Landing device for flapping-wing flying robot and flapping-wing flying robot

Abstract

The invention relates to the technical field of flapping-wing flying robot manufacturing, and aims to solve the technical problem that parts of a flapping-wing flying robot are damaged due to hard landing. In order to solve the technical problem, the invention provides the landing device for the flapping-wing flying robot and the flapping-wing flying robot. A rotating power part of a rotating assembly drives a rotating piece to rotate in a plane perpendicular to the X axis so as to achieve switching between a first folding state and a second folding state; the folding assembly is used for realizing switching between an unfolding state and a first folding state; the folding power part is used for driving the bottom end of the first connecting rod mechanism to swing back and forth in a plane perpendicular to the Y direction and driving the bottom end of the second connecting rod mechanism to swing towards the top end of the first connecting rod mechanism in the plane perpendicular to the Y direction. The ground gripping assembly is connected with the end of the second connecting rod mechanism and used for providing ground gripping force. The locking assembly is connected with the folding assembly. The device slowly and flexibly descends, and parts cannot be damaged.

Description

Technical Field

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

[0002] The flapping-wing flying robot uses the periodic flapping of wings from a bionics perspective to achieve flight modes such as cruising, vertical flight and hovering. It has higher flight efficiency and maneuverability than fixed-wing and rotary-wing robots. At the same time, the design of the flapping-wing flying robot makes it easier to adapt to some special application scenarios, such as rescue missions, monitoring and exploration in compact spaces. However, in terms of landing, most flapping-wing flying robots in the prior art still use the operator's hand-held and hard landing methods. This type of method can easily cause the flapping-wing flying robot to fly unsteadily and easily cause damage to the parts of the flapping-wing flying robot, thereby affecting the posture during the next flight. Therefore, it is urgent to design a flapping-wing flying robot landing device to solve the above problems. Summary of the invention

[0003] Therefore, the technical problem to be solved by the present invention is to overcome the above-mentioned problems existing in the prior art.

[0004] In order to solve the above technical problems, the present invention provides a landing device for a flapping-wing flying robot, comprising: A rotating assembly, comprising a rotating power unit and a rotating member rotatably connected to the rotating power unit, wherein the rotating power unit drives the rotating member to rotate in a plane perpendicular to the X-axis to achieve switching between a first folding state and a second folding state; A folding assembly is connected to the rotating assembly and is used to switch between the unfolded state and the first folded state; the folding assembly includes a first connecting rod mechanism, a second connecting rod mechanism and a folding power unit; in the unfolded state: the top end of the first connecting rod mechanism is hinged to the rotating member, the bottom end of the first connecting rod mechanism is connected to the top end of the second connecting rod mechanism, and the folding power unit is connected to the top end of the first connecting rod mechanism; the folding power unit is used to drive the bottom end of the first connecting rod mechanism to swing back and forth in a plane perpendicular to the Y direction, thereby driving the bottom end of the second connecting rod mechanism to swing toward the top end of the first connecting rod mechanism in a plane perpendicular to the Y direction; A gripping assembly connected to the end of the second link mechanism and used for providing gripping force; The locking component is connected with the folding component.

[0005] In one embodiment of the present invention, the first linkage mechanism includes a first rocker arm, a second rocker arm and a connecting plate; the two ends of the first rocker arm are respectively hinged to the rotating member and the connecting plate, the two ends of the second rocker arm are respectively hinged to the rotating member and the connecting plate, and the second rocker arm is arranged in parallel with the first rocker arm; the folding power unit is coaxially connected to one of the first rocker arm and the second rocker arm; the second linkage mechanism includes a third rocker arm and a connecting rod; one end of the third rocker arm is hinged to an end of the first rocker arm away from the rotating assembly, and is hinged to one end of the connecting rod; the other end of the connecting rod is hinged to the connecting plate; the hinge point between the connecting plate and the connecting rod, the hinge point between the connecting plate and the second rocker arm, and the hinge point between the connecting plate and the first rocker arm are arranged in a triangle.

[0006] In one embodiment of the present invention, the present application also includes a shock absorbing assembly, which is connected to one end of the second linkage mechanism away from the first linkage mechanism, and the shock absorbing assembly includes a fourth swing rod, multiple intermediate connecting rods, multiple sliders, a guide rail and multiple elastic members; in the unfolded state: the top end of the fourth swing rod is connected to the bottom end of the second linkage mechanism; the fourth swing rod is connected to the guide rail through multiple intermediate connecting rods, and the multiple intermediate connecting rods are arranged at intervals; the intermediate connecting rods and the sliders are arranged one by one; one end of the intermediate connecting rod is hinged to the fourth swing rod, and the other end is hinged to the slider; the guide rail is provided with a slide groove along its length direction, and multiple sliders are located in the slide groove; two adjacent sliders are connected by an elastic member; one end of the slide groove is connected to the slider close to it through the elastic member.

[0007] In one embodiment of the present invention, the fourth swing arm is arranged at a predetermined angle with the guide rail, the predetermined angle is an acute angle, and an end of the fourth swing arm is hinged to one end of the guide rail.

[0008] In one embodiment of the present invention, the gripping assembly includes a main frame, two jaw bodies and two jaw driving parts; the main frame is hinged to the end of the second connecting rod mechanism; the two jaw bodies are symmetrically connected on both sides of the main frame; the two jaw driving parts are respectively connected to the two jaw bodies to drive the two jaw bodies to open and close; and a claw is provided at the free end of the jaw body.

[0009] In one embodiment of the present invention, the gripping assembly further includes two third link mechanisms; the clamp body is connected to the main frame via the third link mechanism; the clamp driving unit is connected to the third link mechanism for driving the clamp body to swing and realize the opening and closing of the two clamp bodies.

[0010] In one embodiment of the present invention, the third linkage mechanism includes a fifth rocker arm and a sixth rocker arm arranged in parallel; one end of the fifth rocker arm is hinged to the main frame, and the other end is hinged to the clamp body; the fifth rocker arm is connected to the clamp driving unit, and the clamp driving unit is used to drive the fifth rocker arm to rotate around the hinge point of the fifth rocker arm and the main frame; one end of the sixth rocker arm is hinged to the main frame, and the other end is hinged to the clamp body.

[0011] In one embodiment of the present invention, the jaw driving unit includes a jaw power unit; two jaw driving units share one jaw power unit; the jaw driving unit also includes a jaw transmission unit, the jaw transmission unit includes a driving gear, a first driven gear and a second driven gear; the output shaft of the jaw power unit is connected to the driving gear, the first driven gear is meshed with the driving gear, and the second driven gear is meshed with the first driven gear.

[0012] In one embodiment of the present invention, the locking assembly includes a locking power unit, a ratchet and a pawl; the ratchet is coaxially connected to the top end of the first connecting rod mechanism; the pawl cooperates with the ratchet, and the pawl is connected to the locking power unit.

[0013] The present invention also provides a flapping-wing flying robot, comprising: Flying robots; The two landing devices of any of the above embodiments are symmetrically arranged on both sides of the flying robot.

[0014] The above technical solution of the present invention has the following advantages compared with the prior art: The landing device for a flapping-wing flying robot and the flapping-wing flying robot described in the present invention are installed on the flying robot. When the flying robot lands, the landing device can be gradually unfolded by the folding assembly, so that the robot can land slowly and flexibly and provide gripping force through the gripping assembly. In addition, the landing device for the flapping-wing flying robot is folded during the flight of the flying robot, which reduces the resistance of the flapping-wing flying robot and increases the height of the flapping-wing flying robot so that it can take off safely. The present application solves the problems in the prior art that the flapping-wing flying robot is unstable in take-off and landing, which easily causes unstable flight, and hard landing causes damage to parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein: Figure 1 is a three-dimensional schematic diagram of a flapping-wing flying robot in a preferred embodiment of the present invention (in an unfolded state); Figure 2 yes Figure 1 A top view of a flapping-wing flying robot is shown; Figure 3 is a three-dimensional schematic diagram of a flapping-wing flying robot in a preferred embodiment of the present invention (first folded state); Figure 4 yes Figure 3 A top view of a flapping-wing flying robot is shown; Figure 5 is a three-dimensional schematic diagram of a flapping-wing flying robot in a preferred embodiment of the present invention (second folded state); Figure 6 yes Figure 5 A bottom view of a flapping-wing flying robot is shown; Figure 7 is a three-dimensional schematic diagram of a landing device for a flapping-wing flying robot in a preferred embodiment of the present invention (in an unfolded state); Figure 8 yes Figure 7 A side view of a landing device for a flapping-wing flying robot is shown; Fig. 9 yes Figure 8 Enlarged view of AA; Fig.10 yes Figure 8 Middle partial schematic diagram; Fig.11 yes Figure 7 A schematic diagram of the structure of a gripping assembly in a landing device for a flapping-wing flying robot is shown; Fig.12 yes Figure 7 A schematic diagram of the structure of a gripping assembly in a landing device for a flapping-wing flying robot (excluding the main frame); Description of the accompanying drawings in the specification: 1000, landing device; 2000, flying robot; 100, rotating assembly; 110, rotating power unit; 120, rotating member; 200, folding assembly; 210, folding power unit; 220, first swing rod; 230, second swing rod; 240, connecting plate; 250, third swing rod; 260, connecting rod; 300, grip assembly; 310, main frame; 320, clamp body; 321, claw; 330, clamp driving unit; 331, clamp power unit; 332, driving gear; 333, first driven gear; 334, second driven gear; 340, fifth swing rod; 350, sixth swing rod; 400, locking assembly; 410, locking power unit; 420, ratchet; 430, pawl; 500, shock absorbing assembly; 510, fourth swing rod; 520, middle connecting rod; 530, slider; 540, guide rail; 541, slide groove; 550, elastic member; 560, silicone pad. DETAILED DESCRIPTION

[0016] 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.

[0017] Beetles in nature fold their legs to avoid obstacles in the air when flying, and they also swing their legs flexibly to help change direction during flight. Secondly, beetles will first extend their legs for flexible landing when landing; in addition, the end of the tarsus of the Chinese stag beetle is a hook and a middle pad, which are two actuators for the Chinese stag beetle to land on different forms of contact surfaces. When landing on a rough surface, the Chinese stag beetle will use the hook at the end of the toe to grab and land; when landing on a smooth surface, the Chinese stag beetle will use a smooth bristle pad to adsorb and land. Studies on the synergistic adhesion behavior of the hook and bristle pad show that the adhesion generated by the structure composed of the two is greater than the sum of the single structures, indicating that this synergistic effect can expand the multi-environment landing range of the Chinese stag beetle. The beetle also uses its tarsus to reduce shock when landing. Then when the beetle takes off, it straightens its front legs to increase its height to fly.

[0018] Based on the above inspiration, refer to Figure 1 to Figure 12 As shown, an embodiment of the present invention provides a flapping-wing flying robot, including two landing devices 1000, a flying robot 2000 and a control system, wherein the two landing devices 1000 are symmetrically arranged on both sides of the flying robot 2000 along the Y direction.

[0019] The landing device 1000 includes a rotating assembly 100 , a folding assembly 200 , a gripping assembly 300 and a locking assembly 400 .

[0020] The rotating assembly 100 includes a rotating power unit 110 and a rotating member 120 rotatably connected to the rotating power unit 110, and the rotating power unit 110 is electrically connected to the control system. The rotating power unit 110 drives the rotating member 120 to rotate in a plane perpendicular to the X-axis to achieve the switching between the first folding state and the second folding state; the X-axis is the length direction of the flapping-wing flying robot 2000. In some embodiments, the rotating power unit 110 is a servo. The rotating power unit 110 is glued and fixed to the fuselage of the flapping-wing flying robot 2000.

[0021] The folding assembly 200 is connected to the rotating assembly 100, and is used to switch between the unfolded state and the first folded state. The folding assembly 200 includes a first connecting rod mechanism, a second connecting rod mechanism and a folding power unit 210; in the unfolded state: the top end of the first connecting rod mechanism is hinged to the rotating member 120, the bottom end of the first connecting rod mechanism is connected to the top end of the second connecting rod mechanism, and the folding power unit 210 is connected to the top end of the first connecting rod mechanism; the folding power unit 210 is electrically connected to the control system. The folding power unit 210 is used to drive the bottom end of the first connecting rod mechanism to swing back and forth in a plane perpendicular to the Y direction, and then drive the bottom end of the second connecting rod mechanism to swing toward the top end of the first connecting rod mechanism in a plane perpendicular to the Y direction. The Y direction is the width direction of the flapping-wing flying robot 2000.

[0022] The grip assembly 300 is connected to the end (bottom end) of the second link mechanism to provide gripping force; The locking assembly 400 is connected to the folding assembly 200 and is used to provide locking in the second folded state or the unfolded state.

[0023] Specifically, when the flapping-wing flying robot 2000 is about to land, the present embodiment controls the rotation power unit 110 of the rotation assembly 100 to work, thereby driving the rotation member 120, the folding assembly 200, the gripping assembly 300, and the locking assembly 400 to rotate in a plane perpendicular to the X-axis, and switch from the second folding state to the first folding state. Subsequently, the folding power unit 210 of the folding assembly 200 works, driving the first link mechanism and the second link mechanism to work, so that the first link mechanism, the second link mechanism, and the gripping assembly 300 swing in a plane perpendicular to the Y direction, switching from the first folding state to the unfolded state, thereby achieving flexible landing.

[0024] When the flapping-wing flying robot 2000 is to fly, the folding power unit 210 of the folding assembly 200 is controlled to work, driving the first link mechanism and the second link mechanism to work, so that the first link mechanism, the second link mechanism and the gripping assembly 300 are swung in the opposite direction in a plane perpendicular to the Y direction, switching from the unfolded state to the first folded state, thereby realizing the folding of the first link mechanism and the second link mechanism. Subsequently, the rotating power unit 110 of the rotating assembly 100 is controlled to work, thereby driving the rotating member 120, the folding assembly 200, the gripping assembly 300 and the locking assembly 400 to rotate in a plane perpendicular to the X-axis, switching from the second folded state to the first folded state, thereby entering the flight state.

[0025] It can be seen that the present application installs a landing device 1000 for a flapping-wing flying robot on the flying robot 2000, which can achieve slow and flexible landing by gradually unfolding the folding assembly 200 when the flying robot 2000 lands, and provides gripping force through the gripping assembly 300. In addition, the landing device 1000 is folded during the flight of the flying robot 2000, which reduces the flight resistance of the flapping-wing flying robot 2000 and increases the height of the flapping-wing flying robot 2000 to enable it to take off safely. The present application solves the problems in the prior art that the flapping-wing flying robot 2000 is unstable in takeoff and landing, which easily causes unstable flight, and hard landing causes damage to parts.

[0026] Further, the first link mechanism includes a first swing rod 220, a second swing rod 230 and a connecting plate 240. The two ends of the first swing rod 220 are respectively hinged to the rotating member 120 and the connecting plate 240, the two ends of the second swing rod 230 are respectively hinged to the rotating member 120 and the connecting plate 240, and the second swing rod 230 is arranged in parallel with the first swing rod 220. The folding power unit 210 is coaxially connected to the first swing rod 220 or the second swing rod 230; for example, the folding power unit 210 is connected to the rotating member 120, and the output shaft of the folding power unit 210 is coaxially connected to the second swing rod 230, so that under the drive of the folding power unit 210, the first swing rod 220 and the second swing rod 230 swing around their respective hinge points with the rotating member 120. In some embodiments, the folding power unit 210 adopts a micro DC brushless motor. The second link mechanism includes a third swing rod 250 and a connecting rod 260. One end of the third swing rod 250 is hinged to one end of the first swing rod 220 away from the rotating assembly 100, and is hinged to one end of the connecting rod 260, and the other end of the connecting rod 260 is hinged to the connecting plate 240. The hinge point between the connecting plate 240 and the connecting rod 260, the hinge point between the connecting plate 240 and the second swing rod 230, and the hinge point between the connecting plate 240 and the first swing rod 220 are arranged in a triangle. In some embodiments, in the unfolded state: the connecting line between the hinge point between the connecting plate 240 and the second swing rod 230 and the connecting line between the connecting plate 240 and the connecting rod 260 extends in the vertical direction. The connecting line between the hinge point between the connecting plate 240 and the second swing rod 230 and the connecting line between the connecting plate 240 and the first swing rod 220 extends in the first direction. In some embodiments, the angle between the first direction and the vertical direction is 45 degrees.

[0027] Specifically, in this embodiment, the rotating member 120, the first swing rod 220, the second swing rod 230 and the connecting plate 240 form a hinged four-bar mechanism; the first swing rod 220, the third swing rod 250, the connecting plate 240 and the connecting rod 260 form a hinged four-bar mechanism. Thus, multi-stage folding is achieved under the drive of the folding power unit 210.

[0028] Furthermore, there are two connecting plates 240 and two connecting rods 260, which are respectively arranged on both sides of the third swing rod 250. Specifically, the structure of this embodiment is more stable.

[0029] Furthermore, the present application also includes a shock absorbing assembly 500, which is connected to one end of the second linkage mechanism away from the first linkage mechanism. The shock absorbing assembly 500 includes a fourth swing rod 510, a plurality of intermediate connecting rods 520, a plurality of sliders 530, a guide rail 540, and a plurality of elastic members 550. In the unfolded state: the top end of the fourth swing rod 510 is fixedly connected to the bottom end of the second linkage mechanism; for example, the fourth swing rod 510 is glued and fixed to the end of the third swing rod 250. The fourth swing rod 510 is connected to the guide rail 540 through a plurality of intermediate connecting rods 520, and the plurality of intermediate connecting rods 520 are arranged at intervals along the length direction of the guide rail 540; the intermediate connecting rods 520 are arranged one-to-one with the sliders 530; one end of the intermediate connecting rod 520 is hinged to the fourth swing rod 510, and the other end is hinged to the slider 530. The guide rail 540 is provided with a slide groove 541 along its length direction, and a plurality of sliders 530 are located in the slide groove 541, and the sliders 530 slide back and forth in the slide groove 541. Two adjacent sliders 530 are connected by an elastic member 550, and one end of the slide groove 541 is connected to the slider 530 adjacent thereto by the elastic member 550.

[0030] Specifically, when landing, the shock absorbing assembly 500 of the present application moves in the slide groove through the slider 530 and plays a shock absorbing role under the action of the elastic member 550.

[0031] Further, the fourth swing rod 510 and the guide rail 540 are arranged at a predetermined angle, which is an acute angle, and the end of the fourth swing rod 510 is hinged to one end of the guide rail 540. There are two guide rails 540, which are symmetrically arranged on both sides of the middle connecting rod 520.

[0032] Specifically, the fourth swing arm 510 in this embodiment is arranged at a predetermined angle with the guide rail 540, so that the force of the ground on the shock absorbing assembly 500 is decomposed into multiple directions during landing, thereby achieving a better buffering and shock absorbing effect.

[0033] Furthermore, the shock absorbing assembly 500 further includes a silicone pad 560 , which is connected to one side of the guide rail 540 away from the second link mechanism. When there are two guide rails 540 , the silicone pad 560 is connected to one side of the two guide rails 540 .

[0034] Specifically, the silicone pad 560 can directly contact the ground after the flying robot 2000 lands, further providing shock absorption and buffering.

[0035] Furthermore, the gripping assembly 300 includes a main frame 310, two clamping jaw bodies 320 and two clamping jaw driving parts 330. The main frame 310 is hinged to the end of the second connecting rod mechanism; when the present application also includes a shock absorbing assembly 500, the gripping assembly 300 is hinged to the guide rail 540 of the shock absorbing assembly 500. The two clamping jaw bodies 320 are symmetrically connected to both sides of the main frame 310; the two clamping jaw driving parts 330 are respectively connected to the two clamping jaw bodies 320, and are used to drive the two clamping jaw bodies 320 to open and close synchronously; the free end of the clamping jaw body 320 is provided with a claw 321.

[0036] Specifically, the gripping assembly 300 of this embodiment is hinged with the folding assembly 200 (or the shock absorbing assembly 500), so as to adapt to the gripping of different slopes. In addition, the opening and closing of the two clamping claw bodies 320 can achieve gripping when landing on the ground with different roughness, thereby providing a better adsorption gripping landing effect.

[0037] Furthermore, the gripping assembly 300 further includes two third link mechanisms; the third link mechanisms are arranged one-to-one with the clamp driving parts 330. The clamp body 320 is connected to the main frame 310 through the third link mechanism. The clamp driving part 330 is connected to the third link mechanism to drive the clamp body 320 to swing, thereby realizing the opening and closing of the two clamp bodies 320.

[0038] The third linkage mechanism includes a fifth swing rod 340 and a sixth swing rod 350 which are arranged in parallel. One end of the fifth swing rod 340 is hinged to the main frame 310, and the other end is hinged to the clamp body 320; the fifth swing rod 340 is connected to the clamp driving unit 330. One end of the sixth swing rod 350 is hinged to the main frame 310, and the other end is hinged to the clamp body 320. The clamp driving unit 330 is used to drive the fifth swing rod 340 to swing around the hinge point between the fifth swing rod 340 and the main frame 310; at the same time, drive the sixth swing rod 350 to swing synchronously around the hinge point between the sixth swing rod 350 and the main frame 310.

[0039] Specifically, in this embodiment, the fifth swing rod 340 and the sixth swing rod 350 are driven to swing by the clamp driving part 330, so as to realize the swing opening and closing of the clamp body 320, and the structure is stable and reliable.

[0040] Furthermore, the jaw driving unit 330 includes a jaw power unit 331, and the jaw power unit 331 is electrically connected to the control system. Two jaw driving units 330 can share one jaw power unit 331. The jaw driving unit 330 also includes a jaw transmission unit, and the jaw transmission unit includes a driving gear 332, a first driven gear 333, and a second driven gear 334. The output shaft of the jaw power unit 331 is coaxially connected to the driving gear 332, the first driven gear 333 is meshed with the driving gear 332, and the second driven gear 334 is meshed with the first driven gear 333. Specifically, in this embodiment, one jaw power unit 331 drives the two jaw bodies 320 to swing synchronously, which reduces costs while ensuring the synchronization of the swinging of the two jaw bodies 320.

[0041] Further, a clamp body 320 is connected to the main frame 310 through two third link mechanisms. The two third link mechanisms corresponding to the clamp body 320 are arranged on both sides of the clamp body 320. Specifically, this makes the opening and closing operation of the clamp body 320 more stable and reliable.

[0042] In some possible implementations, a hollow inner cavity is provided in the main frame 310 , the clamping jaw transmission part is located in the hollow inner cavity, and the third connecting rod mechanism is located outside the main frame 310 .

[0043] Further, the locking assembly 400 includes a locking power unit 410, a ratchet 420 and a pawl 430. The ratchet 420 is coaxially connected to the top of the first swing rod 220 or the second swing rod 230 of the first linkage mechanism; for example, the ratchet 420 is coaxially connected to the top of the first swing rod 220, and the second swing rod 230 is coaxially connected to the folding power unit 210. For another example, the ratchet 420 is coaxially connected to the top of the second swing rod 230, and the first swing rod 220 is coaxially connected to the folding power unit 210. The pawl 430 cooperates with the ratchet 420, and the pawl 430 is connected to the locking power unit 410; for example, the locking power unit 410 is connected to the rotating member 120, the output shaft of the locking power unit 410 is coaxially connected to the pawl 430, and the ratchet 420 is rotatably connected to the rotating member 120. In some possible embodiments, the rotating member 120 is provided with an installation chamber, and the locking assembly 400 and the folding power unit 210 are installed in the installation chamber. In the unfolded state: the axis of the output shaft of the folding power unit 210 is arranged along the Y direction; the axis of the ratchet 420 is arranged along the Y direction.

[0044] Specifically, in this embodiment, the ratchet 420 and the pawl 430 cooperate to lock the folding assembly 200 in the folded state (the first folding state and the second folding state), thereby preventing the folding assembly 200 from running in the folded state.

[0045] The process of landing this application is as follows: When the flapping-wing flying robot 2000 lands through the take-off and landing device, the rotating power unit 110 (servo) receives the unfolding control electric signal sent by the control system, and the rotating power unit 110 is started according to the control electric signal, thereby driving the rotating member 120 to rotate clockwise to a vertical position. Then the control system controls the locking power unit 410 to work, thereby driving the pawl 430 to rotate and disengage from the ratchet 420. The control system controls the folding power unit 210 to start, driving the first swing rod 220 and the second swing rod 230 to rotate counterclockwise synchronously (at this time, the rotating member 120 is fixed), and then the connecting plate 240 swings, so that the third swing rod 250 and the connecting rod 260 rotate clockwise until the third swing rod 250 reaches the vertical position, at which time the third swing rod 250 and the first swing rod 220 are just stuck. The control system controls the locking power unit 410 to work, thereby driving the pawl 430 to rotate and clamp the ratchet 420. In this process, the gripper driving unit 330 of the gripping assembly 300 is started to control the two gripper bodies 320 to close together to grip the ground. After the flapping-wing flying robot 2000 stops, it is lifted by hand.

[0046] The process of taking off this application is as follows: The control system of the flapping-wing flying robot 2000 controls the clamp driving unit 330 to start, so that the two clamp bodies 320 open and disengage from the ground. Subsequently, the control system of the flapping-wing flying robot 2000 controls the locking power unit 410 to work, thereby driving the pawl 430 to rotate and disengage from the ratchet 420. The control system controls the folding power unit 210 to start, driving the first swing rod 220 and the second swing rod 230 to rotate clockwise synchronously, thereby causing the connecting plate 240 to swing and the third swing rod 250 to rotate counterclockwise. Until the first swing rod 220 turns to a horizontal position, the control system controls the folding power unit 210 to stop running, and controls the pawl 430 to rotate counterclockwise to clamp the ratchet 420 for locking. Then the rotating power unit 110 rotates 90° counterclockwise to rotate the rotating member 120 to a horizontal position. Thus, the take-off and landing device is completely folded for easy storage.

[0047] The present application enables the flapping-wing flying robot 2000 to achieve obstacle avoidance and shock reduction during landing, and to achieve its own safe take-off.

[0048] Obviously, the above embodiments are merely examples for the purpose of 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 therefrom are still within the scope of protection of the present invention.

Claims

1. A landing device for a flapping-wing flying robot, characterized in that: include: A rotating assembly, comprising a rotating power unit and a rotating member rotatably connected to the rotating power unit, wherein the rotating power unit drives the rotating member to rotate in a plane perpendicular to the X-axis to achieve switching between a first folding state and a second folding state; A folding assembly is connected to the rotating assembly and is used to switch between an unfolded state and a first folded state; the folding assembly includes a first connecting rod mechanism, a second connecting rod mechanism and a folding power unit; in the unfolded state: the top end of the first connecting rod mechanism is hinged to the rotating member, the bottom end of the first connecting rod mechanism is connected to the top end of the second connecting rod mechanism, and the folding power unit is connected to the top end of the first connecting rod mechanism; the folding power unit is used to drive the bottom end of the first connecting rod mechanism to swing back and forth in a plane perpendicular to the Y direction, and then drive the bottom end of the second connecting rod mechanism to swing toward the top end of the first connecting rod mechanism in a plane perpendicular to the Y direction; A gripping assembly connected to an end of the second link mechanism and used to provide gripping force; The locking component is connected with the folding component.

2. The landing device for a flapping-wing flying robot according to claim 1, characterized in that: The first linkage mechanism includes a first rocker arm, a second rocker arm and a connecting plate; two ends of the first rocker arm are hinged to the rotating member and the connecting plate respectively, two ends of the second rocker arm are hinged to the rotating member and the connecting plate respectively, and the second rocker arm is arranged in parallel with the first rocker arm; the folding power unit is coaxially connected to one of the first rocker arm and the second rocker arm; the second linkage mechanism includes a third rocker arm and a connecting rod; one end of the third rocker arm is hinged to one end of the first rocker arm away from the rotating assembly, and is hinged to one end of the connecting rod; the other end of the connecting rod is hinged to the connecting plate; the hinge point between the connecting plate and the connecting rod, the hinge point between the connecting plate and the second rocker arm, and the hinge point between the connecting plate and the first rocker arm are arranged in a triangle.

3. The landing device for a flapping-wing flying robot according to claim 1, characterized in that: It also includes a shock-absorbing assembly, which is connected to one end of the second link mechanism away from the first link mechanism, and the shock-absorbing assembly includes a fourth swing rod, a plurality of intermediate connecting rods, a plurality of sliders, a guide rail and a plurality of elastic members; in the unfolded state: the top end of the fourth swing rod is connected to the bottom end of the second link mechanism; the fourth swing rod is connected to the guide rail through a plurality of intermediate connecting rods, and the plurality of intermediate connecting rods are arranged at intervals; the intermediate connecting rods and the sliders are arranged in a one-to-one correspondence; one end of the intermediate connecting rod is hinged to the fourth swing rod, and the other end is hinged to the slider; the guide rail is provided with a slide groove along its length direction, and a plurality of sliders are located in the slide groove; two adjacent sliders are connected by the elastic member; one end of the slide groove is connected to the slider close to it by the elastic member.

4. The landing device for a flapping-wing flying robot according to claim 3, characterized in that: The fourth swing arm and the guide rail are arranged at a predetermined angle, the predetermined angle is an acute angle, and an end of the fourth swing arm is hinged to one end of the guide rail.

5. The landing device for a flapping-wing flying robot according to claim 1, characterized in that: The gripping assembly comprises a main frame, two clamping jaw bodies and two clamping jaw driving parts; the main frame is hinged to the end of the second connecting rod mechanism; the two clamping jaw bodies are symmetrically connected on both sides of the main frame; the two clamping jaw driving parts are respectively connected to the two clamping jaw bodies for driving the two clamping jaw bodies to open and close; the free end of the clamping jaw body is provided with a claw.

6. The landing device for a flapping-wing flying robot according to claim 5, characterized in that: The gripping assembly also includes two third connecting rod mechanisms; the clamp body is connected to the main frame through the third connecting rod mechanism; the clamp driving part is connected to the third connecting rod mechanism, and is used to drive the clamp body to swing, so as to realize the opening and closing of the two clamp bodies.

7. The landing device for a flapping-wing flying robot according to claim 6, characterized in that: The third linkage mechanism includes a fifth rocker arm and a sixth rocker arm arranged in parallel; one end of the fifth rocker arm is hinged to the main frame, and the other end is hinged to the clamp body; the fifth rocker arm is connected to the clamp driving unit, and the clamp driving unit is used to drive the fifth rocker arm to rotate around the hinge point between the fifth rocker arm and the main frame; one end of the sixth rocker arm is hinged to the main frame, and the other end is hinged to the clamp body.

8. The landing device for a flapping-wing flying robot according to claim 7, characterized in that: The clamp driving unit includes a clamp power unit; the two clamp driving units share one clamp power unit; the clamp driving unit also includes a clamp transmission unit, and the clamp transmission unit includes a driving gear, a first driven gear and a second driven gear; the output shaft of the clamp power unit is connected to the driving gear, the first driven gear is meshed with the driving gear, and the second driven gear is meshed with the first driven gear.

9. The landing device for a flapping-wing flying robot according to claim 1, characterized in that: The locking assembly comprises a locking power unit, a ratchet and a pawl; the ratchet is coaxially connected to the top end of the first connecting rod mechanism; the pawl cooperates with the ratchet, and the pawl is connected to the locking power unit.

10. A flapping-wing flying robot, characterized in that: include: Flying robots; The landing devices described in any one of the two claims 1 to 9 are symmetrically arranged on both sides of the flying robot.

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