Metamorphic mechanism for realizing switching of flapping-wing robot between flying action and running action

Abstract

The invention provides a metamorphic mechanism. The metamorphic mechanism comprises a bracket, a mode switching module, a delay module, a connecting module, an external leg connecting rod and a flapping-wing robot body, wherein the mode switching module, the delay module, the connecting module, the external leg connecting rod and the flapping-wing robot body are arranged on the bracket; the mode switching module mainly consists of a five-rod connecting rod structure and a third shaft; the third shaft is connected with an output shaft of a flapping-wing robot stepping motor and matched with theconnecting module; the delay module is a geneva mechanism, which consists of a pair of bearing seats, a first shaft, an external engaged geneva wheel, a rotating shifting disc and a second shaft; theconnecting module comprises a gear I and a gear II; the two gears are engaged with each other; the external leg connecting rod and the external engaged geneva wheel are mounted on the first shaft; the gear II and the rotating shifting disc are mounted on the second shaft; the gear I and a first rod are mounted on the third shaft; and the whole metamorphic mechanism is positioned at the central position of the belly part of a bionic flapping-wing robot. According to the metamorphic mechanism, the dynamic switching of the flapping-wing robot between a flying mode and a running mode can be realized, energy and time consumption can be reduced and the application range of the robot can be expanded.

Description

technical field [0001] The invention belongs to a space link mechanism, and in particular relates to a metamorphic mechanism for a flapping-wing robot to switch between flying and running actions. Background technique [0002] The current robot application field has gradually developed from the traditional structural environment to the non-structural environment field for the purpose of military investigation, field detection, search and rescue, etc. In the future, robots will work for humans in unknown and complex environments, which requires robots to have strong maneuverability and high mobility flexibility to adapt to environmental changes. At present, metamorphic mechanisms have been widely used in aerospace, robotics and other fields due to their characteristics of configuration change and recombination. For example, space manipulators, deployable antennas, variable-structure rehabilitation wheelchairs, and variable-structure leg-wheeled probe vehicles, etc. The adva...

AI Technical Summary

Problems solved by technology

So far, no metamorphic mechanism capable of dynamically coupling running and flying has been developed by relevant scholars.

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