The invention provides a six-foot four-flapping-wing miniature tail-free flying and climbing integrated robot and a working method thereof.The six-foot four-flapping-wing miniature tail-free flying and climbing integrated robot comprises flapping wing mechanisms, a posture control mechanism, a climbing mechanism and a machine body assembly, the two sides of a machine body are each provided with a group of flapping wing mechanisms, and each group of flapping wing mechanisms comprises a flapping mechanism and two symmetrical flexible wings; the attitude control mechanism comprises two control steering engines and steering engine connecting rods and is used for respectively changing the angles of the flapping wing mechanisms on the two sides relative to the fuselage; the crawling mechanism comprises six bionic legs and two motors, and each motor drives the three bionic legs on one side; the working method of the robot comprises an air flying six-degree-of-freedom motion method, a ground crawling motion method and a flying and crawling motion conversion method. The six-degree-of-freedom unmanned aerial vehicle can crawl on the ground through six feet or fly in the air through four wings, conversion of the crawling flight mode is rapid and flexible, and the six-degree-of-freedom unmanned aerial vehicle has the advantages of being small in size, light in weight, low in power consumption and long in endurance time; the maneuverability is good, the movement mode switching is flexible, and the application prospect is wide.
本发明提供了一种六足四扑翼微型无尾飞爬一体机器人及其工作方法,包括扑翼机构、姿态控制机构、爬行机构和机身组件,扑翼机构在机身两侧各有一组,每组包含扑动机构和两个对称的柔性翅膀;姿态控制机构包含两个控制舵机与舵机连杆,用于分别改变两侧扑翼机构相对于机身的角度;爬行机构包含六条仿生腿与两个电机,每个电机分别驱动一侧的三条仿生腿;该机器人的工作方法包括空中飞行六自由度运动方法、地面爬行运动方法和飞爬运动转换方法。本发明可以在地面利用六足爬行或在空中利用四翅实现六自由度飞行,并且爬行飞行模式的转换快速灵活,具备体型小、重量轻、功耗低、续航时间长的特点;机动性好,运动方式切换灵活,具有广泛的应用前景。
Six-foot four-flapping-wing miniature tailless flying and climbing integrated robot and working method thereof
六足四扑翼微型无尾飞爬一体机器人及其工作方法
2024-05-14
Patent
Electronic Resource
Chinese
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