CN118124799A - Environment-adaptive landing gear for flapping-wing flying robot - Google Patents

Abstract

The invention relates to an environment-adaptive landing gear for a flapping-wing flying robot, which is arranged on the flapping-wing flying robot and comprises a left mechanical claw and a right mechanical claw, wherein the left mechanical claw and the right mechanical claw are transversely and symmetrically arranged at the gravity center position of the flapping-wing flying robot; the left mechanical claw and the right mechanical claw have the same structure and both comprise: a base frame, wherein lifting wheels are arranged on two sides of the base frame; the rotating mechanism is arranged on the base frame and comprises a first rotating mechanism and a second rotating mechanism, and the second driving rotating mechanism is connected with the first driving rotating mechanism; the clamping jaw assembly comprises a left claw, a right claw and an opening and closing control mechanism, wherein the opening and closing control mechanism is arranged on the base frame, and the left claw and the right claw are connected with the opening and closing control mechanism. The invention has two form conversion modes of claw and wheel, combines the advantages of two lifting mechanisms, can realize stable lifting on different surfaces through form conversion of the mechanisms according to different lifting surface conditions, effectively improves the environmental adaptability of lifting and increases the application scene.

Description

An environmentally adaptable take-off and landing mechanism for flapping-wing flying robots

Technical Field

The invention relates to the technical field of micro-aircraft design and manufacturing, and in particular to an environmentally adaptable take-off and landing mechanism for a flapping-wing flying robot.

Background technique

At present, the development of flapping-wing flying robots has become a key research field with broad application prospects. However, the take-off and landing methods of the flapping-wing flying robots currently developed are quite limited. Most flapping-wing flying robots can only take off by hand-throwing and hard landing. A small number of them use wheels or claws, but they can only be used in a single scenario and have poor applicability. This greatly limits the application scenarios of flapping-wing flying robots and fails to fully utilize their high maneuverability.

Summary of the invention

To this end, the technical problem to be solved by the present invention is to overcome the take-off and landing problems existing in the prior art for flapping-wing flying robots, and to provide an environmentally adaptable landing mechanism for flapping-wing flying robots, which has two morphological transformation modes, claw type and wheel type. By combining the advantages of the two landing mechanisms, it can achieve smooth take-off and landing on different surfaces through the morphological transformation of the mechanism according to different landing surface conditions, effectively improving the environmental adaptability of take-off and landing and increasing the application scenarios.

In order to solve the above technical problems, the present invention provides an environmentally adaptable landing mechanism for a flapping-wing flying robot, which is arranged on the flapping-wing flying robot and is characterized in that: it comprises a left mechanical claw and a right mechanical claw, and the left mechanical claw and the right mechanical claw are laterally symmetrically arranged at the center of gravity of the flapping-wing flying robot; the left mechanical claw and the right mechanical claw have the same structure and both comprise:

A base frame, with landing wheels provided on both sides of the base frame;

A rotating mechanism is arranged on the base frame, and includes a first rotating mechanism and a second rotating mechanism, wherein the second driving rotating mechanism is connected to the first driving rotating mechanism, and the first driving rotating mechanism controls the base frame to rotate from a state parallel to the flight direction to a state at an angle to the flight direction; the second driving mechanism is used to drive the base frame to rotate clockwise or counterclockwise around the flight direction;

The clamping claw assembly comprises a left hook claw, a right hook claw and an opening and closing control mechanism, wherein the opening and closing control mechanism is arranged on the base frame, and the left hook claw and the right hook claw are both connected to the opening and closing control mechanism, and the opening and closing actions of the left hook claw and the right hook claw are driven by the opening and closing control mechanism.

In one embodiment of the present invention, the opening and closing control mechanism includes a pushing member, a push rod, a second cross bar and a connecting rod assembly, the second cross bar is arranged on the base frame, and the two ends of the second cross bar are respectively movably connected to the ends of the left hook claw and the right hook claw; the pushing member is arranged on the base frame, and the pushing member is connected to the connecting rod assembly through the push rod, and the middle positions of the left hook claw and the right hook claw are respectively movably connected to the connecting rod assembly.

In one embodiment of the present invention, the connecting rod assembly includes a first cross bar, a left rocker and a right rocker, the middle position of the first cross bar is connected to one end of the push rod, one end of the first cross bar is movably connected to the middle position of the left hook through the left rocker, and the other end of the second cross bar is movably connected to the middle position of the right hook.

In one embodiment of the present invention, a cavity is provided in the second cross bar, and the push rod passes through the cavity and is connected to the first cross bar.

In one embodiment of the present invention, the base frame is threadedly connected to the second cross bar.

In one embodiment of the present invention, the pushing member is a cylinder.

In one embodiment of the present invention, the first rotating mechanism includes a first servo, a rotating shaft and a torsion rod, wherein the first servo is connected to one end of the torsion rod via the rotating shaft; the first servo controls the rotation of the rotating shaft so that the torsion rod rotates around the rotating shaft; the second rotating mechanism is a second servo, which is arranged on the top of the base frame and is connected to the other end of the torsion rod to control the rotation of the torsion rod.

In one embodiment of the present invention, the first steering gear controls the base frame to rotate at an angle of 90°-120°.

In one embodiment of the present invention, the first steering gear, the second steering gear and the cylinder are all electrically connected by a control system of the flapping-wing flying robot.

In one embodiment of the present invention, the landing wheel is made of neoprene material.

The above technical solution of the present invention has the following beneficial effects compared with the prior art:

The environmentally adaptable landing mechanism for a flapping-wing flying robot described in the present invention has two morphological transformation modes, claw type and wheel type. Combining the advantages of the two landing mechanisms, it is possible to select wheel type or claw type landing by transforming the morphology according to the conditions of the landing surface, thereby improving the environmental adaptability of the flapping-wing flying robot and increasing the application scenarios. The landing mechanism of the flapping-wing flying robot can be folded and retracted during flight to reduce wind resistance and increase flight speed. It also occupies a small area and is easier to pass through narrow spaces.

BRIEF DESCRIPTION OF THE DRAWINGS

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.

FIG1 is an isometric view of the left and right mechanical claws of the environmentally adaptable landing mechanism for a flapping-wing flying robot according to the present invention when the left and right mechanical claws are lowered;

FIG2 is an isometric view of the left and right mechanical claws of the landing mechanism of the present invention when they are folded;

FIG3 is an axonometric view of the left clamping jaw of the lifting mechanism of the present invention in a closed state;

FIG4 is an isometric view of the left clamping jaw of the lifting mechanism of the present invention in an open state;

Explanation of the reference numerals in the specification: 1. left mechanical claw; 11. base frame; 2. right mechanical claw; 12. landing wheel; 13. rotating mechanism; 131. first rotating mechanism; 1311. first servo; 1312. rotating shaft; 1313. torsion bar; 132. second rotating mechanism; 14. clamping claw assembly; 141. left hook claw; 142. right hook claw; 143. opening and closing control mechanism; 1431. pushing member; 1432. pushing rod; 1433. second cross bar; 1434. connecting rod assembly; 143a. first cross bar; 143b. left rocker; 143c. right rocker; 100. flapping-wing flying robot.

Detailed ways

The present invention will be 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.

1-4, an environmentally adaptable landing mechanism for a flapping-wing flying robot according to the present invention is arranged on a flapping-wing flying robot 100, and includes a left mechanical claw 1 and a right mechanical claw 2, and the left mechanical claw 1 and the right mechanical claw 2 are laterally symmetrically arranged at the center of gravity of the flapping-wing flying robot 100; the left mechanical claw 1 and the right mechanical claw 2 have the same structure, and both include: a base frame 11, and landing wheels 12 are arranged on both sides of the base frame 11; the landing wheels 12 are made of chloroprene rubber material. The rotating mechanism 13 is arranged on the base frame 11, and includes a first rotating mechanism 131 and a second rotating mechanism 132. The second driving rotating mechanism 132 is connected to the first driving rotating mechanism 131, and the first driving rotating mechanism 131 controls the base frame 11 to rotate from a state parallel to the flight direction to a state at an angle to the flight direction; the second driving mechanism 132 is used to drive the base frame 11 to rotate clockwise or counterclockwise around the flight direction; the clamping claw assembly 14 includes a left hook claw 141, a right hook claw 142 and an opening and closing control mechanism 143, and the opening and closing control mechanism 143 is arranged on the base frame 11, and the left hook claw 141 and the right hook claw 142 are both connected to the opening and closing control mechanism 143, and the opening and closing actions of the left hook claw 141 and the right hook claw 142 are driven by the opening and closing control mechanism 143.

Preferably, the opening and closing control mechanism 143 includes a pushing member 1431, a push rod 1432, a second cross bar 1433 and a connecting rod assembly 1434, the second cross bar 1433 is arranged on the base frame 11, and the two ends of the second cross bar 1433 are respectively movably connected to the ends of the left hook 141 and the right hook 142; the pushing member 1431 is arranged on the base frame 11, and the pushing member 1431 is connected to the connecting rod assembly 1434 through the push rod 1432, and the middle positions of the left hook 141 and the right hook 142 are respectively movably connected to the connecting rod assembly 1434. The pushing member 1431 described in this embodiment is a cylinder. When the cylinder controls the push rod 1432 to be pushed out, the second cross bar 1433 pushes the connecting rod assembly 1434 to move, and the left hook 141 and the right hook 142 are opened through the connecting rod assembly 1434; when the cylinder controls the push rod 1432 to be retracted, the second cross bar 1433 controls the connecting rod assembly 1434 to retract, and the left hook 141 and the right hook 142 are closed.

The connecting rod assembly 1434 in this embodiment includes a first cross bar 143a, a left rocker 143b and a right rocker 143c. The middle position of the first cross bar 143a is connected to one end of the push rod 1432, one end of the first cross bar 143a is movably connected to the middle position of the left hook 141 through the left rocker 143b, and the other end of the second cross bar 1433 is movably connected to the middle position of the right hook 142. The two ends of the first cross bar 143a are respectively hinged to one end of the left rocker 143b and the right rocker 143c, and the other ends of the left rocker 143b and the right rocker 143c are respectively connected to the left hook 141 and the right hook 142 by a hinged manner. This connection method enables the left rocker 143b and the right rocker 143c to be stretched to be on the same horizontal line with the first push rod 143 when the first push rod 143a is pushed by the push rod 1432, and the left hook 141 and the right hook 142 are opened at this time; when the first push rod 143a is stretched toward the direction of the base frame 11 under the action of the push rod 1432, the left rocker 143b and the right rocker 143c form an angle with the push rod 1432, so that the left hook 141 and the right hook 142 are closed.

The second crossbar 1433 has a cavity therein, and the push rod 1433 passes through the cavity and is connected to the first crossbar 143a. The base frame 11 is threadedly connected to the second crossbar 1433.

The left mechanical claw and the right mechanical claw described in this embodiment are both made of carbon fiber; the high strength and low density characteristics of carbon fiber can enhance the strength of the landing mechanism while reducing its own weight.

Preferably, the first rotating mechanism 131 includes a first servo 1311, a rotating shaft 1312 and a torsion rod 1313, the first servo 1311 is connected to one end of the torsion rod 1313 through the rotating shaft 1312; the first servo 1311 controls the rotation of the rotating shaft 1312, so that the torsion rod 1313 rotates around the rotating shaft 1312; the second rotating mechanism 132 is a second servo, the second servo is arranged at the top of the base frame 11, and the second servo is connected to the other end of the torsion rod 1313 to control the rotation of the torsion rod 1313.

The first steering gear 1311, the second steering gear and the cylinder described in this embodiment are all controlled by the control system of the flapping-wing flying robot 100. Since the innovation of the present invention lies in the landing mechanism itself, the flapping-wing flying robot structure, driving system, power source and control system are not included in the present invention.

For the left mechanical claw 1 and the right mechanical claw 2, due to the symmetry of the structure, only the left mechanical claw 1 is taken as an example. When the flapping-wing flying robot 100 completes the flight and is landing, the control system of the flapping-wing flying robot 100 sends a signal, and the initial state of the landing mechanism is shown in Figures 1 and 3. At this time, the push rod 1432 is pulled up, the left mechanical claw 1 and the right mechanical claw 2 are horizontally folded, close to the belly of the flapping-wing flying robot 100; the left hook 141 and the right hook 142 are folded, and the landing wheel 12 is in a downward protruding position. The landing and take-off select claw type or wheel type according to the landing surface. If the landing surface is a horizontal ground: the landing mechanism maintains this state, and the landing wheel 12 glides on the ground when landing until the flapping-wing flying robot 100 stops; when taking off, the flapping-wing flying robot 100 generates traction and upward lift by flapping its wings, driving the landing wheel 12 to glide and take off.

If the landing surface is a cylindrical surface such as a tree branch: when landing, as shown in Figures 1 and 4, the control system sends a signal, the first steering gear 1311 drives the torsion bar 1313 to rotate about 90 to 120 degrees in the direction of flight to make the mechanical claw downward; then the second steering gear drives the torsion bar 1313 to rotate 90 degrees clockwise; the cylinder 4 works, the push rod 1432 drives the first cross bar 143a to descend, and then the left rocker 143b and the right rocker 143c are stretched out, and the left hook 141 and the right hook 142 are linked to open. When approaching landing, the flapping-wing flying robot 100 reduces speed, and when the mechanical claw touches the landing surface, the cylinder 4 works again, the push rod 1432 drives the first cross bar 143a to rise, and then the left rocker 143b and the right rocker 143c are retracted; the left hook 141 and the right hook 142 are linked to close and grab the surface. When taking off, the control system sends a signal, and the flapping-wing flying robot 100 first flaps at high speed to generate sufficient lift and traction. Then the cylinder 4 works, the push rod 1432 drives the first cross bar 143a to descend, so that the left rocker 143b and the right rocker 143c are extended outward, and the left hook 141 and the right hook 142 are opened, and the flapping-wing flying robot 100 takes off smoothly.

After takeoff, the cylinder works to drive the push rod 1432 to drive the first cross bar 143a to rise, so that the left rocker 143b and the right rocker 143c are folded; the left hook 141 and the right hook 142 are closed, and then the second servo drives the torsion bar 1313 to rotate 90 degrees counterclockwise; the first servo 1311 drives the torsion bar 1313 to horizontally fold the left mechanical claw 1 and close it to the belly of the flapping-wing flying robot 100. The left mechanical claw 1 and the right mechanical claw 2 are folded and return to the state shown in Figure 2.

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 (10)

1. An environmental adaptation landing gear for flapping wing flying robot sets up on flapping wing flying robot, its characterized in that: the flapping wing flying robot comprises a left mechanical claw and a right mechanical claw, wherein the left mechanical claw and the right mechanical claw are transversely and symmetrically arranged at the gravity center position of the flapping wing flying robot; the left mechanical claw and the right mechanical claw have the same structure and both comprise:

The lifting wheels are arranged on two sides of the base frame;

The rotating mechanism is arranged on the base frame and comprises a first rotating mechanism and a second rotating mechanism, the second driving rotating mechanism is connected with the first driving rotating mechanism, and the first driving rotating mechanism controls the base frame to rotate from a state parallel to the flight direction to a state forming an included angle with the flight direction; the second driving mechanism is used for driving the base frame to rotate clockwise or anticlockwise around the flight direction;

The clamping jaw assembly comprises a left claw, a right claw and an opening and closing control mechanism, wherein the opening and closing control mechanism is arranged on the base frame, the left claw and the right claw are connected with the opening and closing control mechanism, and the opening and closing control mechanism drives the opening and closing actions of the left claw and the right claw.

2. An environmentally adapted landing gear for an ornithopter robot as claimed in claim 1, wherein: the opening and closing control mechanism comprises a pushing piece, a pushing rod, a second cross rod and a connecting rod assembly, the second cross rod is arranged on the base frame, and two ends of the second cross rod are respectively and movably connected with the end parts of the left hook claw and the right hook claw; the pushing piece is arranged on the base frame and connected with the connecting rod assembly through the push rod, and the middle positions of the left hook claw and the right hook claw are respectively and movably connected with the connecting rod assembly.

3. An environmentally adapted landing gear for an ornithopter robot as claimed in claim 2, wherein: the connecting rod assembly comprises a first cross rod, a left rocker and a right rocker, wherein the middle position of the first cross rod is connected with one end of the push rod, one end of the first cross rod is movably connected with the middle position of the left hook through the left rocker, and the other end of the second cross rod is movably connected with the middle position of the right hook.

4. An environmentally adapted landing gear for an ornithopter robot as claimed in claim 3, wherein: and a cavity is arranged in the second cross rod, and the push rod passes through the cavity and then is connected with the first cross rod.

5. An environmentally adapted landing gear for an ornithopter robot as claimed in claim 2, wherein: the base frame is in threaded connection with the second cross rod.

6. An environmentally adapted landing gear for an ornithopter robot as claimed in claim 2, wherein: the pushing piece is an air cylinder.

7. An environmentally adapted landing gear for an ornithopter robot as claimed in claim 6, wherein: the first rotating mechanism comprises a first steering engine, a rotating shaft and a torsion rod, wherein the first steering engine is connected with one end of the torsion rod through the rotating shaft; the first steering engine controls the rotation shaft to rotate, so that the torsion rod rotates around the rotation shaft; the second rotating mechanism is a second steering engine, the second steering engine is arranged at the top of the base frame, and the second steering engine is connected with the other end of the torsion rod to control the torsion rod to rotate.

8. An environmentally adapted landing gear for an ornithopter robot as claimed in claim 7, wherein: the first steering engine controls the rotation angle of the base frame to be 90-120 degrees.

9. An environmentally adapted landing gear for an ornithopter robot as claimed in claim 7, wherein: the first steering engine, the second steering engine and the air cylinder are electrically connected with a control system of the flapping wing flying robot.

10. An environmentally adapted landing gear for an ornithopter robot as claimed in claim 1, wherein: the landing gear is made of neoprene material.