Bionic robot with walking, jumping and takeoff functions and movement method

Abstract

The invention discloses a bionic robot with walking, jumping and taking-off functions and a movement method, and belongs to the technical field of robots. The robot comprises a control system, a flapping wing mechanism and two leg mechanisms. Each leg mechanism comprises a driving device I, an execution connecting rod mechanism and a buffer foot part, the buffer foot part is connected with the execution connecting rod mechanism, and the execution connecting rod mechanism is driven by the driving device I; the flapping wing mechanism comprises a driving device II, a transmission mechanism, wings and an empennage; the execution link mechanism is connected with the transmission mechanism, the wings and the empennage are respectively connected with the transmission mechanism, the transmission mechanism is driven by the driving device II, the control system is used for controlling the driving device I and the driving device II, and the motion modes comprise walking, jumping and flying. The multi-mode bird-simulating robot has a multi-mode bird-simulating motion function, can autonomously realize mode switching from land motion to air flight, and remarkably improves the motion performance of the robot.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and relates to jumping robots, and more particularly to a bird-like robot and its movement method that integrates walking, jumping and flapping-wing flight and has multiple movement modes. Background Technology

[0002] Birds, as the most representative flying creatures in nature, have always attracted much attention for their unique flapping-wing flight structure. Inspired by birds, researchers have proposed various advanced technological solutions based on biomimetic principles. With the rapid development of technology and continuous iteration of prototypes, researchers have been able to develop flapping-wing aircraft with diverse structures, referencing various flying creatures such as birds and bats. Compared with traditional fixed-wing and rotary-wing aircraft, these flapping-wing aircraft have significant advantages in energy consumption and noise control, better mimicking the flight patterns of birds in nature, and possessing characteristics such as high stealth and low noise. Currently, the focus of related research has gradually expanded from the early analysis of flapping-wing motion mechanisms to multiple aspects such as flight control systems, autonomous takeoff and landing, and land movement. Prototypes suitable for different mission requirements are being developed step by step, showing broad application prospects in both military and civilian fields.

[0003] However, in nature, most birds are not only capable of flight but also adapt flexibly to terrestrial environments, seamlessly switching between aerial and ground-based locomotion modes. A bird's wings are primarily used for flight, while its legs perform multiple functions, including walking, jumping, and even assisting in takeoff. Existing research on bird-inspired robots largely focuses on flapping-wing flight itself, generally lacking in-depth integration of leg movement mechanisms. This limits the robot's adaptability in terrestrial environments, hindering effective land movement and making smooth transitions between aerial and ground modes even more difficult. Therefore, significant challenges remain in achieving multimodal locomotion capabilities in biomimetic birds, requiring the integration of gaits with different kinematic and propulsive characteristics, such as walking and jumping, while maintaining lightweight design and low-energy flight.

[0004] Studying the physiological structure and locomotion mechanisms of birds in nature, and systematically mimicking their multimodal locomotion behaviors to overcome the functional limitations of single locomotion patterns, has become an urgent problem for those in the field. Summary of the Invention

[0005] To overcome the shortcomings of existing technologies, this invention provides a biomimetic robot capable of walking, jumping, and taking off. This robot has multimodal bird-like movement modes, breaking through the functional limitations brought about by a single movement mode. The robot has the functions of walking, jumping, and taking off, and can autonomously switch between modes of movement from land to flight. It overcomes the limitations of traditional hand-launched takeoff and realizes systematic biomimetic multimodal movement behavior.

[0006] A biomimetic robot capable of walking, jumping, and taking off includes a control system, a flapping wing mechanism, and two leg mechanisms. The two leg mechanisms are symmetrically arranged, and each leg mechanism includes a drive device I, an actuating linkage mechanism, and a cushioned foot. The cushioned foot is connected to the actuating linkage mechanism, which is driven by the drive device I to enable the robot to walk and jump. The flapping wing mechanism includes a drive device II, a transmission mechanism, a wing, and a tail fin. The actuating linkage mechanism is connected to the transmission mechanism, and the wing and tail fin are respectively connected to the transmission mechanism. The transmission mechanism is driven by the drive device II to enable the robot to fly. The control system is used to control the drive device I and the drive device II.

[0007] Furthermore, each actuator linkage includes a jumping frame, a rod, b rod, c rod, d rod, e rod, and f rod; one end of f rod is rotatably connected to e rod, the other end of e rod is rotatably connected to d rod, both ends of d rod are rotatably connected to the jumping frame and c rod respectively, both ends of b rod are rotatably connected to one end of c rod and a rod respectively, a rod is rotatably connected to the jumping frame, a buffer foot is rotatably mounted on the other end of c rod 2, an energy storage torsion spring is mounted at the rotatable connection between c rod and d rod, and f rod and a rod are driven by drive device I respectively.

[0008] Furthermore, the transmission mechanism includes a flight frame, gear I, double gear II, gear III, gear IV, connecting rod I, rocker arm I, connecting rod II, and rocker arm II. Double gear II, gear III, and gear IV are all rotatably mounted on the flight frame. Gear I is connected to the output end of drive device II. The large gear of double gear II meshes with gear I, the small gear of double gear II meshes with gear III, and gear IV meshes with gear III. Both ends of connecting rod I are rotatably connected to gear III and rocker arm I, respectively. One end of rocker arm I is rotatably connected to the flight frame, and the other end of rocker arm I is connected to the wing. Both ends of connecting rod II are rotatably connected to gear IV and rocker arm II, respectively. One end of rocker arm II is rotatably connected to the flight frame, and the other end of rocker arm II is connected to the wing.

[0009] A biomimetic robot locomotion method, based on the aforementioned biomimetic robot capable of walking, jumping, and taking off, includes the following walking and jumping locomotion method:

[0010] (1) Walking

[0011] In the initial state, with rod a below rod d and the energy storage torsion spring in an uncharged state, the walking mode is executed according to the following steps:

[0012] 1) First, the geared motor drives the cam to rotate according to the signal of the control system. The cam contacts the a rod, which in turn pushes the a rod to rotate around its hinge point. The rotation of the a rod drives the c rod to perform the lifting action through the b rod, and in this process, the energy storage torsion spring 18 stores energy.

[0013] 2) Then, the servo motor receives a signal from the control system and drives the f rod to rotate, which in turn drives the d rod to swing down. At the same time, the geared motor receives a signal from the control system and rotates in the opposite direction. The c rod begins to swing down under the torque of the energy storage torsion spring until the cushioning foot lands on the ground. Through the coordinated action of the above movements, the complete action of the cushioning foot stepping forward and landing on one side is completed.

[0014] 3) The other side's cushioning foot moves in coordination with the same principle and timing, alternating between the two sides to achieve the machine's [function / function].

[0015] The robot walks forward continuously;

[0016] (2) Jump

[0017] 1) Energy storage and preparation stage: The geared motor drives the cam to rotate according to the signal from the control system. The cam pushes the a rod to rotate around its hinge point, which in turn drives the c rod to rotate, causing the linkage mechanism to retract to the dead point position. During this process, the energy storage torsion spring stores energy. At the same time, the servo motor receives the signal from the control system and drives the f rod to rotate, which in turn drives the d rod to rotate, so as to adjust the robot's posture before jumping.

[0018] 2) Release and take-off phase: Subsequently, the geared motor receives the signal from the control system and drives the cam to reverse, causing the linkage mechanism to pass the dead point; then the geared motor stops rotating, and the energy stored in the energy storage torsion spring drives the C-bar to rotate rapidly, performing a rapid leg extension and push-off action, thereby launching the robot into the air;

[0019] 3) Aerial Attitude Adjustment Phase: During the robot's descent, the geared motor and servo motor receive signals from the control system.

[0020] The system uses signals to coordinate and adjust the positions of the C-axis and E-axis to change the robot's attitude in the air and prepare for a smooth landing.

[0021] 4) Buffering and landing phase: When the buffer feet contact the ground, they absorb and dissipate the impact energy, achieving an effective buffering effect and ultimately ensuring that the robot lands smoothly. This process is repeated to achieve continuous jumping motion.

[0022] A biomimetic robot locomotion method, based on the aforementioned biomimetic robot capable of walking, jumping, and taking off, includes the following flight locomotion method:

[0023] Once the robot jumps into the air and reaches takeoff speed, the brushless motor receives a signal from the control system and drives gear I to rotate. This causes gears II, III, and IV to rotate together. Gears III and IV act as cranks, driving connecting rods I and II respectively. In turn, these cranks drive rocker arms I and II to perform periodic reciprocating motions. Ultimately, the rotation of the brushless motor is converted into the periodic up-and-down flapping of the wings to generate the lift and thrust required to maintain flight. During this process, the tail provides pitch and yaw stability to the aircraft, ensuring the stability of the flight attitude and thus enabling the robot to fly continuously and stably.

[0024] The advantages of this invention compared to the prior art are:

[0025] The mechanical structure and motion principle of the robot's legs in this design differ from existing technologies. This design features two legs, using the dead-point characteristics of a four-bar linkage to achieve jumping. Walking is achieved by the four-bar linkage driven by a motor and torsion spring. The flapping wing is different from the wings in this design. The transparent sheet on the wing surface adopts a passively opening and closing valve-type configuration. When the wing flaps upward, air can flow out through the gap between the wing frame and the transparent sheet to reduce the drag on the wing during the upward flapping. When the wing flaps downward, the transparent sheet fits tightly against the wing frame, and a fixed tail fin is added at the rear to ensure flight stability.

[0026] The actuator linkage is a set of parametrically optimized seven links that achieves two main effects: first, biomimetic motion and functional integration: the mechanism has two degrees of freedom, accurately simulating the movement of a bird's legs, achieving walking and jumping functions with a simple structure while avoiding the extra weight of complex linkage mechanisms; second, efficient energy storage and release: the mechanism design includes dead-point positions, allowing for efficient energy storage and instantaneous release of the torsion spring by controlling the forward and reverse rotation of the motor, reducing the complexity of the latching mechanism in the jumping mechanism and simplifying the leg structure. The transmission mechanism employs a double-crank, double-rocker mechanism, reducing flight yaw and enhancing maneuverability.

[0027] The robot in this solution has a compact overall structure and is easy to control, which effectively reduces the overall manufacturing cost.

[0028] The present invention will be further described below with reference to the accompanying drawings and embodiments: Attached Figure Description

[0029] Figure 1 This is an assembly drawing of a biomimetic robot capable of walking, jumping, and taking off according to the present invention.

[0030] Figure 2 This is a front view of a biomimetic robot capable of walking, jumping, and taking off according to the present invention.

[0031] Figure 3 Assembly drawing for the leg mechanism;

[0032] Figure 4 Assembly drawing showing the connection between the transmission mechanism and the wing;

[0033] Figure 5 A schematic diagram showing the connection between the transmission mechanism, tail fin, and flight mechanism;

[0034] Figure 6 This is a front view of a biomimetic robot capable of walking, jumping, and taking off according to the present invention. Detailed Implementation

[0035] The embodiments of the technical solutions of this application will now be described in detail with reference to the accompanying drawings. Unless otherwise stated, the technical or scientific terms used in this application have the ordinary meanings understood by those skilled in the art.

[0036] Example 1, Reference Figure 1 This embodiment A biomimetic robot capable of walking, jumping, and taking off includes a control system, a flapping wing mechanism, and two leg mechanisms. The two leg mechanisms are arranged symmetrically, and each leg mechanism includes a drive device IB1, an actuation linkage mechanism B2, and a cushioning foot B3. The cushioning foot B3 is connected to the actuation linkage mechanism B2, and the actuation linkage mechanism B2 is driven by the drive device IB1 to enable the robot to achieve walking and jumping modes.

[0037] The flapping wing mechanism includes a drive device IIA1, a transmission mechanism A2, a wing A3, and a tail wing A4; an actuating linkage mechanism B2 is connected to the transmission mechanism A2, and the wing A3 and tail wing A4 are respectively connected to the transmission mechanism A2. The transmission mechanism A2 is driven by the drive device IIA1 to enable the robot to achieve flight mode. The control system 5 is used to control the drive device IB1 and the drive device IIA1.

[0038] Most existing bird-like robots can only take off by being thrown by hand. The robot in this embodiment can take off by jumping. Most existing flapping-wing robots can only fly and have limited functionality. The robot in this embodiment has the ability to walk and jump on the ground. This embodiment designs a leg mechanism and a flapping-wing mechanism, which are connected to achieve mechanical coupling. Walking and jumping are completed by the leg mechanism, and flight after jumping is completed by the flapping-wing mechanism.

[0039] Example 2, Reference Figure 2 and Figure 3This embodiment provides a biomimetic robot capable of walking, jumping, and taking off. Each linkage mechanism includes a jumping frame 26, a-link 10, b-link 4, c-link 2, d-link 3, e-link 8, and f-link 7. One end of f-link 7 is rotatably connected to one end of e-link 8, and the other end of e-link 8 is rotatably connected to d-link 3. Both ends of d-link 3 are rotatably connected to the jumping frame 26 and c-link 2, respectively. Both ends of b-link 4 are rotatably connected to one end of c-link 2 and a-link 10, respectively. A-link 10 is rotatably connected to the jumping frame 26. A buffer foot B3 is rotatably mounted on the other end of c-link 2. An energy storage torsion spring 18 is mounted at the rotatable connection between c-link 2 and d-link 3. F-link 7 and a-link 10 are driven by a drive device IB1, respectively.

[0040] Furthermore, the drive device IB1 includes a geared motor 29, a servo motor 30, and a cam 9; the geared motor 29 is mounted on the d-bar 3, the cam 9 is mounted on the output end of the geared motor 29, the servo motor 30 is mounted on the jump frame 26, one end of the f-bar 7 is fixedly connected to the output end of the servo motor 30, and the other end of the f-bar 7 is rotatably connected to one end of the e-bar 8.

[0041] The robot's leg mechanism employs a set of parameter-optimized seven-bar linkages, achieving two main effects: First, biomimetic motion and functional integration: This mechanism has two degrees of freedom, accurately simulating the movement of a bird's legs. While achieving walking and jumping functions with a simple structure, it avoids the additional weight brought by complex linkage mechanisms. Second, efficient energy storage and release: The mechanism design includes dead-point positions, and by controlling the forward and reverse rotation of the reduction motor 29, the energy storage torsion spring 18 can be efficiently stored and released instantaneously, eliminating the complex latching mechanism required in traditional jumping mechanisms and simplifying the leg structure.

[0042] In terms of the drive system, a combination of a miniature geared motor 29 and a servo motor 30 is used, which not only makes the drive structure compact and easy to control, but also effectively reduces the overall manufacturing cost.

[0043] Furthermore, the buffer foot B3 includes a support leg 1 and a buffer torsion spring 28; the support leg 1 and the other end of the c rod 2 are rotatably connected, and the buffer torsion spring 28 is installed at the rotatable connection between the support leg 1 and the c rod 2. The buffer torsion spring 28 is twisted under the impact of the ground, absorbing and dissipating the impact energy, thereby achieving an effective buffering effect.

[0044] The robot's leg mechanism adopts a symmetrical layout on both sides, with the left and right sides having identical structures. Therefore, the function or role of each component will be described using the single-sided leg mechanism and flapping wing mechanism as examples.

[0045] Support leg 1: Contacts the ground to provide support for the robot and ensure its posture stability and balance. Hinged to rod C2, with a buffer torsion spring 28 installed at the hinge.

[0046] Link 2 (c): An output link in the linkage mechanism, consisting of three links. One end is hinged to link 4 (b), and the other end is hinged to leg 1, with a buffer torsion spring 28 installed at the hinge. It is also hinged to link 3 (d) at a point in the middle of the link, with an energy storage torsion spring 18 installed at the hinge.

[0047] Link 3 (d): One of the two links in the linkage mechanism. One end is hinged to link 2 (c), and the other end is hinged to the jump frame 26 and link 10 (a). It is also hinged to link 8 (e) at a point in the middle of the link. An energy storage torsion spring 18 is installed at the hinge point with link 2 (c).

[0048] Link 4 (b): One of the two links in the linkage mechanism. Its two ends are hinged to links 10 (a) and 2 (c). Control system 5 is a control circuit board: fixed to the jumping frame 26), driving and controlling the miniature geared motor 29, servo motor 30, and the miniature brushless motor in the flapping wing mechanism A, as well as controlling the entire robot.

[0049] f-link 7: One of the input links in the linkage mechanism. One end is fixed to the servo motor 30, and the other end is hinged to e-link 8.

[0050] Link 8 (e): One of the links in the linkage mechanism. Its two ends are hinged to link 7 (f) and link 3 (d).

[0051] Cam 9: The actuator of drive unit IB1. It is fixedly connected to the output shaft of miniature geared motor 29, and can contact rod 10 by rotation, thereby driving rod 10 to rotate.

[0052] Link 10 (a): One of the input links in the linkage mechanism. Its two ends are hinged to link 4 (b) and link 3 (d), respectively.

[0053] Energy storage torsion spring 18: An elastic element of the robot, providing power for walking and jumping; there are two in total. They are installed at the hinge of link d3 and link c2.

[0054] Jumping frame 26: Serves as the base for the robot's leg mechanism and works with multiple parts.

[0055] Buffer torsion spring 28: An elastic element for the robot, used for landing cushioning; two springs are used. They are installed at the hinge between rod 2 (C-link) and leg 1.

[0056] Gear motor 29: One of the power sources for the robot's leg mechanism, providing sufficient torque. It is fixed to the d-bar 3, and its output shaft is fixedly connected to the cam 9. Its power line is connected to the control system 5.

[0057] Servo motor 30: One of the power sources for the robot's leg mechanism, providing sufficient torque. It is fixed to the jumping frame 26, and its output shaft is fixedly connected to the f-bar 7. Its wires are connected to the control system 5.

[0058] Example 3, Reference Figures 1-3 and Figure 6 Based on the multimodal biomimetic robot described in the above embodiments, a bird-like robot locomotion method is introduced. This method, implemented using a biomimetic robot capable of walking, jumping, and taking off, includes the following walking and jumping locomotion method:

[0059] (1) Walking

[0060] In the initial state, lever 10 is below lever 3 and the energy storage torsion spring 18 is in an uncharged state. The walking mode is executed according to the following steps:

[0061] 1) First, the geared motor 29 drives the cam 9 to rotate according to the signal of the control system 5. The cam 9 contacts the a rod 10, which in turn pushes the a rod 10 to rotate around its hinge point. The rotation of the a rod 10 drives the c rod 2 to perform the lifting action through the b rod 4, and stores energy in the energy storage torsion spring 18 during this process.

[0062] 2) Then, the servo motor 30 receives a signal from the control system 5 and drives the f rod 7 to rotate, which in turn drives the d rod 3 to swing down. At the same time, the geared motor 29 receives a signal from the control system 5 and rotates in the opposite direction. The c rod 2 begins to swing down under the torque of the energy storage torsion spring 18 until the cushioning foot B3 lands. Through the coordination of the above movements, the complete action of the cushioning foot B3 on one side stepping forward and landing is completed.

[0063] 3) The other side cushioning foot B3 moves in coordination with the same principle and timing, alternating between the two sides to achieve continuous forward walking of the robot.

[0064] (2) Jump

[0065] 1) Energy storage and preparation stage: The geared motor 29 drives the cam 9 to rotate according to the signal of the control system 5. The cam 9 pushes the a rod 10 to rotate around its hinge point, which in turn drives the c rod 2 to rotate, so that the linkage mechanism B2 retracts to the dead point position of the mechanism. During this process, the energy storage torsion spring 18 stores energy. At the same time, the servo motor 30 receives the signal of the control system 5 and drives the f rod 7 to rotate, which drives the d rod 3 to rotate, so as to adjust the robot's posture before jumping.

[0066] 2) Release and take-off phase: Subsequently, the geared motor 29 receives the signal from the control system 5 and drives the cam 9 to reverse, causing the linkage mechanism B2 to pass the dead point; then the geared motor 29 stops rotating, and the energy stored in the energy storage torsion spring 18 drives the c-bar 2 to rotate rapidly, performing a rapid leg extension and push-off action, thereby launching the robot into the air.

[0067] 3) Aerial Attitude Adjustment Phase: During the robot's descent, the geared motor 29 and servo motor 30 respectively receive...

[0068] The signals from control system 5 coordinate the adjustment of the positions of c-link 2 and d-link 3 to change the robot's attitude in the air and prepare for a smooth landing.

[0069] 4) Buffering and Landing Phase: When foot 1 contacts the ground, the buffer torsion spring 28 twists under the impact of the ground, absorbing and dissipating the impact energy, achieving an effective buffering effect, and ultimately ensuring that the robot lands smoothly. This process is repeated to achieve continuous walking and jumping movements.

[0070] Example 4, Reference Figure 4 and Figure 5 This embodiment provides a bionic robot capable of walking, jumping, and taking off. The transmission mechanism A2 includes a flight frame 23, gear I22, double gear II6, gear III31, gear IV32, connecting rod I 13, rocker I 11, connecting rod II 15, and rocker II 16.

[0071] Double gears II6, III31, and IV32 are rotatably mounted on the flight frame 23. Gear I22 is connected to the output end of drive device II21, which is a brushless motor. The large gear of double gear II6 meshes with gear I22, the small gear of double gear II6 meshes with gear III31, and gear IV32 meshes with gear III31. The two ends of connecting rod 13 are rotatably connected to gear III31 and rocker arm 11, respectively. One end of rocker arm 11 is rotatably connected to the flight frame 23, and the other end of rocker arm 11 is connected to wing A3. The two ends of connecting rod 15 are rotatably connected to gear IV32 and rocker arm 16, respectively. One end of rocker arm 16 is rotatably connected to the flight frame 23, and the other end of rocker arm 16 is connected to wing A3.

[0072] The flapping wing mechanism A employs a double-crank, double-rocker mechanism. The double cranks and double rockers are symmetrically arranged to balance the inertial forces of the flapping wing motion and suppress fuselage vibration. Furthermore, the left and right flapping wing mechanisms achieve synchronized movement through gear meshing, ensuring phase synchronization of the left and right flapping wing actions, thereby reducing flight yaw and enhancing maneuverability. Simultaneously, the robot utilizes a simple and lightweight tail fin A4 to ensure flight stability.

[0073] Furthermore, the wing A3 includes a transparent sheet, a wing frame 24, and a support rod 25; the support rod 25 is mounted on the wing frame 24, and rocker arm 11 and rocker arm 26 are respectively connected to the support rod 25. The transparent sheet is mounted on the outer surface of the wing frame 24. The tail wing A4 includes a connecting rod 27, a V-shaped tail wing 14, and a tail wing connector 12; one end of the connecting rod 27 is connected to the flight frame 23, and the other end of the connecting rod 27 is connected to the tail wing connector 12. The V-shaped tail wing 14 is mounted on the tail wing connector 12. The battery 19 is fixedly connected to the connecting rod 27 via a battery holder 20. The robot's leg mechanism and flapping wing mechanism are bolted together on the jumping frame 26 and the flight frame 23 to form a whole, achieving mechanical coupling.

[0074] Describe the function or role of each component using the transmission mechanism, twin wings (symmetrically arranged), and tail fin of the flapping wing mechanism as examples.

[0075] Joystick 11: An output lever in the transmission system, there are two in total. One end is hinged to the flight frame 23 and to the right connecting rod 13, and a support rod 25 is inserted at the end.

[0076] Tail wing connector 12: Fixes the tail wing, one end of which is fixed to the connecting rod 27 (e.g., carbon fiber rod), and the other end is bonded to the V-shaped fixed tail wing 14.

[0077] Link 13: One of the links in the transmission system. Both ends are hinged to rocker arm 11 and gear III31, respectively.

[0078] V-shaped fixed tail 14: Provides longitudinal (pitch) and directional stability to the airframe, ensuring stable flight attitude. It is bonded to the tail connector 12.

[0079] Link 2 15: One of the links in the transmission system. Both ends are hinged to rocker arm 2 16 and gear IV 32, respectively.

[0080] Joystick 2 16: An output lever in the transmission system, there are two in total. One end is hinged to the flight frame 23 and to the connecting rod 2 15, and the other end is inserted into the support rod 25.

[0081] Transparent sheet (e.g., PVC transparent sheet): Maintains the wing shape and good aerodynamic properties, and is attached to the surface of the wing frame 24.

[0082] Double gear 6: One of the reduction gears in the flapping wing mechanism, used to reduce speed, increase torque, and transmit power. It is connected to the flight frame 23 via a pin and can rotate around the pin. The large gear end meshes with the tooth surface of gear I22, and the small gear end meshes with gear III31.

[0083] Battery 19: The robot's power source. It is secured to the robot body via battery holder 20.

[0084] Battery holder 20: Holds the battery 19 in place. It is securely connected to the carbon fiber rod 27.

[0085] Drive unit IIA1 (e.g., a miniature brushless motor): the power source for the robot's flapping wing mechanism, providing high-frequency rotation speed and sufficient torque, fixed on the flight frame 22, and its wires are connected to the control circuit board 5.

[0086] Gear I22: The input gear of the flapping wing section, transmitting the torque and speed output by the brushless motor. It is fixedly connected to the output shaft of the miniature brushless motor 21, and also meshes with the large gear end of the double gear II6.

[0087] Flight frame 23: Serves as the base of the robot's flapping wing mechanism and works with multiple parts.

[0088] Wing frame 24: A hollow design that provides the shape framework for the wing. It is connected to the corresponding rocker arm via support rods 25 (such as carbon fiber rods), and the surface is covered with a transparent PVC sheet.

[0089] Support rod 25 (e.g., carbon fiber rod): connects the wing frame 24 to the corresponding rocker arm to fix the wing frame 24.

[0090] Connecting rod 27 (e.g., carbon fiber rod): Both ends are fixedly connected to the flight frame 23 and the tail fin connector 12, respectively.

[0091] Gear III31: One of the reduction gears in the flapping wing mechanism, used to reduce speed, increase torque, and transmit power, equivalent to the action of a crank. It is connected to the flight frame 23 via a pin and can rotate around its pin, meshing with the pinion end of the double gear II6.

[0092] Gear IV 32: One of the reduction gears in the flapping wing mechanism, used to reduce speed, increase torque, and transmit power, equivalent to the action of a crank. It is connected to the flight frame 23 via a pin and can rotate around its pin, meshing with gear III 31.

[0093] In terms of structural lightweighting, the robots in Embodiments 1 and 3 extensively utilize high-strength-to-weight ratio materials such as carbon fiber and fiber-reinforced nylon for their leg components; the wing frame, outriggers, and large gears in the transmission system all employ a hollow design, achieving maximum weight reduction while ensuring structural strength in critical areas; the wings are constructed by attaching PVC transparent sheets, further reducing weight while maintaining good aerodynamic characteristics. These measures work together to significantly improve the robot's motion performance.

[0094] The mechanical structure and motion principle of the robot's legs in this design differ from existing technologies. This design features two legs, using the dead-point characteristics of a four-bar linkage to achieve jumping. Walking is achieved by the four-bar linkage driven by a motor and torsion spring. The flapping wing is different from the wings in this design, featuring a hollowed-out design. The transparent sheet on the wing surface adopts a passively opening and closing valve-like configuration. When the wing flaps upward, air can flow out through the gap between the wing frame and the transparent sheet, reducing the drag experienced by the wing during the upward flapping. When the wing flaps downward, the transparent sheet fits tightly against the wing frame, and a fixed tail fin is added at the rear to ensure flight stability.

[0095] Example 5, Reference Figures 1-6 This embodiment, based on the biomimetic robot capable of walking, jumping, and taking off described in Embodiments 1 and 2, and building upon Embodiment 3, provides a method for the flight movement of a bird-like robot, comprising:

[0096] Once the robot jumps into the air and reaches takeoff speed, the brushless motor 21 receives a signal from the control system 5, driving gear I22 to rotate. This causes double gear II6, gear III31, and gear IV32 to rotate together. Gear III31 and gear IV32 act as cranks, driving connecting rod 13 and connecting rod 25 respectively. This, in turn, drives rocker arm 11 and rocker arm 26 to perform periodic reciprocating motions. Ultimately, the rotation of the brushless motor is converted into the periodic up-and-down flapping of the wing A3 to generate the lift and thrust required to maintain flight. During this process, the tail fin A4 provides pitch and yaw stability to the fuselage, ensuring the stability of the flight attitude and thus enabling the robot to achieve continuous and stable flight.

[0097] This application has disclosed the preferred implementation examples above, but it is not intended to limit this application. Any person skilled in the art can make some modifications or alterations to the above-disclosed structure and technical content to create equivalent implementation examples without departing from the scope of the technical solution of this application, and all such modifications and alterations are within the scope of the technical solution of this application.

Claims

1. A biomimetic robot capable of walking, jumping, and taking off, characterized in that: It includes a control system, a flapping wing mechanism, and two leg mechanisms; the two leg mechanisms are arranged symmetrically, and each leg mechanism includes a drive device I, an actuation linkage mechanism, and a cushioned foot. The cushioned foot is connected to the actuation linkage mechanism, and the actuation linkage mechanism is driven by the drive device I to enable the robot to achieve walking and jumping modes. The flapping wing mechanism includes a drive unit II, a transmission mechanism, wings, and a tail wing; the actuating linkage mechanism is connected to the transmission mechanism, and the wings and tail wing are respectively connected to the transmission mechanism. The transmission mechanism is driven by the drive unit II to enable the robot to achieve flight mode. The control system is used to control the drive unit I and the drive unit II.

2. The biomimetic robot capable of walking, jumping, and taking off according to claim 1, characterized in that: Each linkage mechanism includes a jumping frame, a rod, b rod, c rod, d rod, e rod, and f rod; one end of f rod is rotatably connected to e rod, the other end of e rod is rotatably connected to d rod, both ends of d rod are rotatably connected to the jumping frame and c rod respectively, both ends of b rod are rotatably connected to one end of c rod and a rod respectively, a rod is rotatably connected to the jumping frame, a buffer foot is rotatably mounted on the other end of c rod, an energy storage torsion spring is mounted at the rotatable connection between c rod and d rod, and f rod and a rod are driven by drive device I respectively.

3. The biomimetic robot capable of walking, jumping, and taking off according to claim 2, characterized in that: The drive device I includes a geared motor, a servo motor, and a cam; the geared motor is mounted on the d-bar, the cam is mounted on the output end of the geared motor, the servo motor is mounted on the jump frame, one end of the f-bar is fixedly connected to the output end of the servo motor, and the other end of the f-bar is rotatably connected to one end of the e-bar.

4. A biomimetic robot capable of walking, jumping, and taking off according to claim 2, characterized in that: The buffer The punching foot includes a support leg and a buffer torsion spring; the support leg and the other end of the C-rod are rotatably connected, and the buffer torsion spring is installed at the rotatable connection between the support leg and the C-rod.

5. A biomimetic robot capable of walking, jumping, and taking off according to claim 1 or 2, characterized in that: The transmission mechanism includes the flight frame, gear I, double gear II, gear III, gear IV, connecting rod I, rocker I, connecting rod II, and rocker II; Gears II, III, and IV are rotatably mounted on the flight frame. Gear I is connected to the output end of drive unit II. The large gear of gear II meshes with gear I, the small gear of gear II meshes with gear III, and gear IV meshes with gear III. The two ends of connecting rod I are rotatably connected to gear III and rocker arm I, respectively. One end of rocker arm I is rotatably connected to the flight frame, and the other end of rocker arm I is connected to the wing. The two ends of connecting rod II are rotatably connected to gear IV and rocker arm II, respectively. One end of rocker arm II is rotatably connected to the flight frame, and the other end of rocker arm II is connected to the wing.

6. A biomimetic robot capable of walking, jumping, and taking off according to claim 5, characterized in that: The drive device II is a brushless motor.

7. A biomimetic robot capable of walking, jumping, and taking off according to claim 6, characterized in that: The wing comprises a transparent sheet, a wing frame, and a support rod; the support rod is installed on the wing frame, rocker arm one and rocker arm two are respectively connected to the support rod, and the transparent sheet is connected to the outer surface of the wing frame.

8. A biomimetic robot capable of walking, jumping, and taking off according to claim 6, characterized in that: The tail fin A4 includes a connecting rod, a V-shaped tail fin, and a tail fin connector; one end of the connecting rod is connected to the aircraft frame, and the other end of the connecting rod is connected to the tail fin connector, and the V-shaped tail fin is mounted on the tail fin connector.

9. A biomimetic robot motion method, characterized in that: Based on the biomimetic robot with walking, jumping, and takeoff capabilities as described in claim 3, its walking and jumping motion method includes: (1) Walking In the initial state, with rod a below rod d and the energy storage torsion spring in an uncharged state, the walking mode is executed according to the following steps: 1) First, the geared motor drives the cam to rotate according to the signal from the control system. The cam contacts rod a, which in turn pushes rod a to rotate around its hinge point. The rotation of rod a drives rod c to perform an upward action through rod b, and in the process, energy is stored in the energy storage torsion spring. 2) Then, the servo motor receives a signal from the control system and drives the f rod to rotate, which in turn drives the d rod to swing down. At the same time, the geared motor receives a signal from the control system and rotates in the opposite direction. The c rod begins to swing down under the torque of the energy storage torsion spring until the cushioning foot lands on the ground. Through the coordinated action of the above movements, the complete action of the cushioning foot stepping forward and landing on one side is completed. 3) The other side's cushioning foot moves in coordination with the same principle and timing, alternating between the two sides to achieve the machine's [function / function]. The robot walks forward continuously; (2) Jump 1) Energy storage and preparation stage: The geared motor drives the cam to rotate according to the signal from the control system. The cam pushes the a rod to rotate around its hinge point, which in turn drives the c rod to rotate, causing the linkage mechanism to retract to its dead point position. During this process, the energy storage torsion spring stores energy. At the same time, the servo motor receives the signal from the control system and drives the f rod to rotate, which in turn drives the d rod to rotate, in order to adjust the robot's posture before jumping. 2) Release and take-off phase: Subsequently, the geared motor receives the signal from the control system and drives the cam to reverse, causing the linkage mechanism to pass the dead point; then the geared motor stops rotating, and the energy stored in the energy storage torsion spring drives the C-bar to rotate rapidly, performing a rapid leg extension and push-off action, thereby launching the robot into the air; 3) Aerial Attitude Adjustment Phase: During the robot's descent, the geared motor and servo motor receive signals from the control system. The signals are used to coordinate the adjustment of the positions of the C-arm and D-arm to change the robot's attitude in the air and prepare for a smooth landing. 4) Buffering and landing phase: When the buffer feet contact the ground, they absorb and dissipate the impact energy, achieving an effective buffering effect and ultimately ensuring that the robot lands smoothly. This process is repeated to achieve continuous jumping motion.

10. A biomimetic robot motion method, characterized in that: Based on the biomimetic robot with walking, jumping, and takeoff capabilities as described in claim 6, its flight motion method includes: Once the robot jumps into the air and reaches takeoff speed, the brushless motor receives a signal from the control system and drives gear I to rotate. This causes gears II, III, and IV to rotate together. Gears III and IV act as cranks, driving connecting rods I and II respectively. In turn, these cranks drive rocker arms I and II to perform periodic reciprocating motions. Ultimately, the rotation of the brushless motor is converted into the periodic up-and-down flapping of the wings to generate the lift and thrust required to maintain flight. During this process, the tail provides pitch and yaw stability to the aircraft, ensuring the stability of the flight attitude and thus enabling the robot to fly continuously and stably.

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