The invention provides a flapping-wing flying robot which is small and can fly with high maneuverability. A flapping wing device (1) is provided with blades (2, 2) and a drive unit (3). The drive unit (3) is provided with a drive source (30), a driven unit (10) that rotates about a first rotational axis by the drive source (30), a first biasing member (40) that applies a biasing force to the driven unit (10) in the direction opposite the rotational direction of the driven unit (10), and a control unit (60). The blade (2) is provided with: a first blade shaft (20) which extends in a predetermined axial direction, is connected to the driven part (10) on one end side, and is connected so as to be able to rotate in a direction about a second rotational axis intersecting the first rotational axis; a second blade shaft (21) which extends in a direction intersecting the first blade shaft (20), is directly or indirectly connected to the driven part (10) on one end side, and is connected so as to be rotatable in a direction about the first rotational axis; and a blade body (22) provided across the first blade shaft (20) and the second blade shaft (21).

    本发明提供一种小型且能够高机动性飞行的扑翼飞行机器人;扑翼装置(1)具有叶片(2、2)和驱动部(3),驱动部(3)具备:驱动源(30)、通过驱动源(30)而围绕第一转动轴线转动的从动部(10)、对从动部(10)施加与从动部(10)的转动方向相反方向的作用力的第一施力部件(40)、以及控制部(60);叶片(2)具有:第一叶片轴(20),沿规定的轴线方向延伸,并且在一端侧与从动部(10)连接,并以能够向围绕与第一转动轴线交叉的第二转动轴线的方向转动的方式连接;第二叶片轴(21),沿与第一叶片轴(20)交叉的方向延伸,并且在一端侧直接或间接地与从动部(10)连接,并以能够向围绕第一转动轴线的方向转动的方式连接;以及叶片主体(22),横跨第一叶片轴(20)和第二叶片轴(21)而设置。


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    Titel :

    Flapping wing device


    Weitere Titelangaben:

    扑翼装置


    Beteiligte:

    Erscheinungsdatum :

    20.06.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B64U / B64C AEROPLANES , Flugzeuge / A63H Spielzeuge, z.B. Kreisel, Puppen, Reifen, Baukästen , TOYS, e.g. TOPS, DOLLS, HOOPS, BUILDING BLOCKS



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