Water-bird-imitating water-air dual-purpose flying and swimming integrated flapping-wing robot and movement method

Abstract

The invention provides a waterfowl-imitating water-air dual-purpose flying and swimming integrated flapping-wing robot and a movement method. The water-fowl-imitating water-air dual-purpose flying and swimming integrated flapping-wing robot comprises a flying module, a fuselage assembly and a swimming module. A flight module is installed on the fuselage assembly, and take-off and landing, hovering and six-degree-of-freedom flight are achieved through the flight module; a swimming module is installed on the machine body assembly, and forward movement and steering movement on the water surface are achieved through the swimming module. The water-bird-imitating water-air dual-purpose flying and swimming integrated flapping-wing robot can imitate an air flapping-wing flying mode and a water-surface flipping and swimming mode of organisms at the same time to achieve an air flying motion mode and a water-surface swimming motion mode, and the flying mode and the swimming mode can be freely switched.

Description

Technical Field

[0001] The present invention relates to the field of bionic robot structures, and more specifically, to a water-air dual-purpose flapping-wing robot that imitates water birds and integrates flying and swimming, and its motion method. Background Art

[0002] Compared with pure surface motion robots, the water-air dual-purpose robot's integrated flying and swimming motion mode improves its motion ability, increases its motion speed and obstacle-crossing ability, and expands its water-land space motion range. It has broad application prospects in both civilian and military fields and has received extensive attention at home and abroad.

[0003] Currently, most research on air-water amphibious robots focuses on non-bionic flying robots such as fixed-wing amphibious robots and rotor amphibious robots. Most of the designs that can be achieved are air-water amphibious robots with four rotors, fixed wings, or variable wings, which do not have motion bionics, consume high power, and produce high noise. For example:

[0004] Patent CN108128450B relates to a multi-rotor water-air amphibious cross-domain marine robot, which is a multi-rotor water-air amphibious robot that uses flippable water-air dual-purpose propulsion devices on both sides of the fuselage to achieve navigation in two media: water and air. This robot is suitable for use in a relatively large space, and neither its flight mode nor its swimming mode has bionics.

[0005] Patent CN118083172A relates to a water-air amphibious robot and its operation method, which is a fixed-wing water-air dual-purpose robot that can achieve gliding swimming in water or gliding flight in the air, has a relatively large payload, but cannot take off and land vertically in small-space waters, and has a low degree of bionics in its gliding motion mode.

[0006] Patent CN114750945B relates to a deformable water-air dual-purpose unmanned aerial vehicle and its control method. This robot has a set of rotatable arms that can be switched between a flight configuration and a swimming configuration, and can achieve surface navigation that traditional quadcopters cannot perform. However, it has a large volume and inflexible motion mode conversion.

[0007] In summary, existing water-air amphibious robots generally rely on fixed-wing or rotor methods, have a large volume, low flexibility, and incomplete bionics in their motion modes, and cannot achieve a water-air dual-purpose amphibious robot that can simultaneously perform surface bionic motion and bionic flight capabilities. Summary of the Invention

[0008] Aiming at the deficiencies in the prior art, the purpose of the present invention is to provide a water-air dual-purpose flapping-wing robot that imitates water birds and integrates flying and swimming, and its motion method.

[0009] A water bird - like water - air dual - use flying and swimming integrated flapping wing robot provided by the present invention includes: a flight module, a fuselage assembly, and a swimming module;

[0010] The flight module is installed on the fuselage assembly, and take - off, landing, and hovering six - degree - of - freedom flight are achieved through the flight module;

[0011] The swimming module is installed on the fuselage assembly, and forward and turning movements on the water surface are achieved through the swimming module.

[0012] Preferably, the fuselage assembly includes: a fuselage frame, a swimming control board, a battery, a flight control unit, and a floating module;

[0013] The swimming control board, the battery, and the flight control unit are installed on the fuselage frame, and the battery is electrically connected to the swimming control board and the flight control unit;

[0014] A floating module for providing buoyancy is installed at the lower part of the fuselage frame.

[0015] Preferably, the flight module includes: a flapping wing mechanism, a rotating shaft, and a flight attitude control servo;

[0016] The rotating shaft is installed at the upper part of the fuselage frame, and the rotating shaft is connected to the flapping wing mechanism;

[0017] Flight attitude control servos are installed on both sides of the fuselage frame, and the flight attitude control servos are connected to the rotating shaft and change the rotation angle of the flapping wing mechanism through the rotating shaft.

[0018] Preferably, the swimming module includes: a reduction motor, a worm and worm gear, a transmission shaft, a crank, a rocker, a slider, a slider position control servo, a pull rod, and a bionic fin;

[0019] The reduction motor is connected to and drives the worm and worm gear to rotate, and the worm and worm gear drives the cranks on both sides to rotate through the transmission shaft;

[0020] The slider position control servo is installed on the frame of the swimming module, and the slider position control servo is connected to the slider through the pull rod and is used to change the height of the slider;

[0021] A chute is provided on the rocker, the slider is located in the chute, the crank is connected to one end of the rocker and drives the rocker to move, and the rocker realizes a swinging motion through the limiting cooperation between the slider and the chute;

[0022] The other end of the rocker is connected to the bionic fin and drives the bionic fin to swing.

[0023] Preferably, the bionic fin includes: toes, webbed membranes, ankle joints, and toe joints;

[0024] The rocker is hinged to the toe through an ankle joint. The toe includes two side toes and one middle toe. A toe joint is provided on the middle toe, and a webbed membrane is provided between the side toes and the middle toe.

[0025] Preferably, the toe and the ankle joint are made of a three-layer composite material, which is composed of an intermediate layer and an upper layer and a lower layer on both sides of the intermediate layer. The intermediate layer is a PET (polyethylene terephthalate) film or a PI (polyimide) film, and the upper layer and the lower layer are carbon fiber plates;

[0026] The upper layer and the lower layer of the toe joint and the ankle joint are cut with gaps along the bending positions of the toe joint or the ankle joint. The gap width of the upper layer on the side facing the swimming direction is smaller than the gap width of the lower layer on the side facing away from the swimming direction, so as to form an asymmetric stiffness flexible hinge that can be bent at different angles.

[0027] Preferably, the flapping wing mechanism includes: a flapping wing motor, a gear transmission mechanism, and a flexible wing;

[0028] The flapping wing motor drives the flexible wing to make flapping motions through the gear transmission mechanism.

[0029] Preferably, the flight control unit is connected to a flight attitude control servo and a flapping wing motor.

[0030] Preferably, the swimming control board is connected to a reduction motor and a slider position control servo.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. The water-air dual-purpose flying and swimming integrated flapping wing robot imitating water birds in this application can simultaneously imitate the aerial flapping wing flight mode and the water surface fin swimming mode of organisms to respectively achieve the aerial flight motion mode and the water surface swimming motion mode, and can freely switch between the flight and swimming modes;

[0033] 2. Compared with a pure aerial flying robot or a pure water surface swimming robot, the flying and swimming integrated bionic motion mode in this application improves the motion ability of the robot, enhances the motion speed and obstacle crossing ability, expands its water-land space motion range, and has a high degree of flexibility;

[0034] 3. The water-air dual-purpose flying and swimming integrated flapping wing robot imitating water birds in this application can use the adjustment of the flapping wing stroke plane to achieve hovering in the air and flying in any direction, and use the amplitude difference of the bilateral bionic foot fins to achieve forward movement or turning on the water surface. Description of the Drawings

[0035] By reading the detailed description of the non-restrictive embodiments with reference to the following drawings, other features, objects, and advantages of the present invention will become more obvious:

[0036] Figure 1 It is a schematic diagram of the overall structure of the robot;

[0037] Figure 2 It is a schematic diagram of the structure of the flight module;

[0038] Figure 3 It is a schematic diagram of the structure of the fuselage assembly;

[0039] Figure 4 It is a schematic diagram of the structure of the swimming module;

[0040] Figure 5 It is a flowchart of the formation of the bionic fin;

[0041] As shown in the figure:

[0042]

[0043] Specific implementation manners

[0044] The present invention will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several changes and improvements can still be made. These all belong to the protection scope of the present invention.

[0045] Embodiment 1

[0046] This embodiment provides a flying and swimming integrated flapping-wing robot imitating water birds, which can realize aerial flapping-wing flight motion and water surface fin swimming motion. In the aerial flapping-wing flight motion mode, it has six degrees of freedom and can hover in the air; in the water surface fin swimming motion mode, it can move forward and turn left and right on the water surface; the flapping-wing flight motion mode and the fin swimming motion mode can be freely switched.

[0047] As Figure 1 shown, this embodiment includes: a flight module 1, a fuselage assembly 2, and a swimming module 3; the flight module 1 is installed on the fuselage assembly 2 and realizes takeoff, landing, hovering, and six-degree-of-freedom flight through the flight module 1, and the swimming module 3 is installed on the fuselage assembly 2 and realizes forward and turning motions on the water surface through the swimming module 3.

[0048] As Figure 2As shown in the figure, the flight module 1 includes: a flapping wing mechanism 11, a rotating shaft 12, and a flight attitude control servo 13; the upper part of the fuselage frame 21 is provided with the rotating shaft 12, the rotating shaft 12 is connected to the flapping wing mechanism 11, and the flight attitude control servos 13 are installed on both sides of the fuselage frame 21. The flight attitude control servos 13 are connected to the rotating shaft 12 and change the rotation angle of the flapping wing mechanism 11 through the rotating shaft 12. The flapping wing mechanism 11 includes: a flapping wing motor, a gear transmission mechanism, and a flexible wing; the flapping wing motor drives the flexible wing to perform a flapping motion through the gear transmission mechanism. The flight control unit 24 is connected to the flight attitude control servo 13 and the flapping wing motor.

[0049] As Figure 3 shown in the figure, the fuselage assembly 2 includes: a fuselage frame 21, a swimming control board 22, a battery 23, a flight control unit 24, and a floating module 25; the swimming control board 22, the battery 23, and the flight control unit 24 are installed on the fuselage frame 21, the battery 23 is electrically connected to the swimming control board 22 and the flight control unit 24, and a floating module 25 providing buoyancy is installed at the lower part of the fuselage frame 21.

[0050] As Figure 4 shown in the figure, the swimming module 3 includes: a reduction motor 31, a worm and worm gear 32, a transmission shaft 33, a crank 34, a rocker 35, a slider 36, a slider position control servo 37, a pull rod 38, and a bionic fin 39; the reduction motor 31 is connected to and drives the worm and worm gear 32 to rotate, the worm and worm gear 32 drives the cranks 34 on both sides to rotate through the transmission shaft 33, the slider position control servo 37 is installed on the frame of the swimming module 3, the slider position control servo 37 is connected to the slider 36 through the pull rod 38 and is used to change the height of the slider 36. A chute is provided on the rocker 35, the slider 36 is located in the chute, the crank 34 is connected to one end of the rocker 35 and drives the rocker 35 to move, and the rocker 35 realizes a swinging motion through the limiting cooperation between the slider 36 and the chute. The other end of the rocker 35 is connected to the bionic fin 39 and drives the bionic fin 39 to swing. The swimming control board 22 is connected to the reduction motor 31 and the slider position control servo 37.

[0051] Combined with Figure 5As shown, the bionic fin 39 includes: toes 391, webbed membranes 392, ankle joints 393 and toe joints 394; the rocker 35 is hinged to the toes 391 through the ankle joints 393. The toes 391 include two side toes and one middle toe. A toe joint 394 is provided on the middle toe, and a webbed membrane 392 is provided between the side toes and the middle toe. The toes 391 and the ankle joints 393 are made of three-layer composite materials, which are composed of an intermediate layer and upper and lower layers on both sides of the intermediate layer. The intermediate layer is a PET film, and the upper and lower layers are carbon fiber plates; gaps are cut out along the bending positions of the toe joints 394 or the ankle joints 393 in the upper and lower layers of the toe joints 394 and the ankle joints 393. The gap width of the upper layer on the side facing the swimming direction is smaller than the gap width of the lower layer on the side facing away from the swimming direction, so as to form an asymmetric stiffness flexible hinge that can bend at different angles.

[0052] Working principle:

[0053] The robot in this embodiment includes three motion modes: an aerial bionic flapping flight motion mode, a water surface bionic fin swimming motion mode, and a water-air flying and swimming conversion mode.

[0054] Aerial bionic flapping flight motion mode:

[0055] By adjusting the flapping frequencies of the flapping mechanisms 11 on both sides, the magnitudes of the lift forces generated by the flapping mechanisms 11 on both sides are changed. By adjusting the output angles of the flight attitude control servos 13, the rotation angles of the flapping mechanisms 11 on both sides are changed, and thus the directions of the lift forces generated by the flapping mechanisms 11 on both sides are changed; when the flapping mechanisms 11 on both sides flap up and down and the flapping frequencies are the same, the robot receives a thrust along the Z-axis upward and gravity. When the flapping frequency increases, the thrust is greater than gravity, causing the robot to move upward along the Z-axis. When the flapping frequency decreases, the thrust is less than gravity, causing the robot to descend along the Z-axis, realizing the translational movement of the robot's flight along the Z-axis; when the flapping frequencies of the flapping mechanisms 11 on both sides are different, a lift force difference is generated on both sides of the robot, causing a torque around the X-axis direction on the center of gravity of the robot, realizing the rotation of the robot around the X-axis; by rotating the fuselage attitude around the X-axis, the fuselage tilt state (referring to the tilt caused by the rotation around the X-axis) is achieved. In this state, the lift force generated by the flapping mechanism 11 generates a horizontal component along the Y-axis direction, enabling the robot to achieve horizontal movement along the Y-axis; when the flight attitude control servos 13 on both sides drive the flapping mechanisms 11 on both sides to tilt to the same side, the direction of the lift force generated by the flapping mechanism 11 is tilted, causing the thrust received by the robot to generate a torque around the Y-axis direction relative to the center of gravity of the robot, realizing the rotational movement of the robot around the Y-axis; by rotating the fuselage attitude around the Y-axis, the fuselage tilt state (referring to the tilt caused by the rotation around the Y-axis) is achieved. In this state, the lift force generated by the flapping mechanism 11 generates a horizontal component along the X-axis direction, enabling the robot to achieve horizontal movement along the X-axis; when the flight attitude control servos 13 on both sides drive the flapping mechanisms 11 on both sides to tilt in different directions, the lift force generated by the flapping mechanism 11 forms a resultant force vertically upward and also forms a rotational torque around the Z-axis, enabling the robot to rotate around the Z-axis, realizing the yaw control of the robot.

[0056] Water surface biomimetic fin swimming motion mode:

[0057] By changing the heights of the sliders 36 on both sides through the slider position control servo 37, the swinging amplitudes of the rocker arms 35 and the biomimetic fins 39 on both sides are further changed. By adjusting the rotation speed of the reduction motor 31, the rowing frequency of the biomimetic fins 39 can be changed, and the rowing swimming speed can be changed; when the rowing amplitudes of the biomimetic fins 39 on both sides are the same, the robot swims forward in front of the water surface; when the rowing amplitudes of the biomimetic fins 39 on both sides are different, the robot deflects and swims towards the side with a smaller rowing amplitude;

[0058] Water-air flying and swimming conversion mode:

[0059] When the robot is in the bionic fin swimming motion mode, it provides flight lift by activating the flapping mechanisms 11 on both sides. When the lift is greater than the gravity, the robot leaves the water surface, completing the switching from the bionic fin swimming motion mode to the aerial bionic flapping flight motion mode. When the robot is in the aerial bionic flapping flight motion mode, it reduces the lift of the flapping mechanism 11, gradually approaches the water surface, stops the flapping mechanism 11 after contacting the water surface, and the deceleration motor 31 drives the bionic fin 39 to move, completing the switching from the aerial bionic flapping flight motion mode to the bionic fin swimming motion mode.

[0060] Embodiment 2

[0061] Embodiment 2 is a preferred example of Embodiment 1.

[0062] As Figure 1 shown, this embodiment includes: a flight module 1, a fuselage assembly 2, and a swimming module 3. In the flight motion mode, the robot has six flight degrees of freedom and can take off, land, and hover freely. Its lift is generated by the flight module 1. Two flapping mechanisms 11 are respectively installed on both sides of the fuselage assembly 2, and roll control can be achieved by relying on the lift difference; under the control of the lift difference between the flight attitude control servo 13 and the flapping mechanism 11, the pitch and yaw control of the robot in the air can be changed. In the swimming motion mode, the robot can achieve forward and turning motions on the water surface by the swimming module 3; the swimming module 3 is installed at the bottom of the fuselage assembly 2 and is used to complete the water surface motion.

[0063] As Figure 2 shown, the flight module 1 includes: two flapping mechanisms 11, a rotating shaft 12, and a flight attitude control servo 13. The flapping mechanism 11 is installed on the top of the fuselage assembly 2 and is connected to the rotating shaft 12. Each flapping mechanism 11 includes a flapping motor, a gear transmission mechanism, and a flexible wing. The rotating shaft 12 is installed on the top of the fuselage assembly 2 and is used to connect to the flapping mechanism 11. Two flight attitude control servos 13 are respectively arranged on both sides of the fuselage frame 21, and the flight attitude control servo 13 is used to change the rotation angle of the flapping mechanism 11 and change the lift direction.

[0064] As Figure 3 shown, the fuselage assembly 2 includes: a fuselage frame 21, a swimming control board 22, a battery 23, a flight control unit 24, and a floating module 25. The flight control unit 24 is used to collect the flight attitude of the fuselage in real time, stabilize the flight in the air, and receive remote control signals to achieve remote control flight. The battery 23 is used to supply power to the robot. The swimming control board 22 is used to remotely control the swimming actions. The floating module 25 is located at the lower part of the fuselage assembly 2 and is used to provide buoyancy for the robot to float on the water surface.

[0065] As Figure 4As shown in the figure, the swimming module 3 is located at the bottom of the robot and is used to achieve swimming by paddling. It includes: a reduction motor 31, a worm and worm gear 32, a transmission shaft 33, a crank 34, a rocker 35, a slider 36, a slider position control servo 37, a pull rod 38, and a bionic fin 39. The reduction motor 31 is used to drive the swimming module 3; the worm and worm gear 32 transmits the rotation of the reduction motor 31 to both sides, driving the transmission shaft 33 to rotate. The transmission shaft 33 drives the crank 34 of the crank-slider mechanism to rotate, and the rotation of the crank 34 drives the rocker 35 to swing back and forth along the slider 36. The slider position control servo 37 changes the height of the slider 36 through the pull rod 38, causing a height difference between the left and right sliders 36, thereby changing the swing amplitude. The bionic fin 39, which mimics the structure of a waterbird's fin, includes toes 391, webbing 392, an ankle joint 393, and a toe joint 394, and is used to generate the thrust required for swimming by paddling.

[0066] The reduction motor 31 is arranged at the top of the swimming module 3 and is connected to the worm and worm gear 32 for driving the crank 34 to rotate; the rocker 35 is connected to the bionic fin 39, and the rotational movement of the crank 34 drives the bionic fin 39 to swing back and forth. There are two bionic fins 39, and each bionic fin 39 is connected to the crank-slider mechanism and is driven to swing reciprocally.

[0067] Both the ankle joint 393 and the toe joint 394 include asymmetric stiffness flexible hinges that can bend at different angles (referring to different angles when folded and when unfolded, and the hinge has a small stiffness when folded and a large stiffness when unfolded), as Figure 4 shown in the enlarged view circled in the figure. The principle of the paddling motion of the bionic fin 39 mimics the paddling motion of a waterbird's fin. When the bionic fin swings forward, the ankle joint 393 and the toe joint 394 are folded through the asymmetric stiffness flexible hinges under the action of water pressure, as Figure 4 shown in the enlarged cross-sectional views (a) and (b) of the hinge structure circled in the figure, to reduce the resistance during the recovery stroke of paddling; when the bionic fin swings backward, the ankle joint 393 and the toe joint 394 are unfolded through the asymmetric stiffness flexible hinges under the action of water pressure, as Figure 4 shown in the enlarged cross-sectional views (c) and (d) of the hinge structure circled in the figure, to increase the surface area of the webbing 392 in contact with water to provide the thrust required for swimming.

[0068] In one embodiment, the bionic fin 39 is composed of two materials, namely a flexible PET film material and a carbon fiber sheet. Among them, the webbing 392 is preferably a PET film, and the hinges of the toe joint 394 and the ankle joint 393 are three-layer composite materials of carbon fiber sheet / PET film / carbon fiber sheet.

[0069] In one embodiment, as Figure 5As shown in the figure, a preferred manufacturing structure of the bionic fin 39 is as follows: the middle layer is made of flexible PET material, and the upper and lower layers on both sides are carbon fiber plates with a cut-out and hollowed-out structure. By controlling the width of the gaps cut out in the upper and lower carbon fiber plates, the foldable angles of the toe joints 394 and the ankle joint 393 can be adjusted.

[0070] As Figure 5 shown in the figure, the manufacturing process flow of the bionic fin 39 is as follows: First, stack the three laser-cut materials, then laminate the layers of materials into a three-layer composite material through a high-temperature vacuum bag process, and finally release it through laser cutting to obtain the bionic fin structure.

[0071] In one embodiment, the above PET film can be replaced with a PI (polyimide) film.

[0072] This embodiment includes an aerial bionic flapping-wing flight motion mode, a water surface bionic fin swimming motion mode, and a water-air flying and swimming conversion mode.

[0073] The aerial bionic flapping-wing flight motion mode is as follows:

[0074] The flight module 1 changes the magnitude of the lift generated by the two flapping-wing mechanisms 11 by adjusting the change in the flapping frequency of the two flapping-wing mechanisms 11; and changes the direction of the lift generated by the two flapping-wing mechanisms 11 by adjusting the output angle of the flight attitude control servo 13. By adjusting the magnitude and direction of the lift generated by the two flapping-wing mechanisms 11, the attitude control of six degrees of freedom during the robot's aerial flapping-wing flight is achieved, including translation in the Z direction, translation in the X direction, rotation in the X direction, rotation around the Y axis, translation in the Y direction, and rotation in the Z direction. Specifically as follows:

[0075] The flapping-wing mechanism 11 converts the rotational motion of the flapping-wing motor into the reciprocating motion of the wings to generate lift. When the flapping frequencies of the two flapping-wing mechanisms 11 are the same, the robot receives an upward thrust along the Z axis and gravity. When the flapping frequency increases, the thrust is greater than gravity, causing the robot to move upward along the Z axis. When the flapping frequency decreases, the thrust is less than gravity, causing the robot to descend along the Z axis, realizing the translational motion of the robot's flight along the Z axis.

[0076] When the rotational speeds of the flapping-wing motors in the two flapping-wing mechanisms 11 are different, a lift difference is generated on both sides of the robot, causing a torque around the X-axis direction on the robot's center of gravity, realizing the rotation of the robot around the X axis, that is, the control of the flight roll attitude. By rotating the fuselage attitude around the X axis to achieve the inclined state of the fuselage, the horizontal component of the lift generated by the flapping-wing mechanism 11 in the Y-axis direction in this state enables the robot to achieve horizontal movement along the Y axis.

[0077] When the flight attitude control servos 13 on both sides drive the flapping mechanisms 11 on both sides to tilt to the same side, the direction of the lift generated by the flapping mechanisms 11 tilts, causing the thrust received by the robot to generate a torque around the Y-axis relative to the center of gravity of the robot, realizing the rotational movement of the robot around the Y-axis, that is, the flight pitch attitude control. By rotating the fuselage attitude around the Y-axis, the tilt state of the fuselage is achieved. In this state, the lift generated by the flapping mechanisms 11 generates a horizontal component along the X-axis, enabling the robot to achieve horizontal movement along the X-axis.

[0078] When the flight attitude control servos 13 on both sides drive the flapping mechanisms 11 to tilt in different directions, the lift generated by the flapping mechanisms 11 generates a resultant force vertically upward and also generates a rotational torque around the Z-axis while generating a resultant force vertically upward, enabling the robot to rotate around the Z-axis and realizing the yaw control of the robot.

[0079] The water surface bionic fin swimming motion mode is as follows:

[0080] The swimming module 3 changes the swing amplitude output by the crank-slider mechanism by controlling the slider position servo 37, that is, changes the rowing amplitude of the bionic fins 39 on both sides, realizing forward movement or turning while swimming in the water. If the rowing amplitudes of the bionic fins 39 on both sides are the same, the robot swims forward in the water surface. By adjusting the rowing frequency, the swimming speed of rowing can be changed. If the rowing amplitudes of the bionic fins 39 on both sides are different, the robot can deflect and swim towards the side with a smaller rowing amplitude. Specifically as follows:

[0081] The worm and worm gear 32 transmits the output of the reduction motor 31 to the crank 34 of the crank-slider mechanisms on both sides through the transmission shaft 33. The rotation of the crank 34 drives the rocker 35 to move along the slider 36 and makes the rocker 35 swing back and forth, driving the bionic fin 39 to swing back and forth with a certain amplitude. During the forward swing of the bionic fin, the ankle joint 393 and toe joint 394 of the bionic fin are folded through the asymmetric stiffness flexible hinge under the action of water pressure to reduce the rowing resistance with a smaller projected area to complete the recovery stroke; during the backward swing of the bionic fin 39, the ankle joint 393 and toe joint 394 of the bionic fin 39 are unfolded through the asymmetric stiffness flexible hinge under the action of water pressure to provide rowing thrust with a larger projected area to complete the propulsion stroke.

[0082] When the slider position control servo 37 drives the pull rod 38 to cause a height difference between the left and right sliders 36, changing the geometric parameters of the crank-slider mechanism, thereby changing the swing amplitude of the bionic fins 39 on both sides. The side with a larger swing amplitude can provide a greater thrust, and the robot then turns to the other side.

[0083] The water-air flying and swimming conversion mode is as follows:

[0084] When the robot moves on the water surface, it provides flight lift by starting the flapping mechanism 11. When the lift is greater than the gravity, the robot leaves the water surface and completes the switching from swimming on the water surface to flying in the air. When the robot flies in the air, it gradually approaches the water surface by reducing the lift of the flapping mechanism 11. After contacting the water surface, the flapping mechanism 11 stops working, and the deceleration motor 31 drives the bionic fin 39 to move, completing the switching from flying in the air to swimming on the water surface.

[0085] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0086] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A water bird - imitating water - air dual - use flying and swimming integrated flapping - wing robot, characterized in that, Comprising: A flight module (1), a fuselage assembly (2), and a swimming module (3); The flight module (1) is mounted on the fuselage assembly (2), and takeoff, landing, hovering, and six-degree-of-freedom flight are achieved through the flight module (1); The swimming module (3) is mounted on the fuselage assembly (2), and forward movement and turning movement on the water surface are achieved through the swimming module (3).

2. The water bird imitating water-air dual-purpose flying and swimming integrated flapping wing robot according to claim 1, characterized in that, The fuselage assembly (2) includes: a fuselage frame (21), a swimming control board (22), a battery (23), a flight control unit (24), and a floating module (25); The fuselage frame (21) mounts the swimming control board (22), the battery (23), and the flight control unit (24), and the battery (23) is electrically connected to the swimming control board (22) and the flight control unit (24); A floating module (25) providing buoyancy is mounted on the lower part of the fuselage frame (21).

3. The water bird imitating water-air dual-purpose flying and swimming integrated flapping wing robot according to claim 2, characterized in that, The flight module (1) includes: a flapping wing mechanism (11), a rotating shaft (12), and a flight attitude control servo (13); The rotating shaft (12) is mounted on the upper part of the fuselage frame (21), and the rotating shaft (12) connects the flapping wing mechanism (11); Flight attitude control servos (13) are mounted on both sides of the fuselage frame (21), the flight attitude control servos (13) are connected to the rotating shaft (12), and the rotation angle of the flapping wing mechanism (11) is changed through the rotating shaft (12).

4. The waterfowl-like water-air dual-use integrated flapping-wing robot according to claim 3, characterized in that, The swimming module (3) includes: a reduction motor (31), a worm and worm gear (32), a transmission shaft (33), a crank (34), a rocker (35), a slider (36), a slider position control servo (37), a pull rod (38), and a bionic fin (39); The reduction motor (31) is connected to and drives the worm and worm gear (32) to rotate, and the worm and worm gear (32) drives the cranks (34) on both sides to rotate through the transmission shaft (33); The slider position control servo (37) is mounted on the frame of the swimming module (3), the slider position control servo (37) is connected to the slider (36) through the pull rod (38) and is used to change the height of the slider (36); A chute is provided on the rocker (35), the slider (36) is located in the chute, the crank (34) is connected to one end of the rocker (35) and drives the rocker (35) to move, and the rocker (35) realizes a swinging motion through the limiting cooperation between the slider (36) and the chute; The other end of the rocker (35) is connected to the bionic fin (39) and drives the bionic fin (39) to swing.

5. The water bird imitating water-air dual-use flying and swimming integrated flapping wing robot according to claim 4, characterized in that, The bionic fin (39) includes: toes (391), a webbed membrane (392), an ankle joint (393), and a toe joint (394); The rocker (35) is hinged to the toes (391) through the ankle joint (393), the toes (3) include two side toes and one middle toe, a toe joint (394) is provided on the middle toe, and a webbed membrane (392) is provided between the side toes and the middle toe.

6. The water bird imitating water-air dual-purpose flying and swimming integrated flapping wing robot according to claim 5, characterized in that: The toes (391) and the ankle joint (393) are made of a three-layer composite material, which is composed of a middle layer, an upper layer and a lower layer on both sides of the middle layer. The middle layer is a PET film or a PI film, and the upper layer and the lower layer are carbon fiber plates; The upper and lower layers of the toe joint (394) and the ankle joint (393) are cut with gaps along the bending positions of the toe joint (394) or the ankle joint (393). The width of the gap in the upper layer on the side facing the swimming direction is smaller than the width of the gap in the lower layer on the side facing away from the swimming direction, forming an asymmetric stiffness flexible hinge that can bend at different angles.

7. The water bird imitating water-air dual-purpose flying and swimming integrated flapping wing robot according to claim 4, characterized in that, The flapping wing mechanism (11) includes: a flapping wing motor, a gear transmission mechanism, and flexible wings. The flapping wing motor drives the flexible wings to perform flapping motions through the gear transmission mechanism.

8. The water bird imitating water-air dual-purpose flying and swimming integrated flapping wing robot according to claim 7, characterized in that: The flight control unit (24) is connected to the flight attitude control servo (13) and the flapping wing motor.

9. The flapping-wing robot for water and air dual-use flight and swimming integrated imitating water birds according to claim 4, wherein: The swimming control board (22) is connected to the reduction motor (31) and the slider position control servo (37).

10. A motion method of the water bird - imitating water - air dual - use flying and swimming integrated flapping - wing robot according to any one of claims 4 - 9, characterized in that, It includes: An aerial biomimetic flapping wing flight motion mode, a water surface biomimetic fin paddling swimming motion mode, and a water-air flying and swimming conversion mode; The aerial biomimetic flapping wing flight motion mode includes the following steps: Step A1, by adjusting the flapping frequencies of the two flapping wing mechanisms (11), the magnitudes of the lift forces generated by the two flapping wing mechanisms (11) are changed. Step A2, by adjusting the output angles of the flight attitude control servos (13), the rotation angles of the two flapping wing mechanisms (11) are changed, and further the directions of the lift forces generated by the two flapping wing mechanisms (11) are changed. Step A3, when the flapping frequencies of the two flapping wing mechanisms (11) are the same, the robot receives a thrust along the Z-axis upward and gravity. When the flapping frequency increases, the thrust is greater than gravity, causing the robot to move upward along the Z-axis. When the flapping frequency decreases, the thrust is less than gravity, causing the robot to descend along the Z-axis, realizing the translational motion of the robot's flight along the Z-axis. When the flapping frequencies in the two flapping wing mechanisms (11) are different, a lift force difference is generated on both sides of the robot, causing a torque around the X-axis direction on the robot's center of gravity, realizing the rotation of the robot around the X-axis. By rotating the fuselage attitude around the X-axis to achieve fuselage tilt. In this state, the lift force generated by the flapping wing mechanism (11) generates a horizontal component along the Y-axis direction, thereby realizing the horizontal movement of the robot along the Y-axis. When the two flight attitude control servos (13) drive the two flapping wing mechanisms (11) to tilt to the same side, the direction of the lift force generated by the flapping wing mechanism (11) is tilted, causing the thrust received by the robot to generate a torque around the Y-axis direction relative to the robot's center of gravity, realizing the rotational motion of the robot around the Y-axis. By rotating the fuselage attitude around the Y-axis to achieve fuselage tilt. In this state, the lift force generated by the flapping wing mechanism (11) generates a horizontal component along the X-axis direction, thereby realizing the horizontal movement of the robot along the X-axis. When the two flight attitude control servos (13) drive the two flapping wing mechanisms (11) to tilt in different directions, the lift force generated by the flapping wing mechanism (11) forms a resultant force vertically upward and also forms a rotational torque around the Z-axis, enabling the robot to rotate around the Z-axis, realizing the yaw control of the robot. The water surface biomimetic fin paddling swimming motion mode includes the following steps: Step B1, by the slider position control servo (37), the heights of the two sliders (36) are changed, and further the swinging amplitudes of the two rockers (35) and the biomimetic fins (39) are changed. Step B2: By adjusting the rotation speed of the deceleration motor (31) to change the stroke frequency of the bionic fin (39), the swimming speed of stroke swimming can be changed; Step B3: When the stroke amplitudes of the two bionic fins (39) are the same, the robot swims forward in front of the water surface; When the stroke amplitudes of the two bionic fins (39) are different, the robot deflects and swims towards the side with a smaller stroke amplitude; The water-air flying and swimming conversion mode includes the following steps: Step C1: When the robot is in the bionic fin stroke swimming motion mode, by starting the two flapping mechanisms (11) to provide flight lift, when the lift is greater than the gravity, the robot leaves the water surface to complete the switching from the bionic fin stroke swimming motion mode to the aerial bionic flapping flight motion mode; Step C2: When the robot is in the aerial bionic flapping flight motion mode, by reducing the lift of the flapping mechanism (11), it gradually approaches the water surface. After contacting the water surface, the flapping mechanism (11) stops working, and the deceleration motor (31) drives the bionic fin (39) to move to complete the switching from the aerial bionic flapping flight motion mode to the bionic fin stroke swimming motion mode.

Images