A flexible take-off and landing mechanism of a flapping-wing aircraft and the aircraft

Abstract

The application provides a flexible landing mechanism of a flapping-wing aircraft and the aircraft, which comprises an assembly component, a driving component, a clamping component and an impact sensor. The driving component comprises a rotary driver and a linkage rod set, and the linkage rod set is connected to the rotary driver. The clamping component comprises two flexible grippers, and the two linkage rod sets are respectively connected to the two flexible grippers. The impact sensor is connected to the assembly component and is in signal connection with the two driving components, and is arranged between the two flexible grippers. The application can realize the purpose of stable connection to a special-shaped structure, can better improve the use flexibility to adapt to more variable working environments, and can grab the nearby structure when impacted to avoid falling damage. Compared with the related structure of the conventional aircraft at the present stage, the application has the advantages of high automation degree, wide use range, strong connection stability, high controllability and flexibility, long service life and the like, and provides a new idea for the development of the aircraft structure.

Description

Technical Field

[0001] This invention relates to the field of aircraft technology, specifically to a flexible take-off and landing mechanism for flapping-wing aircraft and the aircraft itself. Background Technology

[0002] In today's military strategic context, with the trends of globalized warfare, high-precision equipment, and digitalized individual soldiers, the research and application of micro-flying robots, also known as micro-aircraft, as a revolutionary miniaturized unmanned aerial vehicle technology, is particularly urgent and crucial. These micro-flying robots have broad application prospects in the military field, including but not limited to battlefield reconnaissance, intelligence gathering, target location, and tactical assessment. Their advantages lie in their small size, strong concealment, ease of operation, and rapid deployment in complex environments.

[0003] As the application scope of aircraft continues to expand, maintaining operational flexibility and mission reliability in complex and ever-changing environments has become a new technical challenge. Especially when landing on irregularly shaped structures such as tree trunks and lampposts, existing micro-flying robots often struggle to achieve stable landings. These irregularly shaped structures are common in battlefield environments, and if micro-flying robots could land stably on such surfaces, it would greatly improve the flexibility and effectiveness of their tactical applications, while also reducing energy consumption and extending their service life.

[0004] However, the designs of aircraft on the market are mainly designed for landing on flat horizontal surfaces, and their structures are difficult to stabilize on irregular surfaces. Therefore, exploring how to enable aircraft to connect to irregular structures according to the site conditions is a problem that the industry urgently needs to solve. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the problem that it is difficult for aircraft to be stably connected to irregular structures in the prior art, and to provide a flexible take-off and landing mechanism for flapping-wing aircraft and an aircraft.

[0006] To address the aforementioned technical problems, this invention provides a flexible take-off and landing mechanism for a flapping-wing aircraft, comprising: an assembly assembly; two drive assemblies symmetrically connected to the assembly assembly, each drive assembly including a rotary actuator and a linkage group, the rotary actuator being disposed inside the assembly assembly, one end of the linkage group being connected to the working end of the rotary actuator, and the other end extending outside the assembly assembly; a clamping assembly including two flexible grippers, the free ends of the two linkage groups being respectively connected to the two flexible grippers to drive the two flexible grippers to open and close; and an impact sensor connected to the assembly assembly and signal-connected to the two drive assemblies, the impact sensor being disposed between the two flexible grippers, and in flight state, the impact sensor being exposed outside the flexible grippers to contact the irregular structure to be connected.

[0007] In one embodiment of the present invention, the assembly assembly includes two connecting plates that interlock to enclose an assembly space. One of the connecting plates is provided with a plurality of pins, and the other connecting plate is provided with a plurality of slots. The plurality of pins and the plurality of slots are arranged in a one-to-one correspondence. The linkage group is suspended on the pins and rotates around the pins by the rotary driver.

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

[0009] In one embodiment of the present invention, the linkage group includes a drive rod, a transmission rod, and a working rod connected in sequence. One end of the drive 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 working rod. The working 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 further includes a slider, and the gripper body of the flexible gripper is provided with a groove extending in the same direction as the extension direction of the flexible gripper. The free end of the linkage group is connected to the slider to drive the slider to move along the groove.

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

[0012] In one embodiment of the present invention, the flexible gripper includes an assembly end and a contact end, the assembly end and the contact end being respectively disposed at both ends of the gripper body along its length direction, wherein the assembly end is connected to the assembly assembly, and the contact ends of the two flexible grippers are configured to retract into each other in a clamping state.

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

[0014] In one embodiment of the present invention, the flexible gripper has a friction pattern on the side facing the irregular structure to be connected.

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

[0016] The technical solution of the present invention has the following advantages compared with the prior art: The flexible take-off and landing mechanism and aircraft of this invention for flapping-wing aircraft are driven by a drive mechanism to open and close the clamping assembly. Simultaneously, the drive assembly uses an impact sensor to regulate the state of the clamping assembly, achieving stable connection to irregularly shaped structures. Based on this structural design, this application can significantly improve its flexibility to adapt to more varied operating environments. Even upon impact, it can grab onto nearby structures, preventing fall damage. Compared to conventional aircraft and related structures currently in use, this application boasts significant advantages such as high automation, wide applicability, strong connection stability, high controllability and flexibility, and long service life, providing new ideas for the development of aircraft structures. Attached Figure Description

[0017] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0018] Figure 1 This is a three-dimensional structural diagram of the flexible take-off and landing mechanism of the flapping-wing aircraft in flight state according to a preferred embodiment of the present invention; Figure 2 yes Figure 1 The diagram shows a three-dimensional representation of the flexible take-off and landing mechanism of the flapping-wing aircraft during the clamping process. Figure 3 yes Figure 1 The diagram shows a three-dimensional structure of the flexible take-off and landing mechanism of the flapping-wing aircraft in a clamping state. Figure 4 yes Figure 1 The diagram shows a three-dimensional structural schematic of the flexible take-off and landing mechanism of the flapping-wing aircraft connected to the irregular structure. Figure 5 yes Figure 1 A schematic diagram of the internal structure of the assembly components in the flexible take-off and landing mechanism of the flapping-wing aircraft shown. Figure 6 yes Figure 5 A three-dimensional structural diagram of the connecting plate in the assembly assembly; Figure 7 yes Figure 2 Enlarged view of point A in the middle; Figure 8 yes Figure 1 A three-dimensional structural diagram of the slider in the flexible take-off and landing mechanism of the flapping-wing aircraft shown. Figure 9 This is a three-dimensional structural diagram of the aircraft in another embodiment of the present invention; Figure 10 yes Figure 9 A three-dimensional structural diagram of the assembly components in the flexible take-off and landing mechanism of the flapping-wing aircraft in flight state.

[0019] Explanation of reference numerals in the accompanying drawings: 100, Assembly assembly; 110, Connecting plate; 111, Insert pin; 112, Receiving slot; 113, Reset component; 114, Extension; 120, Impact sensor; 200, Drive assembly; 210, Rotary actuator; 220, Linkage rod assembly; 221, Drive rod; 222, Transmission rod; 223, Working rod; 224, Connecting ball; 230, Slider; 231, Slider body; 232, Limiting part; 233, Fitting groove; 300, Clamping assembly; 310, Flexible gripper; 311, Gripper body; 312, Assembly end; 313, Contact end; 314, Connecting rod; 320, Guide ball; 400, Irregular structure to be connected; 500, Machine body. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention. Example 1

[0021] See Figures 1 to 4As shown, this embodiment provides a flexible take-off and landing mechanism for a flapping-wing aircraft, comprising: an assembly assembly 100; two drive assemblies 200 symmetrically connected to the assembly assembly 100, each drive assembly 200 including a rotary actuator 210 and a linkage group 220, the rotary actuator 210 being disposed inside the assembly assembly 100, one end of the linkage group 220 being connected to the working end of the rotary actuator 210, and the other end extending outside the assembly assembly 100; and a clamping assembly 300. The holding assembly 300 includes two flexible grippers 310, the free ends of the two linkage groups 220 are respectively connected to the two flexible grippers 310 to drive the two flexible grippers 310 to open and close; an impact sensor 120 is connected to the assembly assembly 100 and signal-connected to the two drive assemblies 200, the impact sensor 120 is disposed between the two flexible grippers 310, and in flight state the impact sensor 120 is exposed outside the flexible grippers to contact the irregular structure 400 to be connected.

[0022] The flexible take-off and landing mechanism for flapping-wing aircraft described in this invention uses a drive mechanism to open and close the clamping assembly 300. Simultaneously, the drive assembly 200 regulates the state of the clamping assembly 300 via an impact sensor 120, achieving stable connection to irregularly shaped structures. Based on this structural design, this application can significantly improve its flexibility to adapt to more varied operating environments. Even upon impact, it can grab nearby structures, preventing fall damage. Compared to conventional aircraft and related structures currently in use, this application boasts significant advantages such as high automation, wide applicability, strong connection stability, high controllability and flexibility, and long service life, providing new ideas for the development of aircraft structures.

[0023] In this embodiment, the assembly assembly 100 provides a connection platform for the drive assembly 200, the clamping assembly 300, and the impact sensor 120. Two drive assemblies 200 are symmetrically connected to the assembly assembly 100, the clamping assemblies 300 are rotatably connected to the assembly assembly 100, and the impact sensor 120 is disposed on a protrusion of the assembly assembly 100. Further, see... Figure 5 and Figure 6As shown, the assembly assembly 100 in this embodiment includes two connecting plates 110, which interlock to enclose an assembly space. One connecting plate 110 has multiple insertion pins 111, and the other connecting plate 110 has multiple insertion slots. The multiple insertion pins 111 and the multiple insertion slots are arranged in a one-to-one correspondence. The linkage rod assembly 220 is suspended on the insertion pins 111 and rotates around the insertion pins 111 via the rotary driver 210. Specifically, the connecting plate 110 in this embodiment has an inverted triangular structure during use. The two flexible grippers 310 in the clamping assembly 300 are respectively connected to the two upper corners of the connecting plate 110, and the impact sensor 120 is connected to the bottom corner of the connecting plate 110. In actual use, the drive mechanism can drive the flexible grippers 310 to flip toward the impact sensor 120.

[0024] Furthermore, in this embodiment, two extensions 114 are symmetrically provided on both sides of any of the connecting plates 110. Each of the two extensions 114 is provided with a receiving slot 112. At least one reset member 113 is provided in the receiving slot 112. The end of the flexible rotating shaft is embedded in the receiving slot 112. The reset member 113 is located between the flexible rotating shaft and the connecting plate 110. The reset member 113 is preferably a torsion spring, which is used to automatically restore the flexible rotating hand in the clamping state to the flying state under the driving action of the contact drive assembly 200. Thus, in actual use, the operator does not need to make additional adjustments to the reset of the flexible gripper 310. In this embodiment, the receiving 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 114 and its internal receiving slot 112 can be adaptively adjusted according to the actual connection structure. The reset member 113 can also be set as other elements or structures with elastic reset function, and its quantity can also be adaptively adjusted according to the mass of the flexible rotating shaft. The present invention does not impose any specific limitations on these aspects.

[0025] See Figure 5 As shown, in this embodiment, the rotary actuator 210 is connected to the insertion pin 111 of the connecting plate 110, and is used to drive the linkage group 220 to rotate. Specifically, the linkage group 220 in this embodiment includes a drive rod 221, a transmission rod 222, and a working rod 223 connected in sequence. One end of the drive rod 221 is connected to the working end of the rotary actuator 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 working rod 223. The working rod 223 is connected to the flexible gripper 310 to drive the flexible gripper 310 to open and close.

[0026] See Figure 7 and Figure 8 As shown, the driving assembly 200 in this embodiment further includes a slider 230. The gripper body 311 of the flexible gripper 310 is provided with a groove, which extends in the same direction as the flexible gripper 310. The free end of the linkage group 220 is connected to the slider 230 to drive the slider 230 to move along the groove. Further, the slider 230 includes a slider body 231, a limiting part 232, and a fitting groove 233. The slider body 231 is embedded inside the groove. The limiting part 232 protrudes from the slider body 231 along its width direction and abuts against the groove. The fitting groove 233 is recessed inward from one side of the slider body 231. The free end of the linkage group 220 is rotatably connected to the fitting groove 233 via a connecting ball 224. This achieves a rotatable connection structure between the working rod and the slider 230.

[0027] In this embodiment, the flexible gripper 310 includes an assembly end 312 and a contact end 313, which are respectively disposed at both ends of the gripper body 311 along its length. The assembly end 312 is connected to the assembly assembly 100, and the contact ends 313 of the two flexible grippers 310 are configured to retract into each other in the clamping state. In the flight state, the extension length of the linkage group 220 is at its maximum, thereby allowing the assembly end 312 and the contact end 313 to extend in a straight line for flight. In the clamping state, the extension length of the linkage group 220 is smaller, and it has no binding effect on the contact end 313. At this time, the contact end 313 will retract into each other under its own curling action to achieve a curled-closed structure, thereby achieving a large-range fixed and limited position of the irregular structure 400 to be connected. To further enhance the guiding effect of the contact end 313 during the connection process, in this embodiment, the contact end 313 is provided with a connecting rod 314. At least one guide ball 320 is provided on the connecting rod 314. The guide ball 320 passes through the connecting rod 314, moves against the surface of the irregular structure 400 to be connected, and rotates around the connecting rod 314. Furthermore, in this embodiment, the flexible gripper 310 has a friction pattern on the side facing the irregular structure 400 to be connected, thereby improving the connection stability between it and the irregular structure 400. Example 2

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

[0029] In summary, the flexible take-off and landing mechanism and aircraft of the flapping-wing aircraft described in this invention drive the clamping assembly 300 to open and close via a drive mechanism. Simultaneously, the drive assembly 200 regulates the state of the clamping assembly 300 through an impact sensor 120, achieving stable connection to irregularly shaped structures. Based on this structural design, this application can better enhance its flexibility to adapt to more varied operating environments. Even upon impact, it can grasp nearby structures, preventing fall damage. Compared to conventional aircraft and related structures at present, this application possesses significant advantages such as high automation, wide application range, 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 illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A flexible take-off and landing mechanism for a flapping-wing aircraft, characterized in that: include: An assembly assembly, the assembly assembly including two connecting plates, the two connecting plates being interlocked to enclose an assembly space; Two drive components are symmetrically connected to the assembly component. Each drive component includes a rotary driver, a slider, and a linkage group. The rotary driver is disposed inside the assembly component. The linkage group includes a drive rod, a transmission rod, and a working rod connected in sequence. One end of the drive 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 working rod. A clamping assembly includes two flexible grippers. A working rod is connected to the flexible grippers to drive them to open and close. Each flexible gripper has a groove extending in the same direction as the gripper. The free end of a linkage group is connected to a slider to drive the slider to move along the groove. Each flexible gripper includes an assembly end and a contact end, which are respectively located at both ends of the gripper body along its length. The assembly end is connected to an assembly assembly. The contact ends of the two flexible grippers are configured to retract into each other in the clamping state. An impact sensor is connected to the assembly assembly and signal-connected to the two drive assemblies. The impact sensor is disposed between the two flexible grippers. In flight mode, the impact sensor is exposed outside the flexible grippers to contact the irregular structure to be connected.

2. The flexible take-off and landing mechanism for flapping-wing aircraft according to claim 1, characterized in that: One of the connecting plates is provided with a plurality of pins, and the other connecting plate is provided with a plurality of slots. The plurality of pins and the plurality of slots are arranged in a one-to-one correspondence. The linkage group is suspended on the pins and rotates around the pins by the rotary driver.

3. The flexible take-off and landing mechanism for flapping-wing aircraft according to claim 2, characterized in that: Two extensions are symmetrically provided on both sides of any of the connecting plates. Each of the two extensions is provided with a receiving slot. At least one reset member is provided in the receiving slot. The end of the flexible rotating shaft is embedded in the receiving slot. 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 slider includes a slider body, a limiting part, and a fitting groove. The slider body is embedded in the groove. The limiting part protrudes from the slider body along the width direction and abuts against the groove. The fitting groove is recessed inward from one side of the slider body. The free end of the linkage assembly is rotatably connected to the fitting groove via a connecting ball.

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

6. The flexible take-off and landing mechanism for flapping-wing aircraft according to claim 1, characterized in that: The flexible gripper has a friction pattern on the side facing the irregular structure to be connected.

7. An aircraft, characterized in that: The invention includes the flexible take-off and landing mechanism and fuselage of the flapping-wing aircraft as described in any one of claims 1 to 6, wherein the flexible take-off and landing mechanism of the flapping-wing aircraft is connected to the bottom of the fuselage.

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