A bionic flapping-wing aircraft capable of taking off by bouncing and a control method thereof

Abstract

The present invention relates to a bionic flapping-wing aircraft capable of achieving a hopping takeoff and a control method thereof. The flapping-wing aircraft comprises: a frame; a wing assembly, the wing assembly comprising a left wing and a right wing respectively mounted on either side of the front end of the frame; a flapping mechanism for driving the wing assembly to move, the flapping mechanism being disposed at the front end of the frame and connected to the wing assembly; a tail mechanism disposed at the end of the frame; and a bionic jumping leg disposed at the rear of the flapping mechanism and connected to the frame. The bionic jumping leg comprises a mainboard, a deceleration mechanism, an energy storage mechanism, an attitude adjustment mechanism, and a hopping mechanism, the mainboard being connected to the frame, and the deceleration mechanism being mounted on the mainboard. The present invention provides a scheme and mechanical structure for achieving a hopping takeoff of a flapping-wing aircraft that combines bionics with practicality.

Description

Technical Field

[0001] The present invention relates to the field of flapping-wing aircraft, and in particular to a bionic flapping-wing aircraft capable of achieving bouncing take-off and a control method thereof. Background Art

[0002] Flapping-wing aircraft, with their advantages of high biomimetic properties, high flight efficiency, and strong maneuverability, are widely used in reconnaissance and search missions. However, current flapping-wing aircraft have low payload capacity and are limited by battery weight. If they could land and recharge before the battery is depleted, then autonomously take off and continue their mission, the mission radius of the aircraft could be greatly increased. However, existing flapping-wing aircraft can only take off by hand or with the aid of external assistance equipment, resulting in poor autonomy and stability.

[0003] During takeoff, birds use their legs to generate most of the initial velocity required, then flap their wings to complete the flight. Combining hopping technology with flapping-wing aircraft could enable them to achieve the required takeoff velocity through hopping, enabling them to take off autonomously, thus possessing both biomimetic and practical value.

[0004] Chinese patent 201410269739.2 proposes a bionic flapping and bouncing multi-mode motion robot, whose bouncing mechanism is composed of multiple diamond mechanisms in series. The degree of bionics is relatively low, and the center of gravity is far away from the center of gravity of the aircraft after the bouncing mechanism is fully extended, which seriously affects the stability of flapping flight and is not feasible; Chinese patent 202011433960.9 proposes a bionic bouncing device for flapping-wing aircraft. Its energy storage mechanism requires the cooperation of multiple motors, and the bouncing process will drive the entire deceleration mechanism to reverse motion, causing a large amount of energy loss, which is difficult to meet the take-off requirements of the flapping-wing aircraft. Summary of the Invention

[0005] The present invention provides a bionic flapping-wing aircraft capable of achieving bouncing takeoff and a control method thereof, aiming to solve at least one of the technical problems existing in the prior art.

[0006] The technical solution of the present invention is a bionic flapping-wing aircraft capable of achieving a hopping takeoff, comprising:

[0007] frame;

[0008] A wing assembly, the wing assembly comprising a left wing and a right wing respectively mounted on both sides of the front end of the frame;

[0009] a flapping mechanism, for driving the wing assembly to move, the flapping mechanism being disposed at the front end of the frame and connected to the wing assembly;

[0010] A tail mechanism, the tail mechanism being arranged at the end of the frame;

[0011] A bionic bouncing leg is arranged on the rear side of the flapping mechanism and connected to the frame. The bionic bouncing leg includes a main board, a deceleration mechanism, an energy storage mechanism, a posture adjustment mechanism and a bouncing mechanism. The main board is connected to the frame, and the deceleration mechanism is mounted on the main board.

[0012] Furthermore, the deceleration mechanism includes a deceleration motor, a first encoder, a motor gear, a deceleration gear, an incomplete gear, an output gear, an intermediate shaft, a main shaft, a left side plate of the decelerator, and a right side plate of the decelerator;

[0013] The first encoder is mounted on the tail of the reduction motor, the motor gear is mounted on the output shaft of the reduction motor, the reduction gear is meshed with the motor gear, the reduction gear and the incomplete gear are mounted on the intermediate shaft, the output gear is mounted on the main shaft, the output gear is meshed with the toothed portion of the incomplete gear, both ends of the intermediate shaft and the main shaft are respectively mounted on the left side plate and the right side plate of the reducer through bearings; the left side plate and the right side plate of the reducer are fixed to the main board.

[0014] Furthermore, the energy storage mechanism includes a bionic femur, a bionic tibia, an upper rhombus-shaped connecting rod, an upper rhombus-shaped connecting piece, a lower rhombus-shaped connecting rod, a lower rhombus-shaped connecting piece, a first spring fixing bolt, a second spring fixing bolt and a tension spring;

[0015] The bionic femur includes a knee joint connector and a femoral connecting rod, wherein the bottom of the femoral connecting rod is connected to the top groove of the knee joint connector.

[0016] The bionic tibia includes a tibial connecting rod and an ankle joint connecting piece, wherein the bottom of the tibial connecting rod is connected to the top groove of the ankle joint connecting piece.

[0017] The top inner side of the femoral connecting rod is hinged to the first end of the upper diamond-shaped connecting rod through the main shaft, and the top outer side of the femoral connecting rod is hinged to the hip joint connector, which is arranged at the bottom of the front end of the main board. The energy storage mechanism is connected to the main board through a bolt arranged on the hip joint connector.

[0018] The bottom of the knee joint connector is hinged to the top of the tibial connecting rod through a first spring fixing bolt, the top of the lower diamond-shaped connecting rod is inserted into the lower diamond-shaped connecting member, and the lower diamond-shaped connecting rod is hinged to the second end of the upper diamond-shaped connecting rod through a second spring fixing bolt.

[0019] The bottom of the lower diamond-shaped connecting rod is inserted into the top groove of the lower diamond-shaped connecting piece. The bottom of the lower diamond-shaped connecting rod is hinged to the top of the fibula connecting rod of the bouncing mechanism. The bottom of the lower diamond-shaped connecting piece is hinged to the middle of the tibial connecting rod.

[0020] Two ends of the tension spring are respectively fixed on the first spring fixing bolt and the second spring fixing bolt.

[0021] Furthermore, the hip joint connector, the knee joint connector, the upper diamond-edge connector, and the lower diamond-edge connector are all equipped with bearings for reducing frictional resistance between the connecting rods during deformation.

[0022] Furthermore, a first notch is provided on the top of the femoral connecting rod, and the top of the upper diamond-shaped connecting rod passes through the first notch and is hinged to the main shaft;

[0023] A second notch is provided on the top of the lower diamond-shaped connecting rod, and the bottom of the upper diamond-shaped connecting rod passes through the second notch and is hinged to the second spring fixing bolt;

[0024] The bottom of the lower diamond-shaped connecting rod is provided with a third notch, and the top of the fibula connecting rod passes through the third notch and is hinged to the lower diamond-shaped connecting piece.

[0025] Further, the bouncing mechanism includes a fibula connecting rod, an ankle joint connecting piece, a metatarsal connecting rod, a tarsometatarsal connecting rod and a supporting claw;

[0026] The top of the metatarsal connecting rod is hinged to the bottom of the fibula connecting rod, the middle of the metatarsal connecting rod is hinged to the middle of the ankle joint connector, and the bottom of the metatarsal connecting rod can move in a slide groove provided on the supporting claw.

[0027] The top of the tarsometatarsal link is hinged to the bottom of the ankle joint connector, and the bottom of the tarsometatarsal link is hinged to the support claw;

[0028] The top of the metatarsal connecting rod is provided with a fourth slot, and the bottom of the fibula connecting rod passes through the fourth slot and is hinged to the metatarsal connecting rod.

[0029] Furthermore, the posture adjustment mechanism includes a hip joint angle adjustment mechanism and a tarsometatarsal joint angle adjustment mechanism;

[0030] The hip joint angle adjustment mechanism includes a screw motor, a screw slider, a screw fixing seat and a movable connecting rod.

[0031] The screw motor is mounted on the main board, the screw slider is mounted on the threaded rod of the screw motor, the screw slider is inserted into the slide groove on the main board, the top of the moving connecting rod is hinged to the screw slider, and the bottom of the moving connecting rod is hinged to the middle part of the upper diamond-shaped connecting rod.

[0032] A second encoder is installed at the tail of the screw motor.

[0033] The tarsometatarsal joint angle adjustment mechanism includes a cam motor, a cam and a support claw.

[0034] The cam motor is connected to the supporting claw by bolts, the end of the rotating shaft of the cam motor is connected to the cam through a flat position, and the cam is in contact with the lower surface of the metatarsal connecting rod.

[0035] A third encoder is installed at the tail of the cam motor.

[0036] Furthermore, it also includes a flexible pull wire, a reel and a fixed wheel.

[0037] The two ends of the flexible pull wire are respectively connected to the deceleration mechanism and the energy storage mechanism, and the deceleration mechanism and the energy storage mechanism transmit tension through the flexible pull wire.

[0038] The reel is installed on one side of the main shaft through a flat position, the first end of the flexible pull wire is wound on the reel, and the second end of the flexible pull wire is fixed on the fixed wheel.

[0039] Furthermore, the energy storage mechanism, the bouncing mechanism and the posture adjustment mechanism are provided in a pair, and the energy storage mechanism, the bouncing mechanism and the posture adjustment mechanism are symmetrically installed on both sides of the main board.

[0040] Furthermore, the present invention also provides a control method for a bionic flapping-wing aircraft capable of achieving a bouncing takeoff, which is applied to the bionic flapping-wing aircraft capable of achieving a bouncing takeoff. The method includes a bouncing takeoff operation, which includes the following steps:

[0041] S100: The bionic jumping leg is in an extended state and standing on the ground. After receiving a control signal for a jump takeoff, the reduction motor rotates to a preset angle, driving the reel to rotate, causing the flexible cable to wind and shorten, driving the jumping mechanism to compress and deform, and the tension spring in the energy storage mechanism to extend, completing energy storage;

[0042] S200: The bionic jumping leg is in a compressed state and standing on the ground. The initial posture of the bionic jumping leg is adjusted based on the ground conditions and obstacle conditions before takeoff, changing the initial speed and direction of the jump. The screw motor rotates to move the screw slider to a preset position in the mainboard slot. At the same time, the movable connecting rod rotates, driving the femoral connecting rod and the upper rhomboid connecting rod to rotate around the hip joint connector. The initial hip joint angle of the bionic jumping leg is adjusted within a range of 0° to 30°. The cam motor rotates to change the contact position between the cam and the metatarsal connecting rod, causing the end of the metatarsal connecting rod to move in the slot of the support claw. The initial tarsometatarsal joint angle of the bionic jumping leg is adjusted within a range of 0° to 45°.

[0043] S300: After receiving a takeoff control signal, the reduction motor rotates counterclockwise to a preset angle, causing the missing tooth portion of the incomplete gear to disengage from the output gear; after the locking force of the gear is lost, the tension spring contracts rapidly, causing the bouncing mechanism to deform and stretch, and the reaction force of the ground on the support claw acts on the flapping-wing aircraft through the bionic bouncing legs, so that the flapping-wing aircraft obtains the initial speed required for takeoff;

[0044] S400, after detecting the attitude and speed information of the flapping-wing aircraft, controlling the flapping mechanism and the tail mechanism to operate to achieve a stable takeoff;

[0045] The method further includes a landing operation, wherein the bouncing landing operation includes the following steps:

[0046] S500: After receiving the landing control signal, the flapping-wing aircraft is controlled to lower its flight altitude. When about to land, the screw motor and the cam motor are controlled to rotate, and the angles of the hip joint and the tarsometatarsal joint are changed to adjust the relative position of the bouncing leg and the ground. The energy storage mechanism absorbs the impact force during the landing process to achieve a smooth landing.

[0047] The beneficial effects of the present invention are:

[0048] The bionic flapping-wing aircraft capable of hopping takeoff addresses the problem of poor autonomous takeoff capability of flapping-wing aircraft. By taking the leg structure of birds as a bionic object and referring to the leg movement pattern of birds during takeoff, a flapping-wing aircraft hopping takeoff implementation scheme and mechanical structure that are both bionic and practical are provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is a schematic diagram of the various systems of a bionic flapping-wing aircraft that can achieve bouncing takeoff.

[0050] Figure 2 Schematic diagram of the overall structure of a bionic flapping-wing aircraft that can achieve bouncing takeoff.

[0051] Figure 3This is a schematic diagram of the structure of the bionic jumping leg of a bionic flapping-wing aircraft that can achieve jumping takeoff in the compressed energy storage state.

[0052] Figure 4 This is a schematic diagram of the structure of a bionic flapping-wing aircraft that can achieve bouncing takeoff in a standing and stretched state with its bionic jumping legs.

[0053] Figure 5 Schematic diagram of the hip joint angle adjustment mechanism in the bionic jumping leg of a bionic flapping-wing aircraft that can achieve bouncing takeoff.

[0054] Figure 6 Schematic diagram of the tarsometatarsal joint angle adjustment mechanism in the bionic jumping leg of a bionic flapping-wing aircraft that can achieve bouncing takeoff.

[0055] Figure 7 Schematic diagram of the mid-deceleration mechanism of the bionic jumping leg of a bionic flapping-wing aircraft that can achieve bouncing takeoff.

[0056] Figure 8 The flowchart of the control method of the bionic flapping-wing aircraft that can achieve bouncing takeoff.

[0057] Reference numerals:

[0058] Numbers in the figure: 1, flapping mechanism; 2, battery; 3, bionic bouncing leg; 4, controller; 5, frame; 6, tail mechanism; 7, knee joint connector; 8, femoral connecting rod; 9, main board; 10, screw fixing seat; 11, first mortise and tenon insert; 12, screw slider; 13, screw motor; 14, isolation column; 15, second mortise and tenon insert; 16, third mortise and tenon insert; 17, moving connecting rod; 18, upper diamond-shaped connecting rod; 19, upper diamond-shaped connecting piece; 20, lower diamond-shaped connecting rod; 21, extension spring; 22, fibular connecting rod; 23. Ankle joint connector; 24. Tibial connecting rod; 25. Spring fixing bolt; 26. Support claw; 27. Metatarsal connecting rod; 28. Lower diamond edge connector; 29. ​​Tarsometatarsal connecting rod; 30. Hip joint connector; 31. Right side plate of reducer; 32. Main shaft; 33. Reel; 34. Reducer motor; 35. Output gear; 36. Incomplete gear; 37. Reducer gear; 38. Intermediate shaft; 39. Pull wire; 40. Fixed wheel; 41. Cam motor; 42. Cam; 43. Left side plate of reducer; 44. Motor gear. DETAILED DESCRIPTION

[0059] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments and features in the embodiments of this application can be combined with each other unless there is a conflict.

[0060] It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, terms such as "upper," "lower," "left," "right," "top," and "bottom" used in this disclosure are intended solely to describe the relative positions of the components of the disclosure as shown in the accompanying drawings.

[0061] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments and are not intended to limit the present invention. The term "and / or" as used herein includes any combination of one or more of the related listed items.

[0062] It should be understood that although the terms first, second, third, etc. may be used to describe various elements in the present disclosure, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, a first element may also be referred to as a second element, and similarly, a second element may also be referred to as a first element without departing from the scope of the present disclosure.

[0063] Reference Figures 1 to 8 In some embodiments, the technical solution of the present invention is a bionic flapping-wing aircraft capable of taking off by jumping and a control method thereof, referring to Figure 1 and Figure 2 The bionic flapping-wing aircraft capable of achieving a bouncing takeoff comprises:

[0064] Rack 5;

[0065] A wing assembly, the wing assembly comprising a left wing and a right wing respectively mounted on both sides of the front end of the frame 5;

[0066] A flapping mechanism 1, used to drive the wing assembly to move, the flapping mechanism 1 is arranged at the front end of the frame 5, and the flapping mechanism 1 is connected to the wing assembly;

[0067] A tail mechanism 6, the tail mechanism 6 being arranged at the end of the frame 5;

[0068] The bionic bouncing leg is arranged on the rear side of the flapping mechanism 1 and connected to the frame 5. The bionic bouncing leg includes a main board 9, a deceleration mechanism, an energy storage mechanism, a posture adjustment mechanism and a bouncing mechanism. The main board 9 is connected to the frame 5, and the deceleration mechanism is installed on the main board 9.

[0069] In some specific embodiments, the bionic flapping-wing aircraft further includes a battery 2 , a sensor, and a controller 4 installed on the fuselage.

[0070] The beneficial effects of the present invention are:

[0071] The bionic flapping-wing aircraft capable of hopping takeoff addresses the problem of poor autonomous takeoff capability of flapping-wing aircraft. By taking the leg structure of birds as a bionic object and referring to the leg movement pattern of birds during takeoff, a flapping-wing aircraft hopping takeoff implementation scheme and mechanical structure that are both bionic and practical are provided.

[0072] Further, refer to Figure 7 The deceleration mechanism includes a deceleration motor 34, a first encoder, a motor gear 44, a deceleration gear 37, an incomplete gear 36, an output gear 35, an intermediate shaft 38, a main shaft 32, a reducer left plate 43 and a reducer right plate 31;

[0073] The first encoder is mounted on the tail of the reduction motor 34, the motor gear 44 is mounted on the output shaft of the reduction motor 34, the reduction gear 37 is meshed with the motor gear 44, the reduction gear 37 and the incomplete gear 36 are mounted on the intermediate shaft 38, the output gear 35 is mounted on the main shaft 32, and the output gear 35 is meshed with the toothed portion of the incomplete gear 36. Both ends of the intermediate shaft 38 and the two ends of the main shaft 32 are respectively mounted on the reducer left plate 43 and the reducer right plate 31 through bearings;

[0074] Specifically, the reducer left side plate 43 and the reducer right side plate 31 are fixed to the main board 9 through a first mortise and tenon inserting plate 11 , a second mortise and tenon inserting plate 15 and a third mortise and tenon inserting plate 16 .

[0075] Further, refer to Figure 3 and Figure 4 The energy storage mechanism includes a bionic femur, a bionic tibia, an upper rhombus connecting rod 18, an upper rhombus connecting member 19, a lower rhombus connecting rod 20, a lower rhombus connecting member 28, a first spring fixing bolt 25, a second spring fixing bolt and a tension spring 21;

[0076] The bionic femur includes a knee joint connector 7 and a femoral connecting rod 8. The bottom of the femoral connecting rod 8 is connected to the top groove of the knee joint connector 7.

[0077] The bionic tibia includes a tibial connecting rod 24 and an ankle joint connecting component 23. The bottom of the tibial connecting rod 24 is connected to the top groove of the ankle joint connecting component 23.

[0078] The top inner side of the femoral connecting rod 8 is hinged to the first end of the upper diamond-shaped connecting rod 18 through the main shaft 32, and the top outer side of the femoral connecting rod 8 is hinged to the hip joint connector 30, which is arranged at the bottom of the front end of the main board 9. The energy storage mechanism is connected to the main board 9 by a bolt arranged on the hip joint connector 30.

[0079] The bottom of the knee joint connector 7 is hinged to the top of the tibial connecting rod 24 through a first spring fixing bolt 25, the top of the lower diamond-shaped connecting rod 20 is inserted into the lower diamond-shaped connecting rod 28, and the lower diamond-shaped connecting rod 20 is hinged to the second end of the upper diamond-shaped connecting rod 18 through a second spring fixing bolt.

[0080] The bottom of the lower diamond-shaped connecting rod 20 is inserted into the top groove of the lower diamond-shaped connecting piece 28. The bottom of the lower diamond-shaped connecting rod 20 is hinged to the top of the fibula connecting rod 22 of the bouncing mechanism. The bottom of the lower diamond-shaped connecting piece 28 is hinged to the middle of the tibial connecting rod 24.

[0081] Both ends of the tension spring 21 are fixed to the first spring fixing bolt 25 and the second spring fixing bolt respectively.

[0082] Further, refer to Figure 4 The hip joint connector 30, the knee joint connector 7, the upper diamond edge connector 19 and the lower diamond edge connector 28 are all equipped with bearings for reducing the friction resistance between the connecting rods during the deformation process.

[0083] Further, refer to Figure 3 and Figure 4 The top of the femoral connecting rod 8 is provided with a first notch, and the top of the upper diamond-shaped connecting rod 18 passes through the first notch and is hinged on the main shaft 32;

[0084] A second notch is provided on the top of the lower diamond-shaped connecting rod 20, and the bottom of the upper diamond-shaped connecting rod 18 passes through the second notch and is hinged to the second spring fixing bolt;

[0085] A third notch is provided at the bottom of the lower diamond-edge connecting rod 20 , and the top of the fibula connecting rod 22 passes through the third notch and is hinged to the lower diamond-edge connecting piece 28 .

[0086] Further, refer to Figure 4 and Figure 6 , the bouncing mechanism includes a fibula connecting rod 22, an ankle joint connecting member 23, a metatarsal connecting rod 27, a tarsometatarsal connecting rod 29 and a supporting claw 26;

[0087] The top of the metatarsal connecting rod 27 is hinged to the bottom of the fibula connecting rod 22, the middle of the metatarsal connecting rod 27 is hinged to the middle of the ankle joint connecting member 23, and the bottom of the metatarsal connecting rod 27 can move in the slide groove provided on the supporting claw 26.

[0088] The top of the tarsometatarsal connecting rod 29 is hinged to the bottom of the ankle joint connecting member 23 , and the bottom of the tarsometatarsal connecting rod 29 is hinged to the supporting claw 26 ;

[0089] A fourth slot is provided on the top of the metatarsal connecting rod 27 , and the bottom of the fibula connecting rod 22 passes through the fourth slot and is hinged to the metatarsal connecting rod 27 .

[0090] Further, refer to Figure 3 、 Figure 5 and Figure 6 , the posture adjustment mechanism includes a hip joint angle adjustment mechanism and a tarsometatarsal joint angle adjustment mechanism;

[0091] The hip joint angle adjustment mechanism includes a screw motor 13, a screw slider 12, a screw fixing seat 10 and a movable connecting rod 17.

[0092] The screw motor 13 is mounted on the main board 9, the screw slider 12 is mounted on the threaded rod of the screw motor 13, the screw slider 12 is inserted into the slide groove on the main board 9, the top of the moving link 17 is hinged to the screw slider 12, and the bottom of the moving link 17 is hinged to the middle of the upper diamond edge link 18.

[0093] A second encoder is installed at the tail of the screw motor 13. The second encoder rotates a certain angle to make the screw slider 12 move linearly along the slide groove on the main board 9. The second encoder transmits the linear motion to the upper diamond-shaped connecting rod 18 through the moving connecting rod 17, so that the bionic femur rotates around a fixed axis in the hip joint connector 30, thereby changing the rotation angle of the bionic femur relative to the main board 9.

[0094] The tarsometatarsal joint angle adjustment mechanism includes a cam motor 41, a cam 42 and a support claw 26.

[0095] The cam motor 41 is connected to the support claw 26 by bolts, and the end of the rotating shaft of the cam motor 41 is connected to the cam 42 through a flat position. The cam 42 is in contact with the lower surface of the metatarsal connecting rod 27.

[0096] A third encoder is installed at the tail of the cam motor 41. When the cam motor 41 rotates, it drives the cam 42 to rotate, causing the end of the metatarsal link 27 to move in the slide groove on the support claw 26, thereby changing the rotation angle of the metatarsal link 27 relative to the support claw 26.

[0097] Further, refer to Figure 4 , further comprising a flexible pull wire 39, a reel 33 and a fixed wheel 40,

[0098] The two ends of the flexible pull wire 39 are respectively connected to the deceleration mechanism and the energy storage mechanism, and the deceleration mechanism and the energy storage mechanism transmit tension through the flexible pull wire 39.

[0099] The reel 33 is installed on one side of the main shaft 32 through a flat position, the first end of the flexible pull wire 39 is wound on the reel 33, and the second end of the flexible pull wire 39 is fixed on the fixed wheel 40. The reduction motor 34 rotates and is transmitted to the reel 33 through the reduction mechanism. The flexible pull wire 39 is wound around the reel 33 and shortened, causing the bouncing mechanism to compress and deform, and the energy storage mechanism to store elastic potential energy.

[0100] Further, refer to Figure 3 and Figure 4 The energy storage mechanism, the bouncing mechanism and the posture adjustment mechanism are provided in a pair, and the energy storage mechanism, the bouncing mechanism and the posture adjustment mechanism are symmetrically installed on both sides of the main board 9.

[0101] Further, refer to Figure 8 The present invention also provides a control method for a bionic flapping-wing aircraft capable of achieving a bouncing takeoff, which is applied to the bionic flapping-wing aircraft capable of achieving a bouncing takeoff. The method includes a bouncing takeoff operation, which includes the following steps:

[0102] S100: The bionic jumping leg is in an extended state and standing on the ground. After receiving a control signal for a jump takeoff, the reduction motor 34 rotates to a preset angle, driving the reel 33 to rotate, causing the flexible pull wire 39 to wind and shorten, driving the jumping mechanism to compress and deform, and the tension spring 21 in the energy storage mechanism to extend, completing energy storage;

[0103] S200, the bionic jumping leg is in a compressed state and stands on the ground. The initial posture of the bionic jumping leg is adjusted based on the ground conditions and obstacle conditions before takeoff, and the initial speed and direction of the bounce are changed. The screw motor 13 rotates to move the screw slider 12 to a preset position in the chute of the main board 9, and at the same time rotates the movable connecting rod 17, driving the femoral connecting rod 8 and the upper rhomboid connecting rod 18 to rotate around the hip joint connecting member 30, so that the initial hip joint angle of the bionic jumping leg is adjusted within the range of 0° to 30°. The cam motor 41 rotates to change the contact position of the cam 42 and the metatarsal connecting rod 27, so that the end of the metatarsal connecting rod 27 moves in the chute of the support claw 26, so that the initial tarsometatarsal joint of the bionic jumping leg is adjusted within the range of 0° to 45°.

[0104] S300: After receiving the take-off control signal, the reduction motor 34 rotates counterclockwise to a preset angle, causing the missing tooth portion of the incomplete gear 36 to disengage from the output gear 35; after losing the locking force of the gear, the tension spring 21 contracts rapidly, driving the bouncing mechanism to deform and stretch. The reaction force of the ground on the support claw 26 acts on the flapping-wing aircraft through the bionic bouncing leg, allowing the flapping-wing aircraft to obtain the initial speed required for take-off;

[0105] S400 , after detecting the attitude and speed information of the flapping-wing aircraft, the flapping mechanism 1 and the tail mechanism 6 are controlled to operate to achieve a stable takeoff.

[0106] The method further includes a landing operation, wherein the bouncing landing operation includes the following steps:

[0107] S500: After receiving the landing control signal, the flapping-wing aircraft is controlled to lower its flight altitude. When it is about to land, the screw motor 13 and the cam motor 41 are controlled to rotate to change the angles of the hip joint and the tarsometatarsal joint to adjust the relative position of the bouncing leg and the ground. The energy storage mechanism absorbs the impact force during the landing process to achieve a smooth landing.

[0108] The above description is merely a preferred embodiment of the present invention. The present invention is not limited to the aforementioned embodiments. As long as the technical effects of the present invention are achieved by the same means, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure. Within the scope of protection of the present invention, its technical solutions and / or implementation methods may be modified and varied in various ways.

Claims

1. A bionic flapping-wing aircraft capable of taking off by jumping, characterized in that: include: Rack (5); A wing assembly, the wing assembly comprising a left wing and a right wing respectively mounted on both sides of the front end of the frame (5); A flapping mechanism (1) is used to drive the wing assembly to move, the flapping mechanism (1) is arranged at the front end of the frame (5), and the flapping mechanism (1) is connected to the wing assembly; A tail mechanism (6), the tail mechanism (6) being arranged at the end of the frame (5); A bionic bouncing leg, the bionic bouncing leg being arranged on the rear side of the flapping mechanism (1) and connected to the frame (5), the bionic bouncing leg comprising a main board (9), a deceleration mechanism, an energy storage mechanism, a posture adjustment mechanism and a bouncing mechanism, the main board (9) being connected to the frame (5), and the deceleration mechanism being mounted on the main board (9); The deceleration mechanism includes a deceleration motor (34), a first encoder, a motor gear (44), a deceleration gear (37), an incomplete gear (36), an output gear (35), an intermediate shaft (38), a main shaft (32), a decelerator left plate (43) and a decelerator right plate (31); The first encoder is mounted on the tail of the reduction motor (34), the motor gear (44) is mounted on the output shaft of the reduction motor (34), the reduction gear (37) is meshed with the motor gear (44), the reduction gear (37) and the incomplete gear (36) are mounted on the intermediate shaft (38), the output gear (35) is mounted on the main shaft (32), the output gear (35) is meshed with the toothed portion of the incomplete gear (36), and both ends of the intermediate shaft (38) and the main shaft (32) are respectively mounted on the reducer left plate (43) and the reducer right plate (31) through bearings; the reducer left plate (43) and the reducer right plate (31) are fixed on the main plate (9); The bouncing mechanism comprises a fibula connecting rod (22), an ankle joint connecting piece (23), a metatarsal connecting rod (27), a tarsometatarsal connecting rod (29) and a supporting claw (26); The energy storage mechanism comprises a bionic femur, a bionic tibia, an upper rhombus-shaped connecting rod (18), an upper rhombus-shaped connecting piece (19), a lower rhombus-shaped connecting rod (20), a lower rhombus-shaped connecting piece (28), a first spring fixing bolt (25), a second spring fixing bolt and a tension spring (21); The bionic femur comprises a knee joint connector (7) and a femoral connecting rod (8), wherein the bottom of the femoral connecting rod (8) is connected to the top groove of the knee joint connector (7). The bionic tibia comprises a tibial connecting rod (24) and an ankle joint connecting piece (23), wherein the bottom of the tibial connecting rod (24) is connected to the top groove of the ankle joint connecting piece (23). The inner side of the top of the femoral connecting rod (8) is hinged to the first end of the upper diamond-shaped connecting rod (18) via the main shaft (32), and the outer side of the top of the femoral connecting rod (8) is hinged to the hip joint connecting member (30). The hip joint connecting member (30) is arranged at the bottom of the front end of the main board (9), and the energy storage mechanism is connected to the main board (9) via a bolt arranged on the hip joint connecting member (30). The bottom of the knee joint connector (7) is hinged to the top of the tibial connecting rod (24) via a first spring fixing bolt (25), the top of the lower diamond-shaped connecting rod (20) is inserted into the lower diamond-shaped connecting rod (28), and the lower diamond-shaped connecting rod (20) is hinged to the second end of the upper diamond-shaped connecting rod (18) via the second spring fixing bolt. The bottom of the lower diamond-shaped connecting rod (20) is inserted into the top groove of the lower diamond-shaped connecting member (28), the bottom of the lower diamond-shaped connecting rod (20) is hinged to the top of the fibula connecting rod (22) of the bouncing mechanism, and the bottom of the lower diamond-shaped connecting member (28) is hinged to the middle of the tibial connecting rod (24). The two ends of the tension spring (21) are respectively fixed on the first spring fixing bolt (25) and the second spring fixing bolt; The posture adjustment mechanism includes a hip joint angle adjustment mechanism and a tarsometatarsal joint angle adjustment mechanism; The hip joint angle adjustment mechanism comprises a screw motor (13), a screw slider (12), a screw fixing seat (10) and a movable connecting rod (17). The screw motor (13) is mounted on the main board (9), the screw slider (12) is mounted on the threaded rod of the screw motor (13), the screw slider (12) is inserted into the slide groove on the main board (9), the top of the moving link (17) is hinged to the screw slider (12), and the bottom of the moving link (17) is hinged to the middle of the upper diamond edge link (18). A second encoder is installed at the tail of the screw motor (13). The tarsometatarsal joint angle adjustment mechanism comprises a cam motor (41), a cam (42) and a support claw (26). The cam motor (41) is connected to the support claw (26) by bolts, the end of the rotating shaft of the cam motor (41) is connected to the cam (42) through a flat position, and the cam (42) is in contact with the lower surface of the metatarsal connecting rod (27). A third encoder is installed at the tail of the cam motor (41).

2. The bionic flapping-wing aircraft capable of achieving a bouncing takeoff according to claim 1, characterized in that: The hip joint connector (30), the knee joint connector (7), the upper diamond-edge connector (19), and the lower diamond-edge connector (28) are all equipped with bearings for reducing frictional resistance between connecting rods during deformation.

3. The bionic flapping-wing aircraft capable of achieving a bouncing takeoff according to claim 2, characterized in that: The top of the femoral connecting rod (8) is provided with a first notch, and the top of the upper diamond-shaped connecting rod (18) passes through the first notch and is hinged to the main shaft (32); A second notch is provided on the top of the lower diamond-edge connecting rod (20), and the bottom of the upper diamond-edge connecting rod (18) passes through the second notch and is hinged to the second spring fixing bolt; A third notch is provided at the bottom of the lower diamond-edge connecting rod (20), and the top of the fibula connecting rod (22) passes through the third notch and is hinged to the lower diamond-edge connecting piece (28).

4. The bionic flapping-wing aircraft capable of achieving a bouncing takeoff according to claim 3, characterized in that: The top of the metatarsal connecting rod (27) is hinged to the bottom of the fibula connecting rod (22), the middle of the metatarsal connecting rod (27) is hinged to the middle of the ankle joint connecting member (23), and the bottom of the metatarsal connecting rod (27) can move in a slide groove provided on the supporting claw (26). The top of the tarsometatarsal connecting rod (29) is hinged to the bottom of the ankle joint connecting member (23), and the bottom of the tarsometatarsal connecting rod (29) is hinged to the supporting claw (26); A fourth notch is provided on the top of the metatarsal connecting rod (27), and the bottom of the fibula connecting rod (22) passes through the fourth notch and is hinged to the metatarsal connecting rod (27).

5. The bionic flapping-wing aircraft capable of bouncing takeoff according to claim 4, characterized in that: It also includes a flexible pull wire (39), a reel (33) and a fixed wheel (40), The two ends of the flexible pull wire (39) are respectively connected to the deceleration mechanism and the energy storage mechanism, and the deceleration mechanism and the energy storage mechanism transmit tension through the flexible pull wire (39). The reel (33) is mounted on one side of the main shaft (32) via a flat position, a first end of the flexible pull wire (39) is wound around the reel (33), and a second end of the flexible pull wire (39) is fixed to the fixed wheel (40).

6. The bionic flapping-wing aircraft capable of taking off by jumping according to claim 5, characterized in that: The energy storage mechanism, the bouncing mechanism and the posture adjustment mechanism are provided in a pair, and the energy storage mechanism, the bouncing mechanism and the posture adjustment mechanism are symmetrically mounted on both sides of the main board (9).

7. A control method for a bionic flapping-wing aircraft capable of bouncing takeoff, applied to the bionic flapping-wing aircraft capable of bouncing takeoff according to claim 6, characterized in that: The method includes a hopping takeoff operation, which includes the following steps: S100, the bionic jumping leg is in an extended state and stands on the ground. After receiving a control signal for jumping and taking off, the reduction motor (34) rotates to a preset angle, driving the reel (33) to rotate, causing the flexible pull wire (39) to wind and shorten, driving the jumping mechanism to compress and deform, and the tension spring (21) in the energy storage mechanism to extend, thereby completing energy storage; S200, the bionic jumping leg is in a compressed state and stands on the ground. The initial posture of the bionic jumping leg is adjusted based on the ground conditions and obstacle conditions before takeoff, and the initial speed and direction of the jump are changed. The screw motor (13) rotates to move the screw slider (12) to a preset position in the slide groove of the main board (9), and at the same time, the moving connecting rod (17) rotates, driving the femoral connecting rod (8) and the upper rhomboid connecting rod (18) to rotate around the hip joint connecting member (30) to make a fixed axis, so that the initial hip joint angle of the bionic jumping leg is adjusted within the range of 0° to 30°. The cam motor (41) rotates to change the contact position between the cam (42) and the metatarsal connecting rod (27), so that the end of the metatarsal connecting rod (27) moves in the slide groove of the support claw (26), so that the initial tarsometatarsal joint of the bionic jumping leg is adjusted within the range of 0° to 45°. S300, after receiving the take-off control signal, the reduction motor (34) rotates counterclockwise to a preset angle, so that the toothed portion of the incomplete gear (36) is disengaged from the output gear (35); after losing the locking force of the gear, the tension spring (21) contracts rapidly, driving the bouncing mechanism to deform and stretch, and the reaction force of the ground on the support claw (26) acts on the flapping-wing aircraft through the bionic bouncing leg, so that the flapping-wing aircraft obtains the initial speed required for take-off; S400, after detecting the attitude and speed information of the flapping-wing aircraft, controlling the flapping mechanism (1) and the tail mechanism (6) to operate to achieve stable takeoff; The method further includes a bounce landing operation, which includes the following steps: S500, after receiving the landing control signal, the flapping-wing aircraft is controlled to lower its flight altitude. When it is about to land, the screw motor (13) and the cam motor (41) are controlled to rotate, and the angles of the hip joint and the tarsometatarsal joint are changed to adjust the relative position of the bouncing leg and the ground. The energy storage mechanism absorbs the impact force during the landing process to achieve a smooth landing.

Images