Flapping-wing miniature flying robot bouncing take-off equipment and flying robot

Abstract

The invention provides a flapping-wing miniature flying robot bouncing take-off device and a flying robot. The flapping-wing miniature flying robot bouncing take-off device comprises a shell; the ejection mechanism comprises a driving mechanism, the driving mechanism comprises a guide column, an electromagnet and a magnet, the guide column extends in the height direction of the shell, one end of the guide column is connected to the electromagnet, the other end of the guide column is fixedly connected to the shell, and the electromagnet is arranged on the guide column in a sleeving mode and moves along the guide column; the pushing assembly comprises a pushing rod, one end of the pushing rod is connected to the magnet, and the other end of the pushing rod penetrates out of the shell and moves in the extending direction of the pushing rod. The takeoff assisting device replaces traditional takeoff assisting equipment, can be connected to the bottoms of various flying robots and is flexible to use, and an operator can freely regulate and control the takeoff assisting device according to actual use requirements. Compared with a conventional flying robot starting device at the present stage, the flying robot starting device has the remarkable advantages of being low in cost, wide in application range, high in response speed, high in controllability, high in compatibility, stable in operation process and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft, and in particular to a flapping-wing micro-flying robot bouncing take-off device and a flying robot. Background Art

[0002] In today's era of rapid technological development, flapping-wing micro-flying robots are a research hotspot in the field of micro-flying robots, and their potential application value and social impact are becoming increasingly prominent. However, existing flapping-wing micro-flying robots have significant technical bottlenecks in their take-off methods, which has become a key factor restricting their development. At present, the take-off of flapping-wing micro-flying robots mainly relies on power drive, but there is a lack of dedicated take-off equipment in the industry, which leads to many challenges in practical applications.

[0003] For flapping-wing micro-flying robots at this stage, the high cost and poor compatibility of conventional launchers make it difficult for them to adapt to the rapid iteration and diversification needs of flapping-wing micro-flying robots. In addition, due to the lack of effective automated take-off means, the take-off of flapping-wing micro-flying robots often requires human assistance, which not only increases the complexity and risk of operation, but also limits the improvement of the intelligence of flying robots. This highly dependent take-off method is not only not conducive to the autonomous operation of flapping-wing micro-flying robots in complex environments, but also cannot achieve rapid and efficient deployment in some scenarios such as emergency rescue and dangerous environment monitoring. Summary of the invention

[0004] To this end, the technical problem to be solved by the present invention is to overcome the problem in the prior art that flapping-wing micro flying robots are inconvenient to launch, and to provide a flapping-wing micro flying robot bouncing take-off device and a flying robot.

[0005] In order to solve the above technical problems, the present invention provides a flapping-wing micro-flying robot bouncing take-off device, which includes: a shell, which is connected to the bottom of the fuselage of the robot to be flown; a ejection mechanism, which is connected to the inside of the shell, and includes: at least one driving mechanism, any of the driving mechanisms includes a guide column, an electromagnet and a magnet, the electromagnet is fixedly connected to the inner wall of the shell, and is connected to the controller signal, the guide column extends along the height direction of the shell, one end of which is connected to the electromagnet, and the other end is fixedly connected to the shell, the electromagnet is sleeved on the guide column, and moves along the guide column through the electromagnet; a pushing assembly, the pushing assembly includes a pushing rod, the pushing rod extends along the height direction of the shell, one end of which is connected to the magnet, and the other end is penetrated to the outside of the shell, the pushing rod is moved relative to the shell along its extension direction by the driving mechanism to push the placement surface.

[0006] In one embodiment of the present invention, the shell includes a top cover, a side wall and a bottom plate, the top cover and the bottom plate are respectively connected to the two ends of the side wall, wherein the top cover is configured as an arc structure protruding in a direction away from the bottom plate, and a through hole for connecting the internal and external environment of the connector is provided at the center of the bottom plate, and the push rod is passed through the through hole to the outside of the shell.

[0007] In one embodiment of the present invention, an extension tube is provided inside the shell, and the extension tube extends from the top cover toward the bottom plate. A through hole is provided at the extension end thereof for the push rod to pass through, and the push rod moves along the inner wall of the tube.

[0008] In one embodiment of the present invention, a limit block is provided at one end of the push rod located inside the cylinder body, and the area of ​​the limit block is larger than the area of ​​the through hole at the end of the extension cylinder to connect the extension cylinder and the push rod.

[0009] In one embodiment of the present invention, at least one baffle and at least one fixed step are further provided inside the shell, and the fixed step and the drive assembly are both arranged between the baffle and the side wall of the shell, wherein the fixed step is connected to the bottom plate of the shell, and the guide column is inserted into the fixed step.

[0010] In one embodiment of the present invention, the ejection mechanism includes two driving assemblies, and the two driving assemblies are symmetrically arranged on both sides of the pushing assembly and are respectively connected to the pushing assemblies.

[0011] In one embodiment of the present invention, the ejection mechanism also includes a transmission assembly, which includes two limiting wheels and a transmission belt. The two limiting wheels are respectively arranged between the two driving assemblies and the push rods. In the height direction of the shell, the limiting wheels are arranged below the corresponding guide columns. The two ends of the transmission belt are respectively connected to the two magnets, and the middle part of the transmission belt is wound around the top of the push rod and the lower surface of the two limiting wheels.

[0012] In one embodiment of the present invention, the shell further includes an elastic member and an assembly ring, wherein the elastic member is connected to the side of the shell bottom plate facing the placement surface, and the assembly ring is connected to the top cover of the shell to connect to the fuselage of the flying robot.

[0013] In one embodiment of the present invention, the push assembly further includes a buffer member connected to one end of the push rod penetrating the bottom plate of the shell.

[0014] The present invention also provides a flying robot, which comprises the flapping-wing micro flying robot bouncing take-off device mentioned above.

[0015] The above technical solution of the present invention has the following advantages compared with the prior art: The flapping-wing micro-flying robot bouncing take-off device and the flying robot described in the present invention are connected to the flying robot through a shell, and then the flying robot is driven by a catapult mechanism to replace the traditional take-off assist device. The present application can be connected to the bottom of a variety of flying robots and is flexible to use. The operator can freely adjust it according to actual use requirements. Compared with the current conventional flying robot starting equipment, the present application has significant advantages such as low cost, wide range of use, fast response speed, high controllability, strong compatibility, and stable operation process, and has broad application prospects in this field. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the flapping-wing micro-flying robot bouncing take-off device in a normal state in a preferred embodiment of the present invention; Figure 2 yes Figure 1 The three-dimensional structural schematic diagram of the flapping-wing micro-flying robot's bouncing take-off device in the ejection state is shown; Figure 3 yes Figure 2 The schematic diagram of the internal structure of the flapping-wing micro-flying robot's jumping take-off device in the ejection state is shown; Figure 4 is a schematic diagram of the three-dimensional structure of a flying robot in a flying state in another embodiment of the present invention; Figure 5 yes Figure 4 The three-dimensional structural schematic diagram of the flying robot in the ejection state is shown.

[0018] Explanation of the reference numerals in the specification: 100, shell; 110, top cover; 120, side wall; 130, bottom plate; 140, extension tube; 150, baffle; 160, fixed step; 170, elastic member; 180, assembly ring; 200, ejection mechanism; 210, drive assembly; 211, guide column; 212, electromagnet; 213, magnet; 220, transmission assembly; 221, limiting wheel; 222, transmission belt; 230, push assembly; 231, push rod; 232, limiting block; 233, buffer; 300, flying robot. DETAILED DESCRIPTION

[0019] 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. Embodiment 1

[0020] See also Figure 1 As shown, this embodiment provides a flapping-wing micro-flying robot bouncing take-off device, which includes: a shell 100, the shell 100 is connected to the bottom of the fuselage of the robot to be flown 300; a ejection mechanism 200, the ejection mechanism 200 is connected to the inside of the shell 100, and includes: at least one driving mechanism, any of the driving mechanisms includes a guide column 211, an electromagnet 212 and a magnet 213, the electromagnet 212 is fixedly connected to the inner wall of the shell 100, and is connected to the controller signal. The operator adjusts the magnetism of the electromagnet 212 through the controller, and the guide column 211 moves along the shell 100. 00, one end of which is connected to the electromagnet 212, and the other end is fixedly connected to the shell 100, the electromagnet 212 is sleeved on the guide column 211, and moves along the guide column 211 through the electromagnet 212; a pushing assembly 230, the pushing assembly 230 includes a pushing rod 231, the pushing rod 231 extends along the height direction of the shell 100, one end of which is connected to the magnet 213, and the other end is passed through the outside of the shell 100, the pushing rod 231 is moved relative to the shell 100 along its extension direction through the driving mechanism to push the placement surface.

[0021] The flapping-wing micro flying robot 300 bouncing take-off device described in this embodiment is connected to the flying robot 300 through the shell 100, and then the flying robot 300 is driven by the ejection mechanism 200 to replace the traditional take-off assist device. The present application can be connected to the bottom of a variety of flying robots 300, and is flexible to use, and the operator can freely adjust it according to actual use requirements. Compared with the current conventional flying robot 300 starting device, the present application has significant advantages such as low cost, wide range of use, fast response speed, high controllability, strong compatibility, and stable operation process, and has broad application prospects in this field.

[0022] The flapping-wing micro flying robot 300's jumping-off device in this embodiment has a normal state and a launching state. When the flying robot 300 is before flying or in the flying state, the flapping-wing micro flying robot 300's jumping-off device is in the normal state, see Figure 1 When the flying robot 300 is in the state of being ready to launch, the flapping-wing micro flying robot bouncing take-off device is in the state of ejection, see Figure 2 As shown, it is arranged between the flying robot 300 and the placement surface to achieve flying-assisting action by pushing off the ground and bouncing.

[0023] See also Figure 3As shown, the shell 100 in this embodiment is used to connect with the aircraft and provide a mounting platform for the ejection mechanism 200. The shell 100 includes a top cover 110, a side wall 120 and a bottom plate 130. The top cover 110 and the bottom plate 130 are respectively connected to the two ends of the side wall 120, wherein the top cover 110 is configured as an arc-shaped structure protruding in a direction away from the bottom plate 130, and a through hole is provided at the center of the bottom plate 130 to connect its internal and external environments, and the push rod 231 is passed through the through hole to the outside of the shell 100. Specifically, the side wall 120 in this embodiment is a cylindrical structure, and the top cover 110 matches the end face diameter of the cylindrical side wall 120. Its arc-shaped structure can evenly disperse the pressure during the movement of the aircraft to improve its connection stability, and can also expand the internal volume of the shell 100. Furthermore, the shell 100 also includes an assembly ring 180, which is connected to the top cover 110 of the shell 100 to connect the fuselage of the flying robot 300. The bottom plate 130 in this embodiment is used to support and fix its internal structure. The through hole is set at the center of the bottom plate 130, and an elastic member 170 is provided at its bottom. The elastic member 170 is connected to the side of the bottom plate 130 facing the placement surface. When the flapping-wing micro flying robot bouncing take-off device is in the ejection state, the bottom plate 130 is supported on the placement surface. At this time, the elastic member 170 can buffer the extrusion force received by the bottom plate 130 to extend the service life of the shell 100. Similarly, when the aircraft is landed, the bottom plate 130 at the lowest point will first contact the landing surface. At this time, the elastic member 170 can also reduce the impact force received by the bottom plate 130 to achieve the purpose of protecting the flapping-wing micro flying robot bouncing take-off device.

[0024] Further, see Figure 3 As shown, an extension tube 140 is provided inside the shell 100 in this embodiment. The extension tube 140 extends from the top cover 110 toward the bottom plate 130, and a through hole is provided at the extension end thereof for the push rod 231 to pass through, and the push rod 231 moves along the inner wall of the cylinder. Specifically, the extension tube 140 in this embodiment is used to connect the push rod 231. On the one hand, it can guide the moving direction of the push rod 231. On the other hand, when the flapping-wing micro-flying robot bouncing take-off device is in a normal state, it can also achieve connection with the push rod 231 through the matching structure between the push rod 231. Specifically, a limit block 232 is provided at one end of the push rod 231 located inside the cylinder in this embodiment. The area of ​​the limit block 232 is larger than the area of ​​the through hole at the end of the extension tube 140, so as to connect the extension tube 140 and the push rod 231.

[0025] See also Figure 3As shown, at least one baffle 150 and at least one fixed step 160 are also provided inside the housing 100 in this embodiment. The fixed step 160 and the drive assembly 210 are both arranged between the baffle 150 and the side wall 120 of the housing 100, wherein the fixed step 160 is connected to the bottom plate 130 of the housing 100, and the guide column 211 is inserted into the fixed step 160. In this embodiment, two drive assemblies 210 are provided, and the two drive assemblies 210 are symmetrically arranged on both sides of the push assembly 230 and are respectively connected to the push assembly 230 to improve the driving stability, and thus two baffles 150 are also provided accordingly, and the two baffles 150 are symmetrically arranged on both sides of the housing 100, which are used to connect and assemble the drive assembly 210 and prevent the drive assembly 210 from interfering with other structures. Specifically, the baffle 150 in this embodiment is fixedly connected to the inside of the housing 100, and is actually an integrated arrangement.

[0026] In this embodiment, the two driving components 210 have the same structural setting. One of the driving components 210 is taken as an example for introduction. The electromagnet 212 in this embodiment is arranged at the top of the guide column 211, and is connected to the controller signal to realize electromagnetic conversion. When it is in a working state, it can move the magnet 213 upward through the magnetic field. When it is in a non-working state, the magnet 213 can automatically return to its original position under the action of gravity, thereby realizing the regulation effect on the magnet 213.

[0027] Furthermore, in order to ensure that the two driving components 210 can simultaneously and evenly act on the pushing component 230, a transmission component 220 is further provided in this embodiment. The transmission component 220 includes two limiting wheels 221 and a transmission belt 222. The two limiting wheels 221 are respectively provided between the two driving components 210 and the pushing rod 231. In the height direction of the housing 100, the limiting wheels 221 are provided below the corresponding guide column 211. The two ends of the transmission belt 222 are respectively connected to the two magnets 213, and the middle part thereof is wound around the top of the pushing rod 231 and the lower surface of the two limiting wheels 221. Based on the above structure, the transmission belt 222 is in an "M"-shaped structure to increase the friction between the transmission belt 222 and the limiting wheels 221, thereby achieving the optimal transmission effect. In other embodiments, the operator can set other numbers of limiting wheels 221 at other positions according to actual use requirements, and the present invention does not make specific restrictions on this.

[0028] In this embodiment, the push assembly 230 is used to directly contact the placement surface to achieve the ground-pushing driving effect. Similarly, in order to protect the push rod 231, the push assembly 230 in this embodiment also includes a buffer 233, and the buffer 233 is connected to one end of the push rod 231 that passes through the bottom plate 130 of the housing 100. Further, the buffer 233 in this embodiment is preferably elastic rubber, and in other embodiments, it can be configured as a sponge, spring or other element or structure with elastic buffering effect, and the present invention does not make specific restrictions on this. Embodiment 2

[0029] This embodiment provides an aerial vehicle robot, which includes at least one flapping-wing micro aerial robot bouncing take-off device as described in the first embodiment.

[0030] In summary, the flapping-wing micro flying robot 300 bouncing take-off device and the flying robot 300 described in the present invention are connected to the flying robot 300 through the shell 100, and then the flying robot 300 is driven by the ejection mechanism 200 to replace the traditional take-off assist device. The present application can be connected to the bottom of a variety of flying robots 300, and is flexible to use, and the operator can freely adjust it according to actual use requirements. Compared with the current conventional flying robot 300 starting equipment, the present application has the significant advantages of low cost, wide range of use, fast response speed, high controllability, strong compatibility, stable operation process, etc., and has broad application prospects in this field.

[0031] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A flapping-wing micro-flying robot bouncing take-off device, characterized in that: include: A shell, the shell being connected to the bottom of the fuselage of the robot to be flown; An ejection mechanism, the ejection mechanism is connected to the interior of the housing, and comprises: At least one driving mechanism, any of which comprises a guide post, an electromagnet and a magnet, wherein the electromagnet is fixedly connected to the inner wall of the shell and is connected to a controller signal, the guide post extends along the height direction of the shell, one end of the guide post is connected to the electromagnet and the other end is fixed to the shell, the electromagnet is sleeved on the guide post and moves along the guide post through the electromagnet; The pushing assembly includes a pushing rod, which extends along the height direction of the shell, one end of which is connected to the magnet, and the other end is passed through the outside of the shell. The pushing rod is moved relative to the shell along its extension direction by the driving mechanism to push the placement surface.

2. The flapping-wing micro-flying robot bouncing take-off device according to claim 1, characterized in that: The shell includes a top cover, a side wall and a bottom plate, wherein the top cover and the bottom plate are respectively connected to two ends of the side wall, wherein the top cover is configured as an arc-shaped structure protruding in a direction away from the bottom plate, and a through hole for connecting the internal and external environment of the connector is provided at the center of the bottom plate, and the push rod is passed through the through hole to the outside of the shell.

3. The flapping-wing micro-flying robot bouncing take-off device according to claim 2, characterized in that: An extension tube is arranged inside the shell, and the extension tube extends from the top cover toward the bottom plate. A through hole is arranged at the end of the extension tube for the push rod to pass through, and the push rod moves along the inner wall of the extension tube.

4. The flapping-wing micro-flying robot bouncing take-off device according to claim 3 is characterized in that: A limit block is provided at one end of the push rod located inside the cylinder body, and the area of ​​the limit block is larger than the area of ​​the through hole at the end of the extension cylinder, so as to connect the extension cylinder and the push rod.

5. The flapping-wing micro-flying robot bouncing take-off device according to claim 1, characterized in that: At least one baffle and at least one fixed step are also provided inside the shell, and the fixed step and the drive assembly are both arranged between the baffle and the side wall of the shell, wherein the fixed step is connected to the bottom plate of the shell, and the guide column is inserted into the fixed step.

6. The flapping-wing micro-flying robot bouncing take-off device according to claim 1, characterized in that: The ejection mechanism comprises two driving assemblies, which are symmetrically arranged on both sides of the pushing assembly and are respectively connected to the pushing assemblies.

7. The flapping-wing micro-flying robot bouncing take-off device according to claim 6, characterized in that: The ejection mechanism also includes a transmission assembly, which includes two limiting wheels and a transmission belt. The two limiting wheels are respectively arranged between the two driving assemblies and the push rods. In the height direction of the shell, the limiting wheels are arranged below the corresponding guide columns. The two ends of the transmission belt are respectively connected to the two magnets, and the middle part of the transmission belt is wound around the top of the push rod and the lower surfaces of the two limiting wheels.

8. The flapping-wing micro-flying robot bouncing take-off device according to claim 1, characterized in that: The shell also includes an elastic member and an assembly ring. The elastic member is connected to the side of the shell bottom plate facing the placement surface, and the assembly ring is connected to the top cover of the shell to connect to the fuselage of the flying robot.

9. The flapping-wing micro-flying robot bouncing take-off device according to claim 1, characterized in that: The push assembly further includes a buffer member connected to one end of the push rod penetrating the bottom plate of the shell.

10. A flying robot, characterized in that: It comprises at least one flapping-wing micro-flying robot bouncing take-off device as described in any one of claims 1 to 9.

Images