CN114771859A - Rough/smooth negative surface unmanned aerial vehicle landing mechanism based on micro-thorn array and bionic dry adhesion material - Google Patents
Rough/smooth negative surface unmanned aerial vehicle landing mechanism based on micro-thorn array and bionic dry adhesion material Download PDFInfo
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Abstract
The invention discloses a rough/smooth negative surface unmanned aerial vehicle landing mechanism based on a micro-thorn array and a bionic dry adhesion material, which comprises a landing bracket, a steering engine arm, a lifting mechanism, a rough landing mechanism and four smooth adhesion and desorption mechanisms, wherein the landing bracket is arranged on the upper surface of the landing bracket; the landing mechanism enables the rotor unmanned aerial vehicle to land on the smooth negative surface through the adhesion force generated by the action of the bionic dry adhesion material and the smooth negative surface; pierce the grabbing power that the coarse negative surface produced through the stinging array, make rotor unmanned aerial vehicle can land in coarse negative surface, and can make the elevating system that the stinging array reciprocated, make rotor unmanned aerial vehicle can be switched to coarse negative surface landing state by smooth negative surface landing state, make unmanned aerial vehicle can land in coarse and smooth negative surface from this, consume too much energy when avoiding hovering, reduce the energy consumption when unmanned aerial vehicle carries out the task, make unmanned aerial vehicle have bigger activity space and the stronger landing ability of adaptability, noise abatement simultaneously, improve the disguise.
Description
Technical Field
The invention provides a negative surface unmanned aerial vehicle landing mechanism based on a micro-thorn array and a bionic dry adhesion material and a landing method thereof, and belongs to the technical field of unmanned aerial vehicles.
Background
At present, unmanned aerial vehicle wide application in fields such as investigation, patrol and examine, control, shoot, many rotor unmanned aerial vehicle often need carry equipment when carrying out the task and hover in a place, need keep higher energy consumption when hovering, receive portable power source's restriction, unmanned aerial vehicle's activity space is sold in the existing market is restricted at less within range, and the time of endurance is also restricted about 20 minutes. Meanwhile, when the unmanned aerial vehicle lands, a relatively flat and spacious horizontal plane is needed, but when the unmanned aerial vehicle performs a task in a city, due to limited space, a suitable landing place is difficult to find in a short time.
The existing unmanned aerial vehicle negative surface landing modes can be divided into three types: bionic foot adhesion type, electrostatic adsorption type and micro-puncture grasping type. The bionic foot adhesion type landing is realized by assembling a bionic adhesion material on the top of the unmanned aerial vehicle, providing pre-pressure by the inertia and power of the unmanned aerial vehicle flying upwards when the unmanned aerial vehicle lands, enabling the adhesion material to be tightly pressed to be in close contact with a negative surface, generating tangential and normal adhesion acting forces to realize landing, and only being suitable for smooth surfaces (as disclosed in the earlier patent ZL201910627348.6 of the applicant); the micro-thorn grabbing type landing mode realizes landing by penetrating an inclined micro-thorn array into a rough negative surface, and is only suitable for the rough negative surface (as disclosed in the previous patent ZL202011488071.2 of the applicant); while electrostatic adsorption landing requires extra power supply for providing electrostatic force, unmanned aerial vehicles carry large mass power supply, consume more energy, and have more limited application (references "Graule MA, chiraltantanon P, Fuller SB, et al.
The bionic dry adhesion material is derived from the inspiration of the sole of the gecko, and the gecko can crawl on a negative surface and a vertical surface because of van der Waals force generated by the close contact of the micro-nano bristle array on the sole surface and a contact surface. Through research on the micro-nano bristle array of the gecko sole, a bionic dry adhesion material with the same structure and function as the gecko sole is developed (such as previous patents of the applicant: ZL201310284325.2 and ZL 201711187845.6).
There are also many animals in nature that are able to crawl on rough vertical surfaces and even negative surfaces, using foot-end hooks to attach to rough surfaces. Chinese patent ZL201810207532.0 discloses a claw type wall-climbing robot that can climb on vertical walls and on negative surfaces; chinese patent ZL202011488071.2 discloses an aircraft based on a micro-thorn structure that can land on a rough negative surface, but these two mechanisms can only land on a rough negative surface, are not suitable for a smooth negative surface, and have a great limitation.
In general, the surface of a material can be divided by the sense of touch into a rough surface and a smooth surface; the surface of the material with small roughness, which can not be seen obviously protruding by naked eyes, is considered to be smooth, and conversely, the surface of the material is rough, and the materials such as ceramic tiles, glass, acrylic boards and the like are generally considered to be smooth, and the materials such as trees, paper boards, frosted marble surfaces and the like are considered to be rough. When the unmanned aerial vehicle realizes the landing of the smooth negative surface, the adhesion material needs to be in surface contact with the negative surface, and the contact area is large, so that the adhesion material can reach the action range of the adhesion force and generate enough adhesion force; when the rough negative surface lands, the micro-thorn arrays only contact with the negative surface in a point mode, the lift force of the unmanned aerial vehicle is kept larger than the gravity, and the micro-thorn arrays are folded towards the center along with the micro-thorn arrays, so that the micro-thorn arrays penetrate into the rough negative surface to land.
However, the two landing modes are switched and do not interfere with each other, and due to the difference of the landing modes of the micro-thorn array and the adhesion material, the micro-thorn array and the adhesion material can only be suitable for landing on a rough negative surface and a smooth negative surface respectively, so that the application environment of the unmanned aerial vehicle is seriously influenced by the current situation. Therefore, how to combine two landing manners on one mechanism to enable the mechanism to have the capability of landing on smooth and rough negative surfaces, and to switch flexibly according to different landing conditions without interference has become a technical problem to be solved urgently in the field.
Disclosure of Invention
The invention aims to provide a rough/smooth negative surface unmanned aerial vehicle landing mechanism based on a micro-thorn array and a bionic adhesion material, wherein the rough/smooth negative surface unmanned aerial vehicle landing mechanism lands on a rough negative surface through the grabbing force of the micro-thorn array, lands on a smooth negative surface through the adhesion force of the adhesion material, can avoid the limitation caused by a single landing mode, can land on the rough negative surface and the smooth negative surface, can adapt to more complex landing environments, expands the flight space of the unmanned aerial vehicle, prolongs the endurance time, avoids the noise generated by a hovering execution task, improves the concealment and reduces the energy consumption.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a rough/smooth negative surface unmanned aerial vehicle landing mechanism based on a micro-thorn array and a bionic dry adhesion material comprises a landing support, a steering engine arm, a lifting mechanism, a rough landing mechanism and four smooth adhesion desorption mechanisms; the landing support comprises a cross-shaped base, a rudder cabin matched with the steering engine in shape is arranged in the center of the base, four supporting rods are arranged at four ends of the cross-shaped base, and a rectangular frame is arranged at the top ends of the four supporting rods; the inner sides of the four support rods are provided with matching holes;
the steering engine is arranged in the steering engine cabin and is jointed with the steering engine arm prism positioned at the top of the steering engine cabin; the rudder horn is in a cross-shaped structure, and the tops of four edges of the rudder horn are respectively connected with four smooth sticky desorption mechanisms; the top of the steering engine arm is sequentially provided with a lifting mechanism and a rough landing mechanism from bottom to top;
the lifting structure comprises a coupler, a roller connecting rod and a rotating shaft; the coupler is connected with the steering engine arm prism; the coupler is provided with an annular cylindrical cam; a coupler sliding groove is formed in one side, corresponding to the highest point of the cylindrical cam, of the coupler; the bottom of the rotating shaft is provided with a triangular rotating shaft sliding block, and the rotating shaft sliding block is inserted into the coupler sliding groove; the top of the rotating shaft is connected with the bottom prism of the bobbin; the bottom of the spool is also rotatably engaged with a positioning cylinder at the top of the roller connecting rod, and the central lines of the roller connecting rod and the spool are superposed; the roller is sleeved on the roller connecting rod and rolls along the top of the cylindrical cam; the side surface of the roller connecting rod is provided with a roller connecting rod chute.
The rough landing mechanism comprises a spool, a rough lifting support and four rough bottom plates; the surface of each rough bottom plate is provided with a blind hole, and the blind hole is internally provided with a micro-thorn; the top of the bobbin is provided with a cylindrical blind hole, and the side wall of the bobbin is uniformly provided with 4 bobbin pull rings; the rough lifting support is a support obtained by connecting the centers of two inverted U-shaped supports, and the top plane of the rough lifting support is in a cross shape; the center of the top of the rough lifting support is provided with a central cylinder, and the central cylinder is inserted into the cylindrical blind hole; four horizontal sliding grooves are arranged along the top directions of the two inverted U-shaped supports of the rough lifting support, and a long sliding block is arranged at the bottom of one horizontal sliding groove; the long edges of the two inverted U-shaped supports of the rough lifting support are provided with cylindrical plugs matched with the matching holes; the long slide block is inserted into the slide groove of the roller connecting rod; each horizontal sliding chute is in sliding connection with a rough bottom plate provided with a bottom plate pull ring through a spring; the cylindrical plug is inserted into a matching hole on the landing support; the four bobbin pull rings on the side wall of the bobbin are respectively connected with the bottom plate pull rings on the four rough bottom plates through pull wires;
the smooth sticky desorption mechanism comprises a pull rod, a connecting sheet and an adhesive substrate; adhering a bionic dry adhesion material on the surface of the adhesion substrate; the connecting sheet is hinged with one end of the adhesion substrate through a rotating pair, and the surface of the connecting sheet is provided with a through hole and is connected with the rectangular frame through a screw; one end of the pull rod is jointed with the spherical surface of the steering engine arm, and the other end of the pull rod is jointed with the spherical surface at the bottom of the adhesion substrate, so that the adhesion substrate is pulled to turn up and down around the connecting sheet.
Preferably, the end part of the horizontal sliding chute is also provided with a loading and unloading groove, the width of the loading and unloading groove is larger than that of the horizontal sliding chute, and the rough bottom plate can be loaded into the horizontal sliding chute through the loading and unloading groove and then moves along the radial direction under the action of the pulling force and the spring force of the pull wire after entering the horizontal sliding chute.
Preferably, the blind holes on the surface of the rough bottom plate are distributed at equal intervals, and the inclination angle of the blind holes and the surface of the rough bottom plate is 30 degrees.
In the specific implementation, the bionic dry adhesion material adhered to the surface of the adhesion substrate can adopt the adhesion material disclosed in the patent publication (the adhesion material for imitating gecko sole adhesion arrays and the preparation method thereof, ZL 201310284325.2; the bionic fiber dry adhesion material for extreme environments and the preparation method and the application thereof, ZL201711187845.6), and the high molecular polymer prepared by the template method by taking polydimethylsiloxane PDMS and shape memory polymer SMP as raw materials is adopted as the adhesion material, and the adhesion material is coated on the surface of the adhesion substrate at the concentration of 2N/cm2The normal adhesion force between the glass interface and the glass under the pre-pressure can reach 6-7N/cm2Has stable and repeatable adhesion characteristics, and is related to the mushroom-shaped tip playing a main role in adhesion. The tangential adhesion performance of the adhesive is superior to the normal adhesion performance, the adhesive can be desorbed from a contact surface in a curling mode, and the repeatability is better.
The normal force provided by the bionic dry adhesion material and the micro-thorn array is larger than the sum of the dead weight of the unmanned aerial vehicle and the weight of the mechanism, and a certain load margin is provided. When the unmanned aerial vehicle lands on a smooth or rough negative surface, the bionic dry adhesion material and the micro-thorn array can provide a certain tangential force, resist tangential airflow interference of the negative surface and keep a determined landing position.
In specific implementation, the unmanned aerial vehicle remote control module can adopt an STM32F407 processor, an interface and a program for controlling a sticky desorption mechanism, a rough landing mechanism and a lifting mechanism are added, and other functional units required by flight control, such as a three-axis accelerometer/gyroscope and a three-axis angular velocity meter, are integrated, so that the peripheral equipment and the circuit of the remote control module are simplified to the maximum extent, and the weight and the volume are reduced to the maximum extent.
Before the mechanism lands, the unmanned aerial vehicle adjusts the attitude, so that the aircraft body flies horizontally and the flying speed is reduced. When the unmanned aerial vehicle faces the smooth negative surface, the unmanned aerial vehicle is in contact with the smooth negative surface by virtue of inertia or power of flight, the adhesion material is in full contact with the negative surface and tightly presses the negative surface to generate pre-pressure, so that sufficient adhesion acting force is generated, and landing on the smooth negative surface is realized; when facing to the rough negative surface, the unmanned aerial vehicle keeps horizontal posture and negative surface contact, and the steering wheel drives elevating system motion, and elevating system promotes the ascending of rough landing mechanism, and after the thorn array on the rough landing mechanism surpassed the material that adheres, the thorn array draws in to the center, pierces the rough negative surface gradually, realizes the landing of rough negative surface.
The application provides the unmanned aerial vehicle landing mechanism who is applicable to rough negative surface and smooth negative surface simultaneously for the first time, realizes respectively landing at rough negative surface and smooth negative surface through stinging array and bionical dry adhesion material. The lifting mechanism is used for controlling the micro-thorn array to move up and down, so that the bionic dry adhesion material and the micro-thorn array are prevented from interfering with each other when landing. The negative surface landing mode enhances the landing capability of the unmanned aerial vehicle on different surfaces, when the unmanned aerial vehicle has a smooth or rough negative surface landing condition, the unmanned aerial vehicle can be changed from a hovering state to a negative surface landing state, then the power equipment is closed to execute tasks such as shooting and monitoring, the energy consumption can be reduced, the noise can be reduced, the unmanned aerial vehicle has a larger moving range and longer endurance time, and the unmanned aerial vehicle has a wide application prospect.
Drawings
Fig. 1 is an overall schematic view of the negative surface landing mechanism (smooth negative surface landing state).
FIG. 2 is a schematic view of a landing support structure.
Figure 3 is a partial schematic view of a negative surface landing mechanism (excluding the landing gear).
Fig. 4 is a schematic structural view of the lifting mechanism.
FIG. 5 is a schematic diagram of a coarse landing mechanism.
Fig. 6 is a schematic structural view of the adhesion and desorption mechanism.
FIG. 7 is a schematic view of the rough negative surface landing state.
Fig. 8 is an overall schematic view of the negative surface landing mechanism and the drone.
The numbers in the figures are as follows: 0: a landing support, 0-1: a rudder cabin, 0-2: a matching hole, 0-3: a base, 0-4: a support rod, 0-5: a rectangular frame, 1: a steering engine, 2: a rudder horn, 3: a coupler, 3-1: a coupler chute, 3-2: a cylindrical cam, 4: a roller, 5: a roller connecting rod, 5-1: a roller connecting rod chute, 5-2: positioning cylinder, 6: rotation axis, 6-1: a rotating shaft sliding block, 7: a bobbin, 7-1: an upper cylindrical blind hole, 7-2: a bobbin pull ring, 7-3: a lower cylindrical blind hole, 8 parts of a rough lifting support, 8-1 parts of a horizontal sliding chute, 8-2 parts of a cylindrical plug, 8-3 parts of a loading and unloading groove, 8-4 parts of a long sliding block, 8-5 parts of a central cylinder, 9 parts of a rough bottom plate, 9-1 parts of a bottom plate pull ring, 9-2 blind holes, and 9-3 parts of: circular slider, 10: pull rod, 11: connecting piece, 11-1: revolute pair, 11-2: a through hole; 12: adhesion substrate, 13: spring, 14: unmanned aerial vehicle.
Detailed Description
The technical solution of the present invention is explained in detail by the following embodiments.
Example 1 Rough/smooth negative surface unmanned aerial vehicle landing mechanism based on micro-thorn array and bionic dry adhesion material
As shown in fig. 1, the present embodiment provides a rough/smooth negative surface unmanned aerial vehicle landing mechanism based on a micro-thorn array and a bionic dry adhesion material, which includes a landing support 0, a steering engine 1, a rudder arm 2, a lifting mechanism, a rough landing mechanism and four smooth adhesion and desorption mechanisms.
FIG. 2 is a schematic structural diagram of a landing support 0, wherein the landing support 0 comprises a cross-shaped base 0-3, the center of the base 0-3 is provided with a rudder cabin 0-1 matched with the steering engine 1 in shape, four cross-shaped ends of the base 0-3 are provided with four support rods 0-4, a rectangular frame 0-5 is arranged at the top ends of the four support rods 0-4, and four corners of the rectangular frame 0-5 are respectively connected with the four support rods 0-4; the inner sides of the four support rods 0-4 are provided with matching holes 0-2. In the embodiment, the type of the steering engine is JX Servo PS-1109HB, the size is 22.7 × 12.2 × 29.2mm, and in specific implementation, other conventional commercially available steering engines can be used. In the embodiment, the surface of the rectangular frame is provided with a frame through hole;
FIG. 3 is a schematic structural view of a negative surface landing mechanism (without a landing support), wherein a steering engine 1 is connected with a steering engine arm 2 prism positioned at the top of the steering engine; the rudder horn 2 is in a cross-shaped structure, and the tops of four edges of the rudder horn are respectively connected with four smooth sticky desorption mechanisms; the top of the rudder arm 2 is sequentially provided with a lifting mechanism and a rough landing mechanism from bottom to top; as shown in figure 1, a steering engine 1 is arranged in a rudder cabin 0-1, and a rough landing mechanism and four smooth sticky desorption mechanisms are controlled by the same steering engine 1. When the steering engine is used, the steering engine 1 is connected with a conventional remote control module (such as an STM32F407 processor) in the unmanned aerial vehicle through a lead to acquire a control signal of the remote control module.
Fig. 4 is a schematic view of a lifting structure, wherein the lifting structure comprises a coupler 3, a roller 4, a roller connecting rod 5 and a rotating shaft 6; the coupler 3 is arranged at the center of the steering engine arm 2 and is connected with the prism of the steering engine arm 2, and the coupler and the steering engine arm can rotate together (figure 1); an annular cylindrical cam 3-2 is arranged on the coupler 3, and the cylindrical cam 3-2 is in contact with the roller 4; a coupler chute 3-1 is arranged on one side of the coupler 3 corresponding to the highest point of the cylindrical cam 3-2; the bottom of the rotating shaft 6 is provided with a triangular rotating shaft sliding block 6-1, the rotating shaft sliding block is matched with the coupler sliding groove 3-1, and the rotating shaft sliding block 6-1 is inserted into the coupler sliding groove 3-1 on the side face to realize vertical sliding; the top of the rotating shaft 6 is connected with the bottom prism of the bobbin 7; the lower cylindrical blind hole 7-3 at the bottom of the bobbin 7 is also rotatably connected with the positioning cylinder 5-2 at the top of the roller connecting rod 5; the positioning cylinder 5-2 is used for fixing the position of the spool 7, so that the central lines of the roller connecting rod 5 and the spool 7 are superposed; the roller 4 is sleeved on the roller connecting rod 5 and can roll along the top of the cylindrical cam 3-2; the side surface of the roller connecting rod 5 is provided with a roller connecting rod sliding groove 5-1.
When the device works, the spool 7 rotates relative to the roller connecting rod 5; a cylindrical cam structure 3-2 on the coupler 3 is matched with a roller 4 to transmit lifting motion, a coupler sliding groove 3-1 is matched with a rotating shaft 6 to transmit rotating motion, and a spool 7 can transmit motion with two degrees of freedom of lifting and rotating.
FIG. 5 is a schematic diagram of a coarse landing mechanism. In fig. 5, a is a schematic structural diagram of the rough landing mechanism, b is an overall front view of the rough landing mechanism, and c is a sectional view taken along a-a in b. As shown in fig. 5, the rough landing mechanism includes a bobbin 7, a rough lifting bracket 8, and four rough bottom plates 9; the surface of the rough bottom plate 9 is provided with an inclined blind hole 9-2; the top of the bobbin 7 is provided with an upper cylindrical blind hole 7-1, and the side wall is uniformly provided with 4 bobbin pull rings 7-2; the rough lifting support 8 is a support obtained by connecting the centers of two inverted U-shaped supports, and the top plane of the rough lifting support is in a cross shape; the center of the top of the rough lifting support 8 is provided with a central cylinder 8-5, and the central cylinder 8-5 is matched with the upper cylinder blind hole 7-1 and inserted into the upper cylinder blind hole 7-1; four horizontal sliding grooves 8-2 are arranged along the top directions of the two inverted U-shaped supports of the rough lifting support 8, and a long sliding block 8-4 is arranged at the bottom of one horizontal sliding groove 8-2; the long edges of the two inverted U-shaped supports of the rough lifting support 8 are provided with cylindrical plugs 8-1 matched with the matching holes 0-2; the shape of the long slide block 8-4 is matched with that of the roller connecting rod chute 5-1; the long slide block 8-4 is inserted into the roller connecting rod sliding groove 5-1, so that the roller connecting rod 5 does not rotate relative to the rough lifting support 8 and only lifts.
Each horizontal sliding groove 8-2 is connected with a rough bottom plate 9 provided with a circular sliding block 9-3 in a sliding mode through a spring 13, the rough bottom plate 9 can slide in the horizontal sliding groove 8-2 of the rough lifting support 8 through the circular sliding block 9-3 of the rough bottom plate 9, and the spring 13 acts on the circular sliding block 9-3 on the rough bottom plate 9 to provide restoring force during desorption of the rough negative surface. The cylindrical plug 8-1 at the edge of the rough lifting support is inserted into the matching hole 0-2 on the landing support 0, so that the rough lifting support 8 can slide up and down to match the lifting process. Four bobbin pull rings 7-2 on the side wall of the bobbin 7 are respectively connected with bottom plate pull rings 9-1 on four rough bottom plates 9 through pull wires; the rough bottom plate 9 is subjected to the pulling force of the pull wire and the restoring force of the spring 13 to horizontally move in the horizontal chute 8-2, and simultaneously drives the micro-thorn array to penetrate into the rough negative surface to realize landing and withdraw from the rough negative surface to realize desorption.
In the embodiment, one end of each horizontal sliding chute 8-2 is also provided with a loading and unloading groove 8-3, the width of the loading and unloading groove 8-3 is larger than that of the horizontal sliding chute 8-2, the rough bottom plate 9 can be loaded into the horizontal sliding chute 8-2 through the loading and unloading groove 8-3, and can move along the radial direction under the action of the pulling force and the spring force of the pull wire after entering the horizontal sliding chute 8-2.
In the embodiment, the blind holes 9-2 on the rough bottom plate 9 are distributed at equal intervals, and the inclination angle of the blind holes and the surface of the rough bottom plate 9 is 30 degrees; the blind hole 9-2 is internally provided with micro-thorns, the diameter of the blind hole 9-2 is larger than that of the micro-thorns, and the micro-thorns are fixed in the blind hole 9-2 in a conventional manner (the blind hole is filled with 502 glue for fixation in the embodiment, and other manners for fixation can be used in the specific implementation). The micro-thorn array is made of rigid metal materials, bears the gravity of the unmanned aerial vehicle and the negative surface landing mechanism after penetrating into the rough negative surface, does not generate plastic deformation, and the rough bottom plate 9 drives the micro-thorn array to penetrate into the rough negative surface to realize landing.
In operation, the rotating shaft 6 rotates together with the coupler 3 and transmits the rotating motion to the bobbin 7, and the coupler 3 pushes the roller connecting rod 5 through the roller 4 to transmit the lifting motion to the bobbin 7. When the rotation angle of the coupler 3 is increased, the coupler 3 pushes the roller 4 and the roller connecting rod 5 to ascend, and the roller connecting rod 5 pushes the rotating shaft 6 and the spool 7 to ascend (a rotating shaft sliding block of the rotating shaft 6 ascends in a coupler sliding groove 3-1 of the coupler 3); the central cylinder 8-5 of the rough lifting bracket 8 is inserted into the upper cylinder blind hole 7-1 at the center of the bobbin 7, and the bobbin 7 can lift the rough lifting bracket 8. When the shaft coupling 3 rotates, the rotating shaft 6 is driven to rotate together, the rotating shaft 6 drives the bobbin 7 to rotate, the pull wire connected with the bobbin pull ring 7 on the side surface of the bobbin 7 is tightened, the other end of the pull wire is connected with the pull ring 9-1 on the rough bottom plate 9, the rough bottom plate 9 moves towards the center, and the micro-thorn array penetrates into the rough negative surface to realize rough landing.
Fig. 6 is a schematic structural view of a smooth-adhesion desorption mechanism, in fig. 6, a is a schematic structural view of the smooth-adhesion desorption mechanism, and B is a cross-sectional view of the smooth-adhesion desorption mechanism. Each smooth sticky and desorption mechanism comprises a pull rod 10, a connecting sheet 11 and an adhesion substrate 12; the surface of the adhesion substrate 12 is adhered with a bionic dry adhesion material; the connecting piece 11 is hinged with one end of the adhesion substrate 12 through a rotating pair 11-1, the connecting piece 11 is provided with a through hole 11-2, and a screw penetrates through the through hole 11-2 to be fixedly connected with a frame through hole on the surface of the rectangular frame 0-5; one end of the pull rod 10 is jointed with the spherical surface of the steering engine arm 2, and the other end is jointed with the spherical surface of the bottom of the adhesion substrate 12, so that the adhesion substrate 12 is pulled to turn up and down around the connecting sheet 11, the motion of the smooth adhesion and desorption mechanism is controlled, and the bionic dry adhesion material is further driven to realize adhesion and desorption.
In specific implementation, the bionic dry adhesion material can be an existing material, such as the adhesion material disclosed in ZL201310284325.2 for imitating gecko sole adhesion arrays or the bionic fiber dry adhesion material disclosed in ZL201711187845.6 for extreme environments.
The movement of the lifting mechanism and the landing and desorption processes of the rough landing mechanism are controlled by the coupler 3 as follows: when the rotation angle of the steering engine 1 is increased from small to small, the lifting mechanism pushes the rough bottom plate 9 and the micro thorn arrays on the rough bottom plate to rise, the landing state of the smooth negative surface (bionic dry adhesion material contact) is switched to the landing state of the rough negative surface (micro thorn array contact), and meanwhile, the steering engine arm 2 pulls the adhesion substrate 12 to turn downwards through the pull rod 10, so that the adhesion material cannot contact with the smooth negative surface, and the mutual interference of the smooth adhesion desorption mechanism and the rough landing mechanism is avoided.
In use, the negative surface landing gear is fixedly connected to the conventional drone body via the landing support 0 (e.g. by being tied to the drone via a thin wire, other conventional fixing means may be used), as shown in fig. 8. The four rough bottom plates 9 are always parallel to the plane of the top of the unmanned aerial vehicle, the adhesion base 12 keeps a horizontal position when not pulled by the pull rod 10, the pull rod 10 drives the adhesion base 12 to turn downwards after the steering engine 1 starts to rotate, and the negative surface landing mechanism is switched from a smooth negative surface landing state to a rough negative surface landing state.
The normal force provided by the bionic adhesion material and the micro-thorn array is larger than the sum of the self weight of the unmanned aerial vehicle and the weight of the negative surface landing mechanism, and a certain load margin is provided. When the unmanned aerial vehicle lands on a smooth or rough negative surface, the bionic dry adhesion material and the micro-thorn array can provide a certain tangential force, resist the tangential airflow and wind interference of the negative surface, and keep a determined landing position. When the smooth negative surface is used as a landing surface, the distance between the bionic dry adhesion material and the negative surface can reach the action range of van der waals force, and the macroscopic adhesion force formed by the aggregation of the van der waals force enables the unmanned aerial vehicle to land on the negative surface; when the rough negative surface is used as the landing surface, the bionic dry adhesion material cannot be tightly contacted with the landing surface, cannot achieve enough adhesion force, and cannot land on the rough negative surface, so that a rough landing mechanism with an inclined micro-thorn array is selected to land.
As shown in fig. 7, the rough negative surface landing process is that when the rudder arm 2 is not rotated, the rough landing mechanism does not rise, the adhesion substrate 12 keeps horizontal, and the adhesion material is higher than the micro-thorn array, and is suitable for smooth negative surface landing; when the rudder arm 2 starts to rotate, the adhesion substrate 12 is turned downwards under the action of the pull rod 10 to drive the adhesion material to desorb, meanwhile, the coupler 3 rotates to push the roller 4 to rise, so that the rough landing mechanism rises, and the micro-thorn array is higher than the adhesion substrate 12 when the rough landing mechanism rises to the highest point, so that the rough landing mechanism is suitable for landing on a rough negative surface; after the micro-thorn array rises to the highest point, the rotation angle is continuously increased, the adhesion substrate 12 is continuously pulled to deflect downwards, the height of the micro-thorn array is kept unchanged, the rough bottom plate 9 is folded towards the center under the action of a pull wire, and the micro-thorn array penetrates into the rough negative surface to realize the rough landing process; the rotation angle is reduced, the stay wire becomes loose, the rough bottom plate 9 is far away from the center under the action of the spring restoring force in the horizontal chute 8-1 in the rough lifting support 8, and the desorption is realized.
In operation, the sequence of the transmission of the rotary motion is: steering wheel 1, steering wheel arm 2, shaft coupling 3, rotation axis 6, spool 7. The transmission sequence of the ascending movement is: steering wheel 1, steering wheel arm 2, shaft coupling 3, gyro wheel 4, gyro wheel connecting rod 5, rotation axis 6, spool 7, coarse lifting support 8, rise and rotary motion and go on simultaneously.
Fig. 8 presents a schematic view of a drone equipped with a landing mechanism of the above embodiment, including a quad-rotor drone 14 fuselage and a negative surface landing mechanism.
The method for landing the unmanned aerial vehicle equipped with the landing mechanism of the embodiment on a smooth negative surface (such as a glass ceiling) comprises the following steps: when the unmanned aerial vehicle approaches to the negative surface, the flying attitude is adjusted through the remote control module, the flying speed is reduced, the attitude of the unmanned aerial vehicle is kept horizontal, the adhering substrate 12 attached with the adhering material is kept horizontal under the support of the pull rod 10, the rough bottom plate 9 with the micro-thorn arrays is located at the lowest point, and the micro-thorn arrays are lower than the adhering substrate 12. Before landing, the unmanned aerial vehicle keeps in a horizontal flying state and approaches to the negative surface at a lower speed, certain pre-pressure is applied to the smooth negative surface by the adhesion material through the inertia and the lift force of the unmanned aerial vehicle, the adhesion material is in close contact with the smooth negative surface, sufficient normal adhesion force is generated after the action range of the van der Waals force is reached, meanwhile, the adhesion material can provide tangential adhesion force larger than the normal adhesion force, and the unmanned aerial vehicle can resist airflow disturbance in the horizontal direction. During taking off, the remote control module transmits a desorption signal to the steering engine, the steering engine 1 drives the steering engine arm 2 to rotate, the pull rod 10 is pulled, the pull rod 10 pulls the adhesion substrate 12 to turn downwards, the adhesion material gradually generates local curling deformation, the adhesion force is gradually reduced, and desorption is realized.
The method for landing the unmanned aerial vehicle equipped with the landing mechanism of the embodiment on the rough negative surface (such as the surface of a lime wall) is as follows: when the unmanned aerial vehicle is close to the negative surface, the flying speed is reduced, the flying attitude is adjusted, the attitude of the unmanned aerial vehicle is kept horizontal, the remote control module transmits a rough negative surface landing instruction to the steering engine 1, the steering engine 1 starts to rotate, the steering engine 1 drives the steering engine arm 2 to rotate, the steering engine arm 2 pulls the pull rod 10, the pull rod 10 pulls the adhesion substrate 12 to turn downwards, and the unmanned aerial vehicle is separated from the smooth negative surface landing state.
When the adhered substrate 12 is turned downwards, the steering engine arm 2 drives the coupler 3 to rotate, the cylindrical cams 3-2 on the coupler 3 are in contact with the rollers 4, the rollers 4 are sleeved on the roller connecting rods 5, the coupler 3 pushes the rollers 4 and the roller connecting rods 5 to ascend together, the roller connecting rods 5 push the rotating shaft 6 and the wire spool 7 to ascend together, four wire spool pull rings 7-2 on the side surface of the wire spool 7 are connected with four pull wires, the other ends of the pull wires are connected with a bottom plate pull ring 9-1 on a rough bottom plate 9, the pull wires are not tensioned before ascending to the highest point, an upper cylindrical blind hole 7-1 in the center of the wire spool 7 is matched with a central cylinder 8-5 of the rough lifting support 8 to push the rough lifting support 8 to ascend, the rough lifting support 8 pushes the rough bottom plate 9 in the horizontal sliding groove 8-1 to ascend together until the rollers 4 reach the highest point of the cylindrical cams 3-2 of the coupler 3, at the moment, the micro-thorn array also reaches the highest point, the micro-thorn array is higher than the adhesion material, the bionic adhesion material cannot be contacted with the negative surface, and the wire of the wire spool 7 is just tensioned.
After the micro-thorn array reaches the highest point, the unmanned aerial vehicle begins to ascend at a low speed to be close to the rough negative surface until contacting the rough negative surface, and before the micro-thorn array does not completely penetrate the rough negative surface, the unmanned aerial vehicle paddle keeps rotating to provide lift force. When the rotation angle of the steering engine arm 2 is further increased, the rotating shaft 6 is driven by the coupler 3 to rotate together, and only the rotating shaft 6 transmits rotating motion at the moment, and lifting motion is avoided. The rotating shaft 6 drives the spool 7 to rotate together, the spool 7 rotationally strains four pull wires, the four pull wires pull the four rough bottom plates 9, the rough bottom plates 9 are pulled to be folded towards the center, and the micro-thorn arrays are driven to penetrate into the rough negative surface to realize the landing of the rough negative surface.
The method for taking off the unmanned aerial vehicle equipped with the landing mechanism of the embodiment on a rough negative surface (such as a lime wall surface) is as follows: after the unmanned aerial vehicle remote control module receives the signal of taking off, at first make the unmanned aerial vehicle motor begin to operate, the lift that the motor provided is less than gravity, then steering wheel 1 begins to rotate (the direction of rotation is opposite with when landing), the acting as go-between of 7 side connections of spool begin to relax, the pulling force of acting as go-between that rough bottom plate 9 received is less than spring force, rough bottom plate 9 begins to keep away from rough lifting support 8 center, drive the desorption of stinging array from the rough negative surface, realize following the takeoff on negative surface.
The above embodiments are only for illustrating the technical idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention, and not to limit the protection scope of the present invention by this means. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention. The invention is not the best known technology.
Claims (5)
1. A rough/smooth negative surface unmanned aerial vehicle landing mechanism based on a micro-thorn array and a bionic dry adhesion material is characterized in that the landing mechanism comprises a landing support, a steering engine arm, a lifting mechanism, a rough landing mechanism and four smooth adhesion and desorption mechanisms;
the landing support comprises a cross-shaped base, a steering engine room matched with the steering engine in shape is arranged at the center of the base, four support rods are arranged at four ends of the cross-shaped base, and a rectangular frame is arranged at the top ends of the four support rods; the inner sides of the four support rods are provided with matching holes;
the steering engine is arranged in the steering engine cabin and is jointed with the steering engine arm prism positioned at the top of the steering engine cabin; the rudder horn is in a cross-shaped structure, and the tops of four edges of the rudder horn are respectively connected with four smooth sticky desorption mechanisms; the top of the steering engine arm is sequentially provided with a lifting mechanism and a rough landing mechanism from bottom to top;
the lifting structure comprises a coupler, a roller connecting rod and a rotating shaft; the coupler is jointed with the steering engine arm prism; the coupler is provided with an annular cylindrical cam; a coupler sliding groove is formed in one side of the coupler corresponding to the highest point of the cylindrical cam; a rotating shaft sliding block at the bottom of the rotating shaft is inserted into the coupler sliding groove; the top of the rotating shaft is connected with the bottom prism of the bobbin; the bottom of the spool is also in rotational engagement with a positioning cylinder at the top of the roller link; the roller is sleeved on the roller connecting rod and rolls along the top of the cylindrical cam; the side surface of the roller connecting rod is provided with a roller connecting rod chute;
the rough landing mechanism comprises a spool, a rough lifting support and four rough bottom plates; the surface of each rough bottom plate is provided with a blind hole, and the blind hole is internally provided with a micro-thorn; the top of the bobbin is provided with a cylindrical blind hole, and the side wall of the bobbin is uniformly provided with 4 bobbin pull rings; the rough lifting support is a support obtained by connecting the centers of two inverted U-shaped supports, and the top plane of the rough lifting support is in a cross shape; the center of the top of the rough lifting support is provided with a central cylinder, and the central cylinder is inserted into the cylinder blind hole; four horizontal sliding grooves are arranged along the top directions of the two inverted U-shaped supports of the rough lifting support, and a long sliding block is arranged at the bottom of one horizontal sliding groove; the long edges of the two inverted U-shaped supports of the rough lifting support are provided with cylindrical plugs matched with the matching holes; the long slide block is inserted into the slide groove of the roller connecting rod; each horizontal sliding chute is connected with a rough bottom plate provided with a bottom plate pull ring in a sliding manner through a spring; the cylindrical plug is inserted into a matching hole on the landing support; the four bobbin pull rings on the side wall of the bobbin are respectively connected with the bottom plate pull rings on the four rough bottom plates through pull wires;
the smooth sticky desorption mechanism comprises a pull rod, a connecting sheet and an adhesive substrate; adhering a bionic dry adhesion material on the surface of the adhesion substrate; the connecting sheet is hinged with one end of the adhesion substrate through a rotating pair and is fixedly connected with the rectangular frame; one end of the pull rod is jointed with the spherical surface of the steering engine arm, and the other end of the pull rod is jointed with the spherical surface at the bottom of the adhesion substrate.
2. The landing mechanism of the rough/smooth negative surface unmanned aerial vehicle based on the micro-thorn array and the bionic dry adhesion material as claimed in claim 1, wherein the end of the horizontal sliding groove is further provided with a loading and unloading groove, the width of the loading and unloading groove is larger than that of the horizontal sliding groove, the rough bottom plate is loaded into the horizontal sliding groove through the loading and unloading groove, and the rough bottom plate moves radially under the action of a pull wire and a spring.
3. The rough/smooth negative surface unmanned aerial vehicle landing mechanism based on the micro-thorn array and the bionic dry adhesion material as claimed in claim 1, wherein the blind holes on the rough bottom plate surface are distributed equidistantly.
4. The rough/smooth negative surface unmanned aerial vehicle landing mechanism based on the micro-thorn array and the bionic dry adhesion material as claimed in claim 1, wherein the inclination angle of the blind hole and the rough bottom plate is 30 degrees.
5. The rough/smooth negative surface unmanned aerial vehicle landing mechanism based on the micro-thorn array and the bionic dry adhesion material is characterized in that the connecting piece and the rectangular frame are provided with through holes on the surfaces, and the connecting piece and the rectangular frame are fixedly connected through screws.
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