realized by wireless remote control steering gear, and the tail is a single input system, and the angle change curve of the steering gear of the pull-wire mechanism is controlled according to the attitude of the real whale movement, so as to simulate the movement of the fish tail.
  • the wing is a dual-input system.
  • two types of forward fan and rear fan can be realized. Bionic Sport Mode.
  • the embodiment of the present invention takes the whale as the object of bionic imitation, and because the volume of the whale is similar to the volume of the product, it is beneficial to reduce the influence of the size effect on the aircraft, and the aircraft of the present invention passes through the cable mechanism Control the deformation mechanism to form the bionic movement of the tail, which can realize the fish tail swing action of the aircraft tail, vividly display the swimming shape of the humpback whale, and can realize high-expressive indoor flight cruising and performance, thus filling the existing bionic fish aircraft
  • the design of the large-section swing function of the tail is blank; in addition, the aircraft in the embodiment of the present invention adopts a lightweight design, and because it can use bionic motion to provide power for large strokes and large-area fanning, there is no need for the propeller to provide upward force to overcome Therefore, it has the characteristics of low noise and high battery life; finally, each part of the aircraft of this embodiment has the characteristics of easy disassembly, which can save a

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Abstract

本发明提供一种仿生鲸鱼的悬浮飞行器及其控制方法，所述飞行器包括机身、机尾、机翼、侧方辅助动力机构和下方辅助动力机构；所述机身为仿鲸鱼形充气薄膜球体，所述机翼位于所述机身前部两侧的稍靠下位置，所述侧方辅助动力机构位于所述机翼的上方，所述机身前端设有机头，所述下方辅助动力机构位于所述机头的下方；所述机尾包括拉线机构和变形机构，所述拉线机构用于带动所述变形机构形成尾部的仿生运动，所述拉线机构与所述机身的尾部固定连接，所述拉线机构具有可调方向的拉线，所述拉线机构通过所述拉线与所述变形机构连接。本发明的飞行器能够实现机尾部位的摆动动作，还可以实现低噪音、高续航、高表现力的室内飞行巡航和表演。

Description

一种仿生鲸鱼的悬浮飞行器及其控制方法 技术领域
本发明涉及飞行器技术领域，具体地，涉及一种仿生鲸鱼的悬浮飞行器及其控制方法。
背景技术
仿生飞行器通过模拟生物进化而形成的运动特点，在进行飞行作业时具备低噪音，低能耗，高观赏性的特点，在大型室内工厂巡检、室内舞台剧表演中具备相当优良的应用前景。
现有的仿生飞艇，通常体积巨大，难以在室内开展飞行活动。用于现有艺术表演的仿生气球，绝大多数的产品自身的运动姿态都比较生硬，其可动部分较短，运动柔性较差，对于仿鱼类的飞行器来说，其形成的运动往往难以展现海洋鱼类真正的姿态，因而在室内飞行表演中欠缺表现力。除此以外，现有的仿鱼类飞行器在鱼尾鳍的设计中多采用左右摇摆的方式，尾部的大段竖直方向摆动方案仍然存在空白。
使用鲸鱼作为仿生悬浮飞鱼的模仿对象，具备其他仿鱼类飞行器所不具有的优点。例如，相比于海洋鱼类的其他鱼类，鲸鱼体积与产品需求体积相近，在进行仿生仿形设计过程中可以大大降低尺度效应的影响。另外，鲸鱼也具备很大的美学与艺术创作价值，例如近年来在创作领域比较火热的鲸落意象，一鲸落而万物生，能够创作出非常有意义的舞台作品。然而，现有技术中尚未有使用鲸鱼作为仿生模仿对象的飞行器产品。
发明内容
针对现有技术中的缺陷，本发明的目的是提供一种仿生鲸鱼的悬浮飞行器及其控制方法，本发明能够实现悬浮飞行器的尾部摆动动作，从而填补仿生飞行鱼鱼尾大段摆动功能的设计空白，还可以实现飞行器的低噪音、高续航、高表现力的室内飞行巡航和表演。
本发明室通过以下技术方案实现的：
根据本发明的一个方面，提供一种仿生鲸鱼的悬浮飞行器，包括：
机身，所述机身为仿鲸鱼形充气薄膜球体，所述机身前端设有机头；
机翼，位于所述机身前部两侧的稍靠下位置；
侧方辅助动力机构，位于所述机翼的上方；
下方辅助动力机构，位于所述机头的下方；
机尾，包括拉线机构和变形机构，所述拉线机构用于带动所述变形机构形成尾部的仿生运动，所述拉线机构与所述机身的尾部固定连接，所述拉线机构具有可调方向的拉线，所述拉线机构通过所述拉线与所述变形机构连接。
优选地，所述变形机构包括尾鳍部、两根变形条和由两根所述变形条串联的4个环骨架，按照到机身的距离由近至远依次为第一环骨架、第二环骨架、第三环骨架和第四环骨架；两根所述变形条分别与所述环骨架的直径两端连接，所述第一环骨架上设有伸出的弹性杆，所述机身上设有连接基座，所述弹性杆插入所述连接基座中；所述尾鳍部包括尾鳍支架和设于所述尾鳍支架上的充气薄膜球体，所述尾鳍支架通过尾鳍粘接件与所述变形条固定连接。
优选地，所述拉线机构包括拉线基座、导向轮和拉线装置；所述拉线基座与所述机身的尾部固定连接；所述导向轮通过轴承安装于所述拉线基座的一端；所述拉线装置包括第一舵机、主动齿轮、传动齿轮、传动轴和绕线轮，所述第一舵机固定连接于所述拉线基座的另一端，所述第一舵机的舵臂与所述主动齿轮固定连接，所述主动齿轮与所述传动齿轮啮合，所述传动轴的一端与所述拉线基座轴承连接，所述传动齿轮和所述绕线轮固定套装于所述传动轴的另一端；所述拉线的一端绕设于所述绕线轮上，所述拉线的另一端绕过所述导向轮，并依次穿过所述第一环骨架和所述第二环骨架固定于所述第三环骨架上。
优选地，所述主动齿轮、所述传动齿轮和所述绕线轮均采用光敏树脂3D打印形成，所述传动轴采用空心碳纤维杆制作而成。
优选地，还包括机翼支架和机翼基座，所述机翼基座位于所述机翼支架的两端，所述机翼基座的一侧与所述机身固定连接，所述机翼基座的另一侧通过球窝结构与所述机翼固定连接。
优选地，所述机翼包括框架机构、根部驱动机构和端部驱动机构；所述框架机构包括弹性条、两根柔性杆和三根支撑骨架，自机翼根部起依次为第一支撑骨架、第二支撑骨架和第三支撑骨架；两根所述柔性杆的一端分别固定于所述机翼支架上，另一端通过翼尖连接件相连形成鱼鳍状框架；三根所述支撑骨架平行布置，两根所 述柔性杆分别依次穿过三根所述支撑骨架的两端，三根所述支撑骨架分别与所述弹性条固定连接且在连接处与所述弹性条垂直，所述弹性条的一端与所述机翼支架固定连接，另一端固定连接于所述第三支撑骨架上；所述根部驱动机构包括第二舵机、导线架和绕设于所述导线架上的导线，所述第二舵机的舵臂与所述导线架固定连接，所述导线的一端固定于所述导线架的一端，所述导线的另一端穿过所述第一支撑骨架与所述第二支撑骨架固定连接；所述端部驱动机构包括设于所述弹性条的另一端的第三舵机，所述第三舵机具有第三舵机臂，所述第三舵机臂与所述第三支撑骨架固定连接。
优选地，所述侧方辅助动力机构包括第一螺旋桨和第一电机，所述第一电机用于驱动所述第一螺旋桨转动；所述下方辅助动力机构包括第二螺旋桨和第二电机，所述第二电机用于驱动所述第二螺旋桨转动。
优选地，所述第一螺旋桨和所述第二螺旋桨上均设有减重结构，所述机身采用厚度为40微米的蒸馏镀铝薄膜加工而成。
优选地，所述变形机构的表面、所述机翼的表面、所述变形机构和所述机翼分别与所述机身的连接处均贴附有薄膜蒙皮。
根据本发明的另一方面，提供一种上述的仿生鲸鱼的悬浮飞行器的控制方法，该方法包括：根据鲸鱼真实运动姿态控制拉线机构带动变形机构形成模拟鱼尾的飞行器机尾摆动运动；控制侧方辅助动力机构实现飞行器的前进运动、转向运动和后退运动；控制下方辅助动力机构实现飞行器的俯仰运动；将所述前进运动、所述转向运动、所述后退运动和所述俯仰运动耦合，实现飞行器在空间的不同运动姿态。
与现有技术相比，本发明具有如下的有益效果：
本发明的仿生鲸鱼的悬浮飞行器及其控制方法，以鲸鱼为仿生模仿对象，由于鲸鱼体积与产品体积相近，有利于降低尺寸效应对飞行器的影响，而且，本发明的飞行器通过拉线机构控制变形机构形成尾部的仿生运动，能够实现飞行器机尾的鱼尾摆动动作，填补了现有的仿生鱼飞行器的机尾大段摆动功能的设计空白，可以实现高表现力的室内飞行巡航和表演。
另外，本发明的飞行器采用轻量化设计结构，从而具有低噪音、高续航的特点。
附图说明
通过阅读参照以下附图对非限制性实施例所作的详细描述，本发明的其它特征、目的和优点将会变得更明显：
图1为本发明实施例中的仿生鲸鱼的悬浮飞行器的正等轴视示意图；
图2为本发明实施例中的仿生鲸鱼的悬浮飞行器的侧视示意图；
图3为本发明实施例中的变形机构的结构示意图；
图4为本发明实施例中的拉线机构的结构示意图；
图5为本发明实施例中的拉线机构的正视示意图；
图6为本发明实施例中的机翼的结构示意图；
图7为本发明实施例中的机翼根部位置的结构示意图；
图8为本发明实施例中的机翼端部扭转位置的结构示意图；
图中：1为机身，2为机翼，3为侧方辅助动力机构，4为拉线机构，5为变形机构，6为下方辅助动力机构，7为尾鳍粘接件，8为第四环骨架，9为第三环骨架，10为第二环骨架，11为第一环骨架，12为变形条，13为弹性杆，14为连接基座，15为拉线基座，16为导向轮，17为第一舵机，18为主动齿轮，19为传动轴，20为绕线轮，21为根部驱动机构，22为机翼支架，23为机翼基座，24为球窝结构，25为端部驱动机构，26为第一支撑骨架，27为第二支撑骨架，28为第三支撑骨架，29为柔性杆，30为垂直约束件，31为鳍尖连接件，32为弹性条，33为导线架，34为导线臂，35为第二舵机，36为第三舵机，37为第三舵机臂，38为根部约束件。
具体实施方式
下面结合具体实施例对本发明进行详细说明。以下实施例将有助于本领域的技术人员进一步理解本发明，但不以任何形式限制本发明。应当指出的是，对本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进。这些都属于本发明的保护范围。
本发明实施例提供一种仿生鲸鱼的悬浮飞行器，如图1-2所示，该悬浮飞行器包括机身1、机尾、机翼2、侧方辅助动力机构3和下方辅助动力机构6；机身1为仿鲸鱼形充气薄膜球体，机翼2位于机身1前部两侧的稍靠下位置，通过机翼提供飞行动力，侧方辅助动力机构3位于机翼2的上方，机身1前端设有机头，下方辅助动力机构6位于机头的下方，侧方辅助动力机构3和下方辅助动力机构6能够为飞行器提供满足不同场景要求的动力；机尾包括拉线机构4和变形机构5，拉线机构4用于带动变形机构5形成尾部的仿生运动，拉线机构4与机身1的尾部固定连接，拉线机构4具有可调方向的拉线，拉线机构4通过拉线与变形机构5连接。
本发明实施例的悬浮飞行器，以鲸鱼为仿生模仿对象，由于鲸鱼体积与产品体 积相近，有利于降低尺寸效应对飞行器的影响，而且，本实施例中的飞行器通过拉线机构控制变形框架机构形成尾部的仿生运动，能够实现飞行器机尾的鱼尾摆动动作，生动展现大翅鲸的游动形体，填补了现有的仿生鱼飞行器机尾大段摆动功能的设计空白，能够达到优秀的舞台效果，展现高表现力的室内飞行巡航和表演；另外，本发明实施例的飞行器机身采用充气薄膜球体的轻量化设计结构，从而具有低噪音、高续航的特点。
本实施例中，机翼呈仿生鲸鱼鱼鳍状，通过机翼提供飞行动力，使飞行器具备仿生运动能力；机身仿造自然界鲸鱼的身形进行设计，为一个完整的大型仿鱼形薄膜气球，其中充满氦气，为整个仿生鱼飞行器提供向上的浮力。具体地，机身1采用厚度为40微米的蒸馏镀铝薄膜加工而成，以减少飞行时的自重和飞行阻力，有利于降低飞行巡航耗能，延长续航时间，同时能够展现出一定的姿态，具备相当的观赏性。
本实施例中，机尾呈仿生弹性大变形鲸鱼尾状，变形机构5作为机尾的主要结构，受拉线机构4的拉线作用而产生弯曲，形成尾部的摆动动作。在一个具体的实施方式中，参阅图3，变形机构5包括尾鳍部、两根变形条12和由两根变形条12串联的4个环骨架，按照到机身的距离由近至远依次为第一环骨架11、第二环骨架10、第三环骨架9和第四环骨架8；两根变形条12分别与环骨架的直径两端连接，第一环骨架11上设有伸出的弹性杆13，机身1上设有连接基座14，弹性杆13插入连接基座14中，以形成可拆卸式的连接方式，方便尾部变形机构拆装，具体地，弹性杆13与第一环骨架11的连接通过连接件的胶接实现；连接基座14采用拓扑优化减重结构，通过双面胶与透明胶固定于机身1上；连接基座14上开设有孔洞，弹性杆13插入该孔洞中，孔洞末端与弹性杆13过盈配合固定；尾鳍部包括尾鳍支架和设于尾鳍支架上的充气薄膜球体，充气薄膜球体为充有足够气体的气球，以满足其刚度和外形要求，使得机尾能够提供一定的推动力，并有利于实现整个机体的俯仰。尾鳍支架通过尾鳍粘接件7与变形条12固定连接。
在一个具体的实施方式中，为增大连接刚度，保持机尾与机身的相对位置，如图3所示，可以在第一环骨架11上对称布置两组弹性杆13，每组包括2根弹性杆，相应地在机身上也设置两组连接基座。
在一个具体的实施方式中，弹性杆13采用碳纤维制作而成，使用该种弹性材料制作弹性杆13，在满足刚性要求的同时，还可以尽可能地减轻重量。
在一个具体的实施方式中，变形条12与每个环骨架相连的部分通过约束连接件固定相对角度，并使用AB胶进行加固连接。其中，约束件采用光固化树脂，具有易于加工的特点。可以理解的是，在其他的一些实施方式中，本领域技术人员还可以根据具体情况和实际需要选择其他的加固连接方式，本发明实施例对此不作具体限定。
在一个具体的实施方式中，环骨架利用碳纤维材料制作而成，以使其具有合适的强度以及重量。
在一个具体的实施方式中，尾鳍粘接件7采用减重设计的结构，在其中部设置镂空结构，尾鳍粘接件7通用双面胶和透明胶与尾鳍支架固定连接，在保证连接稳定性的同时还有利于飞行器的轻量化。
在一个具体的实施方式中，对于第一环骨架11、第二环骨架10、第三环骨架9和第四环骨架8，在相邻环骨架之间，以及第一环骨架11与机身1之间均设有薄膜蒙皮，以形成封闭的仿鱼尾状外形，并具备一定的扇风能力。薄膜蒙皮为宽松安装，从而确保在飞行器尾部大变形的情况下薄膜蒙皮不阻碍其运动，使得机尾能够提供一定的推动力，并有利于实现整个机体的俯仰。
在一个具体的实施方式中，参阅图4-5，拉线机构4包括拉线基座15、导向轮16和拉线装置；拉线基座15与机身1的尾部固定连接，具体地，拉线基座15可以通过双面胶结合透明胶的方式的固定于机身1的尾部竖直面；导向轮16通过轴承安装于拉线基座15的一端；拉线装置包括第一舵机17、主动齿轮18、传动齿轮、传动轴19和绕线轮20，第一舵机17固定连接于拉线基座15的另一端，具体地，可以采用螺栓固定于拉线基座15上，当然，在其他的一些实施方式中，本领域技术人员也可以采用其他的连接方式固定第一舵机；第一舵机17的舵臂与主动齿轮18固定连接，主动齿轮18与传动齿轮啮合，传动轴19的一端与拉线基座15轴承连接，传动齿轮和绕线轮20固定套装于传动轴19的另一端；拉线的一端绕设于绕线轮20上，拉线的另一端绕过导向轮16，并依次穿过第一环骨架11和第二环骨架10固定于第三环骨架9上，具体地，每个环骨架的顶部均开设有拉线孔，拉线依次穿过第一环骨架11和第二环骨架10上的拉线孔，固定于第三环骨架9上，通过第一舵机17带动绕线轮20，并通过导向轮16改变拉线的方向，从而飞行器随拉线的方向变化产生尾部的摆尾运动。
需要说明的是，在确定环骨架的数量时，要综合考虑飞行器的外形保持、弹性 骨架变形特点和驱动负荷。采用4个环骨架，在重量最优的条件下可以获得优秀的拉线驱动性能，拉线固定于第三环骨架上，既能够形成弯曲运动，在装好蒙皮、有负载运行时，拉线的大拉力又不会导致变形骨架失稳形成波浪形弯曲。当然，在其他的一些实施方式中，还可以采用取消第四环骨架的变形机构结构。另外，本领域技术人员可以理解的是，根据尾鳍的形貌、长度设计特点等，在其他的一些实施例中，还可以对第四环骨架的形状进行任意适当的调节。
在一个具体的实施方式中，主动齿轮18、传动齿轮和绕线轮20均采用光敏树脂3D打印形成，传动轴19采用空心碳纤维杆制作而成，尽可能减少飞行器的重量。
本实施例中，机翼2与机身1采用可拆卸的连接方式，在一个具体的实施方式中，该飞行器还包括机翼支架22和机翼基座23，参阅图6，机翼基座23位于机翼支架22的两端，机翼基座23的一侧与机身1固定连接，具体地，可以通过双面胶、透明胶粘接于机身1，机翼基座23的另一侧通过球窝结构24与机翼2固定连接，具体地，利用螺栓插销贯穿机翼基座23、球窝结构24进行安装固定，形成方便拆装的结构。
在一个具体的实施方式中，参阅图6-8，机翼2包括框架机构、根部驱动机构21和端部驱动机构25；框架机构包括弹性条32、两根柔性杆29和三根支撑骨架，自机翼根部起依次为第一支撑骨架26、第二支撑骨架27和第三支撑骨架28；两根柔性杆29的一端分别固定于机翼支架22上，另一端通过翼尖连接件31相连形成鱼鳍状框架；三根支撑骨架平行布置，两根柔性杆29分别依次穿过三根支撑骨架的两端，支撑骨架分别与弹性条32固定连接且在连接处与弹性条32垂直，弹性条32的一端与机翼支架22固定连接，另一端固定连接于第三支撑骨架28上；根部驱动机构21包括第二舵机35、导线架33和绕设于导线架33上的导线，第二舵机35的舵臂与导线架33固定连接，导线的一端固定于导线架33的一端，导线的另一端穿过第一支撑骨架26与第二支撑骨架27固定连接，具体地，支撑骨架上均设有用于连接导线的通孔，导线穿过第一支撑骨架26上的通孔，起到引导的作用，并在第二支撑骨架27的通孔处与第二支撑骨架27固定连接，避免拉力过大时出现失稳的波浪型弯曲现象，以形成良好的变形；端部驱动机构25包括设于弹性条32的另一端的第三舵机36，第三舵机36具有第三舵机臂37，第三舵机臂37与第三支撑骨架28固定连接，第三支撑骨架28主要用于翅膀外端的扭转，具体地，第三舵机36通过舵机框架与弹性条32固定连接，第三支撑骨架28上设有连接孔，通过该连接 孔与第三舵机臂37连接，通过第三舵机36的角度改变第三支撑骨架28的角度，实现机翼端部的扭转，从而实现对机翼的扇风方向的控制，本实施例中的三根支撑骨架在使机身重量尽可能轻的同时实现上述各自的作用，同时也满足了机翼的外形要求。
在一个具体的实施方式中，弹性条32与机翼支架22的连接处设有根部约束件38，通过根部约束件38采用胶结的方式将弹性条32与机翼支架22固定连接。弹性条32采用变截面设计结构，自机翼根部起横截面积从大到小变化，以满足机翼的形变要求。
在一个具体的实施方式中，第一支撑骨架26与弹性条32、第二支撑骨架27与弹性条32之间均通过垂直约束件30连接，并且利用结构胶进行固定，从而在连接处保持与弹性条垂直。
在一个具体的实施方式中，导线架33包括两段对称设置的导线臂34，且两段导线臂34对称位于第二舵机35的舵臂的两侧，导线臂34的端部设有导线结构，导线结构用于限制导线的方向，通过第二舵机35的舵臂控制导线，实现机翼的扇动运动。
在一个具体的实施方式中，第一支撑骨架26与第二支撑骨架27之间、第二支撑骨架27与第三支撑骨架28之间、第三支撑骨架2与柔性杆29上，均设有薄膜蒙皮；为形成完整外形，机身1与第一支撑骨架26之间也使用薄膜蒙皮连接，而且与机身连接的部分需要包围住机翼基座23。
在一个具体的实施方式中，侧方辅助动力机构3包括第一螺旋桨和第一电机，第一电机用于驱动第一螺旋桨转动；下方辅助动力机构6包括第二螺旋桨和第二电机，第二电机用于驱动第二螺旋桨转动；第一螺旋桨和第二螺旋桨上均设有开孔以用于连接相应的电机。
在一个具体的实施方式中，第一螺旋桨和第二螺旋桨上均设有减重结构，具体地，在第一螺旋桨和第二螺旋桨上均开设有镂空结构，在保证足够的支撑强度以及与机身连接强度的同时，能够尽可能地减轻重量。
在一个具体的实施方式中，第一螺旋桨和第二螺旋桨采用透明胶与双面胶结合的方式与机身连接，具体地，第一螺旋桨和第二螺旋桨与机身的直接接触面上使用双面胶，再通过透明胶在第一螺旋桨和第二螺旋桨的镂空处与机身粘接。
由于上述实施例中的技术方案，本发明实施例的飞行器能够形成尾部的仿生运 动，实现飞行器机尾的鱼尾摆动动作，从而填补现有的仿生鱼飞行器机尾大段摆动功能的设计空白；而且，由于飞行器采用轻量化的设计结构，使其具有飞行巡航耗能低、长时间续航的优点；另外，由于飞行器各部件具备易于拆卸的特点，能够在运输、安装等表演准备活动中节省大量时间。
本发明实施例还提供一种上述实施例中的仿生鲸鱼的悬浮飞行器的控制方法，该方法包括：根据鲸鱼真实运动姿态控制拉线机构带动变形机构形成模拟鱼尾的飞行器机尾摆动运动；控制侧方辅助动力机构实现飞行器的前进运动、转向运动和后退运动；控制下方辅助动力机构实现飞行器的俯仰运动；将前进运动、转向运动、后退运动和俯仰运动耦合，实现飞行器在空间的不同运动姿态。本实施例中的控制方法，能够实现室内飞鱼的飞行控制，完成多种飞行任务；仿生飞行动作能够生动展现大翅鲸的游动形体，从而达到优秀的舞台效果。
在一个具体的实施方式中，该控制方法利用无线遥控舵机实现，机尾为单输入系统，根据真实鲸鱼运动的姿态控制拉线机构的舵机角度改变曲线，以模拟鱼尾的运动。通过控制飞行器两侧机翼上的侧方辅助动力机构的电机正反转，实现飞行器的前进运动、转向运动和后退运动，通过控制飞行器机头下方的下方辅助动力机构的电机正反转实现飞行器的俯仰运动。
在一个具体的实施方式中，机翼为双输入系统，通过控制根部驱动机构的舵机与端部驱动机构的舵机往复运动的相位差，能够实现前向扇风、后向扇风两种仿生运动模式。
本发明的上述实施例，具有如下有益效果：本发明实施例以鲸鱼为仿生模仿对象，由于鲸鱼体积与产品体积相近，有利于降低尺寸效应对飞行器的影响，而且，本发明的飞行器通过拉线机构控制变形机构形成尾部的仿生运动，能够实现飞行器机尾的鱼尾摆动动作，生动展现大翅鲸的游动形体，可以实现高表现力的室内飞行巡航和表演，从而填补现有的仿生鱼飞行器机尾大段摆动功能的设计空白；另外，本发明实施例中的飞行器采用轻量化设计，而且由于能够使用仿生运动进行大行程、大面积的扇动提供动力，且无需螺旋桨提供向上的力以克服重力，从而具有低噪音、高续航的特点；最后，本实施例的飞行器的各部件具备易于拆卸的特点，从而能够在运输、安装等表演准备活动中节省大量时间。
以上对本发明的具体实施例进行了描述。需要理解的是，本发明并不局限于上述特定实施方式，本领域技术人员可以在权利要求的范围内做出各种变形或修改， 这并不影响本发明的实质内容。上述各优选特征在互不冲突的情况下，可以任意组合使用。

Claims (10)

  1. 一种仿生鲸鱼的悬浮飞行器，其特征在于，包括：
    机身，所述机身为仿鲸鱼形充气薄膜球体，所述机身前端设有机头；
    机翼，位于所述机身前部两侧的稍靠下位置；
    侧方辅助动力机构，位于所述机翼的上方；
    下方辅助动力机构，位于所述机头的下方；
    机尾，包括拉线机构和变形机构，所述拉线机构用于带动所述变形机构形成尾部的仿生运动，所述拉线机构与所述机身的尾部固定连接，所述拉线机构具有可调方向的拉线，所述拉线机构通过所述拉线与所述变形机构连接。
  2. 根据权利要求1所述的仿生鲸鱼的悬浮飞行器，其特征在于，所述变形机构包括尾鳍部、两根变形条和由两根所述变形条串联的4个环骨架，按照到机身的距离由近至远依次为第一环骨架、第二环骨架、第三环骨架和第四环骨架；
    两根所述变形条分别与所述环骨架的直径两端连接，所述第一环骨架上设有伸出的弹性杆，所述机身上设有连接基座，所述弹性杆插入所述连接基座中；
    所述尾鳍部包括尾鳍支架和设于所述尾鳍支架上的充气薄膜球体，所述尾鳍支架通过尾鳍粘接件与所述变形条固定连接。
  3. 根据权利要求2所述的仿生鲸鱼的悬浮飞行器，其特征在于，所述拉线机构包括拉线基座、导向轮和拉线装置；所述拉线基座与所述机身的尾部固定连接；所述导向轮通过轴承安装于所述拉线基座的一端；
    所述拉线装置包括第一舵机、主动齿轮、传动齿轮、传动轴和绕线轮，所述第一舵机固定连接于所述拉线基座的另一端，所述第一舵机的舵臂与所述主动齿轮固定连接，所述主动齿轮与所述传动齿轮啮合，所述传动轴的一端与所述拉线基座轴承连接，所述传动齿轮和所述绕线轮固定套装于所述传动轴的另一端；
    所述拉线的一端绕设于所述绕线轮上，所述拉线的另一端绕过所述导向轮，并依次穿过所述第一环骨架和所述第二环骨架固定于所述第三环骨架上。
  4. 根据权利要求3所述的仿生鲸鱼的悬浮飞行器，其特征在于，所述主动齿轮、所述传动齿轮和所述绕线轮均采用光敏树脂3D打印形成，所述传动轴采用空心碳纤维杆制作而成。
  5. 根据权利要求1所述的仿生鲸鱼的悬浮飞行器，其特征在于，还包括机翼支架和 机翼基座，所述机翼基座位于所述机翼支架的两端，所述机翼基座的一侧与所述机身固定连接，所述机翼基座的另一侧通过球窝结构与所述机翼固定连接。
  6. 根据权利要求5所述的仿生鲸鱼的悬浮飞行器，其特征在于，所述机翼包括框架机构、根部驱动机构和端部驱动机构；
    所述框架机构包括弹性条、两根柔性杆和三根支撑骨架，自机翼根部起依次为第一支撑骨架、第二支撑骨架和第三支撑骨架；两根所述柔性杆的一端分别固定于所述机翼支架上，另一端通过翼尖连接件相连形成鱼鳍状框架；三根所述支撑骨架平行布置，两根所述柔性杆分别依次穿过三根所述支撑骨架的两端，三根所述支撑骨架分别与所述弹性条固定连接且在连接处与所述弹性条垂直，所述弹性条的一端与所述机翼支架固定连接，另一端固定连接于所述第三支撑骨架上；
    所述根部驱动机构包括第二舵机、导线架和绕设于所述导线架上的导线，所述第二舵机的舵臂与所述导线架固定连接，所述导线的一端固定于所述导线架的一端，所述导线的另一端穿过所述第一支撑骨架与所述第二支撑骨架固定连接；
    所述端部驱动机构包括设于所述弹性条的另一端的第三舵机，所述第三舵机具有第三舵机臂，所述第三舵机臂与所述第三支撑骨架固定连接。
  7. 根据权利要求1所述的仿生鲸鱼的悬浮飞行器，其特征在于，所述侧方辅助动力机构包括第一螺旋桨和第一电机，所述第一电机用于驱动所述第一螺旋桨转动；所述下方辅助动力机构包括第二螺旋桨和第二电机，所述第二电机用于驱动所述第二螺旋桨转动。
  8. 根据权利要求7所述的仿生鲸鱼的悬浮飞行器，其特征在于，所述第一螺旋桨和所述第二螺旋桨上均设有减重结构，所述机身采用厚度为40微米的蒸馏镀铝薄膜加工而成。
  9. 根据权利要求1所述的仿生鲸鱼的悬浮飞行器，其特征在于，所述变形机构的表面、所述机翼的表面、所述变形机构和所述机翼分别与所述机身的连接处均贴附有薄膜蒙皮。
  10. 一种如权利要求1-9任一项所述的仿生鲸鱼的悬浮飞行器的控制方法，其特征在于，包括：
    根据鲸鱼真实运动姿态控制拉线机构带动变形机构形成模拟鱼尾的飞行器机尾摆动运动；
    控制侧方辅助动力机构实现飞行器的前进运动、转向运动和后退运动；
    控制下方辅助动力机构实现飞行器的俯仰运动；
    将所述前进运动、所述转向运动、所述后退运动和所述俯仰运动耦合，实现飞行器在空间的不同运动姿态。
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CN116674747A (zh) * 2023-08-03 2023-09-01 西南石油大学 一种柔性扑翼与涵道螺旋桨混合驱动的仿蝠鲼浮空飞行器
CN116674747B (zh) * 2023-08-03 2023-10-20 西南石油大学 一种柔性扑翼与涵道螺旋桨混合驱动的仿蝠鲼浮空飞行器

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