An amphibious bionic robot

Abstract

The application discloses a land-air amphibious bionic robot, and belongs to the technical field of robots. The existing land-air amphibious robot has large overall quality and volume, and the ground walking flexibility still needs to be improved. The application comprises a body, a leg mechanism and a wing-leg mechanism. The leg mechanism is provided with two rear legs and is symmetrically arranged at the rear side of the body. The wing-leg mechanism comprises two wing legs and two wing membranes. The two wing legs are symmetrically arranged at the front side of the body and can bend knees and step. The two wing membranes are symmetrically arranged at the left and right sides of the body. Each wing membrane is installed on the body and the wing leg and the rear leg on the same side and can be folded and unfolded. When the two wing membranes are unfolded, the two wing legs are driven to drive the two wing membranes to swing up and down synchronously. The wing membrane is subjected to the upward lifting force of air, so that the robot can fly in the air. When the two wing membranes are folded, the two wing legs and the two rear legs are driven to bend knees and step, so that the robot can walk on land. The application is mainly used for the execution of complex environment tasks.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to an amphibious biomimetic robot. Background Technology

[0002] In cutting-edge fields such as environmental monitoring and disaster relief, mobile robots, with their autonomous perception and high mobility, have become key tools for performing tasks in complex and high-risk environments. However, traditional single-mode robots have significant limitations. For example, ground mobile robots suffer from low mobility and insufficient obstacle-crossing ability in unstructured terrain, making it difficult to complete tasks efficiently. While flying robots possess excellent aerial mobility, their endurance is limited by energy density and aerodynamic efficiency, and they are difficult to deploy in scenarios requiring high concealment. Therefore, single-mode robots generally face the common problems of insufficient flexibility, adaptability, and concealment in multi-terrain tasks, failing to achieve efficient and continuous operation in different environments. To integrate the advantages of aerial and ground mobility, amphibious robot technology has developed rapidly in recent years. However, existing amphibious robots are generally large in weight and size, and their ground walking flexibility still needs improvement. Summary of the Invention

[0003] In view of this, this application provides an amphibious biomimetic robot that integrates flapping wings and forelegs into one unit, reducing the number of leg structures and thus lowering the overall size and weight of the robot, while improving its endurance. Simultaneously, the robot possesses the ability to walk on land and fly in the air, enhancing its mobility and mission execution range in complex terrain environments.

[0004] To solve the above-mentioned technical problems, the technical solution adopted in this application is as follows:

[0005] A land-and-air amphibious biomimetic robot includes:

[0006] body;

[0007] The leg mechanism has two hind legs, which are symmetrically arranged on the rear side of the fuselage. The two hind legs can be driven to bend their knees and take steps.

[0008] The wing-leg mechanism includes two wing legs and two wing membranes. The two wing legs are symmetrically arranged on the front side of the fuselage and can be bent to step. The two wing membranes are symmetrically arranged on the left and right sides of the fuselage. Each wing membrane is installed on the fuselage and the wing leg and rear leg on the same side and can be retracted.

[0009] When the two wing legs and two hind legs are extended, the two wing membranes unfold, and the two wing legs are driven to move the two wing membranes up and down synchronously. The wing membranes are lifted by the air, enabling the robot to fly in the air. When the two wing legs and two hind legs are bent at the knees, the two wing membranes are retracted, and the two wing legs and two hind legs are driven to bend at the knees and take steps, enabling the robot to walk on the land.

[0010] Furthermore, the wing leg includes a front hip joint, a front thigh, a front knee joint, a front lower leg, and an ankle joint connected in sequence. At least two wing fingers are rotatably installed at the ankle joint of each wing leg. The leading edge of the wing membrane is fixed to the wing leg and the uppermost wing finger, while the remaining wing fingers are fixed to the surface of the wing membrane to ensure that the wing membrane remains flat when fully deployed.

[0011] Furthermore, the foreleg is shorter than the foreleg, and when the winged leg is bent at the knee, the fore knee joint is higher than the fore hip joint, and the foreleg tilts forward to touch the ground.

[0012] Furthermore, there are limits between two adjacent wing fingers and between the ankle joint and the top wing finger to control the angle at which the three wing fingers spread.

[0013] Furthermore, as the wing legs drive the wing membrane upwards, while the wing legs and hind legs bend at the knees, all the wing tips rotate towards the lower leg side, and the wing membrane retracts to reduce air resistance; as the wing legs drive the wing membrane downwards, while the wing legs and hind legs straighten, all the wing tips rotate away from the lower leg side, and the wing membrane gradually unfolds to increase lift.

[0014] Furthermore, it also includes a first tendon cord for controlling the flexion of the wing legs and the retraction of the wing fingers, with a return torsion spring at the anterior hip joint and anterior knee joint; during the upward flapping of the wing membrane with the wing legs, the first tendon cord is wound up and exerts a tightening force on the wing legs and wing fingers, the wing legs bend against the elastic force of the return torsion spring, the wing fingers rotate towards the lower leg, and the wing membrane is retracted; during the downward flapping of the wing membrane with the wing legs, the first tendon cord relaxes, the wing legs straighten under the rebound force of the return torsion spring, the wing fingers open under centrifugal force, and the wing membrane unfolds.

[0015] Furthermore, it also includes a second tendon rope for controlling knee flexion of the wing leg and the hind leg, and there are two second tendon ropes; the left wing leg and the right hind leg are a group and are controlled by one of the second tendon ropes to flex their knees, and the right wing leg and the left hind leg are a group and are controlled by the other second tendon rope to flex their knees; return torsion springs are provided at the anterior hip joint, the anterior knee joint and the knee joint of the hind leg.

[0016] Furthermore, it also includes a wing-driving mechanism for controlling the synchronized swinging of the two wing legs.

[0017] Furthermore, the wing drive mechanism includes an arm and a crank-rocker assembly. There are two arms arranged symmetrically. Each arm is rotatably mounted on the fuselage. One end of the arm is connected to the crank-rocker assembly and can be driven by the crank-rocker assembly to swing around an axis. The other end is connected to the wing leg and can drive the wing leg to swing up and down.

[0018] Furthermore, the leg mechanism also includes two leg servos, each corresponding to one rear leg, used to drive the corresponding rear leg to swing laterally.

[0019] The beneficial effects of this application compared to the prior art are:

[0020] 1. The two wing legs and two hind legs in this application all have dual functions. The wing legs can serve as the robot's front legs, working in conjunction with the hind legs for land movement, and also as flapping arms, driving the wing membrane to deploy and vibrate vertically, enabling the robot to fly. Integrating the flapping arms with the front legs effectively reduces the number of leg structures, thereby reducing the robot's overall size and weight and improving its endurance. The hind legs, in addition to serving as legs for land movement, can also act as "air brakes" during flight, allowing the robot to turn left and right with simple vertical swinging. Furthermore, the second tethered drive mechanism also plays two roles in different modes. In land movement mode, the second tethered drive mechanism enables the legs to bend and step; in flight mode, the wing legs and hind legs can adjust the folding and unfolding of the wing membrane to change the aerodynamic forces acting on the robot.

[0021] 2. The robot of this application possesses both land walking and air flight capabilities, enhancing its mobility and mission execution range in complex terrain environments. Furthermore, the flapping-wing flight mode employed by the robot generates less noise, improving its stealth capabilities during reconnaissance missions.

[0022] 3. This application has a limiting structure at the root of the wing fingers, which can ensure that the left and right wing fingers open at the same angle during downward swing, so that the unfolding area of ​​the wing membranes on both sides is also the same, thereby ensuring the flight direction and stability of the robot.

[0023] 4. This application eliminates the design of joint motors at the anterior hip, anterior knee, and ankle joints. The first rope-driven mechanism is located on the fuselage away from the wing legs. The bending of the wing legs and the retraction of the wing toes are achieved through the design of the first tendon rope, and the reset of the anterior hip and anterior knee joints is achieved through the design of the reset torsion spring. This reduces the overall size and weight of the wing legs, thereby reducing the power required for the wing legs to flap up and down.

[0024] 5. This application designs the two diagonally opposite legs as a coordinated movement pair, ensuring that when one set of legs bends its knee to step, the other set of diagonally opposite legs always provides reliable ground support. This gait design effectively ensures the stability of the robot's center of gravity, thereby improving the stability of its land movement. Attached Figure Description

[0025] The accompanying drawings, which form part of this application, are provided to further illustrate this application.

[0026] Figure 1 This is a top view of an amphibious biomimetic robot according to the present invention.

[0027] Figure 2 This is a schematic diagram of the flight state of an amphibious bionic robot of the present invention (with the wing membrane removed).

[0028] Figure 3 This is a schematic diagram of the walking state of an amphibious bionic robot of the present invention (with the wing membrane removed).

[0029] Figure 4 Schematic diagram of the structure of the wing drive mechanism arranged on the fuselage Figure 1 .

[0030] Figure 5 Schematic diagram of wing legs Figure 1 .

[0031] Figure 6 Schematic diagram of wing legs Figure 2 .

[0032] Figure 7 For the explosion of the wing finger and ankle joint Figure 1 .

[0033] Figure 8 For the explosion of the wing finger and ankle joint Figure 2 .

[0034] Figure 9 A schematic diagram of the leg mechanism arranged on the fuselage.

[0035] Figure 10 This is a schematic diagram of the hind leg structure.

[0036] Figure 11 Schematic diagram of the structure of the wing drive mechanism arranged on the fuselage Figure 2 .

[0037] Explanation of reference numerals in the attached figures:

[0038] 1. Fuselage; 11. Vertical slide rail; 2. Leg mechanism; 21. Rear leg; 211. Rear thigh; 212. Rear knee joint; 213. Rear lower leg; 22. Second link; 23. Leg servo; 3. Wing leg mechanism; 31. Wing leg; 311. Front hip joint; 312. Front thigh; 313. Front knee joint; 314. Front lower leg; 315. Ankle joint; 316. Rubber foot; 317. Pulley; 318. Cable hole 319. Return torsion spring; 32. Wing membrane; 33. Wing finger; 34. Limiting pin; 35. Limiting groove; 4. First rope drive mechanism; 41. First servo motor; 42. First spool; 5. Wing drive mechanism; 51. DC drive motor; 52. Arm; 521. Lateral slide; 53. Crank; 54. First connecting rod; 55. Rocker arm; 56. Pin; 6. Second rope drive mechanism; 61. Second servo motor; 62. Second spool. Detailed Implementation

[0039] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0040] Example 1:

[0041] See Figure 1 , Figure 2 and Figure 3 This embodiment describes an amphibious biomimetic robot primarily designed for performing tasks in complex environments. It includes a fuselage 1, leg mechanisms 2, wing-leg mechanisms 3, drive wing mechanisms 5, and a second tethered drive mechanism 6. The fuselage 1 is assembled from multiple carbon fiber plates. Figure 1 The leg mechanism 2 has two rear legs 21, which are symmetrically arranged on the rear side of the fuselage 1. The wing leg mechanism 3 includes two wing legs 31 and two wing membranes 32. The two wing legs 31 are symmetrically arranged on the front side of the fuselage 1, and the two wing membranes 32 are symmetrically arranged on the left and right sides of the fuselage 1. Each wing membrane 32 is fixed to the fuselage 1 and the wing leg 31 and rear leg 21 on the same side, and can be retracted. The wing drive mechanism 5 is installed in the middle of the front of the fuselage 1. The wing drive mechanism 5 is connected to the two wing legs 31 and is used to drive the two wing legs 31 to swing up and down. There are two second rope drive mechanisms 6, which are installed in the middle of the fuselage 1. The left wing leg and the right rear leg are a group and are controlled by one of the second rope drive mechanisms 6 to bend their knees and step. The right wing leg and the left rear leg are a group and are controlled by the other second rope drive mechanism 6 to bend their knees and step.

[0042] When the two wing legs 31 and the two hind legs 21 are extended, the robot is in flight mode (e.g., Figure 1(As shown in the diagram), the wing membrane 32 is fully deployed under the tension of the wing legs 31 and the rear legs 21. During the simultaneous downward swing of the two wing legs 31 driven by the wing drive mechanism 5, the wing membranes 32 on both sides vibrate synchronously downwards under the drive of the wing legs 31, generating upward lift and thus supporting the entire robot in flight. During the simultaneous upward swing of the two wing legs 31 driven by the wing drive mechanism 5, the two second rope drive mechanisms 6 simultaneously control the two wing legs 31 and the two rear legs 21 to bend at the knees, causing the wing membrane 32 to retract, reducing air resistance during upward flapping. When the wing drive mechanism 5 drives the two wing legs 31 to swing downwards again, the two second rope drive mechanisms 6 simultaneously control the two wing legs 31 and the two rear legs 21 to straighten, causing the wing membrane 32 to unfold and vibrate downwards, increasing the robot's upward lift and completing the aerial operation task.

[0043] When the robot turns in the air, this embodiment achieves directional control through differentiated swinging of its hind legs 21. Specifically, when the robot needs to turn left during flight, its left hind leg swings downward to increase air resistance on the left, while its right hind leg swings upward to reduce air resistance on the right. The resulting drag difference provides the robot with a torque to turn left, thus achieving a left turn. Similarly, when the robot needs to turn right during flight, its right hind leg swings downward to increase air resistance on the right, while its left hind leg swings upward to reduce air resistance on the left. The resulting drag difference provides the robot with a torque to turn right, thus achieving a right turn.

[0044] When the second tethered mechanism 6 controls the two wing legs 31 to fold up, the wing membrane 32 naturally retracts as the wing legs 31 fold up, and the feet of the wing legs 31 touch the ground, thus the robot switches from flight mode to land-based movement mode (e.g., Figure 3 (As shown in the diagram). The wing legs 31 and hind legs 21 are driven by the second rope drive mechanism 6 and coordinate to complete actions such as knee bending and stepping. The robot adopts an alternating gait of stepping with the left hind leg and the right wing leg, followed by stepping with the right hind leg and the left wing leg, repeating this cycle to achieve stable walking and complete land operation tasks.

[0045] Therefore, the two wing legs 31 and the two rear legs 21 in this embodiment all have dual functions. The wing legs 31 can serve as the robot's front legs, working in conjunction with the rear legs 21 to achieve land movement, and they can also serve as flapping arms, driving the wing membrane 32 to unfold and vibrate vertically, enabling the robot to fly. Integrating the flapping arms with the front legs effectively reduces the number of leg structures, thereby reducing the overall size and weight of the robot and improving its endurance. In addition to serving as legs for land movement, the rear legs 21 can also act as "air brakes" during flight, enabling the robot to turn left and right with simple up-and-down swings. Furthermore, the second rope drive mechanism 6 also plays two roles in different modes. When the robot is in land movement mode, the second rope drive mechanism 6 can realize the knee bending and stepping movements of the legs; when the robot is in flight mode, the wing legs 31 and the rear legs 21 can adjust the folding and unfolding of the wing membrane 32 to change the aerodynamic forces acting on the robot.

[0046] The robot in this embodiment has the ability to walk on land and fly in the air, which enhances its mobility and task execution range in complex terrain environments.

[0047] See Figure 5 and Figure 6 In this embodiment, the wing leg 31 includes a front hip joint 311, a front thigh 312, a front knee joint 313, a front lower leg 314, and an ankle joint 315 connected in sequence. One end of the front hip joint 311 is connected to the wing drive mechanism 5 and can be driven by the wing drive mechanism 5 to swing up and down. The other end of the front hip joint 311 is connected to one end of the front thigh 312, the other end of the front thigh 312 is connected to one end of the front knee joint 313, the other end of the front knee joint 313 is connected to one end of the front lower leg 314, and the other end of the front lower leg 314 is connected to the ankle joint 315.

[0048] Among them, two pulleys 317 are provided at the front hip joint 311, and threading holes 318 are provided on both the front and rear sides of the front hip joint 311, the front knee joint 313 and the ankle joint 315. A reset torsion spring 319 is provided at the front hip joint 311 and the front knee joint 313.

[0049] In this configuration, the anterior knee joint 313 is twisted at a 45° angle relative to the anterior hip joint 311, and the foreleg 312 is shorter than the foreleg 314. Thus, when the winged leg 31 is flexed, the anterior knee joint 313 is in a higher position than the anterior hip joint 311, allowing the foreleg 314 to tilt forward and touch the ground (e.g., ...). Figure 3 (As shown in the diagram), the stride length can be increased when the front knee joint 313 is driven to cause the front lower leg 314 to step. For example... Figure 2 and Figure 3 As shown, a hemispherical rubber foot 316 is also provided at the ankle joint 315, which is used as the foot end of the wing leg 31 that touches the ground.

[0050] See Figure 9 The leg mechanism 2 in this embodiment also includes two leg servos 23, each corresponding to a rear leg 21, used to drive the corresponding rear leg 21 to swing laterally. Each rear leg 21 includes a rear thigh 211, a rear knee joint 212, and a rear lower leg 213. The rear thigh 211 is rotatably mounted on the rear side of the fuselage 1 via a pivot. The servo disc of the leg servo 23 is rotatably connected to one end of the rear thigh 211 via a second connecting rod 22. The other end of the rear thigh 211 is connected to the rear lower leg 213 via the rear knee joint 212. A return torsion spring (not shown in the figure) is provided at the rear knee joint 212. When the leg servo 23 drives the second connecting rod 22 to rotate via the servo disc, the second connecting rod 22 causes the rear thigh 211 to swing around the axis, and the rear thigh 211 drives the rear lower leg 213 to swing laterally via the rear knee joint 212.

[0051] See Figure 2 Each second rope-driven mechanism 6 in this embodiment includes a second servo motor 61, a second spool 62, and a second tendon rope (not shown in the figure). The second servo motor 61 is mounted on the fuselage 1. The second spool 62 is connected to the servo disk of the second servo motor 61 and can rotate with the servo disk. There are two second tendon ropes, corresponding to the left wing leg and the right hind leg, or the right wing leg and the left hind leg, respectively. Taking the left wing leg and the right hind leg as an example, the details are described in detail. One end of one second tendon rope is wound around the second spool 62, and the other end passes around one of the pulleys 317 of the left wing leg, passes through the threading hole 318 on the front side of the front hip joint 311 and the front knee joint 313, and is fixed. This second tendon rope can control the left wing leg to bend its knee and step. One end of the other second tendon rope is wound around the second spool 62, and the other end extends from the hind thigh 211 of the right hind leg to the hind knee joint 212 and is fixed. This second tendon rope can control the right hind leg to bend its knee and step.

[0052] When the robot is in flight mode, as the wing legs 31 drive the wing membrane 32 upwards, the second servo motor 61 drives the second spool 62 to rotate via the servo disc. Simultaneously, the two second tendon ropes wind up. One of the second tendon ropes exerts a tightening force on the front hip joint 311 and the front knee joint 313, causing them to bend against the elastic force of the return torsion spring 319, resulting in a knee flexion movement on the wing leg 31. At the same time, the other second tendon rope exerts a tightening force on the rear knee joint 212, causing it to bend against the elastic force of the return torsion spring, resulting in a knee flexion movement on the rear leg 21. At this point, the wing membrane 32 retracts due to the knee flexion movements of the wing legs 31 and the rear leg 21. As the wing leg 31 drives the wing membrane 32 downwards, the second servo motor 61 drives the second spool 62 to rotate in the opposite direction. Simultaneously, the two second tendon ropes relax, and the front hip joint 311 and front knee joint 313 return to their original positions under the restoring force of the return torsion spring 319, straightening the wing leg 31. At the same time, the rear knee joint 212 returns to its original position under the restoring force of the return torsion spring, straightening the rear leg 21. At this point, the wing membrane 32 unfolds with the wing leg 31 and rear leg 21 straightened.

[0053] When the robot switches from flight mode to land-based movement mode, the second servo motor 61 simultaneously winds two second tendon ropes via the second spool 62. One of the second tendon ropes exerts a tightening force on the front hip joint 311 and the front knee joint 313, causing them to bend against the elastic force of the return torsion spring 319, and the wing leg 31 bends and touches the ground. At the same time, the other second tendon rope exerts a tightening force on the rear knee joint 212, causing it to bend against the elastic force of the return torsion spring, and the rear leg 21 also bends and touches the ground. At this point, the robot switches from flight mode to land-based movement mode.

[0054] During land movement, the second rope-driven mechanism 6, used to control the left wing leg and right hind leg to bend their knees and step, is activated. The second servo 61 drives the second spool 62 to rotate, the two second tendon ropes loosen, and the right hind leg pushes off the ground backward under the return force of the torsion spring on it. The left wing leg lifts up under the return force of the return torsion spring 319 on it and takes a step forward. Then, the second servo 61 drives the second spool 62 to rotate in the opposite direction, the two second tendon ropes wind up, the left wing leg bends its knee and touches the ground under the tightening force of the second tendon ropes, and the right hind leg swings outward and off the ground under the drive of the leg servo 23 while simultaneously bending its knee under the tightening force of the second tendon ropes. The right hind leg swings inward under the drive of the leg servo 23, and the foot of the right hind leg touches the ground, thus completing a step. During this process, the right wing leg and left hind leg touch the ground to support the entire fuselage 1 and ensure the stability of the fuselage 1. The stepping motion of the right wing leg and left hind leg is the same as that of the left wing leg and right hind leg, and will not be repeated here. After the left wing leg and right hind leg have completed their stepping motion, the right wing leg and left hind leg then step forward, and so on. This alternating cycle enables the robot to move on land.

[0055] In this embodiment, the two diagonally opposite legs are designed as a coordinating motion pair, ensuring that when one set of legs flexes and steps, the other set of diagonally opposite legs always provides reliable ground support. This gait design effectively ensures the stability of the robot's center of gravity, thereby improving the stability of land movement. Furthermore, this embodiment omits the joint motor design at the joint between the wing leg 31 and the hind leg 21, instead employing a rope-driven method. The second rope-driven mechanism 6 is located on the fuselage 1, away from the wing leg 31, and achieves the knee flexion movement of the wing leg 31 and the hind leg 21 through the second tendon rope, with automatic reset achieved by the return torsion spring 319. Under the synergistic action of the rope drive and the elastic reset element, a stable knee flexion and stepping motion is achieved. This design effectively reduces the overall volume and mass of the wing leg 31 and the hind leg 21, thereby reducing the power load required for the wing leg 31 to flap up and down.

[0056] See Figure 4The wing-drive mechanism 5 in this embodiment includes a DC drive motor 51, two arms 52, and a crank-rocker assembly. The crank-rocker assembly includes a crank 53, a first connecting rod 54, and a rocker arm 55. Two vertical grooves 11 facing each other are formed on the two carbon plates at the front of the fuselage 1. The DC drive motor 51 is mounted on the fuselage 1. One end of the crank 53 is connected to the motor shaft of the DC drive motor 51 and can rotate with the motor shaft. The other end is connected to one end of the first connecting rod 54 through a rotating shaft. The other end of the first connecting rod 54 is sleeved on the rocker arm 55. The rocker arm 55 is inserted into the two vertical grooves 11 of the fuselage 1. A transverse groove 521 is formed on the two arms 52 along their length. Each arm 52 corresponds to one wing leg 31 and is rotatably mounted on the fuselage 1 through a pin 56. One end of the arm 52 is connected to the front hip joint 311 of the corresponding wing leg 31, and the other end is sleeved on the rocker arm 55 through the transverse groove 521.

[0057] When the DC drive motor 51 drives the crank 53 to rotate one revolution, the crank 53 transmits the rotational torque to the rocker arm 55 through the first connecting rod 54, forcing the rocker arm 55 to move up and down in the vertical slide groove 11. During this process: when the rocker arm 55 moves upward along the vertical slide groove 11, it pushes the two arms 52 to rotate around the pin 56, causing the two wing legs 31 to swing downward; when the rocker arm 55 moves downward along the vertical slide groove 11, it pulls the arms 52 to rotate in the opposite direction, causing the wing legs 31 to swing upward, thereby realizing the synchronous up and down reciprocating motion of the two wing legs 31.

[0058] Example 2:

[0059] This embodiment differs from Embodiment 1 in that, in order to adjust the aerodynamic forces acting on the robot in the air, this embodiment provides at least two wing fingers 33 at the ankle joint 315 of each wing leg 31. The wing membrane 32 is further retracted or expanded under the control of the wing fingers 33 and the first rope drive mechanism 4 to adjust its force-bearing area, thereby adjusting the aerodynamic forces acting on it. Specifically, combined with Figure 1 and Figure 2 Preferably, there are three wing fingers 33, which are coaxially fitted onto the pivot of the ankle joint 315 and can rotate freely. Figure 1 The leading edge of the wing membrane 32 is fixed to the wing leg 31 and the uppermost wing finger 33. The other two wing fingers 33 serve as the support structure of the wing membrane 32 and are fixed to the surface of the wing membrane 32 to ensure the flapping strength of the wing membrane 32 during flight.

[0060] Combination Figure 2 and Figure 4The first rope-driven mechanism 4 includes a first servo motor 41, a first spool 42, and a first tendon rope (not shown in the figure). The first servo motor 41 is mounted on the fuselage 1 and is located in the upper middle position between the two wing legs 31. The first spool 42 is connected to the servo disk of the first servo motor 41 and can rotate with the servo disk. There are two first tendon ropes, each corresponding to one of the two wing legs 31. One end of each first tendon rope is wound around the first spool 42, and the other end passes around one of the pulleys 317 of the corresponding wing leg 31, and then passes through the threading holes 318 on the back of the front hip joint 311, the front knee joint 313, and the ankle joint 315 in sequence. Finally, it passes through the threading hole 318 on the lower wing finger and is then fixed.

[0061] When the robot is in flight mode, the wing drive mechanism 5 drives the two wing legs 31 to swing upward synchronously. At the same time, the second tendon rope in the second rope drive mechanism 6 generates a tightening force on the wing legs 31 and the rear leg 21, while the first servo motor 41 drives the first winding shaft 42 to rotate through the servo disk. The first tendon rope winds up and generates a tightening force on the front hip joint 311 and the lower wing finger. The lower wing finger rotates at the front lower leg 314, and the three wing fingers 33 drive the wing membrane 32 to further retract, so that the air resistance is reduced when it flaps upward. As the wing-driven mechanism 5 drives the two wing legs 31 to swing downwards synchronously, the second tendon rope in the second rope-driven mechanism 6 relaxes, and the first servo motor 41 drives the first winding shaft 42 to rotate in the opposite direction. The first tendon rope relaxes, and the three wing fingers 33 swing synchronously with the wing legs 31. The center of gravity of each wing leg 31 tends to shift outwards under centrifugal force. Since the base of the wing fingers 33 is rotatably connected to the ankle joint 315, the three wing fingers 33 rotate away from the front lower leg 314, thereby driving the wing membrane 32 to open to the maximum, which increases the lift and thrust generated by the air when it flaps downwards, which is beneficial to the robot's flight.

[0062] As can be seen, in this embodiment, three wing fingers 33 are set at the ankle joint 315 of the wing leg 31 to support the wing membrane 32, so that the flapping wing formed by the wing membrane 32 and the wing fingers 33 is similar to the wings of a bat. This not only ensures the strength of the flapping wing of the wing membrane 32 during flight, but also changes the aerodynamic force on the wing membrane 32 by adjusting the opening degree of the wing fingers 33.

[0063] Furthermore, when the wing membrane performs a downward flapping motion, the deployment of the wing fingers 33 is controlled by centrifugal force. If the deployment angle of the wing fingers 33 is not limited, the left and right wing fingers 33 may have asymmetrical opening angles, resulting in different deployment areas of the wing membranes 32 on both sides. This asymmetry in area will generate unbalanced aerodynamics, thereby interfering with the robot's flight direction and stability. To ensure that the deployment angles of the wing fingers 33 on both sides of the robot are the same, this embodiment provides limiting components between adjacent wing fingers 33 and between the ankle joint 315 and the top wing finger 33. Specifically, see... Figure 7 and Figure 8The limiting component in this embodiment includes a limiting pin 34 and a limiting groove 35. To facilitate the description of the limiting relationship between the three wing fingers 33, the three wing fingers 33 are respectively named upper wing finger, middle wing finger and lower wing finger from top to bottom. A limiting pin 34 is provided on the lower surface of the ankle joint 315, the upper wing finger and the middle wing finger. A limiting groove 35 is provided on the upper surface of the upper wing finger, the middle wing finger and the lower wing finger. The limiting pin 34 on the ankle joint 315 is inserted into the limiting groove 35 on the upper wing finger to limit the opening angle of the upper wing finger. The limiting pin 34 on the upper wing finger is inserted into the limiting groove 35 on the middle wing finger to limit the opening angle of the middle wing finger. The limiting pin 34 on the middle wing finger is inserted into the limiting groove 35 on the lower wing finger to limit the opening angle of the lower wing finger. As the three wing fingers 33 on the left and right sides swing outward under centrifugal force, the opening angle of each wing finger 33 is limited by the cooperation of the limiting pin 34 and the limiting groove 35 between adjacent wing fingers 33 and between the ankle joint 315 and the upper wing finger. This ensures that the opening angle of the wing fingers on the left and right sides is the same during the downward swing, and the opening area of ​​the wing membranes 32 on both sides is also the same, thus ensuring the flight direction and stability of the robot.

[0064] The working principle of an amphibious biomimetic robot according to this application will be explained in detail below.

[0065] Flight mode: The two wing legs 31 and the two rear legs 21 are extended, and the wing membranes 32 are deployed under the tension of the wing legs 31 and the rear legs 21. As the wing drive mechanism 5 drives the two wing legs 31 to swing downward, the wing membranes 32 on both sides vibrate downward synchronously under the drive of the wing legs 31. The wing membranes 32 are subjected to upward lift, thereby supporting the entire robot to fly in the air. As the wing-driving mechanism 5 drives the two wing legs 31 to swing upwards, the wing legs 31 cause the wing membrane 32 to flap upwards. The second servo motor 61 and the first servo motor 41 are activated simultaneously. The second servo motor 61 drives the second spool 62 to rotate via the servo disc, and the two second tendon ropes are wound up simultaneously. One of the second tendon ropes exerts a tightening force on the front hip joint 311 and the front knee joint 313, causing the front hip joint 311 and the front knee joint 313 to bend against the elastic force of the return torsion spring 319, resulting in a knee flexion action for the wing leg 31. At the same time, the other second tendon rope exerts a tightening force on the rear knee joint 212, causing the rear knee joint 212 to bend against the elastic force of the return torsion spring, resulting in a knee flexion action for the rear leg 21. At this time, the wing membrane 32 retracts under the knee flexion action of the wing legs 31 and the rear leg 21. The first servo motor 41 drives the first spool 42 to rotate via the servo disc. The first tendon rope winds up and exerts a tightening force on the front hip joint 311 and the lower wing finger. The lower wing finger rotates towards the front lower leg 314. The three wing fingers 33 drive the wing membrane 32 to further retract, reducing air resistance when flapping upwards. As the wing drive mechanism 5 drives the two wing legs 31 to swing downwards again, the second servo motor 61 drives the second spool 62 to rotate in the opposite direction, and the second tendon rope loosens. At the same time, the first servo motor 41 drives the first spool 42 to rotate in the opposite direction, and the first tendon rope loosens. The three wing fingers 33 swing synchronously with the wing legs 31. The three wing fingers 33 rotate away from the front lower leg 314, thereby causing the wing membrane 32 to open to its maximum, increasing the lift and thrust generated by the air when flapping downwards, which is beneficial to the robot's flight.

[0066] In-flight turning mode: When the robot needs to turn left during flight, the left leg servo 23 drives the left hind leg to swing downwards to increase air resistance on the left side, while the right leg servo 23 drives the right hind leg to swing upwards to reduce air resistance on the right side. The resulting drag difference provides the robot with a torque to turn left, thus achieving a left turn. When the robot needs to turn right during flight, the right leg servo 23 drives the right hind leg to swing downwards to increase air resistance on the right side, while the left leg servo 23 drives the left hind leg to swing upwards to reduce air resistance on the left side. The resulting drag difference provides the robot with a torque to turn right, thus achieving a right turn.

[0067] Land walking mode: The first servo motor 41 and the second servo motor 61 are activated simultaneously. The first servo motor 41 winds the first tendon rope through the first spool 42. The first tendon rope is wound up and exerts a tightening force on the front hip joint 311 and the lower wing toe. The second servo motor 61 winds the second tendon rope through the second spool 62. The second tendon rope is wound up and exerts a tightening force on the front hip joint 311, the front knee joint 313, and the rear knee joint. The front hip joint 311 and the front knee joint 313 bend against the elastic force of the return torsion spring 319. The three wing toes 33 move closer to the front lower leg 314 and retract the wing membrane 32. At this time, the wing legs 31 are in a state similar to spider legs. The robot switches from flight mode to land mode. During land movement, the second rope-driven mechanism 6, used to control the left wing leg and right hind leg to bend their knees and step, is activated. The second servo 61 drives the second spool 62 to rotate, releasing the two second tendon ropes. Under the restoring force of the return torsion spring 319 on the right hind leg, the right hind leg pushes off the ground backward, while the left wing leg lifts up under the restoring force of the return torsion spring 319 and steps forward. Then, the second servo 61 drives the second spool 62 to rotate in the opposite direction, winding up the two second tendon ropes. Under the tightening force of the second tendon ropes, the left wing leg bends its knee and touches the ground, while the right hind leg is driven to swing outward and lift off the ground while simultaneously bending its knee under the tightening force of the second tendon ropes. The right hind leg is then driven to swing inward, and the foot of the right hind leg touches the ground, thus completing one step. During this process, the right wing leg and left hind leg touch the ground to support the entire fuselage 1, ensuring the stability of the fuselage 1. Then, the second rope-driven mechanism 6, used to control the right wing leg and left hind leg to bend their knees and step, is activated. The second servo motor 61 drives the second spool 62 to rotate, the two second tendon ropes loosen, and the left hind leg pushes backward under the restoring force of the return torsion spring 319 on it. The right wing leg lifts up under the restoring force of the return torsion spring 319 on it and takes a step forward. Then, the second servo motor 61 drives the second spool 62 to rotate in the opposite direction, the two second tendon ropes wind up, the right wing leg bends its knee and touches the ground under the tightening force of the second tendon ropes, the left hind leg is driven by the corresponding leg servo motor 23 to swing outward and lift off the ground, and at the same time bends its knee under the tightening force of the second tendon ropes. The left hind leg is then driven to swing inward, and the foot of the left hind leg touches the ground, thus completing a step. During this process, the left wing leg and right hind leg touch the ground to support the entire body 1. After the right wing leg and left hind leg bend their knees and take a step, the left wing leg and right hind leg bend their knees and take a step again. This alternating cycle enables the robot to move on land.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions created by the present invention, and are not intended to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions created by the present invention without departing from the essence and scope of the technical solutions created by the present invention.

Claims

1. A land-and-air amphibious biomimetic robot, characterized in that, include: body; The leg mechanism has two hind legs, which are symmetrically arranged on the rear side of the fuselage. The two hind legs can be driven to bend their knees and take steps. The wing-leg mechanism includes two wing legs and two wing membranes. The two wing legs are symmetrically arranged on the front side of the fuselage and can be bent to step. The two wing membranes are symmetrically arranged on the left and right sides of the fuselage. Each wing membrane is installed on the fuselage and the wing leg and rear leg on the same side and can be retracted. When the two wing legs and two hind legs are extended, the two wing membranes unfold, and the two wing legs are driven to move the two wing membranes up and down synchronously. The wing membranes are lifted by the air, enabling the robot to fly in the air. When the two wing legs and two hind legs are bent at the knees, the two wing membranes are retracted, and the two wing legs and two hind legs are driven to bend at the knees and take steps, enabling the robot to walk on the land.

2. The amphibious bionic robot according to claim 1, characterized in that, The wing leg includes the anterior hip joint, anterior thigh, anterior knee joint, anterior lower leg, and ankle joint connected in sequence. At least two wing fingers are rotatably installed at the ankle joint of each wing leg. The leading edge of the wing membrane is fixed to the wing leg and the uppermost wing finger, while the remaining wing fingers are fixed to the surface of the wing membrane to ensure that the wing membrane remains flat when fully deployed.

3. The amphibious biomimetic robot according to claim 2, characterized in that, The foreleg is shorter than the foreleg. When the winged leg is bent at the knee, the foreleg joint is higher than the forehip joint, and the foreleg tilts forward to touch the ground.

4. The amphibious bionic robot according to claim 2, characterized in that, Limits are provided between adjacent wing fingers and between the ankle joint and the top wing finger to control the angle at which the three wing fingers spread.

5. The amphibious biomimetic robot according to claim 2, characterized in that, As the wing legs drive the wing membrane upwards, the wing legs and hind legs bend at the knees, and all the wing tips rotate towards the lower leg side, causing the wing membrane to fold in to reduce air resistance. As the wing legs drive the wing membrane downwards, the wing legs and hind legs straighten, and all the wing tips rotate away from the lower leg side, causing the wing membrane to gradually unfold to increase lift.

6. The amphibious biomimetic robot according to claim 2, characterized in that, It also includes a first tendon cord for controlling the flexion of the wing legs and the retraction of the wing fingers, with a return torsion spring at the anterior hip joint and anterior knee joint; as the wing legs drive the wing membrane upward, the first tendon cord is wound up and exerts a tightening force on the wing legs and wing fingers, the wing legs bend against the elastic force of the return torsion spring, the wing fingers rotate towards the lower leg, and the wing membrane is retracted; as the wing legs drive the wing membrane downward, the first tendon cord relaxes, the wing legs straighten under the rebound force of the return torsion spring, the wing fingers open under centrifugal force, and the wing membrane unfolds.

7. The amphibious biomimetic robot according to claim 2, characterized in that, It also includes a second tendon cord for controlling knee flexion of the wing leg and hind leg, with two second tendon cords; the left wing leg and right hind leg are grouped together and controlled by one of the second tendon cords for knee flexion, and the right wing leg and left hind leg are grouped together and controlled by the other second tendon cord for knee flexion; return torsion springs are provided at the anterior hip joint, anterior knee joint and hind leg knee joint.

8. The amphibious biomimetic robot according to claim 1, characterized in that, It also includes a wing drive mechanism, used to control the synchronous up-and-down swinging of the two wing legs.

9. A land-and-air amphibious biomimetic robot according to claim 8, characterized in that, The wing drive mechanism includes an arm and a crank-rocker assembly. There are two arms arranged symmetrically. Each arm is rotatably mounted on the fuselage. One end of the arm is connected to the crank-rocker assembly and can be driven by the crank-rocker assembly to swing around an axis. The other end is connected to the wing leg and can drive the wing leg to swing up and down.

10. The amphibious biomimetic robot according to claim 1, characterized in that, The leg mechanism also includes two leg servos, each corresponding to one rear leg, used to drive the corresponding rear leg to swing laterally.

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