A water-air amphibious bionic flapping-wing robot with chordwise bimodal mode

Abstract

The present application belongs to the related technical field of bionic flapping-wing robot, and discloses a water-air amphibious bionic flapping-wing robot with chordal bimodal flapping wings, which comprises a main body, chordal bimodal flapping wings, a tail wing, a cross-medium mechanism, a control unit and a flexible skin; the main body is the main supporting component of the robot, the chordal bimodal flapping wings are installed on the left and right sides of the main body and reciprocate up and down to drive the flexible skin covered above to generate power; the tail wing is fixed at the rear end of the main body to assist the robot in adjusting the posture; the cross-medium mechanism is installed at the front end of the main body to provide impact force for the cross-medium movement of the robot; and the control unit is connected with each component through a signal line. The chordal flapping wings have two movement modes of water and underwater, the water mode is beneficial to generating lift in the air, the underwater mode is beneficial to reducing power consumption in water and concentrating power in the thrust direction, and the use environment and scene of the bionic flapping-wing robot are expanded.

Description

Technical Field

[0001] This invention belongs to the technical field of biomimetic flapping-wing robots, and more specifically, relates to an amphibious biomimetic flapping-wing robot with chordal dual modes. Background Technology

[0002] Bionic flapping-wing robots are inspired by the way natural organisms flap their wings for locomotion. Compared to traditional propulsion methods like artificial propellers, flapping wings offer higher efficiency, lower environmental noise, and a safer operating mode. In aquatic environments, they mimic bird wings for flight, while underwater they mimic the pectoral fin-driven locomotion of fish like manta rays. However, existing bionic flapping-wing robots are designed only for a single organism, resulting in aquatic flapping-wing robots designed for aerial flight struggling to move underwater, and vice versa. Their applications are limited to a single medium and cannot meet the flapping-wing locomotion requirements of amphibious applications. Summary of the Invention

[0003] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides a biomimetic flapping-wing robot with chordal bimodality. By designing chordal bimodal flapping wings to mimic the behavioral differences between bird feathers and manta ray fins during movement, the biomimetic flapping-wing mechanism is endowed with more motion modes and functions, expanding the motion environment and application scenarios of the biomimetic flapping-wing robot. This solves the technical problem that existing biomimetic flapping-wing robots cannot meet the flapping-wing motion requirements of amphibious cross-media scenarios.

[0004] To achieve the above objectives, according to one aspect of the present invention, an amphibious biomimetic flapping-wing robot with chordal dual-modality is provided, comprising a main body 1, chordal dual-modality flapping wings 2, a tail wing 3, a transmedium mechanism 4, a control unit 5, and a flexible skin 6. The main body 1 includes a main frame 1-1, a flapping gear set 1-2, a flapping motor 1-3, a flapping connecting rod 1-4, and a tail wing fixing rod 1-5. The main frame 1-1 is the core load-bearing structure of the robot and is used to install the other components of the main body 1. The flapping gear set 1-2 is installed inside the main frame 1-1 and drives the flapping connecting rod 1-4 to flap back and forth under the drive of the flapping motor 1-3. The tail wing fixing rod 1-5 is installed at the rear end of the main frame 1-1. The chordal dual-mode flapping wing 2 is installed on the left and right sides of the main body 1 and connected to the flapping linkage 1-4; the flexible skin 6 is adhered to the top of the chordal dual-mode flapping wing 2; the tail wing 3 is installed on the tail wing fixing rod 1-5; the cross-medium mechanism 4 is installed at the front end of the main frame 1-1; the control unit 5 is fixed on the main frame 1-1 and connected to each component through signal lines. Preferably, the chordal bimodal flapping wing 2 includes a flapping mechanism 2-1, a chordal bimodal joint 2-2, and a mode switching mechanism 2-3; the flapping mechanism 2-1 is hinged to the left and right sides of the main frame 1-1 and flaps back and forth under the drive of the flapping link 1-4; the chordal bimodal joint 2-2 is mounted on the flapping mechanism 2-1 and moves with the flapping mechanism 2-1; the mode switching mechanism 2-3 is fixed to the main frame 1-1 and controls the movement mode of the chordal bimodal joint 2-2 during movement; Preferably, the flapping mechanism 2-1 includes a wing root fixing seat 2-11, a flapping rod 2-12, and a wingtip fixing seat 2-13; the wing root fixing seat 2-11 is hinged to the left and right sides of the main frame 1-1 and connected to the flapping connecting rod 1-4, and flaps back and forth under the drive of the flapping connecting rod 1-4; the flapping rod 2-12 is fixed on the wing root fixing seat 2-11.

[0005] Preferably, the chordal bimodal joint 2-2 includes a joint fixed seat 2-21, a joint movable seat 2-22, an upper stroke torsion spring 2-23, and a lower stroke torsion spring 2-24; the joint movable seat 2-22 is hinged to the joint fixed seat 2-21 and can rotate relative to the joint fixed seat 2-21; both the upper stroke torsion spring 2-23 and the lower stroke torsion spring 2-24 are constrained on the hinge axis of the joint movable seat 2-22 and the joint fixed seat 2-21; one end of the upper stroke torsion spring 2-23 is fixed to the joint fixed seat 2-21, and the other end provides torque when the joint movable seat 2-22 rotates downward relative to the joint fixed seat 2-21; one end of the lower stroke torsion spring 2-24 is fixed to the joint fixed seat 2-21, and the other end provides torque when the joint movable seat 2-22 rotates upward relative to the joint fixed seat 2-21.

[0006] Preferably, the mode switching mechanism 2-3 includes a mode switching servo 2-31, a mode switching linkage 2-32, a transmission rope 2-33, a serrated plate 2-34, and a tension spring 2-35; the mode switching servo 2-31 is fixed on the tail fin fixing rod 1-5 and serves as the input end of the mode switching linkage 2-32 to control its movement; the output end of the mode switching linkage 2-32 is sleeved on the flapping rod 2-12 and can slide along the axial direction of the flapping rod 2-12; one end of the transmission rope 2-33 is fixed to the output end of the mode switching linkage 2-32, and the other end is connected to the serrated plate 2-34; the serrated plate 2-34 passes through the interior of the joint fixing seat 2-21 and is connected to the wingtip fixing seat 2-13 through the tension spring 2-35.

[0007] Preferably, when the output end of the mode switching linkage 2-32 slides toward the root of the flapping rod 2-12, it pulls the transmission rope 2-33 to drive the serrated plate 2-34 to slide. The serrated plate 2-34 has multiple protrusions and grooves. The pulling of the transmission rope 2-33 determines whether the protrusions or grooves are located inside the joint fixing seat 2-21. When the protrusions are located inside the joint fixing seat 2-21, the chordal bimodal joint 2-2 will generate an asymmetrical rotation trajectory during flapping, mimicking the movement of bird feathers during flapping, which is the waterborne mode. When the grooves are located inside the joint fixing seat 2-21, the chordal bimodal joint 2-2 will generate a symmetrical trajectory similar to the manta ray fin during flapping, which is the underwater mode.

[0008] Preferably, the tail fin 3 includes a pitch fin 3-1, a yaw fin 3-2, a pitch servo 3-3, a yaw servo 3-4, and a tail fin servo mount 3-5; the pitch servo 3-3 drives the pitch fin 3-1 to move and is mounted on the tail fin mounting rod 1-5 via the tail fin servo mount 3-5; the yaw servo 3-4 is mounted on the pitch fin 3-1 and follows the movement of the pitch fin; the yaw servo 3-4 is connected to the yaw fin 3-2 and drives it to rotate relative to the pitch fin 3-1.

[0009] Preferably, the transmedium mechanism 4 includes a transmedium motor 4-1, a propeller blade 4-2, and a motor mounting base 4-3; the transmedium motor 4-1 is connected to the propeller blade 4-2 and is mounted on the front end of the main frame 1-1 through the motor mounting base 4-3; the transmedium motor 4-1 drives the propeller blade 4-2 to rotate at high speed, causing the robot to rush from underwater into the air, realizing transmedium movement, and shutting off the transmedium motor 4-1 after fully entering the air environment.

[0010] Preferably, an amphibious biomimetic flapping-wing robot with chordal dual-mode movement swims in water using the underwater mode of the chordal dual-mode flapping wing 2. During flapping, the symmetrical chordal trajectory concentrates power in the thrust direction and reduces power consumption. When transitioning from the aquatic environment to the aerial environment, the transmedium motor 4-1 is activated, propelling the robot out of the water. When the robot is fully airborne, the transmedium motor 4-1 is deactivated, and the chordal dual-mode flapping wing 2 is switched to the aquatic mode, achieving aerial flight through the asymmetrical trajectory generated by flapping.

[0011] In summary, compared with the prior art, the amphibious biomimetic flapping-wing robot with chordal dual-modality provided by the present invention has the following beneficial effects: 1. The present invention provides an amphibious biomimetic flapping-wing robot with chordal dual-modality, which endows the flapping-wing structure with two motion modes above and below water, mimicking the motion state of bird feathers and manta ray fin bones to adapt to the amphibious environment, and solves the technical difficulty of existing flapping-wing robots that can only move in a single medium.

[0012] 2. The present invention provides an amphibious biomimetic flapping-wing robot with chordal dual-mode. When flying in the air, compared with traditional flapping-wing robots that rely solely on the flexibility of carbon rods to generate chordal deformation, the flapping wings increase the projected area to capture power when flapping down and reduce drag when flapping up, which is beneficial to the generation of lift and thrust in the aquatic environment.

[0013] 3. The present invention provides an amphibious biomimetic flapping-wing robot with chordal dual modes. When swimming in water, the underwater mode of the flapping wing of this robot can release the chordal stiffness of the wing surface, reduce the projected area and flapping resistance during the flapping process, so that a small brushless motor can also drive a large flapping wing to flap underwater.

[0014] 4. The present invention provides an amphibious biomimetic flapping-wing robot with chordal dual-mode, which can redirect the dynamics of the flapping process when swimming in water, so that more power is generated along the thrust direction, thereby enhancing the underwater propulsion efficiency of the flapping-wing robot and reducing the oscillation of the robot in the lift direction. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural schematic diagram of a water-air amphibious biomimetic flapping-wing robot with chordal dual-modality according to an embodiment of the present invention; Figure 2 This is a three-dimensional structural diagram of the main body and the cross-medium mechanism of an amphibious biomimetic flapping-wing robot with chordal dual-modality in an embodiment of the present invention. Figure 3This is a three-dimensional structural diagram of the tail wing of a biomimetic flapping-wing robot with chordal dual-modality in an embodiment of the present invention. Figure 4 This is a three-dimensional structural diagram of a chordally dual-modal amphibious biomimetic flapping-wing robot with chordal dual-modal capabilities in an embodiment of the present invention, showing the chordally dual-modal flapping wing and the mode switching mechanism. Figure 5 This is a three-dimensional structural schematic diagram of the chordal bimodal joint in the chordal bimodal flapping wing in an embodiment of the present invention; Figure 6 This is a top view of the chordal bimodal joint in the chordal bimodal flapping wing in an embodiment of the present invention; Figure 7 This is a schematic diagram of the position of the mode switching mechanism in two modes of a chordally dual-mode amphibious biomimetic flapping-wing robot in an embodiment of the present invention; Figure 8 This describes the motion states of the bimodal joint in two modes in this embodiment of the invention. In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein: 1. Main fuselage; 2. Chord-directed dual-mode flapping wing; 3. Tail wing; 4. Transmedia mechanism; 5. Control unit; 6. Flexible skin; 1-1. Main frame; 1-2. Flap gear set; 1-3. Flap motor; 1-4. Flap linkage; 1-5. Tail wing fixing rod; 2-1. Flap mechanism; 2-2. Chord-directed dual-mode joint; 2-3. Mode switching mechanism; 3-1. Pitch wing; 3-2. Yaw wing; 3-3. Pitch servo; 3-4. Yaw servo; 3-5. Tail wing 4-1. Servo mount; 4-2. Transmedia motor; 4-3. Propeller blade; 4-4. Motor mount; 2-11. Wing root mount; 2-12. Flapping rod; 2-13. Wingtip mount; 2-21. Joint mount; 2-22. Joint movable mount; 2-23. Upstroke torsion spring; 2-24. Downstroke torsion spring; 2-31. Mode switching servo; 2-32. Mode switching linkage assembly; 2-33. Drive rope; 2-34. Serrated plate; 2-35. Tension spring. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0017] refer to Figure 1The present invention provides an amphibious biomimetic flapping-wing robot with chordal bimodality, comprising: a main body 1, chordal bimodal flapping wings 2, a tail wing 3, a transmedium mechanism 4, a control unit 5, and a flexible skin 6. In this embodiment, there are two chordally bimodal flapping wings 2, which are installed on the left and right sides of the main body 1 respectively; the flexible skin 6 covers the chordally bimodal flapping wings 2 and flaps with them, capturing power to drive the robot's movement; the tail wing 3 is installed at the tail of the main body 1; the cross-medium mechanism 4 is installed at the head of the main body; the control unit 5 is connected to the servo motors and motors in each component through signal lines.

[0018] refer to Figure 2 The main body 1 includes a main frame 1-1, a flapping gear set 1-2, a flapping motor 1-3, a flapping connecting rod 1-4, and a tail wing fixing rod 1-5. The main frame 1-1 serves as the core load-bearing component of the robot, connecting and installing the other structures. The flapping gear set 1-2 is installed inside the main frame 1-1 and forms a reduction gearbox through multiple gears. The flapping motor 1-3 serves as the input end of the flapping gear set 1-2, driving the flapping gear set 1-2 to rotate. The flapping connecting rod 1-4 is connected to the output end of the flapping gear set 1-2 on the left and right sides and is driven by it. The tail wing fixing rod 1-5 is fixed to the rear end of the main frame 1-1 and is used to install the tail wing.

[0019] The number of reduction gear stages and reduction ratio of the flapping gear set 1-2 need to be adjusted according to parameters such as the flapping torque and frequency of the robot. This embodiment of the invention does not limit the uniqueness of the invention.

[0020] refer to Figure 2 The cross-medium mechanism 4 includes a cross-medium motor 4-1, a propeller blade 4-2, and a motor mounting base 4-3. The cross-medium motor 4-1 is mounted on the head of the main frame 1-1 via the motor mounting base 4-3. The propeller blade 4-2 is mounted on the cross-medium motor 4-1 and driven to rotate, providing the robot with the impetus when it exits the water.

[0021] refer to Figure 3 The tail fin 3 includes a pitch fin 3-1, a yaw fin 3-2, a pitch servo 3-3, a yaw servo 3-4, and a tail fin servo mount 3-5. The pitch servo 3-3 is fixed to the tail fin mounting rod 1-5 via the tail fin servo mount 3-5 and controls the rotation angle of the pitch fin 3-1. The yaw servo 3-4 is mounted on the pitch fin and rotates up and down with the pitch fin. The yaw fin 3-2 is connected to the yaw servo 3-4 and rotates under its drive.

[0022] In this embodiment, the pitch wing is used to assist the robot in adjusting its pitch angle during flight on water and movement underwater, and the yaw wing is used to adjust the robot's yaw angle in real time during movement.

[0023] refer to Figure 4 The chordal bimodal flapping wing 2 includes a flapping mechanism 2-1, a chordal bimodal joint 2-2, and a mode switching mechanism 2-3. The flapping mechanism 2-1 is hinged to the left and right sides of the main frame 1-1 and connected to the flapping link 1-4. It performs up-and-down reciprocating motion under the drive of the flapping link 1-4. Multiple chordal bimodal joints 2-2 are installed on the flapping mechanism 2-1 to provide two motion modes for the flapping wing. One end of the mode switching mechanism 2-3 is installed on the main frame 1-1, and the other end passes through the chordal bimodal joint 2-2 to adjust the flapping wing mode of the robot.

[0024] The number and position of the chordal bimodal joints need to be adjusted according to the flapping wing size and structural strength requirements of the robot. This embodiment of the invention does not limit the uniqueness of the joints.

[0025] refer to Figure 5 and Figure 6 The chordal bimodal joint 2-2 includes a joint fixed seat 2-21, a joint movable seat 2-22, an upstroke torsion spring 2-23, and a downstroke torsion spring 2-24; the joint fixed seat 2-21 is fixed to the flapping rod 2-12; the joint movable seat 2-22 is hinged to the joint fixed seat 2-21 and can rotate relative to it; the upstroke torsion spring 2-23 and the downstroke torsion spring 2-24 are constrained on the hinge axis of the joint movable seat 2-22 and the joint fixed seat 2-21.

[0026] In this embodiment, each chordal bimodal joint has two upstroke torsion springs and two downstroke torsion springs, respectively installed on the left and right sides of the joint; the upstroke torsion springs provide dynamic response for the joint moving seat during the upward flapping of the wings; the downstroke torsion springs provide dynamic response for the joint moving seat during the downward flapping of the wings; the joint moving seat can rotate relative to the joint fixed seat within the range of -45° to 45°; in addition, the two sets of torsion springs constrain the initial position of the joint moving seat to 0°.

[0027] The stiffness and number of the torsion springs for the upstroke and downstroke need to be adjusted according to the dynamic flapping reaction force of the flapping wing size. The rotation range of the joint moving seat relative to the joint fixed seat also needs to be adjusted according to the flapping parameters. This embodiment of the invention is not unique.

[0028] refer to Figure 4The mode switching mechanism includes a mode switching servo 2-31, a mode switching linkage 2-32, a transmission rope 2-33, a serrated plate 2-34, and a tension spring 2-35. The mode switching servo 2-31 is mounted on the tail wing fixing rod 1-5 and drives the mode switching linkage 2-32 to move. The output end of the mode switching linkage 2-32 is sleeved on the flapping rod 2-12 and can slide relative to it along the axis of the flapping rod 2-12. The transmission rope 2-33 connects the output end of the mode switching linkage 2-32 and one end of the serrated plate 2-34, transmitting the sliding of the mode switching linkage 2-32 to the serrated plate 2-34. The other end of the serrated plate 2-34 is connected to the wingtip fixing seat 2-13 through the tension spring 2-35.

[0029] In this embodiment, the serrated plate 2-34 passes through the interior of the joint fixing seat 2-21 and has multiple bosses and grooves. The bosses constrain the rotation angle of the chordal bimodal joint 2-2 to -45°~0°, producing an asymmetrical motion trajectory similar to bird feathers, which is called the above-water mode. The grooves release the joint angle to -45°~45°, producing a symmetrical motion trajectory similar to manta ray fins, which is called the underwater mode.

[0030] refer to Figure 7 When the mode switching servo 2-31 is in its initial position, the output end of the mode switching linkage 2-32 is near the wingtip on the flapping rod 2-12, the transmission rope 2-33 is in a slack state, and the position of the serrated plate 2-34 is held by the tension spring 2-35. Its boss is placed inside the chordal dual-mode joint 2-2, causing the entire flapping wing to be in the above-water mode. When the mode switching servo 2-31 rotates to the target position, the output end of the mode switching linkage 2-32 slides towards the wing root on the flapping rod 1-12, pulling the transmission rope 2-33 and causing the serrated plate 2-34 to slide inward, placing the groove of the serrated plate 2-34 inside the chordal dual-mode joint 2-2. At the same time, the tension spring 2-35 is stretched and exerts a pulling force on the serrated plate 2-34 to return to its initial position, causing the entire flapping wing to be in the underwater mode.

[0031] In this embodiment, the back-and-forth rotation of the mode-switching servo 2-31 between the initial position and the target position will generate a reversible switching between the above-water mode and the underwater mode for the chordal dual-mode joint 2-2.

[0032] refer to Figure 8In the above-water mode, the chordal dual-mode joint 2-2 is restricted by the boss on the serrated plate 2-34, causing the rotation angle to decrease to -45° during the upstroke and to 0° during the downstroke. This trajectory helps the flapping wing to increase its projected area to capture power during the downstroke and reduce drag during the upstroke, which is beneficial for the generation of lift and thrust in the above-water environment. In the underwater mode, the groove on the serrated plate 2-34 releases the rotation angle to 45° during the downstroke. This is beneficial for releasing the projected area of ​​the flapping wing during underwater movement to reduce motion drag and power consumption. At the same time, the symmetrical chordal trajectory helps to concentrate power in the thrust direction and increase underwater propulsion efficiency.

[0033] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A biomimetic flapping-wing robot with chordal dual-mode aquatic and airborne capabilities, characterized in that: The robot comprises a main body (1), a chordally bimodal flapping wing (2), a tail wing (3), a transmedia mechanism (4), a control unit (5), and a flexible skin (6). The main body (1) includes a main frame (1-1), a flapping gear set (1-2), a flapping motor (1-3), a flapping link (1-4), and a tail wing fixing rod (1-5). The main frame (1-1) is the core load-bearing structure of the robot and is used to install the other components of the main body (1). The flapping gear set (1-2) is installed inside the main frame (1-1) and drives the flapping link (1-4) to flap back and forth under the drive of the flapping motor (1-3). The tail wing fixing rod (1-5) is installed at the rear end of the main frame (1-1). The chordal bimodal flapping wing (2) includes a flapping mechanism (2-1), a chordal bimodal joint (2-2), and a mode switching mechanism (2-3); the chordal bimodal joint (2-2) includes a joint fixed seat (2-21), a joint movable seat (2-22), an upstroke torsion spring (2-23), and a downstroke torsion spring (2-24); the upstroke torsion spring (2-23) and the downstroke torsion spring (2-24) are both constrained on the hinge shaft of the joint movable seat (2-22) and the joint fixed seat (2-21); the mode switching mechanism (2-3) includes a mode switching servo (2-31), a mode switching linkage (2-32), a transmission rope (2-33), a serrated plate (2-34), and a tension spring (2-35); The serrated plate (2-34) passes through the interior of the joint fixing seat (2-21). The serrated plate (2-34) has multiple bosses and grooves. The serrated plate (2-34) defines the chordal bimodal joint (2-2) to generate an asymmetric or symmetric motion trajectory during flapping by the bosses or grooves. The chordal dual-mode flapping wing (2) is installed on the left and right sides of the main body (1) and connected to the flapping linkage (1-4); the flexible skin (6) is adhered to the top of the chordal dual-mode flapping wing (2); the tail wing (3) is installed on the tail wing fixing rod (1-5); the cross-medium mechanism (4) is installed at the front end of the main frame (1-1); the control unit (5) is fixed on the main frame (1-1) and connected to each component through signal lines.

2. The amphibious biomimetic flapping-wing robot with chordal dual-mode as described in claim 1, characterized in that: The flapping mechanism (2-1) is hinged to the left and right sides of the main frame (1-1) and flaps back and forth under the drive of the flapping link (1-4); the chordal bimodal joint (2-2) is mounted on the flapping mechanism (2-1) and moves with the flapping mechanism (2-1); the mode switching mechanism (2-3) is fixed on the main frame (1-1) and controls the motion mode of the chordal bimodal joint (2-2) during the movement.

3. The amphibious biomimetic flapping-wing robot with chordal dual-mode as described in claim 2, characterized in that: The flapping mechanism (2-1) includes a wing root fixing seat (2-11), a flapping rod (2-12), and a wingtip fixing seat (2-13). The wing root fixing seat (2-11) is hinged to the left and right sides of the main frame (1-1) and connected to the flapping connecting rod (1-4). It flaps back and forth under the drive of the flapping connecting rod (1-4). The flapping rod (2-12) is fixed on the wing root fixing seat (2-11).

4. The amphibious biomimetic flapping-wing robot with chordal dual-mode as described in claim 2, characterized in that: The movable joint seat (2-22) is hinged to the fixed joint seat (2-21) and can rotate relative to the fixed joint seat (2-21); one end of the upper stroke torsion spring (2-23) is fixed to the fixed joint seat (2-21), and the other end provides torque when the movable joint seat (2-22) rotates downward relative to the fixed joint seat (2-21); one end of the lower stroke torsion spring (2-24) is fixed to the fixed joint seat (2-21), and the other end provides torque when the movable joint seat (2-22) rotates upward relative to the fixed joint seat (2-21).

5. The amphibious biomimetic flapping-wing robot with chordal dual-mode as described in claim 3, characterized in that: The mode-switching servo (2-31) is fixed to the tail fin fixing rod (1-5) and serves as the input end of the mode-switching linkage group (2-32) to control its movement; the output end of the mode-switching linkage group (2-32) is sleeved on the flapping rod (2-12) and can slide along the axial direction of the flapping rod (2-12); one end of the transmission rope (2-33) is fixed to the output end of the mode-switching linkage group (2-32), and the other end is connected to the serrated plate (2-34); the serrated plate (2-34) is connected to the wingtip fixing seat (2-13) through the tension spring (2-35).

6. The amphibious biomimetic flapping-wing robot with chordal dual-modality as described in claim 5, characterized in that: When the output end of the modal switching linkage (2-32) slides toward the root of the flapping rod (2-12), it pulls the transmission rope (2-33) to drive the serrated plate (2-34) to slide. The serrated plate (2-34) is determined by the pulling of the transmission rope (2-33) to have either a boss or a groove inside the joint fixing seat (2-21). When the boss is inside the joint fixing seat (2-21), the chordal bimodal joint (2-2) will generate an asymmetrical rotation trajectory during flapping, mimicking the movement of bird feathers during flapping, which is the water mode. When the groove is inside the joint fixing seat (2-21), the chordal bimodal joint (2-2) will generate a symmetrical trajectory similar to the manta ray fin bone during flapping, which is the underwater mode.

7. The amphibious biomimetic flapping-wing robot with chordal dual-modality as described in claim 1, characterized in that: The tail fin (3) includes a pitch fin (3-1), a yaw fin (3-2), a pitch servo (3-3), a yaw servo (3-4), and a tail fin servo mount (3-5). The pitch servo (3-3) drives the pitch fin (3-1) to move and is mounted on the tail fin mounting rod (1-5) via the tail fin servo mount (3-5). The yaw servo (3-4) is mounted on the pitch fin (3-1) and moves with the pitch fin. The yaw servo (3-4) is connected to the yaw fin (3-2) and drives it to rotate relative to the pitch fin (3-1).

8. The amphibious biomimetic flapping-wing robot with chordal dual-mode as described in claim 1, characterized in that: The cross-medium mechanism (4) includes a cross-medium motor (4-1), a propeller blade (4-2), and a motor mounting base (4-3). The cross-medium motor (4-1) is connected to the propeller blade (4-2) and is mounted on the front end of the main frame (1-1) through the motor mounting base (4-3). The cross-medium motor (4-1) drives the propeller blade (4-2) to rotate at high speed, which propels the robot from underwater into the air to achieve cross-medium movement. After fully entering the air environment, the cross-medium motor (4-1) is turned off.

9. A biomimetic flapping-wing robot with chordal dual-mode aquatic and airborne capabilities as described in claim 8, characterized in that: The robot swims in the water using the underwater mode of the chordal bimodal flapping wing (2). During flapping, the power is concentrated in the thrust direction and the required power consumption is reduced by using a symmetrical chordal trajectory. When the robot moves from the water environment to the air environment, the transmedium motor (4-1) is turned on and drives the robot to rush out of the water. When the robot is fully in the air, the transmedium motor (4-1) is turned off and the chordal bimodal flapping wing (2) is switched to the water mode. The robot then flies in the air by using an asymmetrical trajectory generated by flapping.

Images