The invention provides a trigger bouncing device and method for a flapping-wing flying robot, and relates to the technical field of bionic robots. The device comprises a bouncing execution mechanism, the bouncing execution mechanism comprises a paw, a tibia and a femur which are connected in sequence, and the tibia and the femur are rotatably connected through a knee joint shaft; the energy storage mechanism comprises an energy storage motor, a lower limiting rod, a fixed pulley, an upper limiting rod, a pulley rope, an energy storage torsion spring and a trigger buckle; wherein the energy storage motor and the lower limiting rod are arranged on the tibia, the knee joint shaft is sleeved with the fixed pulley, the upper limiting rod is arranged on the femur, and the pulley rope sequentially winds the output end of the energy storage motor, the lower limiting rod, the fixed pulley and the upper limiting rod; the two ends of the energy storage torsion spring abut against the tibia and the femur correspondingly, and the trigger buckle can clamp the upper limiting rod at the preset position. Energy is stored through the energy storage torsion spring, the tibia and the femur are pushed to rotate, and bouncing action is conducted. The device achieves a highly bionic effect in appearance, and is more in line with actual leg structures of birds.

    本发明提供一种面向扑翼飞行机器人的扳机弹跳装置及方法,涉及仿生机器人技术领域。装置包括:弹跳执行机构,弹跳执行机构包括依次连接的脚爪、胫骨和股骨,胫骨和股骨通过膝关节轴可转动的连接;储能机构,储能机构包括:储能电机、下限位杆、定滑轮、上限位杆、滑轮绳、储能扭簧和扳机扣;其中,储能电机和下限位杆设置在胫骨上,定滑轮套装在膝关节轴上,上限位杆设置在股骨上,滑轮绳依次绕住储能电机的输出端、下限位杆、定滑轮、上限位杆;储能扭簧的两端分别与胫骨、股骨相抵,扳机扣能够在预设位置卡止上限位杆。通过储能扭簧储存能量,推动胫骨和股骨转动,进行弹跳动作。装置在外观上达到了高度仿生的效果,更符合实际鸟类腿部结构。


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    Title :

    Trigger bouncing device and method for flapping-wing flying robot


    Additional title:

    一种面向扑翼飞行机器人的扳机弹跳装置及方法


    Contributors:
    WU XIAOYANG (author) / LIAO JISHUI (author) / ZHANG XULONG (author) / FU QIANG (author) / HE XIUYU (author) / ZHANG SHUANG (author) / HUANG HAIFENG (author) / QIN JINGYAN (author) / LI QING (author) / HE WEI (author)

    Publication date :

    2025-04-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64U



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