A landing device for a flapping-wing robot and a flapping-wing robot

Abstract

The present application relates to flapping wing robot manufacturing technical field, the technical problems that the present application wants to solve are that the hard landing causes the damage of flapping wing robot parts, in order to solve the above technical problem, the present application provides a kind of landing device for flapping wing robot and flapping wing robot.The present application includes: the rotation power part of rotating component is driven rotating member to rotate in the plane perpendicular to X axis, for realizing the switching of first folding state, second folding state;Folding assembly is used to realize the switching of unfolded state, first folding state;Folding power part is used to drive the bottom end of first connecting rod mechanism to reciprocate in the plane perpendicular to Y direction, the bottom end of second connecting rod mechanism is driven to swing in the plane perpendicular to Y direction to the top end of first connecting rod mechanism;Grabbing assembly is connected with the end of second connecting rod mechanism, for providing grabbing force;Locking assembly is connected with folding assembly.The present application slowly and flexibly lands, and will not cause damage to parts.

Description

Technical Field

[0001] This invention relates to the field of flapping-wing flying robot manufacturing technology, and in particular to a landing device for flapping-wing flying robots and the flapping-wing flying robot itself. Background Technology

[0002] Flapping-wing flying robots utilize the periodic flapping of their wings, inspired by bionics, to achieve flight modes such as cruising, vertical flight, and hovering. Compared to fixed-wing and rotary-wing aircraft, they offer higher flight efficiency and maneuverability. Furthermore, their design makes them more adaptable to specific application scenarios, such as rescue missions in confined spaces, monitoring, and reconnaissance. However, most existing flapping-wing flying robots still rely on manual landing by the operator, resulting in a hard landing. This method is highly susceptible to flight instability and damage to components, affecting their attitude during subsequent flights. Therefore, there is an urgent need to design a landing device for flapping-wing flying robots to address these issues. 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] To solve the above-mentioned technical problems, the present invention provides a landing device for a flapping-wing flying robot, comprising: The rotating assembly includes a rotating power unit and a rotating component rotatably connected to the rotating power unit. The rotating power unit drives the rotating component to rotate in a plane perpendicular to the X-axis to achieve switching between a first folded state and a second folded state. A folding assembly, connected to a rotating assembly, is used to switch between an unfolded state and a first folded state. The folding assembly includes a first linkage mechanism, a second linkage mechanism, and a folding power unit. In the unfolded state: the top end of the first linkage mechanism is hinged to the rotating component, the bottom end of the first linkage mechanism is connected to the top end of the second linkage mechanism, and the folding power unit is connected to the top end of the first linkage mechanism. The folding power unit is used to drive the bottom end of the first linkage mechanism to reciprocate in a plane perpendicular to the Y direction, thereby driving the bottom end of the second linkage mechanism to swing towards the top end of the first linkage mechanism in a plane perpendicular to the Y direction. A gripping assembly, connected to the end of the second linkage mechanism, is used to provide gripping force; Locking component, connected to folding component.

[0005] In one embodiment of the present invention, the first linkage mechanism includes a first swing arm, a second swing arm, and a connecting plate; both ends of the first swing arm are hinged to a rotating component and a connecting plate, respectively, and both ends of the second swing arm are hinged to a rotating component and a connecting plate, respectively, and the second swing arm is arranged parallel to the first swing arm; the folding power unit is coaxially connected to one of the first and second swing arms; the second linkage mechanism includes a third swing arm and a connecting rod; one end of the third swing arm is hinged to the end of the first swing arm away from the rotating component and to one end of the connecting rod; the other end of the connecting rod is hinged to the connecting plate; the hinge points of the connecting plate and the connecting rod, the hinge points of the connecting plate and the second swing arm, and the hinge points of the connecting plate and the first swing arm are arranged in a triangular pattern.

[0006] In one embodiment of the present invention, this application further includes a shock-absorbing component connected to the end of the second linkage mechanism away from the first linkage mechanism. The shock-absorbing component includes a fourth rocker arm, a plurality of intermediate connecting rods, a plurality of sliders, a guide rail, and a plurality of elastic elements. In the unfolded state: the top end of the fourth rocker arm is connected to the bottom end of the second linkage mechanism; the fourth rocker arm is connected to the guide rail through a plurality of intermediate connecting rods, which are spaced apart; the intermediate connecting rods and sliders are arranged in a one-to-one correspondence; one end of the intermediate connecting rod is hinged to the fourth rocker arm, and the other end is hinged to the slider; the guide rail is provided with a groove along its length, and a plurality of sliders are located in the groove; adjacent sliders are connected by elastic elements; one end of the groove is connected to the slider closest to it through the elastic element.

[0007] In one embodiment of the present invention, the fourth rocker arm is set at a predetermined angle with the guide rail, the predetermined angle being an acute angle, and the end of the fourth rocker 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 gripper bodies, and two gripper drive units; the main frame is hinged to the end of the second linkage mechanism; the two gripper bodies are symmetrically connected to both sides of the main frame; the two gripper drive units are respectively connected to the two gripper bodies and are used to drive the two gripper bodies to open and close; the free end of the gripper body is provided with a claw.

[0009] In one embodiment of the present invention, the gripping assembly further includes two third linkage mechanisms; the gripper body is connected to the main frame through the third linkage mechanism; the gripper drive unit is connected to the third linkage mechanism and is used to drive the gripper body to swing, thereby realizing the opening and closing of the two gripper bodies.

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

[0011] In one embodiment of the present invention, the gripper drive unit includes a gripper power unit; two gripper drive units share a single gripper power unit; the gripper drive unit further includes a gripper transmission unit, which includes a drive gear, a first driven gear, and a second driven gear; the output shaft of the gripper power unit is connected to the drive gear, the first driven gear meshes with the drive gear, and the second driven gear meshes 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 linkage mechanism; the pawl engages with the ratchet and is connected to the locking power unit.

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

[0014] The technical solution of the present invention has the following advantages compared with the prior art: The present invention relates to a landing device for a flapping-wing flying robot and a flapping-wing flying robot. The landing device, installed on the flying robot, allows for a slow and flexible landing by gradually unfolding folding components during landing, while providing traction through gripping components. Furthermore, the landing device folds during flight, reducing drag and increasing the robot's altitude for safe takeoff. This application addresses the problems of unstable takeoff and landing, resulting in unstable flight and damage to components caused by hard landings in existing flapping-wing flying robots. Attached Figure Description

[0015] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein: Figure 1 This is a three-dimensional schematic diagram (deployed state) of a flapping-wing flying robot according to a preferred embodiment of the present invention. Figure 2 yes Figure 1 The image shown is a top view of a flapping-wing flying robot. Figure 3 This is a three-dimensional schematic diagram (first folded state) of a flapping-wing flying robot according to a preferred embodiment of the present invention. Figure 4 yes Figure 3 The image shown is a top view of a flapping-wing flying robot. Figure 5 This is a three-dimensional schematic diagram (second folded state) of a flapping-wing flying robot according to a preferred embodiment of the present invention. Figure 6 yes Figure 5 The image shown is a bottom view of a flapping-wing flying robot. Figure 7 This is a three-dimensional schematic diagram (deployed state) of a landing device for a flapping-wing flying robot according to a preferred embodiment of the present invention. Figure 8 yes Figure 7 The image shows a side view of a landing device for a flapping-wing flying robot. Figure 9 yes Figure 8 Enlarged view of section AA; Figure 10 yes Figure 8 Partial schematic diagram; Figure 11 yes Figure 7 The diagram shows a structural schematic of a gripping component in a landing device for a flapping-wing flying robot. Figure 12 yes Figure 7 The diagram shows a structural schematic of a gripping component in a landing device for a flapping-wing flying robot (excluding the main frame). Explanation of reference numerals in the accompanying drawings: 1000, landing device; 2000, flying robot; 100. Rotating assembly; 110. Rotating power unit; 120. Rotating component; 200, Folding assembly; 210, Folding power unit; 220, First swing arm; 230, Second swing arm; 240, Connecting plate; 250, Third swing arm; 260, Connecting rod; 300. Grip assembly; 310. Main frame; 320. Gripper body; 321. Gripper; 330. Gripper drive unit; 331. Gripper power unit; 332. Drive gear; 333. First driven gear; 334. Second driven gear; 340. Fifth swing arm; 350. Sixth swing arm; 400. Locking assembly; 410. Locking power unit; 420. Ratchet; 430. Pawl; 500, Shock absorption assembly; 510, Fourth rocker arm; 520, Intermediate connecting rod; 530, Slider; 540, Guide rail; 541, Slide groove; 550, Elastic element; 560, Silicone pad. Detailed Implementation

[0016] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0017] In nature, beetles fold their legs to avoid aerial obstacles during flight, and also flexibly swing their legs to aid in changing direction. Secondly, when landing, beetles extend their legs for a soft descent. Furthermore, the tarsi of the Chinese stag beetle have hooks and pads at the ends of their tarsi, serving as two actuators for landing on different types of contact surfaces. When landing on rough surfaces, the Chinese stag beetle uses the hooks at the ends of its toes to grasp the ground; when landing on smooth surfaces, it uses the smooth setae to adhere. Studies on the synergistic adhesion behavior of the hooks and setae show that the adhesion force generated by the structure composed of both is greater than the sum of the individual structures, indicating that this synergistic effect can expand the Chinese stag beetle's landing range in various environments. The beetle also uses its tarsi to absorb shock during landing. Then, when taking off, the beetle straightens its forelegs to increase its altitude for flight.

[0018] Based on the above insights, and referring to... Figures 1-12 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. 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 component 100, a folding component 200, a gripping component 300, and a locking component 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. 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, thereby switching between a first folded state and a second folded 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 motor. 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 to switch between an unfolded state and a first folded state. The folding assembly 200 includes a first linkage mechanism, a second linkage mechanism, and a folding power unit 210. In the unfolded state: the top end of the first linkage mechanism is hinged to the rotating member 120, the bottom end of the first linkage mechanism is connected to the top end of the second linkage mechanism, and the folding power unit 210 is connected to the top end of the first linkage mechanism; the folding power unit 210 is electrically connected to the control system. The folding power unit 210 drives the bottom end of the first linkage mechanism to reciprocate in a plane perpendicular to the Y direction, thereby driving the bottom end of the second linkage mechanism to swing towards the top end of the first linkage 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) of the second linkage mechanism to provide grip force; The locking component 400 is connected to the folding component 200 to provide locking in the second folded state or the unfolded state.

[0023] Specifically, in this embodiment, when the flapping-wing flying robot 2000 is about to land, the rotational power unit 110 of the control rotation component 100 is activated, thereby driving the rotating component 120, the folding component 200, the gripping component 300, and the locking component 400 to rotate in a plane perpendicular to the X-axis, switching from a second folded state to a first folded state. Subsequently, the folding power unit 210 of the folding component 200 is activated, driving the first linkage mechanism and the second linkage mechanism to operate, thereby causing the first linkage mechanism, the second linkage mechanism, and the gripping component 300 to swing in a plane perpendicular to the Y-direction, switching from the first folded state to the unfolded state, thus achieving a flexible landing.

[0024] When the flapping-wing flying robot 2000 is about to take flight, the folding power unit 210 of the folding assembly 200 is activated, driving the first and second linkage mechanisms. This causes the first and second linkage mechanisms, as well as the gripping assembly 300, to swing in opposite directions in a plane perpendicular to the Y-axis, switching from the unfolded state to the first folded state, thus achieving the folding of the first and second linkage mechanisms. Subsequently, the rotation power unit 110 of the rotating assembly 100 is activated, causing the rotating component 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] Therefore, this application installs a landing device 1000 for flapping-wing flying robots on the flying robot 2000. This allows for a slow, flexible landing by gradually unfolding the folding component 200, while the gripping component 300 provides traction. Furthermore, the landing device 1000 folds during flight, reducing drag and increasing the robot's altitude for safe takeoff. This application addresses the problems of unstable takeoff and landing, unstable flight, and component damage caused by hard landings in existing flapping-wing flying robots 2000.

[0026] Further, the first linkage mechanism includes a first swing arm 220, a second swing arm 230, and a connecting plate 240. The two ends of the first swing arm 220 are hinged to the rotating member 120 and the connecting plate 240, respectively. The two ends of the second swing arm 230 are also hinged to the rotating member 120 and the connecting plate 240, respectively. The second swing arm 230 is arranged parallel to the first swing arm 220. A folding power unit 210 is coaxially connected to either the first swing arm 220 or the second swing arm 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 arm 230. Thus, driven by the folding power unit 210, the first swing arm 220 and the second swing arm 230 oscillate around their respective hinge points with the rotating member 120. In some embodiments, the folding power unit 210 employs a miniature brushless DC motor. The second linkage mechanism includes a third swing arm 250 and a connecting rod 260. One end of the third swing arm 250 is hinged to the end of the first swing arm 220 away from the rotating assembly 100 and to one end of the connecting rod 260. The other end of the connecting rod 260 is hinged to the connecting plate 240. The hinge points of the connecting plate 240 and the connecting rod 260, the connecting plate 240 and the second swing arm 230, and the connecting plate 240 and the first swing arm 220 are arranged in a triangle. In some embodiments, in the unfolded state: the line connecting the hinge points of the connecting plate 240 and the second swing arm 230 and the connecting plate 240 and the connecting rod 260 extends in the vertical direction. The line connecting the hinge points of the connecting plate 240 and the second swing arm 230 and the connecting plate 240 and the first swing arm 220 extends in a 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 component 120, the first swing arm 220, the second swing arm 230, and the connecting plate 240 form a four-bar linkage; the first swing arm 220, the third swing arm 250, the connecting plate 240, and the connecting rod 260 form a four-bar linkage. Thus, multi-stage folding is achieved under the drive of the folding power unit 210.

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

[0029] Furthermore, this application also includes a shock-absorbing assembly 500, which is connected to the end of the second linkage mechanism away from the first linkage mechanism. The shock-absorbing assembly 500 includes a fourth rocker arm 510, a plurality of intermediate connecting rods 520, a plurality of sliders 530, a guide rail 540, and a plurality of elastic elements 550. In the deployed state: the top end of the fourth rocker arm 510 is fixedly connected to the bottom end of the second linkage mechanism; for example, the end of the fourth rocker arm 510 is glued and fixed to the end of the third rocker arm 250. The fourth rocker arm 510 is connected to the guide rail 540 through a plurality of intermediate connecting rods 520, which are spaced apart along the length of the guide rail 540; the intermediate connecting rods 520 and the sliders 530 are arranged in a one-to-one correspondence; one end of the intermediate connecting rod 520 is hinged to the fourth rocker arm 510, and the other end is hinged to the slider 530. The guide rail 540 has a groove 541 along its length, and multiple sliders 530 are located in the groove 541, sliding back and forth in the groove 541. Adjacent sliders 530 are connected by an elastic element 550, and one end of the groove 541 is connected to the slider 530 closest to it by an elastic element 550.

[0030] Specifically, when the shock-absorbing component 500 of this application lands, it moves in the groove via the slider 530 and plays a shock-absorbing role under the action of the elastic element 550.

[0031] Furthermore, the fourth rocker arm 510 is set at a predetermined angle with the guide rail 540, the predetermined angle being an acute angle, and the end of the fourth rocker arm 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, in this embodiment, the fourth swing arm 510 and the guide rail 540 are set at a predetermined angle, so that the force of the ground on the shock absorption component 500 during landing is decomposed into multiple directions, thereby achieving a better buffering and shock absorption effect.

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

[0034] Specifically, the silicone pad 560 can make direct contact with the ground after the flying robot 2000 lands, further providing shock absorption and cushioning.

[0035] Furthermore, the gripping assembly 300 includes a main frame 310, two gripper bodies 320, and two gripper drive units 330. The main frame 310 is hinged to the end of the second linkage mechanism; in the case where the 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 gripper bodies 320 are symmetrically connected to both sides of the main frame 310; the two gripper drive units 330 are respectively connected to the two gripper bodies 320 for driving the two gripper bodies 320 to open and close synchronously; the free end of the gripper body 320 is provided with a claw 321.

[0036] Specifically, in this embodiment, the gripping component 300 is hinged to the folding component 200 (or the shock-absorbing component 500), thereby enabling it to adapt to gripping surfaces with different slopes. In addition, the opening and closing of the two gripper bodies 320 allows for gripping when landing on surfaces with different roughness, thus providing a better adsorption and gripping landing effect.

[0037] Furthermore, the gripping assembly 300 also includes two third linkage mechanisms; each third linkage mechanism corresponds to a gripper drive unit 330. The gripper body 320 is connected to the main frame 310 via the third linkage mechanism. The gripper drive unit 330 is connected to the third linkage mechanism and is used to drive the gripper body 320 to swing, thereby realizing the opening and closing of the two gripper bodies 320.

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

[0039] Specifically, in this embodiment, the gripper drive unit 330 drives the fifth swing arm 340 and the sixth swing arm 350 to swing, thereby realizing the swing opening and closing of the gripper body 320, and the structure is stable and reliable.

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

[0041] Furthermore, a gripper body 320 is connected to the main frame 310 via two third linkage mechanisms. The two third linkage mechanisms corresponding to the gripper body 320 are located on both sides of the gripper body 320. Specifically, this makes the opening and closing operation of the gripper body 320 more stable and reliable.

[0042] In some possible implementations, the main frame 310 has a hollow inner cavity, the gripper transmission part is located in the hollow inner cavity, and the third linkage mechanism is located on the outside of 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 end of the first lever 220 or the second lever 230 of the first linkage mechanism; for example, the ratchet 420 is coaxially connected to the top end of the first lever 220, and the second lever 230 is coaxially connected to the folding power unit 210. Alternatively, the ratchet 420 is coaxially connected to the top end of the second lever 230, and the first lever 220 is coaxially connected to the folding power unit 210. The pawl 430 engages with the ratchet 420 and 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 has a mounting chamber, and the locking assembly 400 and the folding power unit 210 are mounted in the mounting chamber. In the unfolded state: the axis of the output shaft of the folding power unit 210 is set along the Y direction; the axis of the ratchet 420 is set along the Y direction.

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

[0045] The landing process for this application is as follows: When the flapping-wing flying robot 2000 lands via the take-off and landing device, the rotation power unit 110 (servo motor) receives the deployment control electrical signal sent by the control system and starts according to the control electrical signal, thereby driving the rotating component 120 to rotate clockwise to the 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 arm 220 and the second swing arm 230 to rotate counterclockwise synchronously (at this time, the rotating component 120 is fixed), which in turn causes the connecting plate 240 to swing, causing the third swing arm 250 and the connecting rod 260 to rotate clockwise until the third swing arm 250 reaches the vertical position, at which point the third swing arm 250 and the first swing arm 220 are locked together. The control system controls the locking power unit 410 to work, thereby driving the pawl 430 to rotate and lock the ratchet 420. During this process, the gripper drive unit 330 of the gripping component 300 is activated, controlling the two gripper bodies 320 to come together and grip the ground. After the flapping-wing flying robot 2000 comes to a stop, it is lifted by hand.

[0046] The takeoff process for this application is as follows: The control system of the flapping-wing flying robot 2000 activates the gripper drive unit 330, causing the two gripper bodies 320 to open and detach from the ground. Subsequently, the control system activates the locking power unit 410, which drives the pawl 430 to rotate and disengage from the ratchet 420. The control system then activates the folding power unit 210, causing the first swing arm 220 and the second swing arm 230 to rotate clockwise synchronously, thereby causing the connecting plate 240 to swing and the third swing arm 250 to rotate counterclockwise. When the first swing arm 220 reaches a horizontal position, the control system stops the folding power unit 210 and controls the pawl 430 to rotate counterclockwise to engage the ratchet 420, locking it in place. Then, the rotation power unit 110 rotates 90° counterclockwise, causing the rotating component 120 to rotate to a horizontal position. This completely folds the takeoff and landing device for easy storage.

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

[0048] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A landing device for a flapping-wing flying robot, characterized in that: include: The rotating assembly includes a rotating power unit and a rotating component rotatably connected to the rotating power unit. The rotating power unit drives the rotating component to rotate in a plane perpendicular to the X-axis, thereby achieving the switching between a first folded state and a second folded state. A folding assembly, connected to the rotating assembly, is used to switch between an unfolded state and a first folded state. The folding assembly includes a first linkage mechanism, a second linkage mechanism, and a folding power unit. In the unfolded state: the top end of the first linkage mechanism is hinged to the rotating component, the bottom end of the first linkage mechanism is connected to the top end of the second linkage mechanism, and the folding power unit is connected to the top end of the first linkage mechanism. The folding power unit is used to drive the bottom end of the first linkage mechanism to reciprocate in a plane perpendicular to the Y direction, thereby driving the bottom end of the second linkage mechanism to swing towards the top end of the first linkage mechanism in a plane perpendicular to the Y direction. A gripping assembly, connected to the end of the second linkage mechanism, is used to provide gripping force; A locking component is connected to the folding component; The first linkage mechanism includes a first swing arm, a second swing arm, and a connecting plate; both ends of the first swing arm are hinged to the rotating component and the connecting plate, respectively, and both ends of the second swing arm are hinged to the rotating component and the connecting plate, respectively, and the second swing arm is arranged parallel to the first swing arm; the folding power unit is coaxially connected to one of the first swing arm and the second swing arm; the second linkage mechanism includes a third swing arm and a connecting rod; one end of the third swing arm is hinged to the end of the first swing arm away from the rotating component and to one end of the connecting rod; the other end of the connecting rod is hinged to the connecting plate; the hinge points of the connecting plate and the connecting rod, the hinge points of the connecting plate and the second swing arm, and the hinge points of the connecting plate and the first swing arm are arranged in a triangle; It also includes a shock-absorbing component connected to the end of the second linkage mechanism away from the first linkage mechanism. The shock-absorbing component includes a fourth swing arm, multiple intermediate connecting rods, multiple sliders, a guide rail, and multiple elastic elements. In the unfolded state: the top end of the fourth swing arm is connected to the bottom end of the second linkage mechanism; the fourth swing arm is connected to the guide rail through multiple intermediate connecting rods, which are spaced apart; each intermediate connecting rod corresponds to a slider; one end of each intermediate connecting rod is hinged to the fourth swing arm, and the other end is hinged to a slider; the guide rail has a groove along its length, and multiple sliders are located in the groove; adjacent sliders are connected through the elastic elements; one end of the groove is connected to the slider closest to it through the elastic elements.

2. The landing device for a flapping-wing flying robot according to claim 1, characterized in that: The fourth rocker arm is set at a predetermined angle to the guide rail, the predetermined angle being an acute angle, and the end of the fourth rocker arm is hinged to one end of the guide rail.

3. The landing device for a flapping-wing flying robot according to claim 1, characterized in that: The gripping assembly includes a main frame, two gripper bodies, and two gripper drive units; the main frame is hinged to the end of the second linkage mechanism; the two gripper bodies are symmetrically connected to both sides of the main frame; the two gripper drive units are respectively connected to the two gripper bodies and are used to drive the two gripper bodies to open and close; the free end of the gripper body is provided with a claw.

4. The landing device for a flapping-wing flying robot according to claim 3, characterized in that: The gripping assembly also includes two third linkage mechanisms; the gripper body is connected to the main frame through the third linkage mechanism; the gripper drive unit is connected to the third linkage mechanism and is used to drive the gripper body to swing, thereby realizing the opening and closing of the two gripper bodies.

5. The landing device for a flapping-wing flying robot according to claim 4, characterized in that: The third linkage mechanism includes a fifth and a sixth swing arm arranged in parallel; one end of the fifth swing arm is hinged to the main frame and the other end is hinged to the gripper body; the fifth swing arm is connected to the gripper drive unit, which drives the fifth swing arm to rotate around the hinge point between the fifth swing arm and the main frame; one end of the sixth swing arm is hinged to the main frame and the other end is hinged to the gripper body.

6. The landing device for a flapping-wing flying robot according to claim 5, characterized in that: The gripper drive unit includes a gripper power unit; two gripper drive units share one gripper power unit; the gripper drive unit also includes a gripper transmission unit, which includes a drive gear, a first driven gear, and a second driven gear; the output shaft of the gripper power unit is connected to the drive gear, the first driven gear meshes with the drive gear, and the second driven gear meshes with the first driven gear.

7. The landing device for a flapping-wing flying robot according to claim 1, characterized in that: 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 linkage mechanism; the pawl engages with the ratchet and is connected to the locking power unit.

8. A flapping-wing flying robot, characterized in that: include: Flying robots; The landing device according to any one of claims 1 to 7 is symmetrically arranged on both sides of the flying robot.

Images