Bird-imitating autonomous continuous jumping take-off flapping-wing robot

Abstract

The invention discloses a bird-imitating autonomous continuous jumping take-off flapping-wing robot which comprises a main frame, wings and empennages, wing driving assemblies are arranged on the main frame, one ends of the wings are fixed to the main frame, the other ends of the wings are connected with the wing driving assemblies, empennage driving parts are arranged at the ends of the main frame, and the empennage driving parts are connected with the empennages. The system further comprises a jumping mechanism, a flight control module and an energy supply battery. The wings are driven by the wing driving assemblies to conduct periodic flapping so as to generate lift force, the empennages are driven by the empennage driving pieces to rotate so as to adjust the posture of the robot, the jumping assemblies are compressed and released through the jumping mechanisms, and thrust is provided for takeoff of the robot. Cooperative movement of the wing driving assembly, the empennage driving piece and the driving module is controlled through the flight control module. The robot can imitate a bird jump flying mode to jump and take off autonomously, when landing, the robot can stand on the ground through three-point support and automatically adjust the posture, energy is stored again to prepare for the next take-off task, and continuous autonomous jump flying is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of robot systems, and in particular to a bird-like autonomous and continuous jumping and taking-off flapping-wing robot. Background Art

[0002] In recent years, with the development of robotics, bionic flapping-wing robots have become a new hot research field. The design of bionic flapping-wing robots is inspired by flapping-wing flight in biology, which imitates the wing movements of birds and insects. Creatures that flap their wings have a unique way of moving, which can effectively generate lift and propulsion in the air. Bionic flapping-wing robots imitate these flight characteristics in nature to improve flight efficiency and maneuverability. The concealment and maneuverability of this robot enable it to be widely used in military reconnaissance, environmental monitoring, search and rescue.

[0003] Autonomous take-off and landing is a key technology in bionic flapping-wing robots. Most flapping-wing robots still need external forces to take off, such as human assistance or ejection. After completing the mission, they need to be manually recovered before they can carry out the next flight mission. In order to improve the autonomous action capability and environmental adaptability of flapping-wing robots, people try to make flapping-wing robots take off autonomously.

[0004] The existing autonomous take-off technologies are as follows:

[0005] 1. Use the thrust generated by flapping wings to take off. This method increases the time of the take-off process and requires a flat and spacious area.

[0006] 2. Imitate the take-off principle of hummingbirds and use flapping wings to achieve vertical take-off from the ground. This method overcomes the site limitation, but the flapping-wing robot cannot fly for a long time due to load limitations, and it does not have anti-interference ability. It needs to be manually placed and adjusted to take off effectively.

[0007] Therefore, in order to improve the wide applicability of flapping-wing robots and improve their ability to continuously and autonomously perform tasks in complex environments, it is necessary to design a bird-like flapping-wing robot and system that can autonomously and continuously jump and take off to solve the above problems. Summary of the invention

[0008] The present invention provides a bird-like autonomous continuous jumping and take-off flapping wing robot and system, which are used to solve the technical problems raised in the background technology.

[0009] The technical solution adopted by the present invention to solve the above technical problems is:

[0010] A bird-like autonomous continuous jumping takeoff flapping wing robot comprises: a main frame, wings and tail wings, the main frame is provided with a wing drive assembly, the wings are symmetrically arranged on both sides of the main frame, one end of the wings is fixed to the main frame, and the other end is connected to the wing drive assembly, the wing drive assembly is used to drive the wings to flap periodically to generate lift; a tail wing drive member is provided at the end of the main frame, the tail wing drive member is connected to the tail wing, and the tail wing drive member is used to drive the tail wing to rotate to adjust the robot posture; and also comprises: a jumping mechanism, a flight control module and an energy supply battery;

[0011] The jumping mechanism includes a jumping assembly, a driving module and a front supporting assembly, wherein the driving module is located below the main frame and connected to the jumping assembly, the driving module is used to drive the jumping assembly to move, generate and release elastic force, and the front supporting assembly is fixed at the bottom of the driving module to support the robot to maintain balance when standing on the ground;

[0012] The flight control module is installed below the main frame, and the drive module is fixed at the bottom of the flight control module. The flight control module is used to receive user-side control instructions and control the wing drive assembly, the tail drive component and the drive module;

[0013] The energy supply battery is installed below the main frame and is used to supply power to various electrical components.

[0014] As a further preferred embodiment of the present invention, the jumping assembly includes an elastic sheet array and a polyethylene wire, the elastic sheet array includes two long elastic sheets and two short elastic sheets arranged at intervals, the ends of which are connected by hinges, the end of the elastic sheet array close to the driving module is called a head, and the end away from the driving module is called a tail, one end of the polyethylene wire is fixed to the tail of the elastic sheet array, and the other end passes through the head of the elastic sheet array and is connected to the driving module.

[0015] As a further preferred embodiment of the present invention, the driving module includes a jumping drive motor and a gear box, a gear set is provided in the gear box, the gear set includes gear No. 1, gear No. 2 and a double gear, the gear No. 2 is movably connected with a gear shaft, the end of the polyethylene line is fixed on the gear shaft, the jumping drive motor is fixed to the outside of the gear box, and its output shaft passes through the box wall of the gear box, the output shaft is installed with the No. 1 gear and a one-way bearing, the outer edge of the one-way bearing is installed with a swing arm, the other end of the swing arm is installed with the double gear, the large gear of the double gear is meshed with the No. 1 gear, and the small gear is meshed with the No. 2 gear.

[0016] As a further preferred embodiment of the present invention, the front support assembly includes two elastic rods, which are located on the front side of the jumping mechanism, have one end fixedly connected to the gear box, and the other end is provided with a support foot parallel to the ground, and a pressure sensor is provided on the support foot.

[0017] As a further preferred embodiment of the present invention, the wing drive assembly includes a crank rocker mechanism and a brushless motor, the crank rocker mechanism includes a bearing, a transmission gear, a swing arm, a swing part and a slot, one end of the swing arm is connected to the output shaft of the brushless motor through the bearing, and the other end is connected to the two swing parts, the two swing parts are provided with the slot, and one end of the wing is installed in the slot.

[0018] As a further preferred embodiment of the present invention, the flight control module includes a Bluetooth communication module, a posture sensor module and a motor drive module. The flight control module is connected to the brushless motor through the motor drive module. The Bluetooth communication module is connected to the user side through Bluetooth communication, accepts user side instructions and controls the motion of the robot. The posture sensor module is used to obtain the robot position and posture information, and send it to the user side through the Bluetooth communication module.

[0019] As a further preferred embodiment of the present invention, the attitude sensor module includes an attitude sensor chip and a barometer chip; the attitude sensor chip includes but is not limited to MPU9250, and the barometer chip includes but is not limited to BMP180\BMP280; the attitude sensor chip can measure the pitch angle, roll angle and yaw angle of the robot in real time, so as to determine the spatial position and direction of the object, and the barometer can obtain altitude information by measuring the air pressure of the robot's surrounding environment.

[0020] As a further preferred embodiment of the present invention, the main frame and the crank rocker mechanism are both manufactured by 3D printing.

[0021] As a further preferred embodiment of the present invention, the wing is in a semicircular arc shape.

[0022] As a further preferred embodiment of the present invention, the tail wing is fan-shaped with an angle of 130°.

[0023] As a further preferred embodiment of the present invention, the tail wing driving component is a tail wing servo.

[0024] Compared with the prior art, the present invention has the following advantages or technical effects:

[0025] The wings are driven by the wing drive assembly to flap periodically to generate lift, the tail drive is driven by the tail drive to rotate to adjust the robot's posture, the jumping assembly is compressed and released by the jumping mechanism to provide thrust for the robot to take off, and the coordinated movement of the wing drive assembly, the tail drive and the drive module is controlled by the flight control module. The bird-like autonomous continuous jumping takeoff flapping wing robot provided by the present invention can imitate the bird's jumping flight mode to autonomously jump and take off. When landing after completing the flight mission, it can stand on the ground through three-point support and automatically adjust the posture, and store energy again to prepare for the next takeoff mission, so as to achieve continuous autonomous jumping flight. This greatly improves the autonomy and adaptability of the flapping wing robot, while improving the stability and safety of the flight, and has broad application prospects in the fields of environmental survey and military reconnaissance. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention and its features, configurations and advantages will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings. The same reference numerals indicate the same parts throughout the drawings. The drawings are not drawn to scale, but rather to illustrate the subject matter of the present invention.

[0027] Figure 1 A schematic diagram of the structure of a bird-like flapping-wing robot capable of autonomous continuous jumping and takeoff provided by the present invention;

[0028] Figure 2 This is a schematic diagram of the structure of the flapping-wing robot in the jumping energy storage state;

[0029] Figure 3 It is a structural schematic diagram of a crank rocker mechanism;

[0030] Figure 4 is a structural schematic diagram of the jumping mechanism;

[0031] Figure 5 Schematic diagram of the internal structure of the gearbox;

[0032] Figure 6 This is a schematic diagram of the structure of the flight control module;

[0033] Figure 7 This is the autonomous jump takeoff experiment diagram: ① is the jump stage, ② is the attitude adjustment stage, ③ is the stable flight stage;

[0034] In the figure, 1, main frame, 2, wing, 3, tail, 4, wing drive assembly, 41, crank rocker mechanism, 411, rotating bearing, 412, transmission gear, 413, swing bearing, 414, swing part, 415, slot, 42, brushless motor, 5, tail drive part, 61, jump assembly, 611, elastic sheet array, 6111, long elastic sheet, 6112, short elastic sheet, 6113, hinge, 612, polyethylene line, 62, drive module, 621, jump drive motor, 622, gear box, 6221, gear No. 1, 6222, gear No. 2, 6223, gear No. 2, 6224, gear shaft, 6225, one-way bearing, 6226, swing arm, 63, front support assembly, 631, elastic rod, 632, foot support, 7, flight control module, 8, power supply battery. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention are described below in conjunction with the drawings in the embodiments of the present invention. It is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work belong to the protection scope of the present invention.

[0036] Please refer to Figure 1 , Figure 2A bird-like autonomous continuous jumping takeoff flapping wing robot comprises: a main frame 1, wings 2 and tail 3, a wing drive assembly 4 is arranged on the main frame 1, and the wings 2 are symmetrically arranged on both sides of the main frame 1, one end of which is fixed on the main frame 1, and the other end is connected to the wing drive assembly 4, and the wing drive assembly 4 is used to drive the wings 2 to flap periodically to generate lift. A tail drive 5 is arranged at the tail of the main frame 1, and the tail drive 5 is connected to the tail 3. The tail drive 5 is a tail servo, which is used to drive the tail 3 to rotate, and then control the robot's air rolling and yaw motion. It also includes: a jumping mechanism, a flight control module 7 and an energy supply battery 8. The jumping mechanism includes a jumping assembly 61, a driving module 62 and a front support assembly 63, the driving module 62 is located below the main frame 1 and is connected to the jumping assembly 61, the driving module 62 is used to drive the jumping assembly 61 to move, generate and release elastic force, and the front support assembly 63 is fixed at the bottom of the driving module 62, and is used to support the robot to maintain balance when standing on the ground. The flight control module 7 is installed below the main frame 1, and the drive module 62 is fixed at the bottom of the flight control module 7. The flight control module 7 is used to receive user-side control instructions and control the wing drive assembly 4, the tail drive component 5 and the drive module 62. The energy supply battery 8 is installed below the main frame 1 to supply power to various electrical components. The main frame 1 and the crank rocker mechanism are both manufactured by 3D printing.

[0037] like Figure 4 As shown, the jump assembly 61 includes an elastic sheet array 611 and a polyethylene wire 612. The elastic sheet array 611 includes two long elastic sheets 6111 and two short elastic sheets 6112 arranged at intervals, and the head and tail are connected by a hinge 6113. The end of the elastic sheet array 611 close to the driving module 62 is called the head, and the end away from the driving module 62 is called the tail. One end of the polyethylene wire 612 is fixed to the tail of the elastic sheet array 611, and the other end passes through the head of the elastic sheet array 611 and is connected to the driving module 62. The combination of the two long elastic sheets and the two short elastic sheets will produce an inclined angle deformation during the compression process, which helps to generate an inclined elastic force at the moment of release. The front support assembly 63 includes two elastic rods 631, which are located on the front side of the jumping mechanism and are used to support the robot to maintain balance when standing on the ground. One end of the elastic rod 631 is fixedly connected to the gear box 622, and the other end is provided with a support foot 632 parallel to the ground. The support foot 632 is provided with a press sensor, including a Bluetooth module and a press switch, which is used to detect whether the robot's feet are in contact with the ground.

[0038] like Figure 5As shown, the driving module 62 includes a jumping driving motor 621 and a gear box 622. The gear box 622 is provided with a gear set, and the gear set includes a number one gear 6221, a number two gear 6222 and a double gear 6223. The number two gear 6222 is movably connected to a gear shaft 6224. The end of the polyethylene line 612 is fixed on the gear shaft 6224, thereby controlling the pulling and release thereof. The jumping driving motor 621 is fixed on the outside of the gear box 622, and its output shaft passes through the box wall of the gear box 622. A number one gear 6221 and a one-way bearing 6225 are installed on the output shaft. A swing arm 6226 is installed on the outer edge of the one-way bearing 6225, and a double gear 6223 is installed on the other end of the swing arm 6226. The large gear of the double gear 6223 is meshed with the number one gear 6221, and the small gear is meshed with the number two gear 6222. When the jump drive motor 621 is powered on in the forward direction, the motor shaft rotates in the forward direction, and the weak friction of the one-way bearing 6225 causes the swing arm 6226 to rotate clockwise until the pinion of the double gear 6223 meshes with the second gear 6222. The rotation of the second gear 6222 drives the gear shaft 6224 to rotate, and the gear shaft 6224 is connected to the head end of the polyethylene line 612, which then winds up the polyethylene line 612 and compresses the elastic sheet array 611. When the jump drive motor 621 is powered on in the reverse direction, the one-way bearing 6225 is stuck, the swing arm 6226 rotates counterclockwise, and the pinion of the double gear 6223 separates from the second gear 6222, causing the polyethylene line 612 to be quickly released, thereby releasing the jump mechanism.

[0039] like Figure 3 As shown, the wing drive assembly 4 includes a crank rocker mechanism and a brushless motor 42. The crank rocker mechanism includes a bearing 411, a transmission gear 412, a swing arm 413, a swing part 414 and a slot 415. One end of the swing arm 413 is connected to the output shaft of the brushless motor 42 through the bearing 411, and the other end is connected to two swing parts 414. The two swing parts 414 are both provided with slots 415, and the two slots 415 are symmetrically arranged. One end of the wing 2 is installed in the slot 414. The brushless motor 42 is connected to the crank rocker mechanism to drive the two wings to flap periodically to generate lift.

[0040] Further explanation: the wingspan of wing 2 is in the shape of a semicircular arc, and flapping generates average lift. The fan-shaped tail wing used by tail wing 3 has a fan-shaped angle of 130°. The torque generated by the air resistance of the tail wing with a large angle on the flapping wing can offset the pitch torque generated by the flapping of the wing, effectively avoiding stalling when the wing starts flapping, quickly adjusting the flight attitude of the robot, and at the same time increasing the angle of attack during stable flight, thereby increasing lift, which helps the robot to continue to fly upward in the subsequent flight stage.

[0041] like Figure 6As shown, the flight control module 7 includes a Bluetooth communication module, a posture sensor module and a motor drive module. The flight control module 7 is connected to the brushless motor 42 through the motor drive module. The Bluetooth communication module is connected to the user side through Bluetooth communication, receives user side instructions and performs motion control on the robot. The posture sensor module is used to obtain the robot position and posture information, and sends it to the user side through the Bluetooth communication module. The posture sensor module includes a posture sensor chip and a barometer chip. The posture sensor chip includes but is not limited to MPU9250, and the barometer chip includes but is not limited to BMP180\BMP280. The posture sensor chip is used to measure the pitch angle, roll angle and yaw angle of the robot in real time, so as to determine the spatial position and direction of the object. The barometer can obtain height information by measuring the air pressure of the robot's surrounding environment.

[0042] To further explain, the user side includes a communication module, a flight data display module, and a remote control command module. The communication module communicates with the Bluetooth module on the robot through Bluetooth pairing. The flight data display module includes a heading and attitude instrument, sensor data, and an attitude angle curve to determine the real-time status of the robot.

[0043] The flapping-wing robot provided in this embodiment can realize autonomous jumping takeoff and landing without assistance. The flight control module can obtain the acceleration and angle changes of the robot in the jumping flight and landing stages in real time, analyze the state of the robot and then control it. At the moment the jumping system is released, the robot's acceleration will change dramatically, and then the robot's pitch posture will change due to the resistance of the tail wing. When the pitch angle reaches the flight requirement, the flight control module controls the wings to start flapping, which can effectively connect the jumping flight action. When the robot receives the landing command, the wing flapping frequency decreases and enters the gliding stage. When the robot touches the ground, the acceleration will change dramatically. At this time, the robot begins to flap its wings to correct its posture until it stands steadily on the ground.

[0044] The flapping-wing robot provided in this embodiment has the ability to autonomously balance and continuously jump and fly. A pressure sensor is provided on the robot's supporting foot, including a Bluetooth module and a press switch, for detecting whether the robot's feet are in contact with the ground. When the robot lands on the ground after completing a flight mission, it maintains balance through the three-point support of the jumping system. If it falls, the robot's posture is obtained through the flight control module, and then the robot's posture is adjusted by flapping the wings until it stands steadily again. The foot pressure sensor detects pressure to ensure that the foot is in contact with the ground to provide sufficient elastic force for take-off. At the same time, the jumping mechanism will contract and store energy. After the energy storage is completed, the robot will jump and take off again to perform the next flight mission.

[0045] like Figure 7As shown, the flapping-wing robot provided in this embodiment is divided into three stages during autonomous jumping and takeoff. When receiving the take-off command, it is first determined whether the robot is standing stably on the ground. If it is not standing stably, the robot's posture is adjusted by flapping its wings. If it is standing stably on the ground, it enters the first stage, the robot's jumping stage. In this stage, the compressed jumping mechanism is released, and the jumping mechanism will generate an impact force on the center of gravity of the flapping-wing aircraft, so that the flapping-wing aircraft has an initial speed forward and upward, and the robot begins to jump. The overall force motion of the flapping-wing aircraft in the jumping flight stage can be simply described as a combination of movement and rotation, and the formula is as follows:

[0046]

[0047]

[0048] Furthermore, the speed and angular velocity in the jumping phase can be calculated as follows:

[0049]

[0050]

[0051] Where m is the mass of the ornithopter, is the acceleration of the flapping-wing aircraft, I is the moment of inertia of the flapping-wing aircraft, For jumping elasticity, The resistance force.

[0052] At this time, the robot's wings do not flap. During the robot's forward and upward jump, the tail wing is subject to greater resistance, generating a torque that causes the robot to pitch upward. Therefore, during the jumping phase, the robot will move forward and upward in the direction of the initial velocity and raise its head. The second stage is the robot's posture adjustment stage. In this stage, the robot's wings begin to flap, and due to inertia, it still moves forward and upward. As the upward velocity decays, the torque generated by the tail wing begins to decrease, and because the torque generated by the flapping of the wings begins to increase, the robot's pitch angle gradually decreases. The third stage is a stable flight state. As the second stage reaches the end, the torque generated by the robot's wings reaches a balance with the torque generated by the tail wing, and the robot's pitch motion gradually stabilizes and enters an aerial flight state. The overall force conditions of the flapping-wing aircraft are as follows:

[0053]

[0054] Among them, F l is the lift provided by the flapping of the wings, F t It is the flapping of the wings that provides the forward thrust.

[0055] When the robot lands after completing its flight mission, it can stand on the ground with three points of support and can store energy again to prepare for the next take-off mission, thus achieving continuous take-offs. This flapping-wing autonomous jumping robot can perform jump take-off flights without human assistance, and can perform multiple autonomous jumps in succession, which improves the autonomy and adaptability of the flapping-wing robot, as well as the stability and safety of its flight.

[0056] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structural transformation made by using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A bird-like flapping-wing robot capable of autonomous continuous jumping and takeoff, comprising: A main frame (1), wings (2) and a tail wing (3), characterized in that a wing drive assembly (4) is provided on the main frame (1), the wings (2) are symmetrically arranged on both sides of the main frame (1), one end of the wings (2) is fixed on the main frame (1), and the other end is connected to the wing drive assembly (4), the wing drive assembly (4) is used to drive the wings (2) to flap periodically to generate lift; a tail wing drive component (5) is provided at the end of the main frame (1), the tail wing drive component (5) is connected to the tail wing (3), and the tail wing drive component (5) is used to drive the tail wing (3) to rotate to adjust the posture of the robot; and also includes: a jumping mechanism, a flight control module (7) and a power supply battery (8); The jumping mechanism comprises a jumping component (61), a driving module (62) and a front support component (63); the driving module (62) is located below the main frame (1) and connected to the jumping component (61); the driving module (62) is used to drive the jumping component (61) to move, generate and release elastic force; the front support component (63) is fixed to the bottom of the driving module (62) and is used to support the robot to maintain balance when standing on the ground; The flight control module (7) is installed below the main frame (1), and the drive module (62) is fixed to the bottom of the flight control module (7). The flight control module (7) is used to receive user-side control instructions and control the wing drive assembly (4), the tail drive component (5) and the drive module (62); The energy supply battery (8) is installed below the main frame (1) and is used to supply power to various electrical components.

2. The bird-like autonomous continuous jumping and take-off flapping-wing robot according to claim 1, characterized in that: The jumping component (61) comprises an elastic sheet array (611) and a polyethylene wire (612); the elastic sheet array (611) comprises two long elastic sheets (6111) and two short elastic sheets (6112) arranged at intervals, the head and tail of which are connected via a hinge (6113); the end of the elastic sheet array (611) close to the driving module (62) is called the head, and the end away from the driving module (62) is called the tail; one end of the polyethylene wire (612) is fixed to the tail of the elastic sheet array (611), and the other end passes through the head of the elastic sheet array (611) and is connected to the driving module (62).

3. The bird-like autonomous continuous jumping and take-off flapping-wing robot according to claim 2, characterized in that: The driving module (62) comprises a jumping driving motor (621) and a gear box (622); a gear set is provided in the gear box (622); the gear set comprises a first gear (6221), a second gear (6222) and a double gear (6223); the second gear (6222) is movably connected to a gear shaft (6224); the end of the polyethylene wire (612) is fixed to the gear shaft (6224); the jumping driving motor (621) is fixed to the gear box The output shaft of the gear box (622) passes through the wall of the gear box (622), and the output shaft is installed with the first gear (6221) and the one-way bearing (6225). The outer edge of the one-way bearing (6225) is installed with a swing arm (6226), and the other end of the swing arm (6226) is installed with the double gear (6223). The large gear of the double gear (6223) is meshed with the first gear (6221), and the small gear is meshed with the second gear (6222).

4. The bird-like autonomous continuous jumping and take-off flapping-wing robot according to claim 3, characterized in that: The front support assembly (63) comprises two elastic rods (631), wherein the elastic rods (631) are located at the front side of the jumping mechanism, one end of the elastic rods is fixedly connected to the gear box (622), and the other end is provided with a support foot (632) parallel to the ground, and a pressure sensor is provided on the support foot (632).

5. The bird-like autonomous continuous jumping and take-off flapping-wing robot according to claim 1, characterized in that: The wing drive assembly (4) comprises a crank rocker mechanism and a brushless motor (42); the crank rocker mechanism comprises a bearing (411), a transmission gear (412), a swing arm (413), a swing part (414) and a slot (415); one end of the swing arm (413) is connected to the output shaft of the brushless motor (42) via the bearing (411), and the other end is connected to two swing parts (414); the two swing parts (414) are each provided with the slot (415); one end of the wing (2) is mounted in the slot (414).

6. The bird-like autonomous continuous jumping and take-off flapping-wing robot according to claim 5, characterized in that: The flight control module (7) comprises a Bluetooth communication module, a posture sensor module and a motor drive module. The flight control module (7) is connected to the brushless motor (42) via the motor drive module. The Bluetooth communication module is connected to the user side via Bluetooth communication, receives user side instructions and controls the movement of the robot. The posture sensor module is used to obtain the robot position and posture information, and sends it to the user side via the Bluetooth communication module.

7. The bird-like autonomous continuous jumping and take-off flapping-wing robot according to claim 6, characterized in that: The attitude sensor module includes an attitude sensor chip and a barometer chip.

8. The bird-like autonomous continuous jumping and take-off flapping-wing robot according to claim 5, characterized in that: The main frame (1) and the crank rocker mechanism are both manufactured using 3D printing.

9. The bird-like autonomous continuous jumping and take-off flapping-wing robot according to claim 1, characterized in that: The wing (2) is in a semicircular arc shape.

10. The bird-like autonomous continuous jumping and take-off flapping-wing robot according to claim 1, characterized in that: The tail wing (3) is fan-shaped, with an included angle of 130°.

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