Overwater rowing device for flapping-wing flying robot

Abstract

The invention discloses an overwater rowing device for a flapping-wing flying robot, and relates to the technical field of flying robots, the overwater rowing device comprises a robot body, and an air pump is arranged in the robot body; the fixed base unit is used for being connected with the robot body; the head end of the leg driving unit is hinged to the fixed base unit, and the leg driving unit is used for achieving telescopic and lifting movement. The walking robot has the beneficial effects that the foot execution unit is provided with the flipper film capable of being unfolded / folded, when walking on land, the flipper film is folded, and the leg multi-connecting-rod mechanism simulates the walking action; during overwater operation, the air bag is inflated through the air pump to provide buoyancy, the flipper film is unfolded to form a paddling surface, the leg mechanism drives the feet to execute elliptical track motion, efficient bionic paddling is achieved in cooperation with posture adjustment, and the functions of land walking, water surface floating and active paddling are integrated; and the environment adaptability, task flexibility and survivability of the flapping-wing flying robot are obviously enhanced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of flying robots, in particular to a water rowing device for flapping-wing flying robots. BACKGROUND

[0002] Bionic flapping-wing flying robots have unique application potential in the fields of military reconnaissance, environmental monitoring and post-disaster rescue, etc. However, their environmental adaptability, especially their adaptability to water environment, is still a significant technical shortcoming.

[0003] At present, the design of most flapping-wing flying robots focuses on flight and landing on land, and their leg or landing mechanism has a single function. When the robot needs to land on water due to task requirements or sudden failure, or falls into water accidentally, it generally lacks effective response mechanisms: first, it lacks the necessary buoyancy support, which can cause the body to sink quickly or be damaged by water; second, even if it can float temporarily, it cannot maneuver on the water surface due to the lack of efficient and controllable propulsion means, losing the ability to perform tasks and the opportunity to save itself. In addition, the existing mechanism can only achieve static residence on land and cannot move effectively, limiting the operating range. SUMMARY

[0004] In view of the above technical problems of the prior art, the present application is proposed.

[0005] The purpose of the present application is to provide a water rowing device for flapping-wing flying robots, which aims to solve the problem that existing flapping-wing flying robots cannot safely stay, stably support and effectively maneuver on water, and also lack mobility on land.

[0006] To solve the above technical problems, the present application provides the following technical solutions: a water rowing device for flapping-wing flying robots, comprising a robot body, a gas pump is arranged in the robot body; a fixed base unit for connecting with the robot body; a leg driving unit, the first end of which is hinged to the fixed base unit, for realizing extension and lifting motion; a foot executing unit hinged to the end of the leg driving unit;

[0007] The foot executing unit comprises a main foot member and an expandable / collapsible fin membrane arranged thereon.

[0008] The foot executing unit is configured to: in a land walking mode, the fin membrane is in a collapsed state; in a water rowing mode, the fin membrane can be expanded to form a water rowing surface.

[0009] As a preferred solution of the water rowing device for flapping-wing flying robots of the present application, it further comprises a floating unit.

[0010] The fixed base unit is internally provided with a cavity, and a gas outlet is arranged on the side wall;

[0011] The floating unit comprises an air bag, which is communicated with the gas outlet, and the air bag is inflated by the air pump to make the robot obtain the water surface buoyancy.

[0012] As a preferred scheme of the water rowing device for the flapping wing robot, wherein:

[0013] The main link assembly comprises a first main link and a second main link which are hingedly connected to each other;

[0014] The drive assembly comprises a first motor and a second motor, which are respectively connected to the first main link and the rotating rod;

[0015] The transmission link assembly comprises a first leg link, a second leg link and a third leg link which are hingedly connected to each other;

[0016] One end of the rotating rod is hingedly connected to the fixed base unit, and the other end is connected to the transmission link assembly through the second leg link;

[0017] The first main link is connected to the transmission link assembly through the first leg link;

[0018] The transmission link assembly is also hingedly connected to the second main link, so that the movement of the drive assembly can be converted into the complex motion trajectory of the end of the second main link.

[0019] As a preferred scheme of the water rowing device for the flapping wing robot, wherein:

[0020] The attitude adjusting assembly comprises a first linear motor and a second linear motor;

[0021] One end of the first linear motor and the second linear motor is respectively hingedly connected to different positions on the second main link, and the other end is hingedly connected to the foot execution unit, for adjusting the inclination angle of the foot execution unit relative to the horizontal plane during movement.

[0022] As a preferred scheme of the water rowing device for the flapping wing robot, wherein:

[0023] The foot paddle unfolding assembly comprises:

[0024] A first foot link and a second foot link are respectively hingedly connected to the bottom of the main foot member on both sides;

[0025] The first micro motor and the second micro motor are used for driving the first foot link and the second foot link to rotate around the hinge shafts thereof, respectively.

[0026] The fin membrane is connected between the first foot link and the second foot link, and is driven to unfold when the first foot link and the second foot link rotate outward to open.

[0027] As a preferred scheme of the water rowing device for the flapping-wing robot, the bottom surface of the main foot member is provided with a plurality of support claws arranged in a duck palm shape.

[0028] As a preferred scheme of the water rowing device for the flapping-wing robot, the first motor, the second motor, the first linear motor, the second linear motor, the first micro motor and the second micro motor are all waterproofed.

[0029] As a preferred scheme of the water rowing device for the flapping-wing robot, the link members of the leg driving unit are all hollow.

[0030] The water rowing device for the flapping-wing robot has the following advantages:

[0031] 1. The water surface floating (air bag), land walking (multi-link leg) and water high-efficiency propulsion (expandable fin) are integrated in a compact device, so that the flapping-wing robot truly has amphibious operation capability.

[0032] 2. The air bag unit provides the robot with emergency buoyancy, effectively avoids permanent damage caused by falling into water out of control, and greatly improves the reliability and survivability of the system.

[0033] 3. The large-area water surface is formed by unfolding the fin membrane, and the multi-link mechanism is used to accurately reproduce the oval water rowing track and posture adjustment similar to waterfowl, so as to realize the efficient circulation of low-resistance reset and high-thrust rowing, and the water mobility is excellent.

[0034] 4. The fin membrane can be folded and unfolded to adapt to different modes; all key actuators are waterproofed to ensure water environment durability; the link is hollow, which realizes overall lightweight on the premise of guaranteeing rigidity, and has little influence on flight performance.

[0035] In summary, the foot executing unit is provided with the deployable / contractible fin membrane, when walking on land, the fin membrane is contracted, and the leg multi-link mechanism simulates the walking action; when working on water, the air pump provides the air for the air bag to provide the buoyancy, the fin membrane is deployed to form the paddling surface, the leg mechanism drives the foot to execute the elliptical track movement, and the high-efficiency bionic paddling is realized by cooperating with the posture adjustment, the functions of walking on land, floating on water and active rowing are integrated, and the environmental adaptability, task flexibility and survival ability of the flapping-wing flying robot are significantly enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced, obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the drawings.

[0037] Figure 1 It is the structural schematic diagram of the present application.

[0038] Figure 2 It is the structural schematic diagram of the present application when the fin membrane is deployed.

[0039] Figure 3 It is the structural schematic diagram of the present application when the leg structure moves upward in water.

[0040] Figure 4 It is the structural schematic diagram of the present application when the leg structure moves downward in water.

[0041] Figure 5 It is the structural schematic diagram of the present application when the leg structure is in the contracted state during walking.

[0042] Figure 6 It is the structural schematic diagram of the present application when the leg structure is in the forward stretching state during walking.

[0043] Figure 7 It is the structural schematic diagram of the present application when the leg structure is in the state of contacting the ground during walking.

[0044] In the figure: 100, robot body; 200, fixed base unit; 300, leg driving unit; 310, main connecting rod assembly; 311, first main connecting rod; 312, second main connecting rod; 320, driving assembly; 321, first motor; 322, second motor; 323, rotating rod; 330, transmission connecting rod assembly; 331, first leg connecting rod; 332, second leg connecting rod; 333, third leg connecting rod; 340, posture adjusting assembly; 341, first linear motor; 342, second linear motor; 400, foot executing unit; 410, main foot member; 420, fin; 430, fin unfolding assembly; 431, first foot connecting rod; 432, second foot connecting rod; 433, first micro motor; 434, second micro motor; 500, floating unit; 510, air bag. DETAILED DESCRIPTION

[0045] In order to make the above-mentioned objectives, features and advantages of the present application more apparent and comprehensible, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0046] In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present application, but the present application can also be implemented in other ways different from the description, and those skilled in the art can make similar generalizations without departing from the concept of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0047] Secondly, the "one embodiment" or "embodiment" referred to herein means that the specific features, structures or characteristics can be included in at least one implementation of the present application. "In one embodiment" appearing in different places in the specification does not mean the same embodiment, nor does it mean an embodiment that is separate or selectively excluded from other embodiments.

[0048] Reference Figures 1 to 7 For the first embodiment of the present application, the embodiment provides a water rowing device for a flapping-wing flying robot, which comprises a robot body 100, an air pump arranged in the robot body 100; a fixed base unit 200 for connecting with the robot body 100; a leg driving unit 300, the first end of which is hinged to the fixed base unit 200, for realizing extension and lifting movement; a foot executing unit 400 hinged to the end of the leg driving unit 300;

[0049] It should be noted that the robot body 100 is the main body of the flapping-wing flying robot, and the air pump, the flight control system and the energy source are built-in. The fixed base unit 200 is fixedly connected to a proper position of the robot body 100, and a cavity is arranged in the inside of the fixed base unit 200. The air pump pipeline is arranged in the cavity, and an air outlet is opened in the side wall of the fixed base unit 200 to communicate with the air bag 510;

[0050] The foot actuation unit 400 includes a main foot component 410 and an expandable / retractable fin membrane 420 disposed thereon.

[0051] The foot actuator 400 is configured such that, in land walking mode, the fin membrane 420 is in a retracted state; and in water paddling mode, the fin membrane 420 can be deployed to form a paddling surface.

[0052] In summary, by integrating the three major functions of the floating airbag 510 on the water surface, the multi-link legs for walking on land, and the deployable fins for efficient propulsion on water into a compact device, the flapping-wing flying robot truly possesses amphibious operation capabilities.

[0053] like Figure 2 As shown, in one optional embodiment: the fixed base unit 200 has a cavity inside and an air vent on its side wall;

[0054] The floating unit 500 includes an airbag 510, which is connected to an air outlet and is used to inflate the airbag 510 with an air pump to enable the robot to gain buoyancy on the water surface.

[0055] It should be noted that the floating unit 500 includes a flexible airbag 510, which covers the outside of the fixed base unit 200 and is connected to the air pump through an air outlet.

[0056] In summary, the airbag 510 provides emergency buoyancy for the robot, effectively preventing permanent damage caused by uncontrolled falling into the water, and significantly improving the system's reliability and survivability.

[0057] like Figures 1 to 7 As shown, as an optional embodiment, it also includes a floating unit 500;

[0058] The leg drive unit 300 includes:

[0059] The main link assembly 310 includes a first main link 311 and a second main link 312 that are hinged to each other.

[0060] The drive assembly 320 includes a first motor 321 and a second motor 322, which respectively drive the first main connecting rod 311 and the rotating rod 323.

[0061] The transmission link assembly 330 includes a first leg link 331, a second leg link 332, and a third leg link 333 that are hinged to each other.

[0062] It should be noted that one end of the rotating rod 323 is hinged to the fixed base unit 200, and the other end is connected to the transmission link assembly 330 through the second leg link 332;

[0063] The first main connecting rod 311 is connected with the transmission connecting rod assembly 330 through a first leg connecting rod 331.

[0064] The transmission connecting rod assembly 330 is also hinged with the second main connecting rod 312, so that the action of the driving assembly 320 can be converted into a compound motion trajectory of the end of the second main connecting rod 312.

[0065] As shown in Figures 1 to 7 As an optional embodiment, the posture adjusting assembly 340 is further included;

[0066] The posture adjusting assembly 340 includes a first linear motor 341 and a second linear motor 342.

[0067] It should be noted that one end of the first linear motor 341 and the second linear motor 342 is respectively hinged with different positions on the second main connecting rod 312, and the other end is hinged with the foot executing unit 400, for adjusting the inclination angle of the foot executing unit 400 relative to the horizontal plane during the movement.

[0068] As shown in Figures 1 to 7 As an optional embodiment, the foot executing unit 400 further includes a flipper unfolding assembly 430.

[0069] The flipper unfolding assembly 430 includes:

[0070] A first foot connecting rod 431 and a second foot connecting rod 432, which are respectively hinged on both sides of the bottom of the main foot member 410;

[0071] A first micro motor 433 and a second micro motor 434, which are respectively used to drive the first foot connecting rod 431 and the second foot connecting rod 432 to rotate around the hinged shaft thereof;

[0072] It should be noted that the flipper film 420 is connected between the first foot connecting rod 431 and the second foot connecting rod 432, and when the first foot connecting rod 431 and the second foot connecting rod 432 rotate outward and open, the flipper film 420 is unfolded.

[0073] In summary, the flipper film 420 can be folded and unfolded, and is suitable for different modes; all key actuators are waterproofed to ensure water environment durability; the connecting rod adopts a hollow structure, which realizes overall lightweight on the premise of ensuring rigidity, and has little effect on flight performance.

[0074] As an optional embodiment, the bottom surface of the main foot member 410 is provided with a plurality of supporting claws, and the arrangement mode simulates the morphology of duck palm.

[0075] In summary, by unfolding the webbed membrane 420 to form a large area of water surface, and using the multi-link mechanism to accurately reproduce the elliptical waterfowl-like swimming trajectory and posture adjustment, the low-resistance reset and high-thrust swimming high-efficiency cycle are realized, and the water mobility is excellent.

[0076] As an optional embodiment: the first motor 321, the second motor 322, the first linear motor 341, the second linear motor 342, the first micro motor 433 and the second micro motor 434 are all waterproofed.

[0077] As shown in Figure 2 , as an optional embodiment: each link member of the leg driving unit 300 adopts a hollow structure.

[0078] It should be noted that each link member can adopt a hollow aluminum pipe or a carbon fiber pipe to reduce weight.

[0079] Working principle: the working process of the device is divided into two modes:

[0080] The land walking mode is as shown in Figure 1 、 5 , 6, 7:

[0081] At this time, the air bag 510 is not inflated, and the webbed membrane 420 is folded. After the robot lands, the device moves in the following cycle:

[0082] Retracting the leg Figure 5 : the first motor 321 and the second motor 322 are driven, and through the multi-link transmission, the foot execution unit 400 at the end of the second main link 312 is retracted upward and backward, and is separated from the ground.

[0083] Forward step Figure 6 : the motors are reversely driven to make the foot execution unit 400 extend forward and downward. The posture adjusting assembly 340 controls the main foot member 410 to adjust to be horizontal before landing.

[0084] Touching the ground Figure 7 : after the foot stably touches the ground, the motor continues to move, and under the action of the friction force between the foot and the ground, the robot body 100 is pushed forward to complete a step. The devices on both sides move alternately to realize walking.

[0085] Water swimming mode is as shown in Figure 2 、 3 , 4:

[0086] Floating and preparation Figure 2 : the air pump inflates the air bag 510 to provide buoyancy, and the first micro motor 433 and the second micro motor 434 drive the first foot link 431 and the second foot link 432 to rotate outward by about 60 degrees, fully unfolding the webbed membrane 420.

[0087] Stroke cycle:

[0088] Lift reset Figure 3 The first motor 321 and the second motor 322 drive the leg mechanism, making the foot execution unit 400 move backward and upward along an elliptical trajectory to leave the water surface. At the same time, the posture adjustment assembly 340 controls the fins 420 to tilt upward by about 30 degrees to reduce the water resistance.

[0089] Downstroke propulsion Figure 4 The motors are reversely driven to make the foot execution unit 400 enter the water forward and downward. At the same time, the posture adjustment assembly 340 quickly adjusts the fins 420 to tilt downward by about 45 degrees. At this time, the large-area fins 420 stroke the water at the best attack angle, generating strong forward thrust.

[0090] Through continuous and alternating stroke cycles and by controlling the phase difference on both sides, the robot can move forward, turn, and perform other maneuvers on the water surface. After the task is completed, the air bag 510 is deflated, the fins are retracted, and the flight state is restored.

[0091] It is important to note that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application, and they should all be covered in the scope of the claims of the present application.

Claims

1. A water-based paddling device for flapping-wing flying robots, characterized in that: include, Robot body (100), wherein an air pump is provided inside the robot body (100); A fixed base unit (200) is used to connect to the robot body (100); The leg drive unit (300) has its head end hinged to the fixed base unit (200) for telescopic and lifting movements; A foot actuation unit (400) is hinged to the end of the leg drive unit (300); The foot actuation unit (400) includes a main foot component (410) and an expandable / retractable fin membrane (420) disposed thereon. The foot actuator (400) is configured such that, in land walking mode, the fin membrane (420) is in a retracted state; and in water paddling mode, the fin membrane (420) is able to unfold to form a paddling surface.

2. The water-based paddling device for flapping-wing flying robots as described in claim 1, characterized in that: It also includes floating units (500); The fixed base unit (200) has an internal cavity and an air vent on its side wall; The floating unit (500) includes an airbag (510) which is connected to the air outlet and is used to inflate the airbag (510) with air by the air pump so that the robot can obtain buoyancy on the water surface.

3. The water-based paddling device for flapping-wing flying robots as described in claim 1, characterized in that: The leg drive unit (300) includes: The main link assembly (310) includes a first main link (311) and a second main link (312) that are hinged to each other. The drive assembly (320) includes a first motor (321) and a second motor (322), which respectively drive the first main connecting rod (311) and the rotating rod (323). The transmission link assembly (330) includes a first leg link (331), a second leg link (332), and a third leg link (333) that are hinged to each other. One end of the rotating rod (323) is hinged to the fixed base unit (200), and the other end is connected to the transmission link assembly (330) through the second leg link (332); The first main connecting rod (311) is connected to the transmission connecting rod assembly (330) via the first leg connecting rod (331); The transmission link assembly (330) is also hinged to the second main link (312), so that the action of the drive assembly (320) can be converted into a composite motion trajectory at the end of the second main link (312).

4. The water-based paddling device for flapping-wing flying robots as described in claim 3, characterized in that: It also includes an attitude adjustment component (340); The attitude adjustment component (340) includes a first linear motor (341) and a second linear motor (342); One end of the first linear motor (341) and the second linear motor (342) are respectively hinged to different positions on the second main connecting rod (312), and the other end is hinged to the foot actuator (400) to adjust the tilt angle of the foot actuator (400) relative to the horizontal plane during the movement.

5. The water-based paddling device for flapping-wing flying robots as described in claim 1, characterized in that: The foot actuation unit (400) also includes a fin deployment assembly (430). The flipper deployment assembly (430) includes: The first foot link (431) and the second foot link (432) are respectively hinged to both sides of the bottom of the main foot component (410); The first micro motor (433) and the second micro motor (434) are used to drive the first foot link (431) and the second foot link (432) to rotate around their hinge axis, respectively. The fin membrane (420) is connected between the first foot link (431) and the second foot link (432). When the first foot link (431) and the second foot link (432) rotate outward and open, the fin membrane (420) is driven to unfold.

6. The water-based paddling device for flapping-wing flying robots as described in claim 1, characterized in that: The bottom surface of the main foot component (410) is provided with multiple support claws, which are arranged in a manner that mimics the shape of a duck's foot.

7. The water-based paddling device for flapping-wing flying robots as described in claim 3, characterized in that: The first motor (321), the second motor (322), the first linear motor (341), the second linear motor (342), the first micro motor (433), and the second micro motor (434) are all waterproofed.

8. The water-based paddling device for flapping-wing flying robots as described in claim 3, characterized in that: The connecting rods of the leg drive unit (300) have a hollow structure.

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