Flexible takeoff and landing mechanism of ornithopter and ornithopter

Abstract

The invention provides a flexible takeoff and landing mechanism of an ornithopter and the ornithopter. The flexible takeoff and landing mechanism comprises an assembling component; the driving assembly comprises a rotary driver and a linkage rod group, and the linkage rod group is connected with the rotary driver; the clamping assembly comprises two flexible grippers, and the two linkage rod sets are connected to the two flexible grippers correspondingly; and the impact sensor is connected to the assembling assembly and is in signal connection with the two driving assemblies, and the impact sensor is arranged between the two flexible grippers. The purpose of being stably connected to a special-shaped structure can be achieved, the use flexibility of the robot can be better improved so that the robot can adapt to more changeable operation environments, even if the robot is impacted, the robot can grab nearby structures nearby, and falling damage is avoided. Compared with related structures of conventional aircrafts at the present stage, the aircraft has the remarkable advantages of being high in automation degree, wide in application range, high in connection stability, controllable, high in flexibility, long in service life and the like, and a new thought is provided for development of aircraft structures.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft, and in particular to a flexible take-off and landing mechanism for a flapping-wing aircraft and the aircraft. Background Art

[0002] In today's military strategic context, with the development trend of globalization of warfare, high-precision equipment, and digitalization of individual soldiers, the research and development and application of micro-flying robots, also known as micro-aircraft, as a revolutionary miniaturized UAV technology, are particularly urgent and critical. These micro-flying robots have broad application prospects in the military field, including but not limited to battlefield reconnaissance, intelligence collection, target positioning and tactical evaluation. Their advantages are small size, strong concealment, easy operation and the ability to be quickly deployed in complex environments.

[0003] As the use of aircraft continues to expand, how to maintain its operational flexibility and mission reliability in complex and changing environments has become a new technical challenge. In particular, when it is necessary to land on special-shaped structures such as tree trunks and light poles, existing micro-flying robots often have difficulty in achieving stable landing. These special-shaped structures are common in battlefield environments, and if micro-flying robots can land stably on such surfaces, it will greatly improve the flexibility and effectiveness of their tactical applications, while also reducing energy consumption and extending their service life.

[0004] However, the aircraft on the market are mainly designed for landing on flat horizontal surfaces, and their structures make it difficult to stabilize them on irregular surfaces. Therefore, exploring how to enable aircraft to connect to irregular structures based on on-site conditions has become an urgent problem to be solved in the industry. Summary of the invention

[0005] To this end, the technical problem to be solved by the present invention is to overcome the problem in the prior art that an aircraft is difficult to stably connect to a special-shaped structure, and to provide a flapping-wing aircraft flexible take-off and landing mechanism and an aircraft.

[0006] In order to solve the above technical problems, the present invention provides a flexible landing and take-off mechanism for a flapping-wing aircraft, which includes: an assembly component; two drive components, the two drive components are symmetrically connected to the assembly component, and any of the drive components includes a rotary driver and a connecting rod group, the rotary driver is arranged inside the assembly component, one end of the connecting rod group is connected to the working end of the rotary driver, and the other end is passed through the outside of the assembly component; a clamping component, the clamping component includes two flexible grippers, and the free ends of the two connecting rod groups are respectively connected to the two flexible grippers to drive the two flexible grippers to open and close; an impact sensor, the impact sensor is connected to the assembly component and is signal-connected to the two drive components, the impact sensor is arranged between the two flexible grippers, and the impact sensor in the flight state is exposed to the outside of the flexible gripper to contact the special-shaped structure to be connected.

[0007] In one embodiment of the present invention, the assembly component includes two connecting plates, which are interlocked with each other to enclose an assembly space, one of the connecting plates is provided with a plurality of plug pins, and the other connecting plate is provided with a plurality of plug slots, the plurality of plug pins and the plurality of plug slots are arranged in one-to-one correspondence, the connecting rod group is suspended on the plug pins, and rotates around the plug pins through the rotary drive.

[0008] In one embodiment of the present invention, two extension parts are symmetrically provided on both sides of any of the connecting plates, and each of the two extension parts is provided with an accommodating slot, and at least one reset member is provided in the accommodating slot, and the end of the flexible rotating shaft is embedded in the accommodating slot, and the reset member is located between the flexible rotating shaft and the connecting plate.

[0009] In one embodiment of the present invention, the linkage rod group includes a driving rod, a transmission rod and an operating rod connected in sequence, wherein one end of the driving rod is connected to the working end of the rotary driver, and the other end is fixedly connected to the rod body of the transmission rod, one end of the transmission rod is rotatably connected to the connecting plate, and the other end is rotatably connected to the operating rod, and the operating rod is connected to the flexible gripper to drive the flexible gripper to open and close.

[0010] In one embodiment of the present invention, the driving assembly also includes a slider, and a slide groove is provided on the gripper body of the flexible gripper, and the slide groove extends in the same direction as the extension direction of the flexible gripper, and the free end of the connecting rod group is connected to the slider to drive the slider to move along the slide groove.

[0011] In one embodiment of the present invention, the slider includes a slider body, a limiting portion and an interlocking groove, the slider body is embedded in the slide groove, the limiting portion protrudes from the slider body along the width direction of the slider body and abuts against the slide groove, the interlocking groove is recessed inward from one side of the slider body, and the free end of the connecting rod group is rotatably connected to the interlocking groove through a connecting ball.

[0012] In one embodiment of the present invention, the flexible gripper includes an assembly end and a contact end, and the assembly end and the contact end are respectively arranged at the two ends of the length direction of the gripper body, wherein the assembly end is connected to the assembly component, and the contact ends of the two flexible grippers are configured as a structure that is retracted against each other in a clamping state.

[0013] In one embodiment of the present invention, the contact end is provided with a connecting rod, and at least one guide ball is provided on the connecting rod. The guide ball is passed through the connecting rod, moves in contact with the surface of the special-shaped structure to be connected, and rotates around the connecting rod.

[0014] In one embodiment of the present invention, a friction pattern is provided on the side of the flexible gripper facing the special-shaped structure to be connected.

[0015] The present invention also provides an aircraft, which comprises the above-mentioned flapping-wing aircraft flexible landing mechanism and a fuselage, wherein the flapping-wing aircraft flexible landing mechanism is connected to the bottom of the fuselage.

[0016] The above technical solution of the present invention has the following advantages compared with the prior art: The flapping-wing aircraft flexible landing mechanism and the aircraft described in the present invention drive the clamping assembly to open and close through a driving mechanism. At the same time, the driving assembly adjusts the state of the clamping assembly through an impact sensor to achieve the purpose of being stably connected to a special-shaped structure. Based on the above structural arrangement, the present application can better improve its flexibility of use to adapt to a more variable working environment. Even when it is hit, it can grab nearby structures nearby to avoid falling damage. Compared with conventional aircraft and related structures at this stage, the present application has significant advantages such as high degree of automation, wide range of use, strong connection stability, high controllability and flexibility, and long service life, providing new ideas for the development of aircraft structures. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the flexible landing mechanism of the flapping-wing aircraft in the preferred embodiment of the present invention in the flight state; Figure 2 yes Figure 1 The three-dimensional structural schematic diagram of the flexible landing mechanism of the flapping-wing aircraft in the clamping process; Figure 3 yes Figure 1 A schematic diagram of the three-dimensional structure of the flexible landing mechanism of the flapping-wing aircraft in a clamped state; Figure 4 yes Figure 1 A schematic diagram of the three-dimensional structure of the flapping-wing aircraft flexible landing mechanism connected to the special-shaped structure; Figure 5 yes Figure 1 A schematic diagram of the internal structure of the assembly components in the flexible landing mechanism of the flapping-wing aircraft shown; Figure 6 yes Figure 5 A schematic diagram of the three-dimensional structure of the connecting plate in the assembly component; Figure 7 yes Figure 2 The enlarged schematic diagram at A in the middle; Figure 8 yes Figure 1 A schematic diagram of the three-dimensional structure of a slider in the flexible landing mechanism of a flapping-wing aircraft; Fig. 9 is a schematic diagram of the three-dimensional structure of an aircraft in another embodiment of the present invention; Fig.10 yes Fig. 9 A schematic diagram of the three-dimensional structure of the assembly components in the flexible landing and take-off mechanism of the flapping-wing aircraft in the aircraft when in flight.

[0019] Explanation of the reference numerals in the specification: 100, assembly component; 110, connecting plate; 111, plug pin; 112, accommodating slot; 113, reset member; 114, extension portion; 120, impact sensor; 200, drive component; 210, rotary driver; 220, linkage rod group; 221, drive rod; 222, transmission rod; 223, working rod; 224, connecting ball; 230, slider; 231, slider body; 232, limit portion; 233, fitting groove; 300, clamping component; 310, flexible gripper; 311, gripper body; 312, assembly end; 313, contact end; 314, connecting rod; 320, guide ball; 400, special-shaped structure to be connected; 500, fuselage. DETAILED DESCRIPTION

[0020] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention. Embodiment 1

[0021] See also Figures 1 to 4As shown, this embodiment provides a flexible landing mechanism for a flapping-wing aircraft, which includes: an assembly component 100; two drive components 200, the two drive components 200 are symmetrically connected to the assembly component 100, any of the drive components 200 includes a rotation driver 210 and a linkage rod group 220, the rotation driver 210 is arranged inside the assembly component 100, one end of the linkage rod group 220 is connected to the working end of the rotation driver 210, and the other end is passed through the outside of the assembly component 100; a clamping component 300, the clamping The holding component 300 includes two flexible grippers 310, and the free ends of the two connecting rod groups 220 are respectively connected to the two flexible grippers 310 to drive the two flexible grippers 310 to open and close; the impact sensor 120 is connected to the assembly component 100 and is signal-connected to the two driving components 200. The impact sensor 120 is arranged between the two flexible grippers 310. The impact sensor 120 in the flight state is exposed to the outside of the flexible hand grip to contact the special-shaped structure 400 to be connected.

[0022] The flapping-wing aircraft flexible landing mechanism described in the present invention drives the clamping assembly 300 to open and close through a driving mechanism. At the same time, the driving assembly 200 adjusts the state of the clamping assembly 300 through the impact sensor 120 to achieve the purpose of stably connecting it to the special-shaped structure. Based on the above structural arrangement, the present application can better improve its flexibility of use to adapt to a more variable working environment. Even when it is hit, it can grab nearby structures nearby to avoid falling damage. Compared with conventional aircraft and related structures at this stage, the present application has significant advantages such as high degree of automation, wide range of use, strong connection stability, high controllability and flexibility, and long service life, providing new ideas for the development of aircraft structures.

[0023] The assembly component 100 in this embodiment is used to provide a connection platform for the drive component 200, the clamping component 300 and the impact sensor 120, wherein the two drive components 200 are symmetrically connected to the assembly component 100, the clamping component 300 is respectively rotatably connected to the assembly component 100, and the impact sensor 120 is arranged on the protruding part of the assembly component 100. Figure 5 and Figure 6As shown, the assembly component 100 in this embodiment includes two connecting plates 110, and the two connecting plates 110 are buckled together to enclose an assembly space, one of the connecting plates 110 is provided with a plurality of plug pins 111, and the other connecting plate 110 is provided with a plurality of plug slots, and the plurality of plug pins 111 are arranged in a one-to-one correspondence with the plurality of plug slots, and the linkage rod group 220 is suspended on the plug pins 111, and rotates around the plug pins 111 through the rotary driver 210. Specifically, the connecting plate 110 in this embodiment presents an "inverted triangle" structure during use, and the two flexible grippers 310 in the clamping assembly 300 are respectively connected to the two corners above the connecting plate 110, and the impact sensor 120 is connected to the corner at the bottom of the connecting plate 110. In actual use, the driving of the pickup can drive the flexible gripper 310 to flip toward the impact sensor 120.

[0024] Furthermore, two extension portions 114 are symmetrically provided on both sides of any of the connecting plates 110 in the present embodiment, and an accommodating slot 112 is provided in each of the two extension portions 114. At least one reset member 113 is provided in the accommodating slot 112, and the end of the flexible rotating shaft is embedded in the accommodating slot 112. The reset member 113 is located between the flexible rotating shaft and the connecting plate 110, wherein the reset member 113 is preferably a torsion spring, which is used to automatically restore the flexible gripper in a clamping state to a flying state under the driving action of the contact drive assembly 200. Therefore, in actual use, the operator does not need to perform additional adjustments to the reset of the flexible gripper 310. In this embodiment, the accommodating slot 112 is preferably a circular blind slot that matches the end structure of the flexible gripper 310. In different embodiments, the shape of the extension portion 114 and the accommodating slot 112 therein can be adaptively adjusted according to the actual connection structure, and the reset member 113 can also be set to other elements or structures with elastic reset function, and their number can also be adaptively adjusted according to the mass of the flexible shaft. The present invention does not impose any specific restrictions on this.

[0025] See also Figure 5 As shown, the rotary driver 210 in this embodiment is connected to the plug pin 111 of the connecting plate 110, and is used to drive the linkage rod group 220 to rotate. Specifically, the linkage rod group 220 in this embodiment includes a driving rod 221, a transmission rod 222 and an operating rod 223 connected in sequence, wherein one end of the driving rod 221 is connected to the working end of the rotary driver 210, and the other end is fixedly connected to the rod body of the transmission rod 222, one end of the transmission rod 222 is rotatably connected to the connecting plate 110, and the other end is rotatably connected to the operating rod 223, and the operating rod 223 is connected to the flexible gripper 310 to drive the flexible gripper 310 to open and close.

[0026] See also Figure 7 and Figure 8 As shown, the driving assembly 200 in this embodiment also includes a slider 230, and a slide groove is provided on the gripper body 311 of the flexible gripper 310, and the slide groove extends in the same direction as the extension direction of the flexible gripper 310. The free end of the linkage rod group 220 is connected to the slider 230 to drive the slider 230 to move along the slide groove. Further, the slider 230 includes a slider body 231, a limiting portion 232 and an interlocking groove 233. The slider body 231 is embedded in the slide groove, and the limiting portion 232 protrudes from the slider body 231 along the width direction of the slider body 231 and abuts against the slide groove. The interlocking groove 233 is recessed inwardly from one side of the slider body 231, and the free end of the linkage rod group 220 is rotatably connected to the interlocking groove 233 through the connecting ball 224. In this way, a rotating connection structure between the work stem and the slider 230 is realized.

[0027] In this embodiment, the flexible gripper 310 includes an assembly end 312 and a contact end 313, wherein the assembly end 312 and the contact end 313 are respectively arranged at the two ends of the length direction of the gripper body 311, wherein the assembly end 312 is connected to the assembly assembly 100, and the contact ends 313 of the two flexible grippers 310 are configured as a structure that is retracted to each other in the clamping state. In the flying state, the extension length of the linkage rod group 220 is the largest, thereby enabling the assembly end 312 and the contact end 313 to extend in a straight line for flight; while in the clamping state, the extension length of the linkage rod group 220 is small, and it has no binding effect on the contact end 313. At this time, the contact end 313 will shrink to each other under its own curling action to achieve a curled and close structure, thereby achieving a large range of fixed limit for the special-shaped structure 400 to be connected. In order to further improve the guiding effect of the contact end 313 during the connection process, the contact end 313 in this embodiment is provided with a connecting rod 314, and at least one guide ball 320 is provided on the connecting rod 314. The guide ball 320 is passed through the connecting rod 314, moves in contact with the surface of the special-shaped structure 400 to be connected, and rotates around the connecting rod 314. In addition, the side of the flexible gripper 310 in this embodiment facing the special-shaped structure 400 to be connected is provided with a friction pattern, thereby improving the connection stability between it and the special-shaped structure 400 to be connected. Embodiment 2

[0028] See also Fig. 9 and Fig.10 As shown, this embodiment provides an aircraft, which includes the flapping-wing aircraft flexible landing mechanism and a fuselage 500 described in Embodiment 1, and the flapping-wing aircraft flexible landing mechanism is connected to the bottom of the fuselage 500.

[0029] In summary, the flapping-wing aircraft flexible landing mechanism and the aircraft described in the present invention drive the clamping assembly 300 to open and close through the driving mechanism. At the same time, the driving assembly 200 adjusts the state of the clamping assembly 300 through the impact sensor 120 to achieve the purpose of its stable connection to the special-shaped structure. Based on the above structural settings, the present application can better improve its flexibility of use to adapt to a more variable working environment. Even when it is hit, it can grab nearby structures nearby to avoid falling damage. Compared with conventional aircraft and related structures at this stage, the present application has significant advantages such as high degree of automation, wide range of use, strong connection stability, high controllability and flexibility, and long service life, providing new ideas for the development of aircraft structures.

[0030] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A flexible take-off and landing mechanism for a flapping-wing aircraft, characterized in that: include: Assemble components; Two drive assemblies, the two drive assemblies are symmetrically connected to the assembly assembly, any of the drive assemblies comprises a rotary driver and a linkage rod group, the rotary driver is arranged inside the assembly assembly, one end of the linkage rod group is connected to the working end of the rotary driver, and the other end is passed through the outside of the assembly assembly; A clamping assembly, wherein the clamping assembly comprises two flexible grippers, and the free ends of the two linkage rod groups are respectively connected to the two flexible grippers to drive the two flexible grippers to open and close; An impact sensor is connected to the assembly component and is signal-connected to the two drive components. The impact sensor is arranged between the two flexible grippers. The impact sensor in the flight state is exposed to the outside of the flexible grippers to contact the special-shaped structure to be connected.

2. The flexible take-off and landing mechanism for flapping-wing aircraft according to claim 1, characterized in that: The assembly component includes two connecting plates, which are interlocked with each other to enclose an assembly space, one of the connecting plates is provided with a plurality of plug pins, and the other connecting plate is provided with a plurality of plug slots, the plurality of plug pins and the plurality of plug slots are arranged in a one-to-one correspondence, the connecting rod group is suspended on the plug pins, and rotates around the plug pins through the rotary drive.

3. The flexible take-off and landing mechanism for flapping-wing aircraft according to claim 2, characterized in that: Two extension parts are symmetrically provided on both sides of any of the connecting plates, and each of the two extension parts is provided with a receiving slot, and at least one reset member is provided in the receiving slot. The end of the flexible rotating shaft is embedded in the receiving slot, and the reset member is located between the flexible rotating shaft and the connecting plate.

4. The flexible take-off and landing mechanism for flapping-wing aircraft according to claim 1, characterized in that: The linkage rod group includes a driving rod, a transmission rod and an operating rod connected in sequence, wherein one end of the driving rod is connected to the working end of the rotary driver, and the other end is fixedly connected to the rod body of the transmission rod; one end of the transmission rod is rotatably connected to the connecting plate, and the other end is rotatably connected to the operating rod; the operating rod is connected to the flexible gripper to drive the flexible gripper to open and close.

5. The flexible take-off and landing mechanism for flapping-wing aircraft according to claim 1, characterized in that: The driving assembly also includes a slider, a slide groove is provided on the gripper body of the flexible gripper, the slide groove extends in the same direction as the extension direction of the flexible gripper, and the free end of the linkage rod group is connected to the slider to drive the slider to move along the slide groove.

6. The flexible take-off and landing mechanism for flapping-wing aircraft according to claim 5, characterized in that: The slider includes a slider body, a limiting portion and an engaging groove. The slider body is embedded in the slide groove. The limiting portion protrudes from the slider body along the width direction of the slider body and abuts against the slide groove. The engaging groove is recessed inward from one side of the slider body. The free end of the linkage rod group is rotatably connected to the engaging groove through a connecting ball.

7. The flexible take-off and landing mechanism for flapping-wing aircraft according to claim 1, characterized in that: The flexible gripper includes an assembly end and a contact end, wherein the assembly end and the contact end are respectively arranged at two ends of the length direction of the gripper body, wherein the assembly end is connected to the assembly component, and the contact ends of the two flexible grippers are configured as a structure that is retracted against each other in a clamping state.

8. The flapping-wing aircraft flexible take-off and landing mechanism according to claim 1, characterized in that: The contact end is provided with a connecting rod, and at least one guide ball is provided on the connecting rod. The guide ball is passed through the connecting rod, moves in contact with the surface of the special-shaped structure to be connected, and rotates around the connecting rod.

9. The flapping-wing aircraft flexible take-off and landing mechanism according to claim 1, characterized in that: The side of the flexible gripper facing the special-shaped structure to be connected is provided with a friction pattern.

10. An aircraft, characterized in that: It comprises the flexible landing mechanism of a flapping-wing aircraft and a fuselage as described in any one of claims 1 to 9, wherein the flexible landing mechanism of the flapping-wing aircraft is connected to the bottom of the fuselage.

Images