Trigger bouncing device and method for flapping-wing flying robot

Abstract

The invention provides a trigger bouncing device and method for a flapping-wing flying robot, and relates to the technical field of bionic robots. The device comprises a bouncing execution mechanism, the bouncing execution mechanism comprises a paw, a tibia and a femur which are connected in sequence, and the tibia and the femur are rotatably connected through a knee joint shaft; the energy storage mechanism comprises an energy storage motor, a lower limiting rod, a fixed pulley, an upper limiting rod, a pulley rope, an energy storage torsion spring and a trigger buckle; wherein the energy storage motor and the lower limiting rod are arranged on the tibia, the knee joint shaft is sleeved with the fixed pulley, the upper limiting rod is arranged on the femur, and the pulley rope sequentially winds the output end of the energy storage motor, the lower limiting rod, the fixed pulley and the upper limiting rod; the two ends of the energy storage torsion spring abut against the tibia and the femur correspondingly, and the trigger buckle can clamp the upper limiting rod at the preset position. Energy is stored through the energy storage torsion spring, the tibia and the femur are pushed to rotate, and bouncing action is conducted. The device achieves a highly bionic effect in appearance, and is more in line with actual leg structures of birds.

Description

Technical Field

[0001] The invention relates to the technical field of bionic robots, and in particular to a trigger bouncing device and method for a flapping-wing flying robot. Background Art

[0002] Bionic flapping-wing robots are aircraft that imitate the flight of birds or insects. They generate lift and thrust by imitating the action of flapping wings. The take-off process of birds and other flying creatures is a complex and sophisticated mechanical display. The high-frequency flapping of wings generates lift, and this force must exceed its own gravity to achieve lift off the ground; some flying creatures that can take off and land vertically can obtain the required lift by rapidly vibrating their wings; while most flying creatures need to run or jump a short distance before taking off to increase the initial speed and overcome the resistance of the ground. In the anatomical structure of the legs of birds, the femur, tibia, tarsometatarsal bones, and phalanges together form a complex joint system. These joint systems allow birds to move in large amplitude when taking off, and can store and release energy. In particular, the skeletal structure of the hind limbs of birds plays a key role in the jumping process. When birds are ready to take off, they will turn their bodies slightly backward to avoid falling directly forward and then jump forward. During this process, the leg joints of birds are very developed, allowing them to accumulate energy and jump a distance sufficient to take off.

[0003] In bionic flapping-wing flying robots, aerodynamic principles are applied to imitate flying creatures such as birds and insects. The flapping of the wings not only generates lift for up and down movement, but also generates thrust for forward movement, giving it high maneuverability and concealment while maintaining the characteristics of low energy consumption, showing broad application prospects.

[0004] However, most of the existing bionic flapping-wing flying robots use the hand-throwing take-off method, which greatly limits their ability to perform tasks. In addition, during the flight of the flapping-wing flying robot, high load and long endurance complement each other. Strong load capacity means that more energy can be carried, which naturally enhances the endurance. However, the load capacity is affected by many factors such as mechanical structure and wing material. When it is increased to a certain extent, it will produce marginal effects, making it more difficult to increase the load capacity. Therefore, when performing a task, it can land at a certain habitat as needed, and take off again after the task is completed to return to the starting position or continue to perform the next task. This can improve the endurance in disguise to a certain extent and further enhance the actual use value of the bionic flapping-wing flying robot.

[0005] However, the take-off devices of currently common bionic flapping-wing robots mostly adopt polygonal structures, which make it difficult to achieve a highly bionic effect in appearance. There is a significant gap compared with the natural and smooth leg structure of actual birds. Summary of the invention

[0006] In order to solve the technical problem that the take-off devices in the prior art mostly adopt polygonal structures, which are difficult to achieve a highly bionic effect in appearance and have a significant gap compared with the natural and smooth structure of actual bird legs, the embodiment of the present invention provides a trigger bouncing device and method for flapping-wing flying robots. The technical solution is as follows:

[0007] On the one hand, a trigger bouncing device for a flapping-wing flying robot is provided, the device comprising:

[0008] A bouncing actuator, the bouncing actuator comprising a claw, a tibia and a femur connected in sequence, the tibia and the femur being rotatably connected via a knee joint axis;

[0009] An energy storage mechanism, the energy storage mechanism comprising: an energy storage motor, a lower limit rod, a fixed pulley, an upper limit rod, a pulley rope, an energy storage torsion spring and a trigger button;

[0010] The energy storage motor and the lower limit rod are arranged on the tibia, the fixed pulley is mounted on the knee joint axis, the upper limit rod is arranged on the femur, and the pulley rope is wound around the output end of the energy storage motor, the lower limit rod, the fixed pulley, and the upper limit rod in sequence;

[0011] The two ends of the energy storage torsion spring are respectively against the tibia and the femur, and the trigger button can stop the femur at a preset position.

[0012] Optionally, the lower limiting rod passes through the tibia and both ends protrude from the tibia;

[0013] The upper limit rod passes through the femur and both ends protrude from the femur;

[0014] The energy storage motor, the fixed pulley and the pulley rope are arranged on one side of the tibia and the femur;

[0015] The energy storage torsion spring and the trigger button are arranged on the other side of the tibia and femur.

[0016] Optionally, the center of the energy storage torsion spring is sleeved on the knee joint axis, and both ends of the energy storage torsion spring are clamped on the lower limit rod and the upper limit rod;

[0017] The trigger button is used to be locked on the upper limit rod.

[0018] Optionally, the trigger button comprises: a connecting portion, a locking portion and a power portion, wherein the locking portion and the power portion are respectively located on both sides of the connecting portion, and the connecting portion is rotatably fixed on the tibia;

[0019] The device also includes: a trigger control motor and a transmission assembly, wherein two ends of the transmission assembly are respectively connected to the trigger control motor and the power unit, and the trigger control motor and the transmission assembly are used to drive the trigger to rotate to release the femur.

[0020] Optionally, the trigger control motor is arranged on a side of the tibia adjacent to the trigger pull position;

[0021] The transmission assembly includes: a trigger rope, a trigger and a trigger pull rod, the two ends of the trigger rope are respectively connected to the trigger control motor and the trigger, the two ends of the trigger are respectively rotatably connected to the tibia and the trigger pull rod, and the trigger pull rod is connected to the power unit.

[0022] Optionally, it further comprises: a trigger fixing plate, the trigger fixing plate being arranged on the tibia, the trigger and the trigger button being rotatably arranged on the trigger fixing plate;

[0023] The transmission assembly further includes a trigger limiting member, wherein the trigger limiting member is connected to the trigger fixing plate and is used for limiting the trigger.

[0024] Optionally, it further includes: an angle sensor and a controller, wherein the angle sensor is arranged on the femur, and the angle sensor is communicatively connected to the controller.

[0025] Optionally, the claw and the tibia are rotatably connected via an ankle joint axis.

[0026] Optionally, the paw comprises three front paws and one rear paw rigidly connected.

[0027] On the other hand, a trigger bouncing method for a flapping-wing flying robot is provided, the method comprising:

[0028] The energy storage motor is started to rotate forward, and the upper limit rod is driven to approach the lower limit rod through the pulley rope to rotate the femur;

[0029] The femur drives the energy storage torsion spring to compress, and the femur rotates to engage with the trigger button to prepare for the bounce;

[0030] Start the energy storage motor to reverse and release the pulley rope;

[0031] The trigger button is controlled to release the upper limit rod, and the energy storage torsion spring releases elastic potential energy, so that the trigger bouncing device facing the flapping-wing flying robot bounces upward.

[0032] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0033] The trigger jumping device for flapping-wing flying robots provided by the present invention is operated by an energy storage motor, which drives the femur and tibia to rotate relative to each other through a pulley rope, compresses the energy storage torsion spring, and stores energy. When jumping is required, the trigger button is released, and the energy storage torsion spring quickly returns to its original state, pushing the tibia and femur to rotate in the opposite direction, and then driving the claws to perform a jumping action, thereby achieving an efficient and stable jumping function, and providing strong support for the landing and jumping of the flying robot in a complex environment. The device is provided with claws, tibia and femur connected in sequence, and the structure that can achieve jumping is arranged on the tibia and femur, achieving a highly bionic effect in appearance, which is more in line with the natural and smooth structure of the actual bird legs. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 It is a structural schematic diagram of a trigger bouncing device for a flapping-wing flying robot provided by an embodiment of the present invention;

[0036] Figure 2 It is a front view of a trigger bouncing device for a flapping-wing flying robot provided by an embodiment of the present invention;

[0037] Figure 3 It is a right view of a trigger bouncing device for a flapping-wing flying robot provided by an embodiment of the present invention;

[0038] Figure 4 is a rear view of a trigger bouncing device for a flapping-wing flying robot provided by an embodiment of the present invention;

[0039] Figure 5 It is a partial structural schematic diagram of a trigger bouncing device for a flapping-wing flying robot provided by an embodiment of the present invention;

[0040] Figure 6 yes Figure 5 A partial enlarged view of part A;

[0041] Figure 7 It is a flow chart of a trigger jumping method for a flapping-wing flying robot provided by an embodiment of the present invention.

[0042] Reference numerals:

[0043] 1. Energy storage motor frame; 2. Energy storage motor; 3. Pulley rope; 4. Lower limit rod; 5. Knee joint axis; 6. Fixed pulley; 7. Energy storage torsion spring; 8. Trigger button; 9. Upper limit rod; 10. Body; 11. Hip joint; 12. Femur; 13. Angle sensor; 14. Trigger fixing plate; 15. Tibia; 16. Trigger; 17. Trigger pull rod; 18. Trigger control motor; 19. Trigger rope; 20. Trigger limiter; 21. Ankle joint axis; 22. Ankle joint; 23. Claw. DETAILED DESCRIPTION

[0044] The technical solution of the present invention is described below in conjunction with the accompanying drawings.

[0045] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "example" in the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "example" is intended to present the concept in a specific way. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or it can be either of the two.

[0046] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0047] The embodiment of the present invention provides a trigger bouncing device for a flapping-wing flying robot, see Figures 1 to 6 The device includes: a bouncing actuator and an energy storage mechanism. The energy storage mechanism can store energy before bouncing and release the energy when needed to drive the bouncing actuator. The energy is stored in the energy storage mechanism, and the released energy is used for the bouncing actuator to perform the bouncing action, thereby realizing the bouncing of the entire device.

[0048] Specifically, the bouncing actuator includes a foot claw 23, a tibia 15 and a femur 12 connected in sequence. The tibia 15 and the femur 12 are rotatably connected via a knee joint axis 5, so that the tibia 15 and the femur 12 can produce necessary bending and stretching movements during the bouncing process.

[0049] See also Figure 1 The energy storage mechanism includes: an energy storage motor 2, a lower limit rod 4, a fixed pulley 6, an upper limit rod 9, a pulley rope 3, an energy storage torsion spring 7 and a trigger button 8;

[0050] Among them, the energy storage motor 2 and the lower limit rod 4 are arranged on the tibia 15, the fixed pulley 6 is mounted on the knee joint axis 5, the upper limit rod 9 is arranged on the femur 12, and the pulley rope 3 is wound around the output end of the energy storage motor 2, the lower limit rod 4, the fixed pulley 6, and the upper limit rod 9 in sequence.

[0051] Among them, the energy storage motor 2 is used to provide initial rotational power to wind or release the pulley rope 3. The lower limit rod 4 serves as a fixed point of the pulley rope 3 to ensure that the pulley rope 3 maintains a preset path during the winding and releasing process. The fixed pulley 6 is mounted on the knee joint shaft 5 to change the direction of the pulley rope 3 so that the pulley rope 3 can smoothly bypass various fixed points. The upper limit rod 9 is another fixed point of the pulley rope 3, and cooperates with the lower limit rod 4 to jointly control the winding and release of the pulley rope 3. The pulley rope 3 is sequentially wound around the output end of the energy storage motor 2, the lower limit rod 4, the fixed pulley 6 and the upper limit rod 9 to form a closed-loop system for storing and releasing energy.

[0052] The two ends of the energy storage torsion spring 7 are respectively against the tibia 15 and the femur 12, and the trigger buckle 8 can stop the upper limit rod 9 at a preset position.

[0053] When the energy storage motor 2 is working, the spring is compressed to store energy. The trigger button 8 can stop the upper limit rod 9 at a preset position to prevent it from accidentally moving when it is not triggered. When it is necessary to bounce, the trigger button 8 is released, and the spring quickly returns to its original state, releasing the stored energy and pushing the femur 12 to bounce.

[0054] Working principle of the device:

[0055] Bounce preparation stage: The energy storage motor 2 works, driving the femur 12 and the tibia 15 to rotate relative to each other through the pulley rope 3, compressing the energy storage torsion spring 7, and storing energy. The trigger button 8 stops the upper limit rod 9 at the preset position, keeping the entire jumping device in a trigger-ready state. At this time, the pulley rope 3 is taut, the energy storage torsion spring 7 is in a compressed state, and the trigger button 8 is tightly holding the upper limit rod 9, and the three together maintain a delicate balance. However, this taut pulley rope 3 hinders the instantaneous release of the elastic potential energy of the energy storage torsion spring 7, making it impossible for the device to jump up immediately. Therefore, before jumping, the energy storage motor 2 needs to rotate in the opposite direction first, so that the pulley rope 3 returns to the natural state from the taut state and releases its potential energy.

[0056] Bounce takeoff stage: when jumping is required, the trigger button 8 is released, and the energy storage torsion spring 7 quickly returns to its original state, pushing the tibia 15 and the femur 12 to rotate in the opposite direction, thereby driving the claw 23 to perform a jumping action.

[0057] The trigger jumping device for flapping-wing flying robots provided by the present invention works through the energy storage motor 2, drives the femur 12 and the tibia 15 to rotate relative to each other through the pulley rope 3, compresses the energy storage torsion spring 7, and stores energy. When jumping is required, the trigger button 8 is released, and the energy storage torsion spring 7 quickly returns to its original state, pushing the tibia 15 and the femur 12 to rotate in the opposite direction, and then drives the claws 23 to perform a jumping action, thereby realizing an efficient and stable jumping function, and providing strong support for the landing and jumping of the flying robot in a complex environment. The device is provided with claws 23, tibia 15 and femur 12 connected in sequence, and the structure that can realize jumping is set on the tibia 15 and the femur 12. By setting the claws 23, tibia 15 and femur 12 connected in sequence, a highly bionic effect is achieved in appearance, which is more in line with the natural and smooth structure of the actual bird legs.

[0058] Specifically, the energy storage motor 2 is indispensable as a power source, but it is heavy. Further, the energy storage motor 2 can be arranged at the lower part of the tibia 15, which not only effectively lowers the center of gravity, but also significantly enhances the stability of the entire structure.

[0059] In one embodiment provided by the present invention, the lower limit rod 4 passes through the tibia 15 and the two ends protrude from the tibia 15, and is stably fixed on the tibia 15; the upper limit rod 9 passes through the femur 12 and the two ends protrude from the femur 12, and is stably fixed on the femur 12, providing a stable support point for the subsequent device. The two ends of the lower limit rod 4 and the upper limit rod 9 respectively play different roles, which can simplify the device and avoid the center of gravity offset. The energy storage motor 2, the fixed pulley 6 and the pulley rope 3 are arranged on one side of the tibia 15 and the femur 12; the energy storage torsion spring 7 and the trigger button 8 are arranged on the other side of the tibia 15 and the femur 12. The structural design on different sides can also avoid the center of gravity offset.

[0060] Power is provided by the energy storage motor 2, transmitted through the pulley system, and finally released instantly through the cooperation of the energy storage torsion spring 7 and the trigger button 8.

[0061] Furthermore, in an embodiment provided by the present invention, both ends of the energy storage torsion spring 7 are hooks or other connection forms, which can be connected to other components. The center of the energy storage torsion spring 7 is sleeved on the knee joint shaft 5; the two ends of the energy storage torsion spring 7 are clamped on the lower limit rod 4 and the upper limit rod 9, so that the two ends of the energy storage torsion spring 7 are fixed on the femur 12 and the tibia 15, and the position is kept stable by the two limit rods. When the energy storage torsion spring 7 is compressed or stretched, it will store energy between the two limit rods.

[0062] The trigger buckle 8 is used to be locked on the upper limit rod 9, that is, the trigger buckle 8 is locked and released with the femur 12 through the upper limit rod 9. This structure provides sufficient space for the movement of the trigger buckle 8 to avoid interference during movement.

[0063] In the preparation stage, the energy storage torsion spring 7 is compressed or stretched to store energy. The trigger button 8 is locked on the upper limit rod 9 to ensure that the spring does not accidentally release energy. When the energy needs to be released, the trigger button 8 is triggered and the energy storage torsion spring 7 is no longer limited. The energy storage torsion spring 7 is expanded based on its own elastic force.

[0064] In one embodiment provided by the present invention, see Figure 4 The trigger button 8 includes: a connection part, a stopper part and a power part, the stopper part and the power part are respectively located on both sides of the connection part, and the connection part is rotatably fixed on the tibia 15. The device also includes: a trigger control motor 18 and a transmission assembly, the two ends of the transmission assembly are respectively connected to the trigger control motor 18 and the power part, and the trigger control motor 18 and the transmission assembly are used to drive the trigger 16 to rotate to release the upper limit rod 9.

[0065] The connecting portion serves as the main body of the trigger buckle 8 , supports the stop portion and the power portion, and allows the entire trigger buckle 8 to rotate on the tibia 15 .

[0066] The stopper is located at one side of the connecting portion and is used to be stopped on the upper limit rod 9. When the trigger buckle 8 is in an untriggered state, the stopper will be firmly held at a position of the upper limit rod 9 to prevent the energy storage torsion spring 7 from releasing energy.

[0067] The power unit is located at the other side of the connecting part and is connected to the transmission assembly. When the trigger control motor 18 applies force to the power unit through the transmission assembly, it drives the trigger buckle 8 to rotate, so that the locking part is separated from the upper limit rod 9, allowing the energy storage torsion spring 7 to release energy.

[0068] The trigger control motor 18 can generate rotational power for driving the transmission assembly. Further, the trigger control motor 18 can be a stepper motor for accurately controlling the rotation angle of the trigger 16.

[0069] Specifically, the transmission assembly is used to transmit the rotational power of the trigger control motor 18 to the power unit. It may include gears, chains, belts or other mechanical connectors to ensure that the power can be effectively transmitted from the motor to the trigger button 8.

[0070] When the energy of the energy storage torsion spring 7 needs to be released, the trigger control motor 18 needs to be started. The rotational power generated by the trigger control motor 18 is transmitted to the power unit through the transmission assembly. The power unit drives the entire trigger button 8 to rotate around the connecting portion. As the trigger button 8 rotates, the locking portion disengages from the upper limit rod 9, allowing the energy storage torsion spring 7 to release its stored energy.

[0071] Furthermore, in an embodiment provided by the present invention, the trigger control motor 18 is disposed on a side of the tibia 15 adjacent to the position of the trigger button 8, and is used to drive the trigger button 8 directly or indirectly through a transmission assembly.

[0072] The transmission assembly includes: a trigger rope 19, a trigger 16 and a trigger pull rod 17. The two ends of the trigger rope 19 are respectively connected to the trigger control motor 18 and the trigger 16. The two ends of the trigger 16 are rotatably connected to the tibia 15 and the trigger pull rod 17. The trigger pull rod 17 is connected to the power unit. When the trigger control motor 18 is started, it starts to rotate and pulls the trigger rope 19, thereby causing the trigger 16 to start rotating. When the trigger 16 rotates, it transmits power to the power unit through the trigger pull rod 17, and the power unit drives the trigger button 8 to rotate.

[0073] As the trigger button 8 rotates, the stopper is disengaged from the upper limit rod 9, allowing the energy storage torsion spring 7 or other mechanical devices to release their stored energy.

[0074] This design achieves precise control of the trigger buckle 8 by arranging the trigger control motor 18 on the tibia 15 adjacent to the trigger buckle 8 and using a transmission assembly consisting of a trigger rope 19, a trigger 16 and a trigger pull rod 17 to transmit power. This layout and transmission method make the entire device more compact and efficient, and also facilitate installation and maintenance.

[0075] For further information, see Figure 3 , Figure 5 and Figure 6 In one embodiment provided by the present invention, it further includes: a trigger fixing plate 14, which is arranged on the tibia 15, and the trigger 16 and the trigger buckle 8 are rotatably arranged on the trigger fixing plate 14. The transmission assembly also includes: a trigger limiter 20, which is connected to the trigger fixing plate 14 and is used to limit the trigger 16.

[0076] The trigger fixing plate 14 is arranged on the tibia 15 as a stable supporting structure. The trigger 16 and the trigger buckle 8 are both rotatably arranged on the trigger fixing plate 14. Therefore, both can rotate on the trigger fixing plate 14 around their respective rotation axes, ensuring the stability and reliability of these components in the device.

[0077] The trigger stopper 20 is connected to the trigger fixing plate 14 and is used to limit the rotation of the trigger 16 to prevent the trigger 16 from moving at an excessive angle, which would cause the trigger buckle 8 to open at an excessive angle. When the trigger 16 rotates to a certain position, the trigger stopper 20 prevents the trigger 16 from continuing to rotate, thereby ensuring the accuracy and safety of the trigger buckle 8 when releasing the energy storage torsion spring 7.

[0078] When the trigger 16 is pulled and rotated by the trigger rope 19, it will be limited by the trigger limiter 20 and can only rotate within a predetermined range. When the trigger 16 rotates to the trigger position, it transmits the force to the power unit through the trigger pull rod 17, thereby driving the trigger button 8 to rotate and release the energy of the energy storage torsion spring 7. At the same time, the trigger limiter 20 ensures that the trigger 16 will not exceed the predetermined range during the rotation process, thereby ensuring the safety and stability of the entire device.

[0079] In one embodiment provided by the present invention, see Figure 2 The device also includes: an angle sensor 13 and a controller, the angle sensor 13 is arranged on the femur 12, and the angle sensor 13 is communicatively connected with the controller.

[0080] The angle sensor 13 is disposed on the femur 12 to monitor the rotation angle or motion state between the femur 12 and the tibia 15. The angle sensor 13 can be implemented in a variety of ways, such as using a magnetic encoder, an optical encoder, or a gyroscope to measure angle changes.

[0081] The controller is used to receive signals from the angle sensor 13 and execute control logic according to the signals. The controller may be a microprocessor, a microcontroller, an application specific integrated circuit (ASIC) or any other type of computing device.

[0082] The angle sensor 13 is connected to the controller via a communication link, which may be a wired connection, such as a cable, or a wireless connection, such as Bluetooth, Wi-Fi or other wireless communication technologies. This communication allows the angle sensor 13 to send measurement data to the controller for processing in real time.

[0083] When the femur 12 and the tibia 15 rotate or move, the angle sensor 13 detects these changes and sends corresponding signals to the controller. After receiving these signals, the controller will evaluate the current motion state according to the preset control logic and decide whether it is necessary to adjust the state of the trigger button 8 or the release timing of the energy storage torsion spring 7. If adjustment is required, the controller will send instructions to the trigger control motor 18 or other actuators to change the position of the trigger button 8 or the release method of the energy storage torsion spring 7.

[0084] Furthermore, the angle sensor 13 is arranged on the upper limit rod 9, and is located outside the position on the upper limit rod 9 corresponding to the trigger button 8. This structure facilitates the angle sensor 13 to collect angles, and does not require an additional bracket, simplifies the structure, and reduces the weight of the device.

[0085] Angle sensor 13 is mounted on upper limit rod 9 to detect the movement angle of femur 12 relative to tibia 15. For example, in determining the angle of attack of flapping-wing flying robot, the angle is preferably 100-120 degrees, and the prototype connected to fuselage 10 has a better take-off effect at an angle of attack of 40-60 degrees.

[0086] In one embodiment provided by the present invention, the claw 23 and the tibia 15 are rotatably connected via the ankle joint axis 21 .

[0087] The position between the claw 23 and the tibia 15 is the ankle joint 22. The setting of the ankle joint axis 21 is used to rotate the claw 23 relative to the tibia 15, thereby simulating the foot movement of the bird when walking, running or jumping. Further, the rotational movement can be multi-directional, and the structure of the ankle joint axis 21 can be configured as needed.

[0088] In one embodiment of the present invention, the claw 23 includes three front claws and one rear claw that are rigidly connected. That is, these claws are structurally integrated, and their relative positions are fixed and will not change due to external forces. This rigid connection can ensure the stability and reliability of the claw 23 during use.

[0089] The front claws are usually located at the front of the paw 23 and are used for the main interaction with the ground or contact surface. They may have different shapes and sizes to adapt to different terrains and gait requirements. For example, in a bionic robot, the front claws may be designed to be sharper to provide better grip on uneven ground. The rear claws are located at the back of the paw 23 and are usually used to support and balance the entire device.

[0090] In bionic robots, this rigid structure can enhance the robot's walking stability and ground adaptability. By introducing a rigid bar structure, the balance problem that may be caused by imitating the excessive degrees of freedom of biological toe bones can be solved.

[0091] Furthermore, the body 10 is connected to the femur 12 for configuring other required structures. A hip joint 11 is formed between the femur 12 and the body 10 .

[0092] The trigger jumping device for flapping-wing flying robots provided by the present invention, when the energy storage motor 2 is working, drives the femur 12 and the tibia 15 to rotate relative to each other through the pulley rope 3, compresses the energy storage torsion spring 7, and stores energy. When jumping is required, the trigger button 8 is released, and the energy storage torsion spring 7 quickly returns to its original state, pushing the tibia 15 and the femur 12 to rotate in the opposite direction, and then drives the claws 23 to perform a jumping action, thereby realizing an efficient and stable jumping function, and providing strong support for the landing and jumping of the flying robot in a complex environment. The device is provided with claws 23, tibia 15 and femur 12 connected in sequence, and the structure that can realize jumping is set on the tibia 15 and the femur 12, achieving a highly bionic effect in appearance, which is more in line with the natural and smooth structure of the actual bird legs.

[0093] The present invention comprises a body 10, an energy storage mechanism and a bouncing actuator, wherein the energy storage mechanism and the bouncing actuator form a bionic structure having a pair of claws 23, a pair of ankle joints 21, a pair of tibias 15, a pair of knee joints 5, a pair of femurs 12, and a pair of hip joints 11.

[0094] Furthermore, the energy storage mechanism may include an energy storage motor 2 arranged on the tibia, a pulley rope 3, a knee joint shaft 5 installed on the knee joint, an energy storage torsion spring 7 and a fixed pulley 6 installed on the knee joint shaft, an upper limit rod 9 installed on the femur, a lower limit rod 4 and a trigger fixing plate 14 installed on the tibia, and a trigger buckle 8 installed on the trigger fixing plate 14.

[0095] The energy storage motor 2 can be set on the tibia 15 through the energy storage motor frame 1, and a knee joint is formed between the femur and the tibia 15, and a knee joint axis 5 is set at the position of the knee joint. Through the knee joint axis 5, the femur 12 and the tibia 15 rotate relative to each other.

[0096] The energy storage motor 2 installed on the tibia 15 functions differently in different stages.

[0097] Bounce preparation stage: the flight control system controls the energy storage motor 2 installed on the tibia 15 to rotate, driving the pulley rope 3 to pull the upper limit rod 9 close to the lower limit rod 4, the energy storage torsion spring 7 is in a compressed state, and the trigger button 8 buckles the upper limit rod 9.

[0098] Bounce takeoff stage: at this time, the pulley rope 3 is in a taut state, the energy storage torsion spring 7 is in a compressed state, and the trigger button 8 holds the upper limit rod 9. However, the taut pulley rope will affect the instantaneous release of the elastic potential energy of the energy storage torsion spring 7. Therefore, the energy storage motor 2 needs to be rotated in the reverse direction before the bounce, and the pulley rope 3 becomes a natural state;

[0099] The pulley rope 3 cooperates with the fixed pulley 6 to transmit the power of the motor to the upper limit rod 9 to control the compression and reset of the energy storage torsion spring 7;

[0100] The knee joint shaft 5 is the connecting shaft between the femur 12 and the tibia 15, and fixed pulleys 6 and energy storage torsion springs 7 are installed on both sides. At the same time, in order to prevent the fixed pulleys 6 and the energy storage torsion springs 7 from moving axially, limit screws are installed at both ends of the shaft;

[0101] The center of the energy storage torsion spring 7 is sleeved on the knee joint axis 5, and the two ends are clamped between the upper limit rod 9 and the lower limit rod 4, so that there is elasticity between the upper limit rod 9 and the lower limit rod 4, so that the fuselage 10 and the femur 12 can rotate with the knee joint axis 5 as the rotation center;

[0102] The upper limit rod 9 imitates the pawl in the trigger structure, and the trigger button 8 imitates the ratchet in the trigger structure. In the bouncing stage, the trigger 16 pulls the trigger rod 17, driving the trigger button 8 to move, and the trigger button 8 is separated from the upper limit rod 9, and the energy storage torsion spring 7 recovers from the compressed state to the natural state. In the reset stage, the upper limit rod 9 is subjected to gravity and the tension of the pulley rope 3 attached thereto, which matches the trigger button 8, and the energy storage torsion spring changes from the natural state to the compressed state.

[0103] The trigger fixing plate 14 is mounted on the tibia 15 and serves as a support for the trigger 16 , the trigger pull rod 17 and the trigger buckle 8 ;

[0104] The trigger button 8 is used to control the compression and release of the energy storage torsion spring 7, corresponding to the spring preparation and execution stages of the present invention;

[0105] The spring actuator includes a foot claw 23, a tibia 15, an angle sensor 13, a femur 12, a trigger fixing plate 14, a trigger 16, a trigger pull rod 17, a trigger buckle 8, a trigger control motor 18, and a trigger rope 19;

[0106] The design of Claw 23 draws on the physiological structure of bird claws in nature. Its structural layout of three claws in the front and one claw in the back replicates the morphological characteristics of real bird claws.

[0107] The tibia 15 is designed to imitate the tibia of a real bird, connecting the femur 12 and the ankle joint 22, and serving as the skeleton structure of the jumping device;

[0108] The angle sensor 13 is installed on the upper limit rod 9 to detect the movement angle of the femur 12 relative to the tibia 15. The angle is preferably 100 degrees to 120 degrees. The purpose is to determine the angle of attack of the flapping-wing flying robot connected to the fuselage 10. The take-off effect is better when the angle of attack is 40 degrees to 60 degrees.

[0109] The design of the femur 12 is inspired by the femur of a real bird, connecting the hip joint 11 and the tibia 15, and serving as the skeleton structure of the bouncing device;

[0110] After the flight control system issues a command to the trigger control motor 18, the trigger 16 pulls the trigger pull rod 17 to separate the trigger button 8 and the upper limit rod 9, and the energy storage torsion spring 7 returns to its natural state, generating elastic potential energy, so that the bouncing device starts to bounce;

[0111] As a connecting member between the trigger 16 and the trigger buckle 8, the trigger pull rod 17 adopts a rigid rod-shaped structure in order to avoid the hysteresis effect of the elastic structure and promptly respond to the action result of the trigger 16;

[0112] When the trigger control motor 18 installed on the tibia 15 rotates, the trigger 16 is driven to move through the trigger rope 19, and the trigger 16 pulls the trigger rod 17 to move, and the trigger rod 17 drives the trigger button 8 to disengage from the upper limit rod 9, and the energy storage torsion spring 7 is instantly changed from a compressed state to a natural state, thereby generating an upward elastic force;

[0113] The trigger rope 19 connects the trigger control motor 18 and the trigger 16 to control the operation of the trigger 16. The trigger rope 19 can be made of a thin rope to save space and improve the sensitivity of the transmission.

[0114] The fuselage 10 connects the bionic flapping-wing flying robot and the bouncing device. The size cannot be too large. At the same time, in order to reduce the load of the prototype, the redundant part of the material can be removed by hollowing out, while maintaining the strength and stability of the structure. For a flapping-wing flying robot with a wingspan of 1.6m-2m and a weight of 800g-1000g, the size of the fuselage 10 is More appropriate;

[0115] The trigger bouncing device for flapping-wing flying robots provided by the present invention draws on the leg structure of birds in nature, and restores the agility of bird claws, the toughness of tibia, and the strong support of femur through the precise connection of multiple sections of rods. Compared with the traditional polygonal bird leg structure simulation method, this design not only achieves a more realistic reproduction in form, but also takes an important step in the functional bionics level. It demonstrates the extraordinary wisdom of biomechanics in nature with a higher degree of bionics, and opens up a new path for the innovation and development of bouncing actuators;

[0116] In the traditional multi-deformable bird leg structure design, the easy deformation characteristics of the polygon are combined with the elasticity of the tension spring to achieve the buffering and stabilizing functions during the jumping and landing process. However, a common drawback in the research is that the power source is configured in the upper area of ​​the bird leg. Although this layout simplifies the design, it inevitably leads to the upward shift of the overall center of gravity, thereby weakening the stability of the structure. To solve this problem, the present invention innovatively moves the power source to the position of the tibia 15. This not only effectively lowers the center of gravity, but also significantly enhances the stability of the entire structure, achieving a major breakthrough from theory to practice.

[0117] The design of Claw 23 draws on the physiological structure of bird claws in nature. Its structural layout of three claws in the front and one claw in the back replicates the morphological characteristics of real bird claws. In order to solve the balance problem that may be caused by imitating too many degrees of freedom of biological toe bones, a rigid bar structure is innovatively introduced as a solution. This solution not only enhances the robustness of the overall structure, but also provides strong support for the bouncing mechanism. Through this carefully designed combination, it not only pays high tribute to the wisdom of nature, but also overcomes the defects of traditional design, allowing this bionic flapping-wing flying robot to show excellent adaptability and flexibility in complex and changing environments;

[0118] The device cleverly combines the physiological structure and movement characteristics of actual birds, further improving the bionics and stability of the robot. Specifically, first, by adopting a physiological structure and movement characteristics closer to birds in nature, the robot is more realistic in appearance; second, by optimizing the center of gravity distribution, the robot is more stable during movement; third, by realizing autonomous take-off and landing functions, the robot is more convenient to operate; finally, by perching and flying according to actual working conditions, the robot has a wider range of applications. These improvements make the present invention have important innovation and application value in the field of bionic robots.

[0119] The present invention also provides a trigger bouncing method for a flapping-wing flying robot, the method comprising:

[0120] 701. Start the energy storage motor 2 to rotate forward, and drive the upper limit rod 9 to approach the lower limit rod 4 through the pulley rope 3 to rotate the femur 12.

[0121] Bounce preparation stage: The flight control system instructs the energy storage motor 2 to operate, which is transmitted through the pulley rope 3, pulling the upper limit rod 9 to slowly approach the lower limit rod 4; at the same time, the energy storage torsion spring 7 is tightly compressed, accumulating energy that is about to be released.

[0122] 702. The femur 12 drives the energy storage torsion spring 7 to compress, and the femur 12 drives the upper limit rod 9 to rotate until it engages with the trigger button 8 to prepare for the bounce.

[0123] The trigger pull 8 firmly holds the upper limit lever 9 to ensure that everything is ready.

[0124] 703. Start the energy storage motor 2 to reverse and release the pulley rope 3.

[0125] Bounce takeoff stage: At this time, the pulley rope 3 is taut, the energy storage torsion spring 7 is in a compressed state, and the trigger button 8 is tightly holding the limit rod 9. The three together maintain a delicate balance. However, the taut pulley rope 3 hinders the instantaneous release of the elastic potential energy of the energy storage torsion spring 7, making it impossible for the device to jump immediately. Therefore, before the bounce, the flight control system first controls the energy storage motor 2 to rotate in the reverse direction, so that the pulley rope 3 returns to the natural state from the taut state, releasing its potential energy.

[0126] 704. Control the trigger button 8 to release the upper limit rod 9, and the energy storage torsion spring 7 releases elastic potential energy, so that the trigger bouncing device facing the flapping-wing flying robot bounces upward.

[0127] Specifically, the flight control system controls the trigger control motor 18 to rotate again, driving the trigger 16 to move, and the trigger pulls the trigger rod 17, so that the trigger button 8 is separated from the upper limit rod 9, thereby breaking the original balance. As the trigger button 8 is released, the energy storage torsion spring 7 instantly generates upward elastic potential energy, just like a compressed spring is suddenly released, generating strong instantaneous elastic potential energy, thereby causing the device to bounce upward.

[0128] Furthermore, during the mission execution phase: the flight control system is precisely regulated to drive the energy storage motor 2 to rotate slowly; the pulley rope 3 responds flexibly, and the traction trigger button 8 is securely buckled on the upper limit rod 4; the energy storage torsion spring 7 accumulates force silently, maintaining a highly compressed state, and everything is ready for landing.

[0129] Furthermore, during the landing phase: the flight control system controls the flapping-wing flying robot to reduce the flight speed by a combination of flapping and sliding, and adjusts the landing posture and position. When landing, the flapping-wing flying robot will have a forward tendency, so the three-claw forward-facing claw 23 structure will stabilize this tendency, and at the same time the energy storage torsion spring 7 will activate a certain buffering effect.

[0130] The trigger jumping method for flapping-wing flying robots provided by the present invention, when the energy storage motor 2 is working, drives the femur 12 and the tibia 15 to rotate relative to each other through the pulley rope 3, compresses the energy storage torsion spring 7, and stores energy. When jumping is required, the trigger button 8 is released, and the energy storage torsion spring 7 quickly returns to its original state, pushing the tibia 15 and the femur 12 to rotate in the opposite direction, and then drives the claws 23 to perform a jumping action, thereby realizing an efficient and stable jumping function, and providing strong support for the landing and jumping of the flying robot in a complex environment. The device is provided with claws 23, tibia 15 and femur 12 connected in sequence, and the structure that can achieve jumping is set on the tibia 15 and femur 12, achieving a highly bionic effect in appearance, which is more in line with the natural and smooth structure of the actual bird legs.

[0131] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the context for specific understanding.

[0132] In the present invention, "at least one" means one or more, and "plurality" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0133] It should be understood that in various embodiments of the present invention, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0134] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A trigger bouncing device for a flapping-wing flying robot, characterized in that: The device comprises: A bouncing actuator, the bouncing actuator comprising a claw, a tibia and a femur connected in sequence, the tibia and the femur being rotatably connected via a knee joint axis; An energy storage mechanism, the energy storage mechanism comprising: an energy storage motor, a lower limit rod, a fixed pulley, an upper limit rod, a pulley rope, an energy storage torsion spring and a trigger button; The energy storage motor and the lower limit rod are arranged on the tibia, the fixed pulley is mounted on the knee joint axis, the upper limit rod is arranged on the femur, and the pulley rope is wound around the output end of the energy storage motor, the lower limit rod, the fixed pulley, and the upper limit rod in sequence; The two ends of the energy storage torsion spring are respectively against the tibia and the femur, and the trigger button can stop the upper limit rod at a preset position.

2. The trigger bouncing device for a flapping-wing flying robot according to claim 1, characterized in that: The lower limiting rod passes through the tibia and has two ends protruding from the tibia; The upper limit rod passes through the femur and both ends protrude from the femur; The energy storage motor, the fixed pulley and the pulley rope are arranged on one side of the tibia and the femur; The energy storage torsion spring and the trigger button are arranged on the other side of the tibia and femur.

3. The trigger bouncing device for a flapping-wing flying robot according to claim 2, characterized in that: The center of the energy storage torsion spring is sleeved on the knee joint axis. Two ends of the energy storage torsion spring are clamped on the lower limit rod and the upper limit rod.

4. The trigger bouncing device for a flapping-wing flying robot according to claim 1, characterized in that: The trigger button comprises: a connecting portion, a locking portion and a power portion, wherein the locking portion and the power portion are respectively located on both sides of the connecting portion, and the connecting portion is rotatably fixed on the tibia; The device also includes: a trigger control motor and a transmission assembly, wherein two ends of the transmission assembly are respectively connected to the trigger control motor and the power unit, and the trigger control motor and the transmission assembly are used to drive the trigger to rotate to release the femur.

5. The trigger bouncing device for a flapping-wing flying robot according to claim 4, characterized in that: The trigger control motor is arranged on a side of the tibia adjacent to the trigger pull position; The transmission assembly includes: a trigger rope, a trigger and a trigger pull rod, the two ends of the trigger rope are respectively connected to the trigger control motor and the trigger, the two ends of the trigger are respectively rotatably connected to the tibia and the trigger pull rod, and the trigger pull rod is connected to the power unit.

6. The trigger bouncing device for a flapping-wing flying robot according to claim 5, characterized in that: Also includes: A trigger fixing plate, the trigger fixing plate is arranged on the tibia, and the trigger and the trigger buckle are both rotatably arranged on the trigger fixing plate; The transmission assembly also includes a trigger limiting member, which is connected to the trigger fixing plate and is used to limit the trigger.

7. The trigger bouncing device for a flapping-wing flying robot according to claim 1, characterized in that: Also includes: An angle sensor and a controller, wherein the angle sensor is arranged on the femur, and the angle sensor is communicatively connected with the controller.

8. The trigger bouncing device for a flapping-wing flying robot according to claim 1, characterized in that: The paw and the tibia are rotatably connected via an ankle joint axis.

9. The trigger bouncing device for a flapping-wing flying robot according to claim 1, characterized in that: The paw comprises three front paws and one rear paw which are rigidly connected.

10. A trigger bouncing method for a flapping-wing flying robot, characterized in that: The method comprises: The energy storage motor is started to rotate forward, and the upper limit rod is driven to approach the lower limit rod through the pulley rope to rotate the femur; The femur drives the energy storage torsion spring to compress, and the femur drives the upper limit rod to rotate until it engages with the trigger button to prepare for the bounce; Start the energy storage motor to reverse and release the pulley rope; The trigger button is controlled to release the upper limit rod, and the energy storage torsion spring releases elastic potential energy, so that the trigger bouncing device facing the flapping-wing flying robot bounces upward.

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