Insect-like jumping-flying robot

Patent metadata

Field	Value
Publication number	US-12084178-B2
Application number	US-202117487055-A
Country	US
Kind code	B2
Filing date	Sep 28, 2021
Priority date	Jul 19, 2021
Publication date	Sep 10, 2024
Grant date	Sep 10, 2024

Abstract

An insect-like jumping-flying robot is provided, which includes a flying module, a driving module and biomimetic bouncing legs. The flying module provides flying power via a propeller and a miniature model airplane motor, and front wings and rear wings provide lift, and moment required for attitude change. The driving module provides power with high power density via a brushless motor and is provided with two stages of deceleration to amplify the torque provided by the brushless motor. The first stage of deceleration is performed by a synchronous wheel set, and the second stage of deceleration is performed by a gear set. A driving push rod is used to transmit the power provided by the brushless motor to the biomimetic bouncing legs.

First claim

What is claimed is:

1. A jumping and flying robot having a shape of an insect, wherein the robot comprises
a flying module comprising
a propeller,
a miniature model airplane motor,
front wings,
rear wings, and
a supporting frame;
wherein the propeller is mounted on the miniature model airplane motor; the miniature model airplane motor is mounted on a front end of the supporting frame; the front wings and the rear wings are mounted on the supporting frame through a first shafting and are configured to rotate around their respective mounting shafts of the first shafting;

a driving module comprising
a brushless motor,
a gear fixed plate,
a motor fixed plate,
a synchronous wheel fixed plate,
a synchronous wheel set,
a gear set,
a driving push rod, and
a body connecting plate;
wherein the brushless motor is fixed on the motor fixed plate via first screws, the synchronous wheel set comprises a first synchronous wheel, a second synchronous wheel and a synchronous belt, the first synchronous wheel is mounted on an output shaft of the brushless motor, the second synchronous wheel is mounted on the synchronous wheel fixed plate via a first bearing, the first synchronous wheel is in transmission connection with the second synchronous wheel by the synchronous belt; the gear set comprises a first gear and a second gear, the first gear is fixedly connected with an extension shaft of the second synchronous wheel; the second gear is fixed to the gear fixed plate via a second bearing, and the first gear is meshed with the second gear; the gear fixed plate, the motor fixed plate, and the synchronous wheel fixed plate are connected to the body connecting plate via second screws; a front end of the body connecting plate is connected to the supporting frame, and another two ends of the body connecting plate are symmetrically installed with biomimetic bouncing legs; the driving push rod is fixedly connected with the second gear to act on the biomimetic bouncing legs; and

biomimetic bouncing legs, each comprising
a femur driving rod,
a first connecting rod of a femur upper X-shaped rod group,
a second connecting rod of the femur upper X-shaped rod group,
a femur lower connecting rod,
a knee joint,
a tibia connecting rod,
a leg fixed bracket,
a tarsus, and
a force accumulating spring;
wherein the femur driving rod is connected to a shaft hole on an upper side of the leg fixed bracket via a second shafting and is fixed via a first circlip; the first connecting rod of the femur upper X-shaped rod group is connected with a first end of the femur driving rod via a third shafting and is fixed via a second circlip; the second connecting rod of the femur upper X-shaped rod group is connected with a second end of the femur driving rod via a third screw; a first end of the femur lower connecting rod is connected with a shaft hole on a lower side of the leg fixed bracket, and a second end of the femur lower connecting rod is provided with two shaft holes respectively connected to the first connecting rod of the femur upper X-shaped rod group and the knee joint; the knee joint is provided with mounting holes, a first end of the force accumulating spring, the second connecting rod, the femur lower connecting rod, and the tibia connecting rod are separately connected with the mounting holes from up to down; a tip end of the tibia connecting rod and the tarsus are connected via a fourth shafting and fixed via a third circlip; the first end of the force accumulating spring is connected to the knee joint, and a second end of the force accumulating spring is connected to a mounting hole on the first connecting rod.

Assignees

• Beijing Institute Tech

Inventors

• Shi Qing
• Xu Yi
• Wang Ruochao
• Jia Guanglu
• Sun Tao

Classifications

• B64C39/003 Primary

  with wings, paddle wheels, bladed wheels, moving or rotating in relation to the fuselage (rotorcraft B64C27/00; ornithopters B64C33/00) · CPC title

• B62D57/04 Primary

  having other than ground-engaging propulsion means, e.g. having propellers (arrangement of jet-propulsion units B60K) · CPC title

• B64U10/20

  Vertical take-off and landing [VTOL] aircraft (flying platforms B64U10/13; helicopters B64U10/17) · CPC title

• B64U60/55

  the legs being also used as ground propulsion · CPC title

• B64C3/38

  Adjustment of complete wings or parts thereof · CPC title