Landing mechanism for flapping-wing flying robot and flapping-wing flying robot

Abstract

The embodiment of the utility model provides a landing mechanism for a flapping-wing flying robot and the flapping-wing flying robot. The landing mechanism comprises a base, a first folding mechanism, a second folding mechanism, a clamping jaw driving mechanism and a clamping jaw, the first folding mechanism and the second folding mechanism are both arranged on the base, the clamping jaw driving mechanism is connected with the second folding mechanism, and the clamping jaw is connected with the clamping jaw driving mechanism; the first folding mechanism drives the base, and the second folding mechanism, the clamping jaw driving mechanism and the clamping jaw on the base to rotate in a plane perpendicular to the base; the second folding mechanism drives the clamping jaw driving mechanism and the clamping jaw to rotate in the plane where the base is located. And the clamping jaw driving mechanism drives the clamping jaw to perform clamping action. The foldable flying leg structure is adopted, the flying resistance of the flapping-wing flying robot is reduced by folding the landing mechanism in the flying process of the flapping-wing flying robot, and the landing mechanism not only can realize tool transportation through the clamping jaw, but also can realize safe landing by clamping a round wood rod through the clamping jaw during landing.

Description

Technical Field

[0001] The utility model relates to the technical field of micro flapping wing flying robots, and more specifically, to a landing mechanism for a flapping wing flying robot and a flapping wing flying robot. Background Art

[0002] A flapping wing flying robot realizes flight modes such as cruising, vertical flight, and hovering by means of the periodic flapping of its wings from a bionic perspective. Compared with fixed-wing flying robots and rotary-wing flying robots, it has higher flight efficiency and maneuverability. At the same time, the design of the flapping wing flying robot makes it easier to adapt to some special application scenarios, such as rescue missions, monitoring, and surveying in compact spaces. During the process of performing tasks, a flapping wing flying robot needs to carry some necessary tools. In the prior art, most flapping wing flying robots directly hang the required tools on the fuselage, which is extremely likely to cause the flight of the flapping wing flying robot to be unstable, thus affecting the flight path of the flapping wing flying robot. In addition, in terms of landing, most flapping wing flying robots in the prior art adopt the method of being caught by the operator's hand or hard landing, which is extremely likely to cause the flight of the flapping wing flying robot to be unstable and easily cause damage to the parts of the flapping wing flying robot, thus affecting the attitude during the next flight. Summary of the Utility Model

[0003] This application provides a landing mechanism for a flapping wing flying robot and a flapping wing flying robot to solve at least one of the above-mentioned prior art problems.

[0004] In a first aspect, according to an embodiment of the present application, there is provided a landing mechanism for a flapping wing flying robot, including: a base, a first folding mechanism, a second folding mechanism, a jaw driving mechanism, and jaws;

[0005] The first folding mechanism and the second folding mechanism are both arranged on the base. The jaw driving mechanism is connected to the second folding mechanism, and the jaws are connected to the jaw driving mechanism; the first folding mechanism drives the base and the second folding mechanism, the jaw driving mechanism, and the jaws thereon to rotate in a plane perpendicular to the base; the second folding mechanism drives the jaw driving mechanism and the jaws to rotate in the plane where the base is located; the jaw driving mechanism drives the jaws to perform a clamping action.

[0006] In some embodiments of the present application, the base includes a first planar plate, a second planar plate, a first side panel, and a second side panel;

[0007] Two adjacent sides of the first planar plate are respectively connected to a long side of the first side panel and a long side of the second side panel. Two adjacent sides of the second planar plate are respectively connected to the other long side of the first side panel and the other long side of the second side panel. One wide side of the first side panel is connected to one wide side of the second side panel. The first planar plate, the second planar plate, the first side panel and the second side panel together form a plate-like structure with a hollow interior, and an open end of the base is formed at one end away from the connection between the first side panel and the second side panel. The first folding mechanism is fixedly connected to the first side panel and the second side panel, and the second folding mechanism is arranged at the open end of the base.

[0008] Wherein, the first planar plate and the second planar plate are arranged parallel to each other, and the plane where the base is located is a plane parallel to the first planar plate.

[0009] In some embodiments of the present application, the first folding mechanism includes a servo motor and a rocker.

[0010] The rocker includes a vertical portion and a horizontal portion. One end of the horizontal portion is integrally formed and connected to the middle of the vertical portion. The servo motor is arranged at one end of the vertical portion. The servo motor is movably connected to the rocker, and the servo motor is fixedly installed on the body of the flapping-wing flying robot. The other end of the vertical portion is connected to the first side panel, and the horizontal portion is connected to the second side panel.

[0011] In some embodiments of the present application, the second folding mechanism includes a first rotating motor, a first rotating shaft, a first swing rod, a second rotating shaft, a second swing rod, a third rotating shaft and a fourth rotating shaft.

[0012] Both the first swing rod and the second swing rod are arranged in the cavity of the base. The first planar plate is provided with a first mounting hole and a second mounting hole. The first mounting hole and the second mounting hole are located at both ends of the open end of the base along a first direction. The first rotating shaft is rotatably arranged in the first mounting hole, and the first rotating shaft is fixedly connected to one end of the first swing rod. The first rotating motor is arranged on the second planar plate. The rotating shaft of the first rotating motor passes through the second planar plate into the cavity of the base and is fixedly connected to one end of the first swing rod. And the rotating shaft of the first rotating motor coincides with the central axis of the first rotating shaft. The other end of the first swing rod is rotatably connected to one end of the second swing rod through the second rotating shaft. The other end of the second swing rod is rotatably connected to the jaw driving mechanism through the third rotating shaft. The fourth rotating shaft is rotatably arranged in the second mounting hole, and the fourth rotating shaft is fixedly connected to the jaw driving mechanism.

[0013] When the first rotating motor operates, the rotating shaft of the first rotating motor drives the first swing rod to rotate around the central axis of the first rotating shaft. The first swing rod drives the second swing rod to move within the plane where the base is located. The second swing rod drives the jaw driving mechanism to rotate around the central axis of the fourth rotating shaft under the drive of the first swing rod.

[0014] In some embodiments of the present application, the jaw driving mechanism includes a connecting seat, a second rotating motor, a first gear, a second gear, a third gear, a fifth rotating shaft, a sixth rotating shaft, a seventh rotating shaft, an eighth rotating shaft, a ninth rotating shaft, a tenth rotating shaft, an eleventh rotating shaft, a twelfth rotating shaft, two first connecting rods, two second connecting rods, two third connecting rods, and two fourth connecting rods;

[0015] The first gear, the second gear, the third gear, the fifth rotating shaft, the sixth rotating shaft, the seventh rotating shaft, and the eighth rotating shaft are all arranged in the cavity of the connecting seat; the second rotating motor is arranged on the outer surface of the connecting seat, and the rotating shaft of the second rotating motor penetrates through the connecting seat into the cavity of the connecting seat and is fixedly connected to the first gear; the second gear is fixedly sleeved on the fifth rotating shaft, and both ends of the fifth rotating shaft penetrate through the opposite side surfaces of the connecting seat to the outside of the connecting seat and are respectively fixedly connected to one ends of two first connecting rods; the third gear is fixedly sleeved on the sixth rotating shaft, and both ends of the sixth rotating shaft penetrate through the opposite side surfaces of the connecting seat to the outside of the connecting seat and are respectively fixedly connected to one ends of two second connecting rods; the first gear meshes with the second gear, the second gear meshes with the third gear, and the number of teeth of the second gear and the third gear is the same, and the number of teeth of the second gear is greater than the number of teeth of the first gear; both ends of the seventh rotating shaft penetrate through the opposite side surfaces of the connecting seat to the outside of the connecting seat and are respectively fixedly connected to one ends of two third connecting rods; both ends of the eighth rotating shaft penetrate through the opposite side surfaces of the connecting seat to the outside of the connecting seat and are respectively fixedly connected to one ends of two fourth connecting rods; the two first connecting rods and the two third connecting rods are arranged in parallel, the two second connecting rods and the two fourth connecting rods are arranged in parallel, and on the plane where the connecting seat is located, the rotation centers of the rotating shaft of the second rotating motor, the fifth rotating shaft, and the seventh rotating shaft are located on the same straight line, the rotation centers of the sixth rotating shaft and the eighth rotating shaft are located on the same straight line, and the other ends of the two first connecting rods, the two second connecting rods, the two third connecting rods, and the two fourth connecting rods are respectively rotatably connected to the jaws;

[0016] When the second rotating motor operates, the rotating shaft of the second rotating motor drives the first gear to rotate, and then drives the second gear and the third gear to rotate. Driven by the second gear, the two first connecting rods and the two third connecting rods, and driven by the third gear, the two second connecting rods and the two fourth connecting rods jointly drive the clamping jaws to perform a clamping action.

[0017] In some embodiments of the present application, the connecting seat includes a receiving portion and a rotating portion;

[0018] The receiving portion is a rectangular plate structure with a hollow interior. The first gear, the second gear, the third gear, the fifth rotating shaft, the sixth rotating shaft, the seventh rotating shaft, and the eighth rotating shaft are all arranged in the cavity of the receiving portion; the rotating portion is integrally formed in the middle of one end face of the receiving portion, and the cross-section of the rotating portion in the plane where the connecting seat is located is an arc tip. The third rotating shaft is rotatably connected to the rotating portion, the fourth rotating shaft is fixedly connected to the rotating portion, and the connection line of the rotation centers of the third rotating shaft and the fourth rotating shaft is perpendicular to the end face where the receiving portion and the rotating portion are connected.

[0019] In some embodiments of the present application, both the first flat plate and the second flat plate are pentagonal plates with three right angles. The first folding mechanism is arranged at the right-angle ends of the first flat plate and the second flat plate opposite to the hypotenuse. The first mounting hole and the second mounting hole are arranged at the hypotenuse end of the first flat plate, and the clamping jaw driving mechanism is located at the right-angle side end adjacent to the hypotenuse of the first flat plate and the second flat plate. When the connecting seat rotates relative to the base, the right-angle side adjacent to the hypotenuse of the first flat plate and the second flat plate limits the rotating portion of the connecting seat.

[0020] In some embodiments of the present application, the jaw includes two clamping plates symmetrically arranged with each other, and each clamping plate includes a connecting portion and a clamping portion; the connecting portion is a strip-shaped structure, and a third mounting hole and a fourth mounting hole are respectively provided at both ends of the connecting portion. One end of the connecting portion provided with the fourth mounting hole is integrally formed and connected to the clamping portion, and a thirteenth rotating shaft is respectively rotatably arranged in the two third mounting holes, and a fourteenth rotating shaft is respectively rotatably arranged in the two fourth mounting holes; both ends of the thirteenth rotating shaft of one of the clamping portions are fixedly connected to the other ends of the two first connecting rods, and both ends of the fourteenth rotating shaft are respectively fixedly connected to the other ends of the two third connecting rods; both ends of the thirteenth rotating shaft of the other clamping portion are respectively fixedly connected to the other ends of the two second connecting rods, and both ends of the fourteenth rotating shaft are respectively fixedly connected to the other ends of the two fourth connecting rods; a clamping groove is respectively provided on the opposite end faces of the two clamping portions, and mutually matching cross teeth are respectively provided on the opposite end faces of the two clamping portions, and the cross teeth are located on both sides of the clamping groove.

[0021] When the second rotating motor operates, the rotating shaft of the second rotating motor drives the first gear to rotate, and then drives the second gear and the third gear to rotate. The two first connecting rods and the two third connecting rods are driven by the second gear, and the two second connecting rods and the two fourth connecting rods are driven by the third gear to jointly drive the two clamping portions to move relatively closer or farther away; when the two clamping portions move relatively closer, the jaw clamps and fixes through the two clamping grooves; when the two clamping portions are located relatively far away, one end face of the connecting seat close to the clamping portion limits the two clamping portions.

[0022] In some embodiments of the present application, both the first rotating motor and the second rotating motor are micro direct current brushless motors;

[0023] The included angle between the first direction and the horizontal ground is 60°.

[0024] In a second aspect, according to an embodiment of the present application, a flapping flight robot is provided, including: a fuselage and at least one landing mechanism for the flapping flight robot described in the first aspect, the landing mechanism is arranged on the fuselage through the first folding mechanism, and the servo of the first folding mechanism, the first rotating motor of the second folding mechanism, and the second rotating motor of the jaw driving mechanism are respectively electrically connected to the control system of the fuselage.

[0025] In some embodiments of the present application, the number of the landing mechanisms for the flapping flight robot is two, and the two landing mechanisms for the flapping flight robot are symmetrically arranged on both sides of the fuselage.

[0026] The beneficial effects of the embodiments of this application are as follows:

[0027] The landing mechanism adopts a foldable flight leg structure with a jaw structure. During the flight of the flapping-wing flying robot, by folding the landing mechanism, its flight resistance is reduced. Moreover, this landing mechanism can not only transport tools through the jaws, but also clamp a round wooden stick with the jaws during landing to achieve a safe landing, solving the problems in the prior art that the landing mechanism of the flapping-wing flying robot is prone to causing unstable flight and component damage. Description of the Drawings

[0028] In order to more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following-described drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0029] Figure 1 Structural schematic diagram of a landing mechanism for a flapping-wing flying robot provided by an embodiment of this application;

[0030] Figure 2 Structural schematic diagram of a base in a landing mechanism for a flapping-wing flying robot provided by an embodiment of this application;

[0031] Figure 3 Structural schematic diagram of a second folding mechanism in a landing mechanism for a flapping-wing flying robot provided by an embodiment of this application;

[0032] Figure 4 Structural schematic diagram of a connecting seat in a landing mechanism for a flapping-wing flying robot provided by an embodiment of this application;

[0033] Figure 5 Structural schematic diagram of a jaw drive mechanism without a connecting seat installed in a landing mechanism for a flapping-wing flying robot provided by an embodiment of this application;

[0034] Figure 6 Structural schematic diagram of a jaw in a landing mechanism for a flapping-wing flying robot provided by an embodiment of this application;

[0035] Figure 7 Application schematic diagram of a landing mechanism for a flapping-wing flying robot provided by an embodiment of this application;

[0036] Figure 8 Flight state schematic diagram of a flapping-wing flying robot provided by an embodiment of this application;

[0037] Figure 9 Schematic diagram of the first landing state of the flapping flight robot provided by the embodiment of the present application;

[0038] Figure 10 Schematic diagram of the second landing state of the flapping flight robot provided by the embodiment of the present application;

[0039] Figure 11 Schematic diagram of the fully landed state of the flapping flight robot provided by the embodiment of the present application;

[0040] Description of reference numerals: 1 is the base, 11 is the first flat plate, 111 is the first mounting hole, 112 is the second mounting hole, 12 is the second flat plate, 13 is the first side plate, 14 is the second side plate, 2 is the first folding mechanism, 21 is the servo motor, 22 is the rocker, 221 is the vertical part, 222 is the horizontal part, 3 is the second folding mechanism, 31 is the first rotating motor, 32 is the first rotating shaft, 33 is the first swing rod, 34 is the second rotating shaft, 35 is the second swing rod, 36 is the third rotating shaft, 37 is the fourth rotating shaft, 4 is the jaw driving mechanism, 401 is the connecting seat, 4011 is the accommodating part, 4012 is the rotating part, 4013 is the fifth mounting hole, 4014 is the sixth mounting hole, 4015 is the seventh mounting hole, 4016 is the eighth mounting hole, 4017 is the ninth mounting hole, 4018 is the tenth mounting hole, 4019 is the eleventh mounting hole, 402 is the second rotating motor, 403 is the first gear, 404 is the second gear, 405 is the third gear, 406 is the fifth rotating shaft, 407 is the sixth rotating shaft, 408 is the seventh rotating shaft, 409 is the eighth rotating shaft, 410 is the first connecting rod, 411 is the second connecting rod, 412 is the third connecting rod, 413 is the fourth connecting rod, 5 is the jaw, 51 is the clamping plate, 511 is the connecting part, 512 is the clamping part, 513 is the third mounting hole, 514 is the fourth mounting hole, 515 is the ninth rotating shaft, 516 is the tenth rotating shaft, 517 is the clamping groove, 518 is the cross teeth, 6 is the fuselage, 7 is the round wooden stick. Detailed implementation manners

[0041] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0042] It should be noted that the terms "include" and "have" and any variations thereof in the embodiments of the present application and the accompanying drawings are intended to cover non-exclusive inclusion. For example, including a series of structures does not limit to the listed structures, but optionally further includes structures not listed, or optionally further includes other components inherent to these structures.

[0043] The embodiments of the present application disclose a landing mechanism for a flapping-wing flying robot, which is applied to the flapping-wing flying robot to solve the problems in the prior art that the landing of the flapping-wing flying robot is unstable, easily causing flight instability and component damage, and the problem that necessary tools cannot be carried during the execution of tasks. The following will be described in detail respectively.

[0044] Figure 1 Fig. shows a landing mechanism for a flapping-wing flying robot according to an embodiment of the present application. As Figure 1 shown, the landing mechanism mainly includes: a base 1, a first folding mechanism 2, a second folding mechanism 3, a jaw driving mechanism 4, and jaws 5. Among them, the base 1 is one of the main components of the landing mechanism, used for fixed connection with other components. The landing mechanism realizes its folding function through the first folding mechanism 2 and the second folding mechanism 3, and realizes the transportation of items and the safe landing of the flapping-wing flying robot through the jaw driving mechanism 4 and the jaws 5. Specifically, the first folding mechanism 2 and the second folding mechanism 3 are both arranged on the base 1, the jaw driving mechanism 4 is connected to the second folding mechanism 3, and the jaws 5 are connected to the jaw driving mechanism 4. When the landing mechanism operates, the first folding mechanism 2 drives the base 1 and the second folding mechanism 3, the jaw driving mechanism 4, and the jaws 5 thereon to rotate in a plane perpendicular to the base 1, realizing the folding or unfolding of the landing mechanism relative to the fuselage of the flapping-wing flying robot. The second folding mechanism 3 drives the jaw driving mechanism 4 and the jaws 5 to rotate in the plane where the base 1 is located, realizing the folding or unfolding of the jaw driving mechanism 4 and the jaws 5 relative to the landing mechanism. Through the first folding mechanism 2 and the second folding mechanism 3, multiple folds of the landing mechanism are realized, minimizing the overall space occupied by the landing mechanism and reducing the flight resistance of the flapping-wing flying robot. The jaw driving mechanism 4 drives the jaws 5 to perform a clamping action, realizing the item transportation function and the safe and stable landing function of the landing mechanism.

[0045] In some embodiments, such as Figure 1 and Figure 2As shown, the base 1 includes a first flat plate 11, a second flat plate 12, a first side panel 13, and a second side panel 14. Specifically, two adjacent sides of the first flat plate 11 are respectively connected to a long side of the first side panel 13 and a long side of the second side panel 14, and two adjacent sides of the second flat plate 12 are also respectively connected to the other long side of the first side panel 13 and the other long side of the second side panel 14, and a wide side of the first side panel 13 is connected to a wide side of the second side panel 14. Thus, the first flat plate 11, the second flat plate 12, the first side panel 13, and the second side panel 14 together form a plate-like structure with a hollow interior, and one end away from the connection of the first side panel 13 and the second side panel 14 forms the open end of the base 1, that is, two sides of this plate-like structure (i.e., the two sides where the first side panel 13 and the second side panel 14 are provided) are sealed, and the remaining sides are open. The first folding mechanism 2 is fixedly connected to the first side panel 13 and the second side panel 14 to drive the overall rotation and folding of the remaining components of the landing mechanism through the first folding mechanism 2. The second folding mechanism 3 is arranged at the open end of the base 1 to fold the jaw driving mechanism 4 and the jaws 5 into the cavity of the base 1 as much as possible. Further, the first flat plate 11 and the second flat plate 12 are arranged parallel to each other. It should be noted and understood that in this application, the plane where the base 1 is located is a plane parallel to the first flat plate 11.

[0046] Further, in some specific embodiments, such as Figure 1 and Figure 7 As shown, the first folding mechanism 2 includes a servo 21 and a rocker 22. Among them, the rocker 22 includes a vertical portion 221 and a horizontal portion 222. One end of the horizontal portion 222 is integrally formed and connected to the middle of the vertical portion 221. The servo 21 is arranged at one end of the vertical portion 221. The servo 21 is movably connected to the rocker 22, and the servo 21 is fixedly installed on the fuselage 6 of the flapping-wing flying robot. For example, the servo 21 is glued and fixed to the fuselage 6. The other end of the vertical portion 221 is connected to the first side panel 13, and the horizontal portion 222 is connected to the second side panel 14, thereby fixedly installing the base 1 on the rocker 22. When the servo 21 works, the servo 21 drives the rocker 22 and the base 1 thereon to rotate, thereby realizing the folding or unfolding of the landing mechanism relative to the fuselage of the flapping-wing flying robot.

[0047] In some specific embodiments, such as Figure 1 – Figure 3As shown in the figure, the second folding mechanism 3 includes a first rotating motor 31, a first rotating shaft 32, a first swing rod 33, a second rotating shaft 34, a second swing rod 35, a third rotating shaft 36 and a fourth rotating shaft 37. Among them, the first swing rod 33 and the second swing rod 35 are both arranged in the cavity of the base 1. A first mounting hole 111 and a second mounting hole 112 are provided on the first flat plate 11. The first mounting hole 111 and the second mounting hole 112 both penetrate through the first flat plate 11, and the first mounting hole 111 and the second mounting hole 112 are located at both ends of the open end of the base 1 along the first direction. The first rotating shaft 32 is rotatably arranged in the first mounting hole 111. The first rotating shaft 32 is fixedly connected to one end of the first swing rod 33. The first rotating motor 31 is arranged on the second flat plate 12. The rotating shaft of the first rotating motor 31 penetrates through the second flat plate 12 into the cavity of the base 1 and is fixedly connected to one end of the first swing rod 33. And the rotating shaft of the first rotating motor 31 coincides with the central axis of the first rotating shaft 32. Thus, the first swing rod 33 rotates under the drive of the rotating shaft of the first rotating motor 31, and the first rotating shaft 32 plays an auxiliary supporting role for it. One end of the first swing rod 33 is rotatably connected to one end of the second swing rod 35 through the second rotating shaft 34. The other end of the second swing rod 35 is rotatably connected to the jaw driving mechanism 4 through the third rotating shaft 36. The fourth rotating shaft 37 is rotatably arranged in the second mounting hole 112, and the fourth rotating shaft 37 is fixedly connected to the jaw driving mechanism 4. A hinge four-bar mechanism is formed among the base 1, the first swing rod 33, the second swing rod 35 and the jaw driving mechanism 4. Furthermore, the folding or unfolding of the jaw driving mechanism 4 and the jaws 5 relative to the landing mechanism is realized through the operation of the first rotating motor 31. Specifically, when the first rotating motor 31 operates, the rotating shaft of the first rotating motor 31 drives the first swing rod 33 to rotate around the central axis of the first rotating shaft 32. The first swing rod 33 drives the second swing rod 35 to move in the plane where the base 1 is located. The second swing rod 35 drives the jaw driving mechanism 4 to rotate around the central axis of the fourth rotating shaft 37 under the drive of the first swing rod 33, so that the jaw driving mechanism 4 and the jaws 5 are folded into the cavity of the base 1 or unfolded outside the cavity of the base 1. In a specific implementation process, the first rotating motor 31 is a micro DC brushless motor. In addition, when the flapping-wing flying robot flies parallel to the ground, the jaws 5 are vertically arranged relative to the ground. At this time, the first mounting hole 111 and the second mounting hole 112 are arranged in sequence along the first direction, and the angle between the first direction and the horizontal ground is 60°.

[0048] In some other specific embodiments, such as Figure 1 , Figure 3 , Figure 4 and Figure 5As shown, the jaw driving mechanism 4 includes a connecting seat 401, a second rotating motor 402, a first gear 403, a second gear 404, a third gear 405, a fifth rotating shaft 406, a sixth rotating shaft 407, a seventh rotating shaft 408, an eighth rotating shaft 409, two first connecting rods 410, two second connecting rods 411, two third connecting rods 412 and two fourth connecting rods 413. Among them, the first gear 403, the second gear 404, the third gear 405, the fifth rotating shaft 406, the sixth rotating shaft 407, the seventh rotating shaft 408 and the eighth rotating shaft 409 are all arranged in the cavity of the connecting seat 401. The second rotating motor 402 is arranged on the outer surface of the connecting seat 401, and the rotating shaft 4021 of the second rotating motor 402 penetrates through the connecting seat 401 into the cavity of the connecting seat 401 and is fixedly connected to the first gear 403 to drive the first gear 403 to rotate by using the second rotating motor 402. The second gear 404 is fixedly sleeved on the fifth rotating shaft 406, and both ends of the fifth rotating shaft 406 penetrate through the opposite side surfaces of the connecting seat 401 to the outside of the connecting seat 401 and are respectively fixedly connected to one ends of the two first connecting rods 410, so as to drive the two first connecting rods 410 to rotate by the rotation of the second gear 404. The third gear 405 is fixedly sleeved on the sixth rotating shaft 407, and both ends of the sixth rotating shaft 407 penetrate through the opposite side surfaces of the connecting seat 401 to the outside of the connecting seat 401 and are respectively fixedly connected to one ends of the two second connecting rods 411, so as to drive the two second connecting rods 411 to rotate by the rotation of the third gear 405. The first gear 403 meshes with the second gear 404, the second gear 404 meshes with the third gear 405, and the number of teeth of the second gear 404 and the third gear 405 is the same, and the number of teeth of the second gear 404 is greater than the number of teeth of the first gear 403. Thus, when the second rotating motor 402 works, the rotating shaft 4021 of the second rotating motor 402 drives the first gear 403 to rotate, the first gear 403 drives the second gear 404, and the second gear 404 drives the third gear 405 to rotate synchronously, so that the two first connecting rods 410 and the two second connecting rods 411 rotate synchronously by the same angle. In addition, both ends of the seventh rotating shaft 408 penetrate through the opposite side surfaces of the connecting seat 401 to the outside of the connecting seat 401 and are respectively fixedly connected to one ends of the two third connecting rods 412, and both ends of the eighth rotating shaft 409 penetrate through the opposite side surfaces of the connecting seat 401 to the outside of the connecting seat 401 and are respectively fixedly connected to one ends of the two fourth connecting rods 413.The two first connecting rods 410 and the two third connecting rods 412 are arranged in parallel with each other, and the two second connecting rods 411 and the two fourth connecting rods 413 are arranged in parallel with each other. Moreover, on the plane where the connecting seat 401 is located, the rotation centers of the rotation shaft 4021 of the second rotating motor 402, the fifth rotating shaft 406, and the seventh rotating shaft 408 are located on the same straight line, and the rotation centers of the sixth rotating shaft 407 and the eighth rotating shaft 409 are located on the same straight line. That is, the two first connecting rods 410, the two third connecting rods 412, the two second connecting rods 411, and the two fourth connecting rods 413 are symmetrically arranged. Thus, the two first connecting rods 410, the two second connecting rods 411, the two third connecting rods 412, and the two fourth connecting rods 413 all achieve synchronous rotation, and the two first connecting rods 410 and the two third connecting rods 412 rotate in the same direction, and the two second connecting rods 411 and the two fourth connecting rods 413 rotate in the same direction. Moreover, the other ends of the two first connecting rods 410, the two second connecting rods 411, the two third connecting rods 412, and the two fourth connecting rods 413 are respectively rotatably connected to the clamping jaws 5, so as to achieve the clamping action of the clamping jaws 5 through the two first connecting rods 410, the two second connecting rods 411, the two third connecting rods 412, and the two fourth connecting rods 413. When the second rotating motor 402 operates, the rotation shaft 4021 of the second rotating motor 402 drives the first gear 403 to rotate, and then drives the second gear 404 and the third gear 405 to rotate. The two first connecting rods 410 and the two third connecting rods 412 are driven by the second gear 404, and the two second connecting rods 411 and the two fourth connecting rods 413 are driven by the third gear 405 to jointly drive the clamping jaws 5 to perform the clamping action. In a specific implementation process, the second rotating motor 402 is a micro DC brushless motor. Further, the first gear 403, the second gear 404, and the third gear 405 are all spur gears, and the gear module is 1. The number of teeth of the first gear 403 is 6, the number of teeth of the second gear 404 is 20, and the number of teeth of the third gear 405 is 20.

[0049] Further, in some specific embodiments, such as Figure 3 , Figure 4 and Figure 5As shown, the connecting seat 401 includes a receiving portion 4011 and a rotating portion 4012. Among them, the receiving portion 4011 is a rectangular plate structure with a hollow interior. The first gear 403, the second gear 404, the third gear 405, the fifth rotating shaft 406, the sixth rotating shaft 407, the seventh rotating shaft 408, and the eighth rotating shaft 409 are all arranged in the cavity of the receiving portion 4011. And the receiving portion 4011 is provided with a seventh mounting hole 4015, an eighth mounting hole 4016, a ninth mounting hole 4017, a tenth mounting hole 4018, and an eleventh mounting hole 4019. In the same plane, the centers of the seventh mounting hole 4015, the eighth mounting hole 4016, and the ninth mounting hole 4017 are on the same straight line, while the centers of the tenth mounting hole 4018 and the eleventh mounting hole 4019 are on another straight line. In the specific implementation process, the aforementioned two straight lines are parallel. The end of the rotating shaft 4021 of the second rotating motor 402 away from the motor is arranged in the seventh mounting hole 4015, the fifth rotating shaft 406 is arranged in the eighth mounting hole 4016, the seventh rotating shaft 408 is arranged in the ninth mounting hole 4017, the sixth rotating shaft 407 is arranged in the tenth mounting hole 4018, and the eighth rotating shaft 409 is arranged in the eleventh mounting hole 4019. In addition, the rotating portion 4012 is integrally formed in the middle of one end face of the receiving portion 4011, and the cross-section of the rotating portion 4012 in the plane where the connecting seat 401 is located is an arc tip. The rotating portion 4012 is provided with a fifth mounting hole 4013 and a sixth mounting hole 4014. The third rotating shaft 36 is arranged in the fifth mounting hole 4013, and the third rotating shaft 36 is rotatably connected to the rotating portion 4012. The fourth rotating shaft 37 is arranged in the sixth mounting hole 4014, and the fourth rotating shaft 37 is fixedly connected to the rotating portion 4012. And the connection line of the rotation centers of the third rotating shaft 36 and the fourth rotating shaft 37 is perpendicular to the end face where the receiving portion 4011 and the rotating portion 4012 are connected, so that the second swing rod 35 drives the connecting seat 401 to rotate around the central axis of the fourth rotating shaft 37.

[0050] In some specific implementation processes, such as Figure 1 – Figure 4 and Figure 10As shown, both the first planar plate 11 and the second planar plate 12 are pentagonal plates with three right angles. The first folding mechanism 2 is disposed at the right-angle ends of the first planar plate 11 and the second planar plate 12 that are opposite to the hypotenuse. The first mounting hole 111 and the second mounting hole 112 are disposed at the hypotenuse end of the first planar plate 11, and the jaw driving mechanism 4 is located at a right-angle side end of the first planar plate 11 and the second planar plate 12 that is adjacent to the hypotenuse. When the connecting seat 401 rotates relative to the base 1, a right-angle side of the first planar plate 11 and the second planar plate 12 that is adjacent to the hypotenuse limits the rotating portion 4012 of the connecting seat 401, so that the jaw driving mechanism 4 and the jaws 5 can rotate to a specified position. When the flapping-wing flying robot performs object transportation or safe landing, and the flapping-wing flying robot flies parallel to the ground, the jaws 5 are vertically arranged relative to the ground, which is more convenient for the flapping-wing flying robot to pick up or grip and fix an object.

[0051] In some other specific embodiments, such as Figure 5 , Figure 6 and Figure 7As shown in the figure, the jaw 5 includes two clamping plates 51 symmetrically arranged with each other, and each clamping plate 51 includes a connecting portion 511 and a clamping portion 512. Among them, the connecting portion 511 is a strip-shaped structure, and a third mounting hole 513 and a fourth mounting hole 514 are respectively arranged at both ends of the connecting portion 511. One end of the connecting portion 511 provided with the fourth mounting hole 514 is integrally formed and connected with the clamping portion 512. A ninth rotating shaft 515 is respectively rotatably arranged in the two third mounting holes 513, and a tenth rotating shaft 516 is respectively rotatably arranged in the two fourth mounting holes 514. Both ends of the ninth rotating shaft 515 of one clamping portion 512 are fixedly connected with the other ends of the two first connecting rods 410 respectively, and both ends of the tenth rotating shaft 516 are fixedly connected with the other ends of the two third connecting rods 412 respectively; both ends of the ninth rotating shaft 515 of the other clamping portion 512 are fixedly connected with the other ends of the two second connecting rods 411 respectively, and both ends of the tenth rotating shaft 516 are fixedly connected with the other ends of the two fourth connecting rods 413 respectively. Thus, through the ninth rotating shaft 515 and the tenth rotating shaft 516, the movable connection between the two first connecting rods 410, the two third connecting rods 412 and one clamping plate 51 is realized, and the movable connection between the two second connecting rods 411, the two fourth connecting rods 413 and the other clamping plate 51 is realized. A clamping groove 517 is respectively arranged on the opposite end faces of the two clamping portions 512, so as to clamp and fix the articles to be transported or the round wooden rod 7 through the two relatively arranged clamping grooves 517. At the same time, mutually matching cross teeth 518 are respectively arranged on the opposite end faces of the two clamping portions 512, and the cross teeth 518 are located on both sides of the clamping groove 517. The friction force between the two clamping plates 51 is enhanced through the mutually matching cross teeth 518 on both end faces, so as to ensure the clamping and fixing force of the jaw 5 on the articles to be transported or the round wooden rod 7 to prevent falling off. Specifically, when the second rotating motor 402 works, the rotating shaft 4021 of the second rotating motor 402 drives the first gear 403 to rotate, and then drives the second gear 404 and the third gear 405 to rotate. The two first connecting rods 410 and the two third connecting rods 412 are driven by the second gear 404, and the two second connecting rods 411 and the two fourth connecting rods 413 are driven by the third gear 405 to jointly drive the two clamping portions 512 to approach or move away from each other relatively; when the two clamping portions 512 approach each other relatively, the jaw 5 is clamped and fixed through the two clamping grooves 517; when the two clamping portions 512 are located relatively far away, one end face of the connecting seat 401 close to the clamping portion 512 limits the two clamping portions 512.

[0052] The embodiment of the present application also discloses a flapping-wing flying robot, as Figure 7 shown, the flapping-wing flying robot includes: a fuselage 6 and at least one landing mechanism for the flapping-wing flying robot. The landing mechanism is the landing mechanism for the flapping-wing flying robot provided in the above embodiment. Combining Figure 1As shown in the figure, it includes a base 1, a first folding mechanism 2, a second folding mechanism 3, a jaw driving mechanism 4 and jaws 5. The first folding mechanism 2 and the second folding mechanism 3 are both arranged on the base 1. The jaw driving mechanism 4 is connected to the second folding mechanism 3, and the jaws 5 are connected to the jaw driving mechanism 4. At the same time, this landing mechanism is arranged on the fuselage 6 through the first folding mechanism 2, and the servo 21 of the first folding mechanism 2, the first rotating motor 31 of the second folding mechanism 3 and the second rotating motor 402 of the jaw driving mechanism 4 are respectively electrically connected to the control system of the fuselage 6.

[0053] It should be noted that the structure and principle of the landing mechanism for the flapping-wing flying robot in this embodiment are the same as those in the previous embodiment. For a brief description, for the parts not mentioned in the flapping-wing flying robot embodiment, reference can be made to the corresponding content in the previous embodiment of the landing mechanism for the flapping-wing flying robot.

[0054] In some specific embodiments, such as Figure 7 As shown in the figure, the number of landing mechanisms for the flapping-wing flying robot is two, and the two landing mechanisms for the flapping-wing flying robot are symmetrically arranged on both sides of the fuselage 6.

[0055] Next, in combination with Figure 1 – Figure 11 , the working principle of the landing mechanism for the flapping-wing flying robot applied to the flapping-wing flying robot will be described in detail.

[0056] In this embodiment, the landing mechanism is in a folded state during the flight of the flapping-wing flying robot. As Figure 8 As shown in the figure, when the flapping-wing flying robot lands through the landing mechanism, the servo 21 receives the unfolding control electrical signal sent by the control system of the flapping-wing flying robot and starts according to this signal, driving the rocker 22 to rotate clockwise to its direction perpendicular to the ground, as Figure 9 As shown in the figure. After that, when the first rotating motor 31 receives the unfolding electrical signal, it drives the first swing rod 33 to rotate counterclockwise. At this time, the base 1 remains stationary. Through the hinge four-bar mechanism composed of the base 1, the first swing rod 33, the second swing rod 35 and the jaw driving mechanism 4, the connecting seat 401 rotates counterclockwise until the connecting seat 401 rotates to the vertical position. At this time, the connecting seat 401 and the base 1 are just limited and abutted, as Figure 10As shown, the control system of the flapping-wing flying robot controls the first rotating motor 31 to stop running. At this time, a round wooden stick 7 can be held horizontally by hand, and the flapping-wing flying robot can fly above the round wooden stick 7. After receiving the electrical signal, the second rotating motor 402 drives the first gear 403 to rotate clockwise, thereby driving the second gear 404 and the third gear 405 to rotate synchronously. The second gear 404 drives the fifth rotating shaft 406 to rotate counterclockwise, and the fifth rotating shaft 406 drives the two first connecting rods 410 to rotate counterclockwise. The two third connecting rods 412 and the two first connecting rods 410 rotate synchronously. The third gear 405 drives the sixth rotating shaft 407 to rotate clockwise, and the sixth rotating shaft 407 drives the two second connecting rods 411 to rotate clockwise. The two fourth connecting rods 413 and the two second connecting rods 411 rotate synchronously, so that the two clamping plates 51 of the clamping jaw 5 move downward, and the two clamping parts 512 approach each other relatively, thereby performing a clamping action on the round wooden stick 7 through the two clamping grooves 517, as Figure 11 shown. After the clamping jaw 5 clamps the round wooden stick 7, the second rotating motor 402 stops running.

[0057] After the flapping-wing flying robot stabilizes, lift it by hand. The second rotating motor 402 receives the release control electrical signal sent by the control system of the flapping-wing flying robot and starts according to this signal, driving the first gear 403 to rotate counterclockwise, thereby driving the second gear 404 and the third gear 405 to rotate synchronously. The second gear 404 drives the fifth rotating shaft 406 to rotate clockwise, and the fifth rotating shaft 406 drives the two first connecting rods 410 to rotate clockwise. The two third connecting rods 412 and the two first connecting rods 410 rotate synchronously. The third gear 405 drives the sixth rotating shaft 407 to rotate counterclockwise, and the sixth rotating shaft 407 drives the two second connecting rods 411 to rotate counterclockwise. The two fourth connecting rods 413 and the two second connecting rods 411 rotate synchronously, so that the two clamping plates 51 of the clamping jaw 5 move upward, and the two clamping parts 512 move away from each other relatively, thereby releasing the round wooden stick 7. When the clamping jaw 5 touches the connecting seat 401, the second rotating motor 402 stops running. After receiving the folding electrical signal, the first rotating motor 31 drives the first swing rod 33 to rotate clockwise. At this time, the base 1 remains stationary. Through the hinge four-bar mechanism composed of the base 1, the first swing rod 33, the second swing rod 35 and the clamping jaw driving mechanism 4, the connecting seat 401 rotates clockwise until the connecting seat 401 rotates into the cavity of the base 1 and the clamping jaw 5 touches the inner wall of the base 1, and then the first rotating motor 31 stops running. Then, the servo 21 rotates counterclockwise by 90° to make the rocker 22 reach the horizontal position, thereby completely folding the entire landing mechanism for easy storage.

[0058] The above describes the process of the flapping-wing flying robot making a safe landing through the landing mechanism and releasing the round wooden stick 7. The clamping and releasing action principles during its transportation of items are the same. For a brief description, it will not be elaborated here and can refer to the above process.

[0059] In summary, the present application discloses a landing mechanism for a flapping-wing flying robot and the flapping-wing flying robot. The landing mechanism adopts a foldable flying leg structure. During the flight process, the flapping-wing flying robot reduces its flight resistance by folding the landing mechanism. Moreover, the landing mechanism can not only transport tools through the gripper, but also clamp a round wooden stick with the gripper during landing to achieve a safe landing.

[0060] Those of ordinary skill in the art can understand that the drawings are only schematic diagrams of an embodiment, and the components in the drawings are not necessarily essential for implementing the present utility model. It should also be noted that like reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0061] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances. In addition, in the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present utility model.

[0062] Finally, it should be noted that the above-described embodiments are only specific embodiments of the present utility model, used to illustrate the technical solutions of the present utility model, rather than limiting it. The protection scope of the present utility model is not limited thereto. Although the present utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that any person skilled in the art within the technical scope disclosed by the present utility model can still modify the technical solutions described in the foregoing embodiments or easily conceive of changes, or perform equivalent replacements for some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present utility model, and should all be covered within the protection scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to the protection scope defined by the claims.

Claims

1. A landing mechanism for a flapping-wing flying robot, characterized in that: include: A base, a first folding mechanism, a second folding mechanism, a clamping claw driving mechanism, and a clamping claw; The first folding mechanism and the second folding mechanism are both arranged on the base, the clamping jaw driving mechanism is connected to the second folding mechanism, and the clamping jaw is connected to the clamping jaw driving mechanism; the first folding mechanism drives the base and the second folding mechanism, the clamping jaw driving mechanism and the clamping jaw thereon to rotate in a plane perpendicular to the base; the second folding mechanism drives the clamping jaw driving mechanism and the clamping jaw to rotate in the plane where the base is located; the clamping jaw driving mechanism drives the clamping jaw to perform a clamping action.

2. The landing mechanism for a flapping-wing flying robot according to claim 1, characterized in that: The base includes a first planar panel, a second planar panel, a first side panel, and a second side panel; Two adjacent sides of the first plane panel are respectively connected to one long side of the first side panel and one long side of the second side panel, two adjacent sides of the second plane panel are respectively connected to the other long side of the first side panel and the other long side of the second side panel, and one wide side of the first side panel is connected to one wide side of the second side panel, the first plane panel, the second plane panel, the first side panel and the second side panel together constitute a plate-like structure with a hollow interior, and an end away from the connection between the first side panel and the second side panel forms an open end of the base; the first folding mechanism is fixedly connected to the first side panel and the second side panel, and the second folding mechanism is arranged at the open end of the base; The first plane plate and the second plane plate are arranged parallel to each other, and the plane where the base is located is a plane parallel to the first plane plate.

3. The landing mechanism for a flapping-wing flying robot according to claim 2, characterized in that: The first folding mechanism includes a steering gear and a rocker; The rocker includes a vertical portion and a horizontal portion, one end of the horizontal portion is integrally connected to the middle portion of the vertical portion, the servo is arranged at one end of the vertical portion, the servo is movably connected to the rocker, and the servo is fixedly installed on the fuselage of the flapping-wing flying robot, the other end of the vertical portion is connected to the first side panel, and the horizontal portion is connected to the second side panel.

4. The landing mechanism for a flapping-wing flying robot according to claim 2, characterized in that: The second folding mechanism includes a first rotating motor, a first rotating shaft, a first swing rod, a second rotating shaft, a second swing rod, a third rotating shaft and a fourth rotating shaft; The first swing rod and the second swing rod are both arranged in the cavity of the base, the first plane plate is provided with a first mounting hole and a second mounting hole, the first mounting hole and the second mounting hole are located at two ends of an open end of the base along a first direction, the first rotating shaft is rotatably arranged in the first mounting hole, the first rotating shaft is fixedly connected to one end of the first swing rod, the first rotating motor is arranged on the second plane plate, the rotating shaft of the first rotating motor passes through the second plane plate to the cavity of the base, is fixedly connected to one end of the first swing rod, and the rotating shaft of the first rotating motor coincides with the central axis of the first rotating shaft, the other end of the first swing rod is rotatably connected to one end of the second swing rod through the second rotating shaft, the other end of the second swing rod is rotatably connected to the clamping jaw driving mechanism through the third rotating shaft, the fourth rotating shaft is rotatably arranged in the second mounting hole, and the fourth rotating shaft is fixedly connected to the clamping jaw driving mechanism; When the first rotating motor is working, the rotating shaft of the first rotating motor drives the first rocker arm to rotate around the central axis of the first rotating shaft, the first rocker arm drives the second rocker arm to move in the plane where the base is located, and the second rocker arm drives the clamping jaw driving mechanism to rotate around the central axis of the fourth rotating shaft under the drive of the first rocker arm.

5. The landing mechanism for a flapping-wing flying robot according to claim 4, characterized in that: The clamp driving mechanism includes a connecting seat, a second rotating motor, a first gear, a second gear, a third gear, a fifth rotating shaft, a sixth rotating shaft, a seventh rotating shaft, an eighth rotating shaft, a ninth rotating shaft, a tenth rotating shaft, an eleventh rotating shaft, a twelfth rotating shaft, two first connecting rods, two second connecting rods, two third connecting rods and two fourth connecting rods; The first gear, the second gear, the third gear, the fifth shaft, the sixth shaft, the seventh shaft and the eighth shaft are all arranged in the cavity of the connecting seat; the second rotating motor is arranged on the outer surface of the connecting seat, and the rotating shaft of the second rotating motor passes through the connecting seat to the cavity of the connecting seat and is fixedly connected to the first gear; the second gear is fixedly sleeved on the fifth shaft, and the two ends of the fifth shaft pass through the opposite side surfaces of the connecting seat to the outside of the connecting seat, and are respectively fixedly connected to one end of the two first connecting rods; the third gear is fixedly sleeved on the sixth shaft, and the two ends of the sixth shaft pass through the opposite side surfaces of the connecting seat to the outside of the connecting seat, and are respectively fixedly connected to one end of the two second connecting rods; the first gear is meshed with the second gear, the second gear is meshed with the third gear, and the second gear and the third gear The number of teeth of the wheels is the same, and the number of teeth of the second gear is greater than the number of teeth of the first gear; the two ends of the seventh rotating shaft pass through the opposite side surfaces of the connecting seat to the outside of the connecting seat, and are respectively fixedly connected to one end of the two third connecting rods; the two ends of the eighth rotating shaft pass through the opposite side surfaces of the connecting seat to the outside of the connecting seat, and are respectively fixedly connected to one end of the two fourth connecting rods; the two first connecting rods and the two third connecting rods are arranged parallel to each other, the two second connecting rods and the two fourth connecting rods are arranged parallel to each other, and on the plane where the connecting seat is located, the rotating shaft of the second rotating motor, the fifth rotating shaft and the rotating center of the seventh rotating shaft are located on the same straight line, and the rotating center of the sixth rotating shaft and the eighth rotating shaft are located on the same straight line, and the other ends of the two first connecting rods, the two second connecting rods, the two third connecting rods and the two fourth connecting rods are respectively rotatably connected to the clamping claws; When the second rotating motor is working, the rotating shaft of the second rotating motor drives the first gear to rotate, and then drives the second gear and the third gear to rotate. The two first connecting rods and the two third connecting rods are driven by the second gear, and the two second connecting rods and the two fourth connecting rods are driven by the third gear to jointly drive the clamping claws to perform a clamping action.

6. The landing mechanism for a flapping-wing flying robot according to claim 5, characterized in that: The connecting seat comprises a receiving portion and a rotating portion; The accommodating portion is a rectangular plate structure with a hollow interior, and the first gear, the second gear, the third gear, the fifth rotating shaft, the sixth rotating shaft, the seventh rotating shaft and the eighth rotating shaft are all arranged in the cavity of the accommodating portion; the rotating portion is integrally formed and arranged in the middle of an end surface of the accommodating portion, and the cross-section of the rotating portion on the plane where the connecting seat is located is an arc-shaped tip, the third rotating shaft is rotatably connected to the rotating portion, the fourth rotating shaft is fixedly connected to the rotating portion, and the line connecting the rotation centers of the third rotating shaft and the fourth rotating shaft is perpendicular to the end surface connecting the accommodating portion and the rotating portion.

7. The landing mechanism for a flapping-wing flying robot according to claim 6, characterized in that: The first plane plate and the second plane plate are both pentagonal plates with three right angles, the first folding mechanism is arranged at the right-angled ends of the first plane plate and the second plane plate opposite to the hypotenuse, the first mounting hole and the second mounting hole are arranged at the hypotenuse end of the first plane plate, and the clamping claw driving mechanism is located at a right-angled side end of the first plane plate and the second plane plate adjacent to the hypotenuse, and when the connecting seat rotates relative to the base, the right-angled side of the first plane plate and the second plane plate adjacent to the hypotenuse limits the rotating part of the connecting seat.

8. The landing mechanism for a flapping-wing flying robot according to claim 5, characterized in that: The clamping claw comprises two clamping plates which are symmetrically arranged with each other, and each of the clamping plates comprises a connecting portion and a clamping portion; the connecting portion is a long strip structure, and two ends of the connecting portion are respectively provided with a third mounting hole and a fourth mounting hole, one end of the connecting portion where the fourth mounting hole is provided is integrally connected to the clamping portion, and a thirteenth rotating shaft is rotatably arranged in the two third mounting holes, and a fourteenth rotating shaft is rotatably arranged in the two fourth mounting holes; the two ends of the thirteenth rotating shaft of one of the clamping portions are respectively fixedly connected to the other end of the two first connecting rods, and the two ends of the fourteenth rotating shaft are respectively fixedly connected to the other end of the two third connecting rods; the two ends of the thirteenth rotating shaft of the other clamping portion are respectively fixedly connected to the other end of the two second connecting rods, and the two ends of the fourteenth rotating shaft are respectively fixedly connected to the other end of the two fourth connecting rods; a clamping groove is respectively provided on the opposite end surfaces of the two clamping portions, and mutually matching cross teeth are respectively provided on the opposite end surfaces of the two clamping portions, and the cross teeth are located on both sides of the clamping groove; When the second rotating motor is working, the rotating shaft of the second rotating motor drives the first gear to rotate, and then drives the second gear and the third gear to rotate. The two first connecting rods and the two third connecting rods are driven by the second gear, and the two second connecting rods and the two fourth connecting rods are driven by the third gear to jointly drive the two clamping parts to be relatively close to or away from each other; when the two clamping parts are relatively close to each other, the clamping claws are clamped and fixed by the two clamping grooves; when the two clamping parts are relatively far away from each other, the end of the connecting seat close to the clamping part faces the two clamping parts to limit the position.

9. The landing mechanism for a flapping-wing flying robot according to claim 5, characterized in that: The first rotating motor and the second rotating motor are both micro brushless DC motors; The angle between the first direction and the horizontal ground is 60°.

10. A flapping-wing flying robot, characterized in that: include: A fuselage and at least one landing mechanism for a flapping-wing flying robot as described in any one of claims 1 to 9, wherein the landing mechanism is arranged on the fuselage through the first folding mechanism, and the servo of the first folding mechanism, the first rotating motor of the second folding mechanism and the second rotating motor of the gripper driving mechanism are electrically connected to the control system of the fuselage respectively.

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