CN114771859B - Unmanned aerial vehicle landing mechanism with rough/smooth negative surface based on micro-thorn array and bionic dry adhesion material - Google Patents
Unmanned aerial vehicle landing mechanism with rough/smooth negative surface based on micro-thorn array and bionic dry adhesion material Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention discloses a landing mechanism of a rough/smooth negative surface unmanned aerial vehicle 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; the landing mechanism enables the rotor unmanned aerial vehicle to land on the smooth negative surface through the adhesion generated by the action of the bionic dry adhesion material and the smooth negative surface; the rotor unmanned aerial vehicle can land on the rough negative surface through the grabbing force generated by the micro-thorn array penetrating into the rough negative surface, and the lifting mechanism capable of enabling the micro-thorn array to move up and down, so that the rotor unmanned aerial vehicle can be switched to the rough negative surface landing state from the smooth negative surface landing state, and therefore the unmanned aerial vehicle can land on the rough negative surface and the smooth negative surface, excessive energy consumption during hovering is avoided, energy consumption during task execution of the unmanned aerial vehicle is reduced, the unmanned aerial vehicle has larger movable space and stronger landing capability with higher adaptability, noise is reduced, and concealment is improved.
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
Currently, unmanned aerial vehicle wide application is in fields such as investigation, inspection, control, shooting, and many rotor unmanned aerial vehicle often need carry equipment when carrying the task and hover in a place, need keep higher energy consumption when hovering, receive portable power source's restriction, and the activity space of marketing unmanned aerial vehicle is limited in less within range at present, and duration is also limited around 20 minutes. Meanwhile, the unmanned plane needs a relatively flat and open horizontal plane when landing, but when performing tasks in cities, due to limited space, it is difficult to find a suitable landing place in a short time.
Existing unmanned aerial vehicle negative surface landing modes can be divided into three types: bionic foot adhesion type, electrostatic adsorption type and micro-piercing grip type. The bionic foot adhesion type landing is realized by assembling a bionic adhesion material on the top of the unmanned aerial vehicle, and pre-compression is provided by the inertia and power of upward flight when the unmanned aerial vehicle lands, so that the adhesion material is tightly pressed to be in close contact with a negative surface to generate tangential and normal adhesion acting force to realize landing, and the method is only applicable to a smooth surface (as disclosed in applicant's earlier patent ZL 201910627348.6); the micro-piercing capture landing mode is realized by piercing the inclined micro-piercing array into the rough negative surface, and is only applicable to the rough negative surface (as disclosed in applicant's earlier patent ZL 202011488071.2); while electrostatic adsorption landing requires carrying an additional power supply for providing electrostatic force, unmanned aerial vehicles carry a high-quality power supply, consume more energy, and are greatly limited in application (reference document "Graule MA,Chirarattananon P,Fuller SB,et al.Perching and takeoff of a robotic insect on overhangs using switchable electrostatic adhesion.Science,2016,352,978.").
The bionic dry adhesion material is derived from the inspired of gecko soles, and the gecko can creep on the negative surface and the vertical surface because of van der Waals force generated by close contact between the micro-nano bristle array on the sole surface and the contact surface. Through research on the gecko sole micro-nano bristle array, a bionic dry adhesion material (such as ZL201310284325.2 and ZL 201711187845.6) with the same structure and function as the gecko sole is developed.
Many animals in nature are able to crawl on rough vertical surfaces and even on negative surfaces, and they use foot-end grapples attached to the rough surfaces. Chinese patent ZL201810207532.0 discloses a claw type wall climbing robot capable of climbing on a vertical wall surface and a negative surface; chinese patent ZL202011488071.2 discloses an aircraft based on a micro-piercing 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 large limitation.
In general, the material surface can be classified into a rough surface and a smooth surface by sense; the surface of the material with smaller roughness, which is not visible to the naked eye, is considered smooth, whereas the surface of the material with smaller roughness, such as ceramic tile, glass, acrylic plate and the like, is generally considered smooth, and the material with rough surface, such as tree, cardboard, frosted marble surface and the like. When the unmanned aerial vehicle lands on the smooth negative surface, the adhesive material needs to be in surface contact with the negative surface, so that the contact area is large, the adhesive material can reach the action range of the adhesive force and generate enough adhesive force; when the rough negative surface lands, the micro-thorn array only contacts with the negative surface to form point contact, the lifting force of the unmanned aerial vehicle is kept to be larger than the gravity, and the micro-thorn array can penetrate into the rough negative surface to land along with the gathering of the micro-thorn array to the center.
However, the two landing modes are switched and mutually noninterfere, and the differential landing modes of the micro-thorn array and the adhesive material can only be suitable for landing of a rough negative surface and a smooth negative surface respectively, so that the application environment of the unmanned aerial vehicle is seriously influenced. Therefore, how to combine two landing modes onto one mechanism, so that the landing mode has both smooth and rough negative surface landing capability, can be flexibly switched according to different landing conditions and does not generate interference, and is a technical problem to be solved in the field.
Disclosure of Invention
The invention aims to provide a landing mechanism of a rough/smooth negative surface unmanned aerial vehicle based on a micro-thorn array and a bionic adhesion material, which lands on the rough negative surface through the grabbing force of the micro-thorn array, lands on the 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 duration, avoids the noise generated by hovering execution tasks, 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 bracket, a steering engine arm, a lifting mechanism, a rough landing mechanism and four smooth adhesion and desorption mechanisms; the landing bracket comprises a cross-shaped base, a rudder cabin matched with the steering engine in shape is arranged in 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 respectively provided with a matching hole;
The steering engine is arranged in the steering engine cabin and is in prismatic joint with the steering engine arm positioned at the top of the steering engine; the rudder horn is of a cross-shaped structure, and the tops of the four sides of the rudder horn are respectively connected with four smooth adhesion and 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 gear arm prism; the coupler is provided with an annular cylindrical cam; one side of the coupler corresponding to the highest point of the cylindrical cam is provided with a coupler sliding groove; 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 sliding groove of the coupler; the top of the rotating shaft is connected with the bottom prism of the spool; the bottom of the spool is also rotationally engaged with a positioning cylinder at the top of the roller connecting rod, and the center lines of the roller connecting rod and the spool are overlapped; 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 bracket and four rough bottom plates; the surface of each rough bottom plate is provided with a blind hole, and a micro-thorn is arranged in the blind hole; the top of the spool is provided with a cylindrical blind hole, and the side wall of the spool is uniformly provided with 4 spool pull rings; the rough lifting support is a support which is 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 coarse lifting support is provided with a center cylinder which is inserted into the cylinder blind hole; four horizontal sliding grooves are formed in the top directions of the two inverted U-shaped brackets of the coarse lifting bracket, and a strip sliding block is arranged at the bottom of one horizontal sliding groove; the long sides of the two inverted U-shaped brackets of the rough lifting bracket are provided with cylindrical plugs matched with the matching holes; the strip sliding block is inserted into the roller connecting rod chute; each horizontal 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 the matching hole on the landing bracket; the four spool pull rings on the side wall of the spool are respectively connected with the bottom plate pull rings on the four rough bottom plates through pull wires;
the smooth adhesion and desorption mechanism comprises a pull rod, a connecting sheet and an adhesion substrate; adhering a bionic dry adhesion material to the surface of the adhesion substrate; the connecting piece is hinged with one end of the adhesion substrate through the rotating pair, and the surface of the connecting piece is provided with a through hole and is connected with the rectangular frame through a screw; one end of the pull rod is in spherical joint with the steering gear arm, and the other end of the pull rod is in spherical joint with 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 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 chute, the rough bottom plate can be loaded into the horizontal 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 pulling wire after entering the horizontal chute.
Preferably, blind holes on the surface of the rough bottom plate are distributed at equal intervals, and the inclination angle between the blind holes and the surface of the rough bottom plate is 30 degrees.
In specific implementation, the bionic dry adhesive material adhered to the surface of the adhesive substrate can be the adhesive material disclosed in the public patent (the adhesive material for simulating gecko sole adhesive array and a preparation method thereof, ZL201310284325.2, the bionic fiber dry adhesive material for extreme environment and a preparation method and application thereof, ZL 201711187845.6), and the polydimethylsiloxane PDMS and the shape memory polymer SMP are used as raw materials, and the macromolecule polymer is prepared by a template method, wherein the normal adhesive force of the adhesive material and a glass interface can reach 6-7N/cm 2 under the pre-pressure of 2N/cm 2, and the adhesive material has stable repeatable adhesive characteristic and is related to the main function of the mushroom-shaped top in adhesion. The tangential adhesion performance is better than the normal adhesion performance, and the adhesive can be desorbed from the contact surface in a curling mode, so that the adhesive has better repeatability.
The normal force provided by the bionic dry 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 mechanism, and a certain load allowance 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, interfaces and programs for controlling the adhesion and desorption mechanism, the rough landing mechanism and the lifting mechanism are added, other functional units required by integrated flight control, such as a triaxial accelerometer/gyroscope and a triaxial angular velocity meter, so that the peripheral equipment and the circuit of the remote control module are simplified to the greatest extent, and the weight and the volume are reduced to the greatest extent.
Before landing, the unmanned aerial vehicle adjusts the gesture, so that the machine body flies horizontally and the flying speed is reduced. When facing the smooth negative surface, the unmanned aerial vehicle is in contact with the smooth negative surface by virtue of the inertia or power of flying, and the adhesion material is fully in contact with the negative surface and presses the negative surface to generate pre-pressure, so that enough adhesion force is generated, and the smooth negative surface is landed; when facing the rough negative surface, the unmanned aerial vehicle keeps a horizontal gesture to contact with the negative surface, the steering engine drives the lifting mechanism to move, the lifting mechanism pushes the rough landing mechanism to ascend, and after the micro-thorn array on the rough landing mechanism exceeds the adhesive material, the micro-thorn array is folded towards the center and gradually pierces the rough negative surface, so that the rough negative surface is landed.
The application provides an unmanned aerial vehicle landing mechanism which is simultaneously applicable to a rough negative surface and a smooth negative surface for the first time, and landing on the rough negative surface and the smooth negative surface is respectively realized through a micro-thorn array and a bionic dry adhesion material. The lifting mechanism controls the micro-thorn array to move up and down, so that the mutual interference between the bionic dry adhesion material and the micro-thorn array during landing is avoided. The landing capability of the unmanned aerial vehicle on different surfaces is enhanced by the negative surface landing mode, when the unmanned aerial vehicle has smooth or rough negative surface landing conditions, the unmanned aerial vehicle can be changed from a hovering state to a negative surface landing state, then the power equipment is turned off to execute tasks such as shooting and monitoring, so that the energy consumption and noise can be reduced, the unmanned aerial vehicle has a larger moving range and longer endurance time, and has a wide application prospect.
Drawings
Fig. 1 is an overall schematic view of a negative surface landing mechanism (smooth negative surface landing state).
FIG. 2 is a schematic view of a landing gear.
Fig. 3 is a partial schematic view of a negative surface landing gear (excluding the landing gear bracket).
Fig. 4 is a schematic structural view of the lifting mechanism.
FIG. 5 is a schematic diagram of a rough landing gear.
FIG. 6 is a schematic view showing the structure of the adhesion/release mechanism.
Fig. 7 is a schematic view of a rough negative surface landing state.
Fig. 8 is an overall schematic of the negative surface landing gear and the drone.
The reference numerals in the figures are shown below: 0 part of landing bracket, 0-1 part of rudder cabin, 0-2 part of matching hole, 0-3 part of base, 0-4 part of supporting rod, 0-5 part of rectangular frame, 1 part of steering engine, 2 part of rudder horn, 3 part of coupler, 3-1 part of coupler sliding chute, 3-2 part of cylindrical cam, 4 part of roller, 5 part of roller connecting rod, 5-1 part of roller connecting rod sliding chute and 5-2 part of roller connecting rod sliding chute: positioning cylinder, 6, rotation axis, 6-1: the rotating shaft slide block, 7:spool, 7-1:upper cylinder blind hole, 7-2:spool pull ring, 7-3: the lower cylinder blind hole, 8:rough lifting support, 8-1:horizontal chute, 8-2:cylinder plug, 8-3:loading and unloading groove, 8-4:strip slide block, 8-5:center cylinder, 9:rough bottom plate, 9-1:bottom plate pull ring, 9-2 blind hole, 9-3:: round slide block, 10, pull rod, 11, connecting piece, 11-1: revolute pair, 11-2: a through hole; 12, adhering a substrate, 13: spring, 14: unmanned aerial vehicle.
Detailed Description
The technical scheme of the invention is explained in detail by examples below.
Example 1 coarse/smooth negative surface unmanned aerial vehicle landing mechanism based on micro-thorn array and bionic dry adhesion material
As shown in fig. 1, the 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 comprises a landing bracket 0, a steering engine 1, a steering engine arm 2, an elevating mechanism, a rough landing mechanism and four smooth adhesion and desorption mechanisms.
FIG. 2 is a schematic structural view of a landing bracket 0, wherein the landing bracket 0 comprises a cross-shaped base 0-3, a rudder cabin 0-1 matched with a steering engine 1 in shape is arranged in the center of the base 0-3, four support rods 0-4 are arranged at four ends of the cross of the base 0-3, 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 respectively provided with a matching hole 0-2. In the embodiment, the steering engine is JX Servo PS-1109HB with the size of 22.7X12.2X129.2 mm, and in the implementation, other conventional commercial steering engines can be used. In this embodiment, the rectangular frame surface is provided with a frame through hole;
Fig. 3 is a schematic view of the structure of the negative surface landing gear (without landing gear), wherein the steering engine 1 is in prismatic engagement with the steering engine arm 2 positioned at the top of the steering engine; the rudder horn 2 is of a cross-shaped structure, and the tops of the four sides of the rudder horn are respectively connected with four smooth adhesion and desorption mechanisms; the top of the rudder horn 2 is provided with an elevating mechanism and a rough landing mechanism from bottom to top in sequence; as shown in fig. 1, a steering engine 1 is arranged in a rudder cabin 0-1, and a rough landing mechanism and four smooth adhesion and desorption mechanisms are controlled by the same steering engine 1. When the steering engine 1 is used, the steering engine is connected with a conventional remote control module (such as an STM32F407 processor) in the unmanned aerial vehicle through a wire, and a control signal of the remote control module is obtained.
Fig. 4 is a schematic structural diagram of a lifting structure, which comprises a coupler 3, a roller 4, a roller connecting rod 5 and a rotating shaft 6; the coupler 3 is arranged in the center of the steering arm 2 and is in prismatic joint with the steering arm 2, and the coupler and the steering arm 2 can rotate together (figure 1); the coupler 3 is provided with an annular cylindrical cam 3-2, and the cylindrical cam 3-2 is contacted with the roller 4; one side of the coupler 3 corresponding to the highest point of the cylindrical cam 3-2 is provided with a coupler sliding groove 3-1; the bottom of the rotating shaft 6 is provided with a triangular rotating shaft slide block 6-1, the rotating shaft slide block is matched with the coupler sliding groove 3-1, and the rotating shaft slide block 6-1 is inserted into the side coupler sliding groove 3-1 to realize up-and-down sliding; the top of the rotating shaft 6 is connected with the bottom prism of the spool 7; the lower cylindrical blind hole 7-3 at the bottom of the spool 7 is also in rotary joint 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 overlapped; 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 chute 5-1.
When in operation, the spool 7 rotates relative to the roller connecting rod 5; the cylindrical cam structure 3-2 on the coupler 3 is matched with the roller 4 to transmit lifting motion, the coupler sliding groove 3-1 is matched with the rotating shaft 6 to transmit rotating motion, and the spool 7 can transmit motion with two degrees of freedom of lifting and rotating.
FIG. 5 is a schematic diagram of a rough landing gear. 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-A cross-sectional view in b. As shown in fig. 5, the rough landing gear comprises a spool 7, a rough lifting support 8 and four rough floors 9; the surface of the rough bottom plate 9 is provided with inclined blind holes 9-2; the top of the spool 7 is provided with an upper cylindrical blind hole 7-1, and the side wall of the spool 7 is uniformly provided with 4 spool pull rings 7-2; the rough lifting support 8 is a support which is 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 center cylinder 8-5, and the center cylinder 8-5 is matched with the upper cylinder blind hole 7-1 and is 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 brackets of the coarse lifting bracket 8, and a strip sliding block 8-4 is arranged at the bottom of one horizontal sliding groove 8-2; the long sides of the two inverted U-shaped brackets of the rough lifting bracket 8 are respectively provided with a cylindrical plug 8-1 matched with the matching hole 0-2; the shape of the strip sliding block 8-4 is matched with the roller connecting rod chute 5-1; the strip slide block 8-4 is inserted into the roller connecting rod chute 5-1, so that the roller connecting rod 5 does not rotate relative to the rough lifting support 8 and only lifts.
Each horizontal chute 8-2 is slidably connected with a rough bottom plate 9 provided with a circular slide block 9-3 by means of a spring 13, by means of which the rough bottom plate 9 can slide in the horizontal chute 8-2 of the rough lifting support 8, the spring 13 acts on the circular slide block 9-3 on the rough bottom plate 9, providing a restoring force when the rough negative surface is detached. 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. The four spool pull rings 7-2 on the side wall of the spool 7 are respectively connected with the bottom plate pull rings 9-1 on the four rough bottom plates 9 through pull wires; the coarse bottom plate 9 is subjected to the pulling force of the pulling wire and the restoring force of the spring 13, so that the horizontal movement in the horizontal sliding groove 8-2 is realized, and meanwhile, the micro-thorn array is driven to penetrate into the coarse negative surface to land and exit from the coarse negative surface to realize desorption.
In this embodiment, one end of each horizontal chute 8-2 is further provided with a loading and unloading slot 8-3, the width of the loading and unloading slot 8-3 is larger than that of the horizontal chute 8-2, and the rough bottom plate 9 can be loaded into the horizontal chute 8-2 through the loading and unloading slot 8-3 and can move along the radial direction under the action of the pulling force and the spring force of the pulling wire after entering the horizontal chute 8-2.
In the embodiment, the blind holes 9-2 on the rough bottom plate 9 are distributed equidistantly, and the inclination angle between the blind holes and the surface of the rough bottom plate 9 is 30 degrees; the blind hole 9-2 is internally provided with a micro-thorn, the diameter of the blind hole 9-2 is larger than that of the micro-thorn, and the micro-thorn is fixed in the blind hole 9-2 in a conventional manner (the blind hole is filled with 502 glue for fixing in the embodiment, and other manners can be used for fixing in the specific implementation). The micro-thorn array is made of rigid metal materials, and after penetrating into the rough negative surface, the micro-thorn array bears the gravity of the unmanned aerial vehicle and the negative surface landing mechanism, plastic deformation is not generated, and the rough bottom plate 9 drives the micro-thorn array to penetrate into the rough negative surface to realize landing during landing.
In operation, the rotary shaft 6 rotates with the coupling 3 and transmits the rotational motion to the spool 7, and the coupling 3 transmits the lifting motion to the spool 7 by pushing the roller link 5 by the roller 4. When the rotation angle of the coupler 3 increases, the coupler 3 pushes the roller 4 and the roller connecting rod 5 to rise, and the roller connecting rod 5 pushes the rotating shaft 6 and the spool 7 to rise (the rotating shaft sliding block of the rotating shaft 6 rises in the coupler sliding groove 3-1 of the coupler 3); the central cylinder 8-5 of the coarse lifting support 8 is inserted into the upper cylinder blind hole 7-1 in the center of the spool 7, and the spool 7 can lift up the coarse lifting support 8. When the coupler 3 rotates, the rotating shaft 6 is driven to rotate together, the rotating shaft 6 drives the spool 7 to rotate, a pull wire connected with a spool pull ring 7 on the side face of the spool 7 is tightened, the other end of the pull wire is connected with a pull ring 9-1 on the rough bottom plate 9, the rough bottom plate 9 moves towards the center, and the micro-thorn array pierces the rough negative surface to realize rough landing.
Fig. 6 is a schematic structural view of a smooth adhesion/detachment mechanism, in fig. 6, a is a schematic structural view of a smooth adhesion/detachment mechanism, and B is a sectional view of a smooth adhesion/detachment mechanism. Each smooth adhesion 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 the rotary 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 in spherical joint with the steering gear arm 2, and the other end of the pull rod is in spherical joint with 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 movement 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 use the existing material, such as the adhesion material disclosed by ZL201310284325.2 and used for imitating gecko sole adhesion array, or the bionic fiber dry adhesion material disclosed by ZL201711187845.6 and used in extreme environment.
The coupling 3 controls the movement of the lifting mechanism and the landing and desorption process of the rough landing mechanism as follows: when the rotation angle of the steering engine 1 is increased from small, the lifting mechanism pushes the rough bottom plate 9 and the micro-thorn array on the rough bottom plate to ascend, the landing state of the smooth negative surface (contact of the bionic dry adhesion material) is switched to the landing state of the rough negative surface (contact of the micro-thorn array), and meanwhile, the steering engine arm 2 pulls the adhesion substrate 12 to overturn downwards through the pull rod 10, so that the adhesion material cannot contact with the smooth negative surface, and mutual interference of the smooth adhesion and desorption mechanism and the rough landing mechanism is avoided.
In use, the negative surface landing gear is fixedly connected to a conventional unmanned aerial vehicle fuselage via the landing gear 0 (e.g., strapped to the unmanned aerial vehicle via a wire harness, or other conventional fastening means may be used), as shown in fig. 8. The four rough bottom plates 9 are always kept parallel to the plane of the top of the unmanned aerial vehicle, the adhesion substrate 12 is kept in a horizontal position when not pulled by the pull rod 10, the pull rod 10 drives the adhesion substrate 12 to overturn downwards after the steering engine 1 starts rotating, 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 adhesive 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 negative surface landing mechanism, and a certain load allowance exists. 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 air flow 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 range of the action of Van der Waals force, and the macroscopic adhesion force formed by the convergence of the Van der Waals force enables the unmanned plane 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, and cannot reach 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 implement landing.
As shown in fig. 7, the rough negative surface landing process is that when the rudder horn 2 is not rotated, the rough landing mechanism is not lifted, the adhesion substrate 12 is kept in a horizontal state, and the adhesion material is higher than the micro-thorn array, and the smooth negative surface landing is suitable; when the rudder horn 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 be desorbed, and meanwhile, the coupler 3 rotates to push the roller 4 to rise, so that the rough landing mechanism rises, and when the rough landing mechanism rises to the highest point, the micro-thorn array is higher than the adhesion substrate 12, and is suitable for landing on a rough negative surface; after rising 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 pierces the rough negative surface to realize the rough landing process; the rotation angle is reduced, the pull wire is loosened, and the rough bottom plate 9 is far away from the center under the action of the restoring force of the spring in the horizontal chute 8-1 in the rough lifting bracket 8, so that the desorption is realized.
In operation, the transmission sequence of the rotary motion is as follows: steering engine 1, steering engine arm 2, shaft coupling 3, rotation axis 6, spool 7. The transfer sequence of the lifting motion is as follows: steering engine 1, steering engine arm 2, shaft coupling 3, gyro wheel 4, gyro wheel connecting rod 5, rotation axis 6, spool 7, coarse lifting support 8 go on simultaneously with rotary motion.
Fig. 8 presents a schematic view of a drone equipped with the above-described embodiment landing mechanisms, 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 the smooth negative surface (such as a glass ceiling) is as follows: when the unmanned aerial vehicle is close to the negative surface, the flying gesture is adjusted through the remote control module, the flying speed is reduced, the gesture of the unmanned aerial vehicle is kept horizontal, the adhesion substrate 12 attached with the adhesion material is kept in a horizontal position under the support of the pull rod 10, the rough bottom plate 9 with the micro-thorn array is located at the lowest point, and the micro-thorn array is lower than the adhesion substrate 12. Before landing, the unmanned aerial vehicle always keeps a horizontal flight state, approaches the negative surface at a small speed, and makes the adhesive material apply a certain precompression to the smooth negative surface by virtue of inertia and lifting force of the unmanned aerial vehicle, the adhesive material is in close contact with the smooth negative surface, and enough normal adhesive force is generated after the adhesive material reaches the action range of Van der Waals force, and meanwhile, the adhesive material can provide tangential adhesive force larger than the normal adhesive force, so that the unmanned aerial vehicle can resist air flow disturbance in the horizontal direction. During take-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 overturn downwards, the adhesion material gradually generates local curling deformation, and the adhesion force is gradually reduced, so that desorption is realized.
The landing method of the unmanned aerial vehicle provided with the landing mechanism in the embodiment on the rough negative surface (such as the lime wall surface) is as follows: when unmanned aerial vehicle is close to the negative surface, reduce the speed of flight, adjust the attitude of flight, make unmanned aerial vehicle gesture keep the level, remote control module gives steering wheel 1 transmission coarse negative surface landing instruction, steering wheel 1 begins rotatory, steering wheel 1 drives steering wheel arm 2 and rotates, steering wheel arm 2 pulling pull rod 10, and pull rod 10 pulls adhesion basement 12 to overturn downwards, makes unmanned aerial vehicle break away from smooth negative surface landing state.
When the adhesion substrate 12 turns downwards, the rudder horn 2 drives the coupler 3 to rotate, the cylindrical cam 3-2 on the coupler 3 is contacted with the roller 4, the roller 4 is sleeved on the roller connecting rod 5, the coupler 3 pushes the roller 4 and the roller connecting rod 5 to rise together, the roller connecting rod 5 pushes the rotating shaft 6 and the spool 7 to rise together, four spool pull rings 7-2 on the side surface of the 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 rising to the highest point, the upper cylindrical blind hole 7-1 in the center of the spool 7 is matched with the central cylinder 8-5 of the rough lifting bracket 8, the rough lifting bracket 8 is pushed to rise together, the rough lifting bracket 8 pushes the rough bottom plate 9 in the horizontal chute 8-1 of the rough lifting bracket until the roller 4 reaches the highest point of the cylindrical cam 3-2 of the coupler, 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 contact with the negative surface, and the pull wires of the spool 7 are just tensioned.
After the microneedle array reaches its highest point, the unmanned aerial vehicle begins to rise close to the rough negative surface at a lesser speed until contacting the rough negative surface, and the unmanned aerial vehicle blade remains rotating to provide lift until the microneedle array does not fully penetrate the rough negative surface. When the rotation angle of the rudder horn 2 is further increased, the rotation shaft 6 is driven to rotate together by the coupling 3, and only the rotation shaft 6 transmits the rotation motion and does not have the lifting motion. The rotating shaft 6 drives the spool 7 to rotate together, the spool 7 rotates to tighten 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, the micro-thorn arrays are driven to penetrate into the rough negative surface, and the rough negative surface landing is achieved.
The takeoff method of the unmanned aerial vehicle provided with the landing mechanism in the embodiment on a rough negative surface (such as a lime wall surface) is as follows: after the unmanned aerial vehicle remote control module received the signal of taking off, at first make unmanned aerial vehicle motor start to operate, the lift that the motor provided is less than gravity, then steering wheel 1 starts rotatory (the rotation direction is opposite with when landing), and the stay wire that spool 7 side is connected begins to relax, and the stay wire pulling force that coarse bottom plate 9 received is less than spring force, and coarse bottom plate 9 begins to keep away from coarse lifting support 8 center, drives the micro thorn array and is desorbed from the coarse negative surface, realizes taking off from the negative surface.
The above embodiments are provided to illustrate the technical concept and features of the present invention and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention. The invention is not a matter of the known technology.
Claims (5)
1. The landing mechanism is characterized by comprising a landing bracket, a steering engine arm, a lifting mechanism, a rough landing mechanism and four smooth adhesion and desorption mechanisms;
The landing bracket comprises a cross-shaped base, a rudder cabin matched with the steering engine in shape is arranged in 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 respectively provided with a matching hole;
The steering engine is arranged in the steering engine cabin and is in prismatic joint with the steering engine arm positioned at the top of the steering engine; the rudder horn is of a cross-shaped structure, and the tops of the four sides of the rudder horn are respectively connected with four smooth adhesion and 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 mechanism comprises a coupler, a roller connecting rod and a rotating shaft; the coupler is connected with the steering gear arm prism; the coupler is provided with an annular cylindrical cam; one side of the coupler corresponding to the highest point of the cylindrical cam is provided with a coupler sliding groove; a rotating shaft sliding block at the bottom of the rotating shaft is inserted into the shaft coupling sliding groove; the top of the rotating shaft is connected with the bottom prism of the spool; the bottom of the spool is also rotationally engaged with a positioning cylinder at the top of the roller connecting rod; 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 bracket and four rough bottom plates; the surface of each rough bottom plate is provided with a blind hole, and a micro-thorn is arranged in the blind hole; the top of the spool is provided with a cylindrical blind hole, and the side wall of the spool is uniformly provided with 4 spool pull rings; the rough lifting support is a support which is 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 coarse lifting support is provided with a center cylinder which is inserted into the cylinder blind hole; four horizontal sliding grooves are formed in the top directions of the two inverted U-shaped brackets of the coarse lifting bracket, and a strip sliding block is arranged at the bottom of one horizontal sliding groove; the long sides of the two inverted U-shaped brackets of the rough lifting bracket are provided with cylindrical plugs matched with the matching holes; the strip sliding block is inserted into the roller connecting rod chute; each horizontal 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 the matching hole on the landing bracket; the four spool pull rings on the side wall of the spool are respectively connected with the bottom plate pull rings on the four rough bottom plates through pull wires;
The smooth adhesion and desorption mechanism comprises a pull rod, a connecting sheet and an adhesion substrate; adhering a bionic dry adhesion material to the surface of the adhesion substrate; the connecting sheet is hinged with one end of the adhesion substrate through the rotating pair, and is fixedly connected with the rectangular frame; one end of the pull rod is in spherical joint with the steering gear arm, and the other end of the pull rod is in spherical joint with the bottom of the adhesion substrate.
2. The landing gear of unmanned aerial vehicle with rough/smooth negative surface based on the micro-thorn array and the bionic dry adhesion material according to claim 1, wherein the end part of the horizontal 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 chute, and the rough bottom plate is loaded into the horizontal chute through the loading and unloading groove and moves radially under the action of a stay wire and a spring.
3. The micro-piercing array and bionic dry adhesion material-based rough/smooth negative surface unmanned aerial vehicle landing mechanism according to claim 1, wherein blind holes on the surface of the rough bottom plate are equidistantly distributed.
4. The micro-piercing array and bionic dry adhesion material-based rough/smooth negative surface unmanned aerial vehicle landing mechanism according to claim 1, wherein the inclination angle of the blind holes and the surface of the rough bottom plate is 30 degrees.
5. The landing mechanism of the unmanned aerial vehicle with the rough/smooth negative surface based on the micro-thorn array and the bionic dry adhesion material, which is disclosed in claim 1, is characterized in that the connecting sheet and the surface of the rectangular frame are respectively provided with a through hole, and the connecting sheet and the surface of the rectangular frame are fixedly connected through screws.
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