The invention provides a bimodal foldable ornithopter capable of automatically planning a path, which comprises a main bracket, a flapping wing walking mechanism, a gyroscope and an engine, two bottom surfaces of the main bracket are connected with folding wheel brackets through rolling bearings, a folding rod is rotatably connected to the folding wheel brackets, the end part of the folding rod is rotatably connected with an outer wheel rod, and the outer wheel rod is rotatably connected with the flapping wing walking mechanism. The end of the outer wheel rod is rotatably connected with an upper-layer wing film supporting rod, steering engines are fixedly connected to the two bottom faces of the cylinder structure, wing connecting pieces are vertically connected to shafts of the steering engines, the middles of the wing connecting pieces are connected with double-layer wing connecting rods through spherical hinges, and the other ends of the double-layer wing connecting rods are magnetically connected to the grabbing mechanism. The grabbing mechanism is fixedly connected to the folding rod, the other end of the wing connecting piece is rotatably connected with a lower-layer wing membrane supporting rod, the lower-layer wing membrane supporting rod is rotatably connected with a lower-layer wing membrane opening rod, and the unmanned aerial vehicle has the good obstacle crossing ability, can cross a narrow space and is better in take-off performance.

    本发明提供一种可自动路径规划的双模态可折叠扑翼机,包括主支架、扑翼行走机构、陀螺仪和发动机,主支架两底面通过滚动轴承连接有折叠轮支架,折叠杆可转动连接在折叠轮支架上,折叠杆的端部可转动连接有外轮杆,外轮杆的端部可转动连接有上层翼膜支撑杆,圆筒结构的两底面上固定连接有舵机,舵机的轴上垂直连接有机翼连接件,机翼连接件的中部通过球铰连接有双层翼连接杆,双层翼连接杆另一端磁性连接在抓取机构上,抓取机构固定连接在折叠杆上,机翼连接件的另一端可转动连接有下层翼膜支撑杆,下翼膜支撑杆上可转动连接有下层翼膜撑开杆,具有较好的越障能力、能穿越狭小空间,并且起飞性能更好。


    Access

    Download


    Export, share and cite



    Title :

    Multi-mode foldable ornithopter capable of automatically planning path


    Additional title:

    一种可自动路径规划的多模态可折叠扑翼机


    Contributors:
    SUN JIYU (author) / ZHU HAOCHEN (author) / PAN CHUNXIANG (author) / SONG FA (author) / XU NUO (author) / YAN YONGWEI (author) / WANG WENZHE (author) / ZHANG ZHIJUN (author)

    Publication date :

    2023-12-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64U



    Foldable ornithopter

    WU YAOGANG / LIAN SHIYU / TAN LIN et al. | European Patent Office | 2024

    Free access

    Multi-mode ornithopter

    SUN JIYU / ZHU HAOCHEN / PAN CHUNXIANG et al. | European Patent Office | 2023

    Free access

    Undercarriage, bionic ornithopter capable of automatically taking off and landing and flight control method of bionic ornithopter

    YUAN ZHENGMIAO / YANG WENQING / XUAN JIANLIN et al. | European Patent Office | 2023

    Free access

    Variable-attack-angle multi-mode ornithopter

    SUN JIYU / ZHU HAOCHEN / XU NUO et al. | European Patent Office | 2023

    Free access

    ORNITHOPTER

    KURODA SATOSHI / MORI TOMOYUKI / HATTORI KAZUYA et al. | European Patent Office | 2018

    Free access