The invention relates to a flapping-wing flying robot, in particular to a wing folding device driven by a bionic wriggling mechanism. Comprising an elytra, a back wing structure, an elytra driving mechanism and a bionic flexible abdomen structure, the elytra and the elytra driving mechanism are arranged at the front end of the bionic flexible abdomen structure, the elytra is connected with the elytra driving mechanism, and the elytra driving mechanism is used for driving the elytra to be unfolded or folded; the rear wing structure is arranged in the middle of the bionic flexible belly structure, the rear wing structure flies through flapping, and the bionic flexible belly structure enables the folded rear wing structure to be stored on the inner side of the elytra through wriggling. A beetle is taken as a bionic object, a folding storage mode of bionic wriggling abdomen is combined, and the wings can be compactly folded and stored in the fuselage or in a specific position close to the fuselage in a non-flight state through a folding mechanism and a storage structure in the fuselage which are reasonably designed, so that the automation of folding and storage is realized.

    本发明涉及扑翼飞行机器人,特别涉及一种仿生蠕动机制驱动的机翼折叠装置。包括鞘翅、后翅结构、鞘翅驱动机构及仿生柔性腹部结构,其中鞘翅和鞘翅驱动机构设置于仿生柔性腹部结构的前端,且鞘翅与鞘翅驱动机构连接,鞘翅驱动机构用于驱动鞘翅展开或闭合;后翅结构设置于仿生柔性腹部结构的中部,后翅结构通过扑动实现飞行,仿生柔性腹部结构通过蠕动使折叠后的后翅结构收纳于鞘翅内侧。本发明以甲虫为仿生对象,结合仿生蠕动腹部的折叠收纳模式,通过合理设计的折叠机构和机身内部收纳结构,使得机翼在非飞行状态下能够紧凑地折叠并收纳至机身内部或靠近机身的特定位置,实现了折叠与收纳的自动化。


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    Title :

    Wing folding device driven by bionic wriggling mechanism


    Additional title:

    仿生蠕动机制驱动的机翼折叠装置


    Contributors:
    WANG HONGWEI (author) / CUI LONG (author) / ZHANG FENG (author) / LIU ZHAOMING (author) / TIAN SHEN (author) / BAI NING (author) / XU WEI (author)

    Publication date :

    2025-03-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64C AEROPLANES , Flugzeuge / B64U



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