A landing device and flapping-wing flying robot thereof

Abstract

The invention relates to a landing device and a flapping-wing flying robot thereof. The invention comprises a base; a folding mechanism connected to the base, the folding mechanism comprising a first driver and a support member rotatably connected to the base, the first driver driving the support member to rotate around the Y-axis direction so that the support member is respectively in a first direction, a second direction and a third direction; a switching mechanism arranged on the support member, the switching mechanism comprising a second driver and a first rotating shaft, the second driver driving the first rotating shaft to rotate; a landing gear connected to the first rotating shaft, a buffer pad and a clamping claw assembly being respectively arranged at both ends of the landing gear, when the support member is in the second direction, the second driver driving the first rotating shaft to rotate so that the buffer pad or the clamping claw assembly rotates to the lowest part of the flapping-wing flying robot; the invention ensures that the flapping-wing flying robot can land on both flat ground and a rod-shaped object, thereby enhancing the ability of the flapping-wing flying robot to perform tasks in complex environments.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft design and manufacturing, in particular to a landing device and a flapping-wing flying robot thereof. Background Art

[0002] The flapping-wing flying robot uses the periodic flapping of wings from the perspective of bionics to achieve flight modes such as cruising, vertical flight and hovering. Compared with fixed-wing and rotary-wing robots, it has higher flight efficiency and stronger maneuverability. At the same time, the design of the flapping-wing flying robot makes it easier to adapt to some special application scenarios, such as carrying out rescue missions, monitoring and exploration tasks in a compact space. The flapping-wing flying robot needs to land on different terrains during these tasks. However, the existing technology makes most flapping-wing flying robots only capable of landing on flat ground or on a rod-shaped object, and it is not flexible to land on both flat ground and on a rod-shaped object, which results in the flapping-wing flying robot being unable to perform tasks in more complex and diverse environments. This is the current limitation of the landing of flapping-wing flying robots, which seriously affects the efficiency of flapping-wing flying robots in performing tasks. Considering the above problems, it is urgent to design a flapping-wing flying robot mechanism that can take off and land flexibly to solve the above problems. Summary of the invention

[0003] To this end, the technical problem to be solved by the present invention is to overcome the problem in the prior art that flapping-wing flying robots cannot flexibly land on both flat ground and on rod-shaped objects, and then provide a landing device to ensure that the flapping-wing flying robot can land on both flat ground and on rod-shaped objects, thereby enhancing the ability of the flapping-wing flying robot to perform tasks in complex environments.

[0004] In order to solve the above technical problems, the present invention provides a landing device, comprising:

[0005] Pedestal;

[0006] A folding mechanism connected to the base, the folding mechanism comprising a first driver and a support member rotatably connected to the base, the first driver driving the support member to rotate around the Y-axis direction so that the support member is in a first direction, a second direction and a third direction respectively;

[0007] A switching mechanism, which is arranged on the supporting member, the switching mechanism comprises a second driver and a first rotating shaft, and the second driver drives the first rotating shaft to rotate;

[0008] A landing gear is connected to the first rotating shaft, and a buffer pad and a clamping claw assembly are respectively provided at both ends of the landing gear. When the support member is in the second direction, the second driver drives the first rotating shaft to rotate so that the buffer pad or the clamping claw assembly rotates to the bottom of the flapping-wing flying robot, wherein the clamping claw assembly includes a clamping claw and a third driver that drives the clamping claw to open or close.

[0009] In one embodiment of the present invention, the folding mechanism includes a connecting member and a fourth driver arranged on the base, the fourth driver drives the first driver to rotate around the Y-axis direction, one end of the connecting member is movably connected to the supporting member, and the other end is movably connected to the power end of the first driver.

[0010] In one embodiment of the present invention, the switching mechanism includes a first gear and a second gear that are meshed and disposed on the support member, wherein the second driver drives the first gear to rotate, and the second gear is connected to the first rotating shaft.

[0011] In one embodiment of the present invention, the landing gear is provided with a support column and a support column shell slidably sleeved outside the support column, and the support column and the support column shell are connected by an elastic element, and the elastic element is located inside the support column shell.

[0012] In one embodiment of the present invention, the support column housing is provided with a fixing hole, and the support column is provided with an electric control button that can be extended and matched with the fixing hole, and when the elastic element is in a compressed state, the electric control button can extend into the fixing hole.

[0013] In one embodiment of the present invention, the clamping jaw assembly includes a gear housing connected to the first rotating shaft, a third gear and a fourth gear meshingly connected and located in the gear housing, a third driver drives the third gear and the fourth gear to rotate synchronously, and the clamping jaw includes a first claw and a second claw arranged opposite each other, and the first claw and the second claw are respectively connected to the third gear and the fourth gear.

[0014] In one embodiment of the present invention, a plurality of first connecting rods and second connecting rods are rotatably connected to the gear housing, the first connecting rod and the second connecting rod are arranged in parallel, one end of the first connecting rod is rotatably connected to the first claw, and the other end is fixedly connected to the third gear, and one end of the second connecting rod is rotatably connected to the first claw; the gear housing also rotatably connects a plurality of third connecting rods and a fourth connecting rod, the third connecting rod and the fourth connecting rod are arranged in parallel, one end of the third connecting rod is rotatably connected to the second claw, and the other end is fixedly connected to the fourth gear, one end of the fourth connecting rod is rotatably connected to the second claw, the first claw and the second claw are provided with an abutment portion, and when the first claw and the second claw are released, the abutment portion can abut the gear housing.

[0015] In one embodiment of the present invention, the buffer pad is configured as a bionic pad and is connected to the end of the support column opposite to the end where the elastic element is provided, and the bionic pad is connected to the support column via a universal joint.

[0016] In one embodiment of the present invention, when the landing gear is located in the second direction, the support member abuts against the base to form a limit position.

[0017] In order to solve the above problems, the present invention also provides a flapping-wing flying robot, which includes an aircraft body and the landing device, wherein the base of the landing device is fixedly connected to the middle part of the aircraft body.

[0018] The above technical solution of the present invention has the following advantages compared with the prior art:

[0019] The landing device described in the present invention sets the landing gear on a folding mechanism. The folding mechanism folds the landing gear to a horizontal state during flight and puts it down to a vertical state during landing, thereby reducing the flight resistance of the flapping-wing flying robot. A switching mechanism is set on the folding mechanism. During the landing process of the flapping-wing flying robot, the switching mechanism can be used to flexibly switch the clamping claw or the buffer pad as the landing mode, so that the flapping-wing flying robot can land on flat ground or on a rod-shaped object, thereby enhancing the ability of the flapping-wing flying robot to perform tasks in complex environments. On the one hand, the flapping-wing flying robot can use the clamping claw assembly to clamp the rod-shaped object to achieve safe landing when landing, and on the other hand, the flapping-wing flying robot can use the clamping claw assembly to transport tools during flight, thereby further improving the ability of the flapping-wing flying robot to perform tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0021] Figure 1It is a schematic diagram of the structure of the landing gear in the preferred embodiment of the present invention.

[0022] Figure 2 for Figure 1 A schematic structural diagram of the base of the landing gear shown.

[0023] Figure 3 for Figure 1 The illustrated schematic diagram is a partial structural diagram of a folding mechanism including a support column, a connecting member and a first drive in the landing gear.

[0024] Figure 4 for Figure 3 Schematic diagram of the structure of the cylinder shown.

[0025] Figure 5 for Figure 3 Schematic diagram of the structure of the connecting parts shown.

[0026] Figure 6 for Figure 3 Schematic diagram of the structure of the support member shown.

[0027] Figure 7 for Figure 1 A schematic structural diagram of the first gear and the second gear of the switching mechanism of the landing gear is shown.

[0028] Figure 8 for Figure 1 A schematic structural diagram of the support rod housing of the landing gear shown.

[0029] Fig. 9 for Figure 1 Schematic diagram of the structure of the gear housing of the landing gear shown.

[0030] Fig.10 for Figure 1 A schematic diagram of the partial structure of the gripper assembly of the landing gear shown.

[0031] Fig.11 for Fig.10 A schematic structural diagram of the first jaw and the second jaw of the clamping jaw assembly shown.

[0032] Fig.12 This is a schematic structural diagram of a flapping-wing flying robot with a landing device using a cushion to land in a preferred embodiment of the present invention.

[0033] Fig.13 This is a schematic structural diagram of a flapping-wing flying robot with a landing device using grippers to land in a preferred embodiment of the present invention.

[0034] Fig.14 This is a schematic structural diagram of a flapping-wing flying robot with a landing device in a take-off state in a preferred embodiment of the present invention.

[0035] Description of the accompanying drawings: 1. base; 2. second rotating shaft; 3. support member; 4. first claw; 5. fourth rotating shaft; 6. first connecting rod; 7. fifth rotating shaft; 8. second claw; 9. eighth rotating shaft; 10. third connecting rod; 11. ninth rotating shaft; 12. eleventh rotating shaft; 13. fourth connecting rod; 14. tenth rotating shaft; 15. seventh rotating shaft; 16. second connecting rod; 17. twelfth rotating shaft; 18. sixth rotating shaft; 19. supporting column housing; 20. fixing hole; 21. universal joint; 22. buffer pad; 23. third rotating shaft; 24. fourth driver; 25. first driver; 26. first connecting member; 27. second connecting member; 28. first gear; 29. ​​second driver; 30. second gear; 31. first rotating shaft; 32. first through hole; 33. second through hole; 34. thirteenth rotating shaft; 35. fourteenth rotating shaft; 36. motor shaft; 37, third through hole; 38, fourth through hole; 40, fifth through hole; 41, sixth through hole; 44, seventh through hole; 45, eighth through hole; 46, ninth through hole; 47, tenth through hole; 48, first gear hole; 49, eleventh through hole; 50, twelfth through hole; 51, gear housing; 52, thirteenth through hole; 53, fourteenth through hole; 54, fifteenth through hole; 55, sixteenth through hole; 56, fourth gear; 5 7. Sixth connecting rod; 58. Fifth connecting rod; 59. Seventh connecting rod; 60. Eighth connecting rod; 61. Third gear; 62. Third driver; 63. Seventeenth through hole; 64. Eighteenth through hole; 65. Nineteenth through hole; 66. Twentieth through hole; 67. Fifth gear; 83. Support column; 84. Electric control button; 85. Second gear hole; 86. Flapping-wing flying robot; 87. Rod-shaped object; 88. Servo rocker. DETAILED DESCRIPTION

[0036] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0037] Example

[0038] Reference Figure 1 , 2 As shown in 3, in one embodiment of the present invention, a landing device includes:

[0039] The base 1 has a hollow inner cavity, and a first through hole 32 and a second through hole 33 penetrating the hollow inner cavity are provided on the side thereof. The second through hole 33 is rotatably connected to the rotating shaft of the fourth driver 24, and the rotating shaft is the third rotating shaft 23; the first through hole 32 is fixedly connected to the second rotating shaft 2;

[0040] A folding mechanism is connected to the base 1, and the folding mechanism includes a first driver 25 connected to the base 1 and a support member 3 rotatably connected to the base 1 via a second rotating shaft 2, the second rotating shaft 2 being movably connected to the seventh through hole 44 of the support member 3, and the power output end of the first driver 25 drives the support member 3 to rotate 45° around the Y-axis direction with the second rotating shaft 2 as the rotation center through telescopic means, so that the support member 3 is respectively in a first direction, a second direction and a third direction. When the folding mechanism is in a folded state, the support member 3 is in the third direction, and the first driver 25 is preferably a cylinder; the first direction is a direction 20° to the ground, the second direction is a direction perpendicular to the ground, and the third direction is a direction horizontal to the ground.

[0041] A switching mechanism is arranged on the support member 3, the switching mechanism comprises a second driver 29 and a first rotating shaft 31, the second driver 29 is arranged on the side of the support member 3, the first rotating shaft 31 is rotatably connected with the tenth through hole 47 of the support member 3, the second driver 29 drives the first rotating shaft 31 to rotate, and the second driver 29 is preferably a micro motor;

[0042] Landing gear, two parallel landing gears are respectively fixedly connected to the two ends of the first rotating shaft 31, and each of the two ends of the landing gear is respectively provided with a buffer pad 22 and a clamping claw assembly, the buffer pad 22 is used for landing on flat ground, and the clamping claw assembly is used for landing on a rod-shaped object 87, the buffer pad 22 and the clamping claw assembly are respectively located on both sides of the rotation center of the landing gear, when the support member 3 is in the second direction, in order to switch between the two landing modes of the buffer pad 22 and the clamping claw assembly, the second driver 29 drives the first rotating shaft 31 to rotate 180° so that the buffer pad 22 or the clamping claw assembly rotates to the bottom of the flapping-wing flying robot, wherein the clamping claw assembly includes a clamp and a third driver 62 for driving the clamping claw to open or close, the clamping claw is used to clamp a rod-shaped object 87 such as a tree branch, a wire, etc., and the third driver 62 is preferably a micro motor.

[0043] In one embodiment of the present invention, referring to Figure 1 , 4As shown in Figures 6 and 7, the folding mechanism includes two connecting members arranged opposite to each other and a fourth driver 24 arranged on the base 1, the two connecting members include a first connecting member 26 and a second connecting member 27, both connecting members are provided with through holes, one end of the connecting member is movably connected to the eighth through hole 45 of the support member 3 through the through hole and the fourteenth rotating shaft 35, and the other end is movably connected to the fourth through hole 38 of the power output end of the first driver 25 through the through hole and the thirteenth rotating shaft 34, the rotating shaft of the fourth driver 24 passes through the second through hole 33 and is fixedly connected to the third through hole 37 of the shell of the first driver 25, the eighth through hole 45 is located in the middle of the support member 3, and the first driver 25, the connecting member, the support member 3, and the base 1 form a four-bar mechanism; in order to shorten the stroke of the power output end of the first driver 25 and further fold the support member 3, so that the take-off and landing device is folded more compactly, the fourth driver 24 drives the first driver 25 to rotate 45° around the third rotating shaft 23, that is, the Y-axis direction, so that the connecting member drives the support member 3 to rotate further; the fourth driver 24 is preferably a micro motor.

[0044] In one embodiment of the present invention, referring to Figure 1 and 7 As shown, the switching mechanism includes a first gear 28 and a second gear 30 which are meshed and arranged in the hollow inner cavity of the support member 3, the motor shaft 36 of the second driver 29 passes through the ninth through hole 46 of the support member 3 and is fixedly connected to the first gear hole 48 of the first gear 28, the first rotating shaft 31 passes through the tenth through hole 47 of the support member 3 and is fixedly connected to the second gear hole 85 of the second gear 30, and the second driver 29 drives the first gear 28 and the second gear 30 to rotate synchronously.

[0045] In one embodiment of the present invention, referring to Figure 1 , 2 As shown, the landing gear is provided with a support column 83 and a support column shell 19 slidably sleeved outside the support column 83, the support column shell 19 is arranged as a shell structure with one end open and the other end closed, the closed end is provided with an eleventh through hole 49 fixedly connected to the first rotating shaft 31, and the support column 83 is connected to the support column shell 19 through an elastic element, and the elastic element is located in the support column shell 19. When the flapping-wing flying robot lands, the support column shell 19 slides relative to the support column 83 and causes the elastic element to be compressed, which plays a role of shock absorption and buffering for the flapping-wing flying robot, and the elastic element is preferably a spring.

[0046] In one embodiment of the present invention, referring to Figure 1 , 2As shown in Figures 3 and 8, the support column shell 19 is provided with a fixing hole 20, and the support column 83 is provided with an electric control button 84 which can be extended and matched with the fixing hole 20, and the electric control button 84 is electrically connected to the control system of the flapping-wing flying robot. When the flapping-wing flying robot is landing using the buffer pad 22 and the elastic element is in a compressed state, the support column shell 19 slides relative to the support member 3 so that the fixing hole 20 slides to align with the electric control button 84. Then, the electric control button 84 can extend into the fixing hole 20 to limit the support column shell 19 and the elastic element, ensuring that the elastic element stores elastic potential energy, and also ensuring that the center of gravity of the flapping-wing flying robot is at a lower position as a whole, reducing the risk of overturning the flapping-wing flying robot, and can also use the elastic potential energy of the elastic element to help the flapping-wing flying robot take off.

[0047] In one embodiment of the present invention, referring to Figure 1 , 9 , 10, and 11, the clamping jaw assembly includes a gear housing 51 connected to the first rotating shaft 31, a third gear 61 and a fourth gear 56 meshingly connected and located in the gear housing 51, and a fifth gear 67 is also provided inside the gear housing 51. The fifth gear 67 is connected to the rotating shaft of the third driver 62, that is, the twelfth rotating shaft 17. The fifth gear 67 is meshed and connected to the third gear 61. The third driver 62 drives the fifth gear 67, the third gear 61, and the fourth gear 56 to rotate synchronously. The closed end of the support column housing 19 is welded and fixed to the gear housing 51. The clamping jaw includes a positive The first claw 4 and the second claw 8 are respectively connected to the third gear 61 and the fourth gear 56, and the gear housing 51 is also provided with a twelfth through hole 50, a thirteenth through hole 52, a fourteenth through hole 53, a fifteenth through hole 54, and a sixteenth through hole 55, wherein the twelfth rotating shaft 17 is rotatably connected to the fourteenth through hole 53, and the first claw 4 and the second claw 8 have similar structures, and the first claw 4 and the second claw 8 are both provided with a clamping portion, and the clamping portion is provided with a recess matching the rod-shaped object 87, and the recesses of the first claw 4 and the second claw 8 are used to grip the rod-shaped object 87, and the edges of the recesses are provided with anti-slip grooves.

[0048] In one embodiment of the present invention, referring to Figure 1 and 10As shown, on the outside of the gear housing 51, the gear housing 51 is rotatably connected to the first connecting rod 6 and the second connecting rod 16, the first connecting rod 6 and the second connecting rod 16 are arranged in parallel, one end of the first connecting rod 6 is rotatably connected to the first claw 4 through the fourth rotating shaft 5, and the other end is connected to the gear housing 51 through the fifth rotating shaft 7, one end of the second connecting rod 16 is rotatably connected to the first claw 4 through the sixth rotating shaft 18, and the other end is fixedly connected to the third gear 61 through the seventh rotating shaft 15; on the outside of the gear housing 51, the gear housing 51 is also rotatably connected to the third connecting rod 10 and the fourth connecting rod 13, the third connecting rod 10 and the fourth connecting rod 13 are arranged in parallel, one end of the third connecting rod 10 is rotatably connected to the second claw 8 through the ninth rotating shaft 11, and the other end is rotatably connected to the gear housing 51 through the eighth rotating shaft 9, one end of the fourth connecting rod 13 is rotatably connected to the second claw 8 through the eleventh rotating shaft 12 The claw 8 is rotatably connected, and the other end is fixedly connected to the fourth gear through the tenth rotating shaft 14; on the inner side of the gear housing 51, there are also a fifth connecting rod 58, a sixth connecting rod 57, a seventh connecting rod 59, and an eighth connecting rod 60, among which the fifth connecting rod 58 and the second connecting rod 16 have the same connection mode and function, the sixth connecting rod 57 and the first connecting rod 6 have the same connection mode and function, the seventh connecting rod 59 and the third connecting rod 10 have the same connection mode and function, and the eighth connecting rod 60 and the fourth connecting rod 13 have the same connection mode and function, which will not be repeated; the first claw 4 and the second claw 8 are provided with an abutment portion, when the first claw 4 and the second claw 8 are released, the abutment portion is close to and can abut the gear housing 51, so that the gear housing 51 and the clamping claw are in a stuck state; when the rod-shaped object 87 is clamped, when the third driver 62 drives the third gear 61 and the fourth gear to rotate, the first claw 4 and the second claw 8 can be lowered to a certain height and then the rod-shaped object 87 is clamped.

[0049] In one embodiment of the present invention, referring to Figure 1 and 5As shown, the connecting member, the first connecting rod 6, the second connecting rod 16, the third connecting rod 10 and the fourth connecting rod 13 have the same structure, and are all provided with a fifth through hole 40 and a sixth through hole 41; the first claw 4 is provided with a seventeenth through hole 63 and an eighteenth through hole 64, and the seventeenth through hole 63 and the eighteenth through hole 64 are respectively rotatably connected to the sixth rotating shaft 18 and the fourth rotating shaft 5; the second claw 8 is provided with a nineteenth through hole 65 and a twentieth through hole 66, and the nineteenth through hole 65 and the twentieth through hole 66 are respectively rotatably connected to the eleventh rotating shaft 12 and the ninth rotating shaft 11; the fifth through hole 40 of the first connecting rod 6 is provided with a fifth through hole 40 and a sixth through hole 41; the first claw 4 is provided with a seventeenth through hole 63 and an eighteenth through hole 64, and the seventeenth through hole 63 and the eighteenth through hole 64 are respectively rotatably connected to the sixth rotating shaft 18 and the fourth rotating shaft 5; the second claw 8 is provided with a nineteenth through hole 65 and a twentieth through hole 66, and the nineteenth through hole 65 and the twentieth through hole 66 are respectively rotatably connected to the eleventh rotating shaft 12 and the ninth rotating shaft 11; The through hole 40 is fixedly connected to the fourth rotating shaft 5, and the sixth through hole 41 of the first connecting rod 6 is fixedly connected to the fifth rotating shaft 7; the fifth through hole 40 of the second connecting rod 16 is fixedly connected to the sixth rotating shaft 18, and the sixth through hole 41 of the second connecting rod 16 is fixedly connected to the seventh rotating shaft 15; the fifth through hole 40 of the third connecting rod 10 is fixedly connected to the ninth rotating shaft 11, and the sixth through hole 41 of the third connecting rod 10 is fixedly connected to the eighth rotating shaft 9; the fifth through hole 40 of the fourth connecting rod 13 is fixedly connected to the eleventh rotating shaft 12, and the sixth through hole 41 of the fourth connecting rod 13 is fixedly connected to the tenth rotating shaft 14.

[0050] In one embodiment of the present invention, referring to Figure 1 As shown, the buffer pad 22 is configured as a bionic pad and connected to the end of the support column 83 opposite to the end provided with the elastic element. The bionic pad is connected to the support column 83 via a universal joint 21, and the universal joint 21 is used to offset impact and vibration.

[0051] In one embodiment of the present invention, when the support member 3 is driven by the first driver 25 and the fourth driver 24 to rotate 90° to the second direction from the folded state, the support member 3 abuts against the base 1 to form a limit, ensuring that the center of gravity of the flapping-wing flying robot coincides with the length direction of the support member 3, thereby reducing the risk of overturning the flapping-wing flying robot.

[0052] Reference Fig.12 , 13 As shown in Figure 14, in order to solve the above problems, the present invention also provides a flapping-wing flying robot 86, which includes an aircraft body, a control system, a power system and the landing gear. The base 1 of the landing gear is fixedly connected to the servo rocker 88 in the middle of the aircraft body, and the control system is electrically connected to the first driver 25, the second driver 29, the third driver 62, the electric control button 84 and the fourth driver 24 for controlling and coordinating various actions of the landing gear.

[0053] The working principle of the landing gear of the present invention is:

[0054] The landing gear is installed on the aircraft body of the flapping-wing flying robot 86. During the flight, the landing gear is in a folded state. When landing, the fourth driver 24 receives the unfolding control signal sent by the control system of the flapping-wing flying robot. The fourth driver 24 drives the first driver 25 to rotate 45° counterclockwise, so that the support member 3 rotates 45° clockwise. Then the piston of the first driver 25 extends to drive the support member 3 to continue to rotate 45° clockwise so that the support member 3 is in a vertical state. The support member 3 and the base 1 just form a limit. Then the operator selects the landing method according to the landing terrain. If a flat ground is encountered, the buffer pad 22 is used as the landing method. The control system sends a switching control signal to the second driver 29. The second driver 29 drives the landing gear to rotate 180° so that the buffer pad 22 faces downward. After the buffer pad 22 touches the bottom, the flapping-wing flying robot lands flat on the flat ground through the spring and the buffer pad 22 for cushioning and shock absorption. Further, if the control system also sends a wireless landing control signal, the electric control button 84 retracts into the support column 83, and the support column housing 19 The elastic element is further compressed so that the fixing hole 20 on the support column housing 19 is aligned with the electric control button 84, and the electric control button 84 pops out into the fixing hole 20; if a rod-shaped object 87 such as a branch or an electric wire is encountered, the clamping claw is used as the landing method. Similarly, the second driver 29 drives the landing gear to rotate 180° so that the clamping claw faces downward and the first claw 4 and the second claw 8 are opened. The flapping-wing flying robot adjusts the position of the first claw 4 and the second claw 8 to be just above the rod-shaped object 87. The first claw 4 and the second claw 8 clamp the rod-shaped object 87 and then land smoothly. After landing, The operator can manually lift the flapping-wing flying robot and rotate the cushion downward. During takeoff, for landing with the cushion 22, the control system sends a takeoff control signal and controls the electric control button 84 to extend into the support column 83, and uses the elastic potential energy of the spring to help the flapping-wing flying robot to bounce into the air, and the folding mechanism folds the landing gear to the first direction. For landing with the clamp, when the flapping-wing flying robot takes off, the control system controls the first claw 4 and the second claw 8 to open, the clamp releases the rod 87, and the folding mechanism folds the landing gear to the first direction.

[0055] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A landing gear, characterized in that: include, Pedestal; A folding mechanism connected to the base, the folding mechanism comprising a first driver and a support member rotatably connected to the base, the first driver driving the support member to rotate around the Y-axis direction so that the support member is in a first direction, a second direction and a third direction respectively, wherein the first direction is a direction at 20° with the ground, the second direction is a direction perpendicular to the ground, and the third direction is a direction horizontal to the ground; A switching mechanism, which is arranged on the supporting member, the switching mechanism comprises a second driver and a first rotating shaft, and the second driver drives the first rotating shaft to rotate; A landing gear is connected to the first rotating shaft, and a buffer pad and a clamping jaw assembly are respectively provided at both ends of the landing gear. When the support member is in the second direction, the second driver drives the first rotating shaft to rotate so that one of the buffer pad and the clamping jaw assembly rotates to the bottom of the other, wherein the clamping jaw assembly includes a clamping jaw and a third driver that drives the clamping jaw to open or close.

2. A landing gear according to claim 1, characterized in that: The folding mechanism includes a connecting member and a fourth driver arranged on the base, the fourth driver drives the first driver to rotate around the Y-axis direction, one end of the connecting member is movably connected to the supporting member, and the other end is movably connected to the power end of the first driver.

3. A landing gear according to claim 1, characterized in that: The switching mechanism includes a first gear and a second gear that are meshed and disposed on the support member, wherein the second driver drives the first gear to rotate, and the second gear is connected to the first rotating shaft.

4. A landing gear according to claim 1, characterized in that: The landing gear is provided with a support column and a support column shell slidably sleeved outside the support column, and the support column is connected to the support column shell through an elastic element, and the elastic element is located in the support column shell.

5. A landing gear according to claim 4, characterized in that: The support column housing is provided with a fixing hole, and the support column is provided with an electric control button which can be extended and matched with the fixing hole. When the elastic element is in a compressed state, the electric control button can extend into the fixing hole.

6. A landing gear according to claim 1, characterized in that: The clamping jaw assembly includes a gear housing connected to the first rotating shaft, a third gear and a fourth gear meshingly connected and located in the gear housing, a third driver drives the third gear and the fourth gear to rotate synchronously, and the clamping jaw includes a first jaw and a second jaw arranged opposite to each other, and the first jaw and the second jaw are respectively connected to the third gear and the fourth gear.

7. A landing gear according to claim 6, characterized in that: A plurality of first connecting rods and a second connecting rod are rotatably connected to the gear housing, the first connecting rod and the second connecting rod are arranged in parallel, one end of the first connecting rod is rotatably connected to the first claw, and the other end is fixedly connected to the third gear, and one end of the second connecting rod is rotatably connected to the first claw; a plurality of third connecting rods and a fourth connecting rod are also rotatably connected to the gear housing, the third connecting rod and the fourth connecting rod are arranged in parallel, one end of the third connecting rod is rotatably connected to the second claw, and the other end is fixedly connected to the fourth gear, and one end of the fourth connecting rod is rotatably connected to the second claw, the first claw and the second claw are provided with an abutment portion, and when the first claw and the second claw are loosened, the abutment portion can abut the gear housing.

8. A landing gear according to claim 4, characterized in that: The buffer pad is configured as a bionic pad and is connected to the end of the support column opposite to the end provided with the elastic element, and the bionic pad is connected to the support column via a universal joint.

9. A landing gear according to claim 1, characterized in that: When the landing gear is located in the second direction, the support member abuts against the base to form a limit position.

10. A flapping-wing flying robot, comprising an aircraft body and a landing device according to any one of claims 1 to 9, characterized in that: The base of the landing gear is fixedly connected to the middle part of the aircraft body.

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