A trigger bouncing device and method for flapping-wing flying robots

Abstract

The present invention provides a trigger-bouncing device and method for a flapping-wing flying robot, relating to the field of bionic robotics. The device comprises a bouncing actuator comprising a claw, tibia, and femur connected in sequence, the tibia and femur being rotatably connected via a knee joint axis; an 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 trigger. The energy storage motor and lower limit rod are mounted on the tibia, the fixed pulley is mounted on the knee joint axis, and the upper limit rod is mounted on the femur. The pulley rope is sequentially wound around the output end of the energy storage motor, the lower limit rod, the fixed pulley, and the upper limit rod. The two ends of the energy storage torsion spring respectively abut against the tibia and femur, and the trigger trigger can lock the upper limit rod in a preset position. The energy stored in the energy storage torsion spring drives the tibia and femur to rotate, thereby performing a bouncing action. The device achieves a highly bionic appearance, more in line with the actual leg structure of a bird.

Description

Technical Field

[0001] The present 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] Biomimetic flapping-wing robots are aircraft that mimic the flight of birds or insects, generating lift and thrust by mimicking the flapping motion of their wings. The takeoff process of birds and other flying creatures is a complex and sophisticated display of mechanics. The high-frequency flapping of the wings generates lift, a force that must exceed the force of gravity to propel the bird off the ground. Some flying creatures capable of vertical takeoff and landing achieve this lift simply by rapidly vibrating their wings. However, most flying creatures require a short run or jump before takeoff to increase initial speed and overcome ground resistance. The anatomy of a bird's leg, comprising the femur, tibia, tarsometatarsal bones, and phalanges, forms a complex system of joints. This system allows birds to achieve large ranges of motion during takeoff and enables the storage and release of energy. The skeletal structure of birds' hind limbs, in particular, plays a crucial role in the leaping process. When preparing to take off, birds rotate their bodies slightly backward to avoid falling forward and then leap forward. During this process, the bird's leg joints are very developed, allowing them to accumulate energy and jump a distance sufficient to take off.

[0003] Biomimetic flapping-wing flying robots apply aerodynamic principles to mimic flying creatures like birds and insects. The flapping of the wings generates not only lift for upward and downward motion but also thrust for forward motion, giving them high maneuverability and stealth while maintaining low energy consumption, demonstrating broad application prospects.

[0004] However, most existing bionic flapping-wing flying robots use a hand-thrown takeoff method, which greatly limits their ability to perform tasks. In addition, during the flight of flapping-wing flying robots, high load and long endurance complement each other. Strong load capacity means that more energy can be carried, which naturally enhances endurance. However, load capacity is affected by many factors such as mechanical structure and wing material. When it is increased to a certain level, it will produce marginal effects, making it increasingly difficult to increase load capacity. Therefore, when performing a task, it can land at a certain perch 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 endurance to a certain extent in disguise and further enhance the practical 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] To address the technical issues that existing takeoff devices often use polygonal structures, making them difficult to achieve a highly biomimetic appearance and significantly different from the natural and smooth structure of actual bird legs, the present invention provides a trigger-bouncing device and method for flapping-wing flying robots. The technical solution is as follows:

[0007] In one aspect, 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, wherein the tibia and the femur are rotatably connected via a knee joint axis;

[0009] An 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;

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

[0011] The two ends of the energy storage torsion spring respectively abut against the tibia and the femur, and the trigger button can lock 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 has two ends protruding from the femur;

[0014] The energy storage motor, the fixed pulley and the pulley rope are arranged on one side of the tibia and 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 further 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 button to rotate to release the femur.

[0020] Optionally, the trigger control motor is provided 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, and the trigger and the trigger button being rotatably arranged on the trigger fixing plate;

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

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

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

[0026] Optionally, the paw includes 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 upper limit rod rotates toward the trigger button until it engages 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 present invention provides a trigger-activated jumping device for flapping-wing flying robots. The energy storage motor operates, driving the femur and tibia to rotate relative to each other via a pulley rope, compressing the energy storage torsion spring and storing energy. When jumping is required, the trigger is released, and the energy storage torsion spring quickly returns to its original state, pushing the tibia and femur to rotate in opposite directions, thereby driving the claws to perform a jumping action, thereby achieving an efficient and stable jumping function and providing strong support for the flying robot's landing and jumping in complex environments. The device is provided with a claw, tibia, and femur connected in sequence, and the structure that enables jumping is arranged on the tibia and femur, achieving a highly bionic effect in appearance, more in line with the natural and smooth structure of 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 1 is a schematic structural diagram of a trigger bouncing device for a flapping-wing flying robot provided by an embodiment of the present invention;

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

[0038] Figure 4 This 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 This is a partial structural 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 This is a flow chart of a trigger bouncing 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 lever; 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 an "exemplary" in the present invention should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of the word "exemplary" is intended to present concepts in a concrete manner. Furthermore, in the embodiments of the present invention, "and / or" can mean both or either of the two.

[0046] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, 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 stores energy before bouncing and releases this energy when needed to drive the bouncing actuator. The energy storage mechanism stores energy, and the released energy is used to power the bouncing actuator, thus achieving the overall bouncing of the device.

[0048] Specifically, the bouncing actuator includes a claw 23, a tibia 15 and a femur 12 connected in sequence. The tibia 15 and the femur 12 are rotatably connected through the 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 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, which plays the role of changing the direction of the pulley rope 3 so that the pulley rope 3 can smoothly pass through various fixed points. The upper limit rod 9 is another fixed point of the pulley rope 3, which cooperates with the lower limit rod 4 to jointly control the winding and releasing of the pulley rope 3. 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 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 operating, the spring is compressed and stores energy. The trigger button 8 can lock the limit rod 9 in a preset position, preventing it from accidentally moving when not triggered. When a rebound is required, 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 rebound.

[0054] Working principle of the device:

[0055] Jump preparation stage: The energy storage motor 2 works, driving the femur 12 and 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 engages the upper limit rod 9 at a preset position, keeping the entire jumping device in a ready-to-trigger 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 gripping the upper limit rod 9. 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 immediately. Therefore, before jumping, the energy storage motor 2 needs to rotate in the opposite direction first to return the pulley rope 3 from the taut state to the natural state and release 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 femur 12 to rotate in the opposite direction, thereby driving the claw 23 to perform a jumping action.

[0057] The trigger-activated jumping device for flapping-wing flying robots provided by the present invention operates through an energy storage motor 2, which drives the femur 12 and tibia 15 to rotate relative to each other via a pulley rope 3, compressing the energy storage torsion spring 7 and storing energy. When jumping is required, the trigger pull 8 is released, and the energy storage torsion spring 7 quickly returns to its original state, pushing the tibia 15 and femur 12 to rotate in opposite directions, thereby driving the claw 23 to perform a jumping action, thereby achieving an efficient and stable jumping function and providing strong support for the flying robot to land and jump in complex environments. The device is provided with a claw 23, a tibia 15, and a femur 12 connected in sequence, and the structure that enables jumping is arranged on the tibia 15 and femur 12. By providing the claw 23, tibia 15, and femur 12 connected in sequence, the appearance achieves a highly bionic effect, which is more in line with the natural and smooth structure of the actual bird leg.

[0058] Specifically, the energy storage motor 2 is indispensable as a power source, but it is heavy. Furthermore, 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 has both ends protruding from the tibia 15, and is stably fixed on the tibia 15; the upper limit rod 9 passes through the femur 12 and has both ends protruding from the femur 12, and is firmly fixed on the femur 12, providing a stable support point for subsequent devices. 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 one embodiment of the present invention, both ends of the energy-storage torsion spring 7 are hooked or otherwise connected to other components. The center of the energy-storage torsion spring 7 is sleeved onto the knee joint shaft 5; its ends are secured to the lower and upper stop rods 4 and 9, securing the ends of the energy-storage torsion spring 7 to the femur 12 and tibia 15, respectively. These two stop rods maintain their position. When the energy-storage torsion spring 7 is compressed or stretched, it stores energy between the two stop rods.

[0062] The trigger lock 8 is used to be locked on the upper limit rod 9, that is, the trigger lock 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 lock 8 to avoid interference during movement.

[0063] During the preparation phase, the energy-storage torsion spring 7 is compressed or stretched, storing energy. The trigger button 8 is locked on the upper limit rod 9, ensuring that the spring does not accidentally release energy. When energy is required to be released, the trigger button 8 is triggered, and the energy-storage torsion spring 7 is no longer restrained, and the energy-storage torsion spring 7 expands based on its own elastic force.

[0064] In one embodiment provided by the present invention, see Figure 4 The trigger lock 8 includes a connecting portion, a locking portion, and a power portion. The locking portion and the power portion are respectively located on either side of the connecting portion, and the connecting portion is rotatably fixed to 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 portion. The trigger control motor 18 and the transmission assembly are used to drive the trigger lock 8 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 locking portion and the power portion, and allows the entire trigger buckle 8 to rotate on the tibia 15 .

[0066] The locking portion is located on one side of the connecting portion and is used to be locked on the upper limit rod 9. When the trigger buckle 8 is in an untriggered state, the locking portion will be firmly maintained 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 on the other side of the connecting portion 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, thereby disengaging the locking portion 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 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 is activated. The rotational power generated by the trigger control motor 18 is transmitted to the power unit via the transmission assembly. The power unit then rotates the entire trigger pull 8 about the connecting portion. As the trigger pull 8 rotates, the locking portion disengages from the upper limit lever 9, allowing the energy-storage torsion spring 7 to release its stored energy.

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

[0072] The transmission assembly includes a trigger cable 19, trigger 16, and trigger lever 17. The trigger cable 19 is connected at both ends to the trigger control motor 18 and trigger 16, respectively. The trigger 16 is rotatably connected at both ends to the tibia 15 and trigger lever 17, respectively. The trigger lever 17 is connected to the power unit. When the trigger control motor 18 is activated, it begins to rotate, pulling the trigger cable 19, which in turn causes the trigger 16 to rotate. As the trigger 16 rotates, it transmits power to the power unit via the trigger lever 17, which in turn drives the trigger pull 8 to rotate.

[0073] As the trigger button 8 rotates, the locking portion disengages from the upper limit rod 9, allowing the energy storage torsion spring 7 or other mechanical device to release its stored energy.

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

[0075] For further information, see Figure 3 、 Figure 5 and Figure 6 In one embodiment of the present invention, the trigger assembly further includes a trigger fixing plate 14, which is mounted on the tibia 15. The trigger 16 and the trigger pull 8 are both rotatably mounted on the trigger fixing plate 14. The transmission assembly further includes a trigger stopper 20, which is connected to the trigger fixing plate 14 and is used to stop the trigger 16.

[0076] The trigger fixing plate 14 is mounted on the tibia 15 as a stable support structure. The trigger 16 and the trigger buckle 8 are both rotatably mounted on the trigger fixing plate 14. Therefore, both can rotate on the trigger fixing plate 14 about 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, preventing the trigger 16 from moving too far and causing the trigger lock 8 to open too wide. When the trigger 16 rotates to a specific position, the trigger stopper 20 prevents the trigger 16 from rotating further, thereby ensuring the accuracy and safety of the trigger lock 8 when releasing the energy storage torsion spring 7.

[0078] When the trigger 16 is rotated by the trigger cable 19, it is restricted by the trigger stop 20, limiting its rotation to a predetermined range. When the trigger 16 reaches the triggered position, it transmits force to the power unit via the trigger lever 17, thereby rotating the trigger pull 8 and releasing the energy from the energy storage spring 7. Furthermore, the trigger stop 20 ensures that the trigger 16 does not exceed the predetermined range during rotation, 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] An angle sensor 13 is provided 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 various ways, such as using a magnetic encoder, an optical encoder, or a gyroscope to measure angle changes.

[0081] The controller is configured 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 can 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 rotation or movement occurs between the femur 12 and tibia 15, the angle sensor 13 detects these changes and sends corresponding signals to the controller. Upon receiving these signals, the controller evaluates the current motion state based on pre-set control logic and determines whether the position of the trigger pull 8 or the release timing of the energy storage spring 7 needs to be adjusted. If adjustment is necessary, the controller sends instructions to the trigger control motor 18 or other actuator to change the position of the trigger pull 8 or the release method of the energy storage spring 7.

[0084] Furthermore, the angle sensor 13 is provided on the upper limit rod 9, 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 and is used to detect the angle of motion of femur 12 relative to tibia 15. For example, when determining the angle of attack of a flapping-wing flying robot, an angle of 100-120 degrees is preferred. A prototype connected to fuselage 10 has a better takeoff effect at an angle of attack of 40-60 degrees.

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

[0087] The ankle joint 22 is located between the claw 23 and the tibia 15. The ankle joint axis 21 is designed to allow the claw 23 to rotate relative to the tibia 15, thereby simulating the foot movements of a bird when walking, running, or jumping. Furthermore, this rotational motion 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 comprises three front claws and one rear claw that are rigidly connected. In other words, these claws are structurally integrated, their relative positions are fixed, and are not affected by external forces. This rigid connection ensures the stability and reliability of the claw 23 during use.

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

[0090] In biomimetic robots, this rigid structure can enhance walking stability and ground adaptability. By introducing a rigid bar structure, it can solve the balance problems that may arise from mimicking the excessive degrees of freedom of biological phalanges.

[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 present invention provides a trigger-activated jumping device for a flapping-wing flying robot. The energy storage motor 2 operates, driving the femur 12 and tibia 15 to rotate relative to each other via the pulley rope 3, compressing the energy storage torsion spring 7 and storing energy. When jumping is required, the trigger pull 8 is released, and the energy storage torsion spring 7 quickly returns to its original state, pushing the tibia 15 and femur 12 to rotate in opposite directions, thereby driving the claw 23 to perform a jumping action, thereby achieving an efficient and stable jumping function and providing strong support for the flying robot's landing and jumping in complex environments. The device is provided with a claw 23, tibia 15, and femur 12 connected in sequence, and the structure that enables jumping is arranged on the tibia 15 and femur 12, achieving a highly bionic effect in appearance, more in line with the natural and smooth structure of actual bird legs.

[0093] The present invention includes 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] In which, 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 mounted 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, before bouncing, the energy storage motor 2 needs to be rotated in the reverse direction so that the pulley rope 3 returns to 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, which controls the compression and reset of the energy storage torsion spring 7;

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

[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 around 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 separates 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 to it, 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 lever 17 and the trigger pull 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 button 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] An angle sensor 13 is mounted on the upper limit rod 9 and is used to detect the movement angle of the femur 12 relative to the tibia 15. The angle is preferably 100-120 degrees. The purpose is to determine the angle of attack of the flapping-wing flying robot connected to the fuselage 10. The takeoff effect is best when the angle of attack is 40-60 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 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, causing the bouncing device to start bouncing;

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

[0112] When the trigger control motor 18 mounted on the tibia 15 rotates, it drives the trigger 16 to move via the trigger rope 19. The trigger 16 pulls the trigger lever 17 to move. The trigger lever 17 drives the trigger button 8 to disengage from the upper limit lever 9. The energy storage torsion spring 7 instantly changes 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. Its size cannot be too large. At the same time, in order to reduce the load of the prototype, the excess part of the material can be removed by hollowing out the material 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 suitable to be 200mm*120mm.

[0115] The trigger-bouncing mechanism for flapping-wing flying robots, designed in this invention, draws inspiration from the natural structure of bird legs. Through the precise connection of multiple rods, it recreates the agility of a bird's claws, the toughness of its tibia, and the powerful support of its femur. Compared to traditional polygonal bird leg simulations, this design not only achieves a more realistic reproduction in form but also takes a significant step forward in functional biomimetic design. With a higher degree of biomimeticism, it demonstrates the extraordinary wisdom of natural biomechanics and opens new avenues for the innovation and development of bouncing actuators.

[0116] In traditional multi-deformable bird leg structure designs, the polygonal, easily deformable nature combined with the elasticity of the tension spring achieves both cushioning and stability during jumping and landing. However, a common drawback in research is that the power source is placed in the upper region of the bird leg. While this layout simplifies the design, it inevitably shifts the overall center of gravity upward, weakening the stability of the structure. To address this problem, the present invention innovatively relocates the power source to 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 inspiration from 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. To address the balance issues that may arise from imitating the excessive degrees of freedom of biological phalanges, a rigid bar structure was 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 shortcomings of traditional designs, making this bionic flapping-wing flying robot able to demonstrate remarkable adaptability and flexibility in complex and changing environments.

[0118] This device cleverly incorporates the physiological structure and movement characteristics of actual birds, further enhancing the robot's biomimetic qualities and stability. Specifically, by adopting a physiological structure and movement characteristics closer to those of natural birds, the robot's appearance becomes more realistic. Secondly, by optimizing the center of gravity distribution, the robot's movement becomes more stable. Thirdly, by enabling autonomous takeoff and landing, the robot's operation becomes more convenient. Finally, by enabling perching and flight based on actual operating conditions, the robot's application range is expanded. These improvements make this invention highly innovative and valuable in the field of biomimetic robotics.

[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 directs the energy storage motor 2 to operate, which is transmitted through the pulley rope 3, pulling the upper limit rod 9 slowly close to 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 upper limit rod 9 rotates toward the trigger button 8 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] During the jump phase, pulley rope 3 is taut, energy-storage torsion spring 7 is compressed, and trigger 8 is firmly engaged with limit rod 9. Together, these three elements maintain a delicate balance. However, the taut pulley rope 3 hinders the instantaneous release of the elastic potential energy of energy-storage torsion spring 7, preventing the device from launching immediately. Therefore, before the jump, the flight control system first controls the energy-storage motor 2 to reverse its rotation, allowing the pulley rope 3 to return to its natural state from its 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 again controls the rotation of trigger control motor 18, driving trigger 16 to move. The trigger pulls trigger lever 17, causing trigger button 8 to separate from upper limit lever 9, thereby breaking the original balance. As trigger button 8 is released, energy storage torsion spring 7 instantly generates upward elastic potential energy, just like a compressed spring suddenly released, generating powerful instantaneous elastic potential energy, causing the device to bounce upward.

[0128] Furthermore, during the mission execution phase: the flight control system precisely controls and drives the energy storage motor 2 to rotate slowly; the pulley rope 3 responds flexibly, and the traction trigger button 8 is securely fastened to the upper limit rod 4; the energy storage torsion spring 7 silently accumulates force, maintaining a highly compressed state. 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 adjust 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 present invention provides a trigger-activated jumping method for flapping-wing flying robots. The energy storage motor 2 operates, driving the femur 12 and tibia 15 to rotate relative to each other via the pulley rope 3, compressing the energy storage torsion spring 7 and storing 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 femur 12 to rotate in opposite directions, thereby driving the claw 23 to perform a jumping action, thereby achieving an efficient and stable jumping function and providing strong support for the flying robot's landing and jumping in complex environments. The device is provided with a claw 23, a tibia 15, and a femur 12 connected in sequence, and the structure that enables 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's leg.

[0131] It should be understood that the term "and / or" as used herein simply describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. A and B can be singular or plural. Furthermore, the character " / " as used herein generally indicates an "or" relationship between the associated objects, but it may also indicate an "and / or" relationship. For specific understanding, please refer to the context.

[0132] In this disclosure, "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 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 plural.

[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 description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A trigger bouncing device for a flapping-wing flying robot, characterized in that: The device comprises: An 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; 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, the claw and the tibia being rotatably connected via an ankle joint axis, the claw comprising three front claws and one rear claw being rigidly connected; The energy storage motor and the lower limiting rod are arranged on the tibia, the fixed pulley is mounted on the knee joint axis, the upper limiting rod is arranged on the femur, and the pulley rope is wound around the output end of the energy storage motor, the lower limiting rod, the fixed pulley, and the upper limiting rod in sequence; The center of the energy storage torsion spring is sleeved on the knee joint shaft, and the two ends of the energy storage torsion spring are clamped on the lower limit rod and the upper limit rod; The trigger button can stop the upper limit rod at a preset position in front of the movement path of the upper limit rod, and the energy storage motor is used to drive the upper limit rod to move through the pulley rope, so as to rotate in the direction of the trigger button until it is engaged with the trigger button to prepare for the bounce; The trigger button includes: 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 spring actuator further includes: a trigger control motor and a transmission assembly, wherein the trigger control motor is disposed on a side of the tibia adjacent to the trigger button, and 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 button to rotate to release the femur; Among them, the energy storage motor and the trigger control motor work independently to achieve functional decoupling of energy storage and release.

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 has two ends protruding from the femur; The energy storage motor, the fixed pulley and the pulley rope are arranged on one side of the tibia and 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 1, characterized in that: 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.

4. The trigger bouncing device for a flapping-wing flying robot according to claim 3, characterized in that: Also includes: A trigger fixing plate, the trigger fixing plate being arranged on the tibia, and the trigger and the trigger button being rotatably arranged on the trigger fixing plate; The transmission assembly further includes a trigger limiting member, which is connected to the trigger fixing plate and is used to limit the trigger.

5. 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.

6. A trigger bouncing method for a flapping-wing flying robot, characterized in that: The trigger bouncing device for a flapping-wing flying robot according to any one of claims 1 to 5, wherein 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 upper limit rod is rotated toward the trigger pull until it engages with the trigger pull, so as to prepare for the bounce; Start the energy storage motor to reverse and release the pulley rope; The trigger control motor is started, and the trigger button is driven to release the upper limit rod through the transmission component. The energy storage torsion spring releases elastic potential energy, causing the trigger bouncing device facing the flapping-wing flying robot to bounce upward.

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