CN115783259A - Double-power coleoptera beetle bionic micro aircraft - Google Patents

Abstract

The invention provides a double-power coleoptera beetle bionic micro aircraft, which is provided with a pair of flexible and foldable back wings for supporting self flight and a pair of rigid coleoptera playing a protective structure by observing and researching the flyable beetles in the coleoptera, can be used for solving the problem that the body structure of the micro aircraft is fragile and easy to damage, and integrates a rotor flight mode into a flapping wing aircraft, thereby safely and reliably improving the flight height and shortening the flight time.

Description

Double-power coleoptera beetle bionic micro aircraft

Technical Field

The invention belongs to the field of bionic micro aircrafts, and particularly relates to a double-power coleoptera beetle bionic micro aircraft.

Background

Inspired by flying insects, more and more scientists have focused on research from research biological prototypes to new types of biomimetic robots or micro-aircraft and have made tremendous progress. For example, a miniature flying robot based on the inspiring of the wing vein of ladybug can realize the functions of sliding and jumping; the miniature unmanned aerial vehicle capable of unfolding the wings is designed based on the folding machine for the insect wings. The bionic robot or the miniature aircraft has the characteristics of small volume, light weight and convenient release, can be released above urban streets to monitor traffic information of road vehicles and road conditions, and can also be released above farmlands, plantation and other crop-intensive areas to monitor crop growth conditions.

There are three main types of bionic robots or micro aircrafts: fixed wing, rotor and flapping wing formula. Most rotorcraft rely on horizontal rotors or propellers for power, which limits their ability to move in confined spaces, while flapping drones can solve this problem by simulating the way birds or insects fly. However, the flapping wing type unmanned aerial vehicle has the defect of weak structure, and the volume and the capacity of a battery carried by the flapping wing type unmanned aerial vehicle are limited, so that the flying height, the range and the payload of the flapping wing type unmanned aerial vehicle are affected.

Therefore, the necessary practical significance and wide application prospect of the novel unmanned micro aircraft are researched and designed.

Disclosure of Invention

The invention aims to provide a double-power coleoptera beetle bionic micro aircraft, which is based on the bionic design thinking that coleoptera beetles have the characteristics of flight protection structures, and integrates a rotor flight mode into a flapping wing aircraft, so that the output lift force is safely and reliably improved, the flight time is shortened, and meanwhile, the double-power coleoptera beetle bionic micro aircraft has the characteristic of unmanned autonomous flight.

The purpose of the invention is realized by the following technical scheme:

a double-power Coleoptera beetle bionic micro aircraft comprises a head A, a chest B and an abdomen C which are sequentially connected, wherein the head A is positioned at the forefront; the head A comprises a compound eye camera 1, a camera holder 2, a head base station 3, an infrared sensor 4 and a spherical revolute pair 8, the compound eye camera 1 is fixed on two sides of the camera holder 2, the compound eye camera 1 moves along with the camera holder 2, the camera holder 2 is positioned in front of the head base station 3 and can deflect at a certain angle leftwards or rightwards, the head base station 3 is a main body part of the head A, a processor for controlling the head sensor is contained in the head base station 3, the spherical revolute pair 8 is positioned right behind the head base station 3, the head base station 3 is connected with the chest B through the spherical revolute pair 8, the infrared sensor 4 is fixed right above the head base station 3, and the visual field is not blocked by the camera holder 2; the chest B comprises a chest load-carrying piece 9, a spherical connecting pair 10, a chest carapace 11, a left coleoptera 12 and a right coleoptera 13, wherein the chest load-carrying piece 9 is positioned under the chest carapace 11 and is coated by the chest carapace 11, the spherical connecting pair 10 is positioned at the lower part in front of the chest load-carrying piece 9 and is connected with a spherical revolute pair 8, the chest carapace 11 is positioned over the chest load-carrying piece 9 and completely coats the chest load-carrying piece 9, the left coleoptera 12 and the right coleoptera 13 are positioned at the upper part of the rear part of the chest load-carrying piece 9, and the two coleoptera are both connected to the chest load-carrying piece 9 through the connecting pair and can freely revolve around the connecting pair; the chest weight carrier 9 comprises a chest carapace connecting port 14, a weight carrier 15, a coleoptera connecting pair 16 and an abdomen moving pair 17, wherein the weight carrier 15 is the main part of the chest weight carrier 9, the front part and the rear part of the weight carrier are formed by combining bosses with different cross sections, the chest carapace connecting port 14 is positioned right above one side of the large boss of the weight carrier 15 and is connected with the chest carapace 11, the coleoptera connecting pair 16 is divided into a left part and a right part which are positioned obliquely above one side of the small boss of the weight carrier 15 and are respectively connected with the left coleoptera 12 and the right cole 13, the left cole 12 and the right cole 13 can tilt along a fixed path in the coleoptera connecting pair 16, and the abdomen moving pair 17 is positioned right behind one side of the small boss of the weight carrier 15 and is used for connecting an abdomen C; the chest carapace 11 comprises a carapace plate 18 and carapace connecting shafts 19, the carapace plate 18 is a main body of the chest carapace 11 and has a curved surface arc-shaped structure, the total number of the carapace connecting shafts 19 is five, the carapace connecting shafts are positioned behind the carapace plate 18 and all penetrate through the carapace plate 18, and the five carapace connecting shafts 19 are arranged at equal intervals in the circumferential direction and are connected with a chest carapace connecting port 14 of the chest carapace 11; the abdomen C comprises a right rear wing 23, a leg 24, an abdomen load-carrying piece 25 and a left rear wing 26, the abdomen load-carrying piece 25 is a main body part of the abdomen C, the right rear wing 23, the leg 24 and the left rear wing 26 are all fixed on the abdomen C, the structure of the right rear wing 23 is completely the same as that of the left rear wing 26, the right rear wing is positioned above the right side of the abdomen load-carrying piece 25 and is of a boundary irregular plane structure, the leg 24 is positioned under the abdomen load-carrying piece 25 and is of a multi-legged mechanical structure and plays a supporting role for the whole micro aircraft body, and the left rear wing 26 is positioned above the left side of the abdomen load-carrying piece 25 and is in mirror symmetry with the right rear wing 23 about a structural central axis; the belly load part 25 comprises a belly load plate 33, a right speed reducer 34, a connecting worm 35, a belly connection pair 36, a left speed reducer 37, a rear wing connection pair 38, a rotary gear ring 39, a propeller 40, a magnetic fluid coil 42, a coil cable 43, an electromagnetic compass sensor 44, a battery bin 45, a wing strut 48 and a driving motor 49, wherein the belly load plate 33 is the main body part of the belly load part 25 and is an ellipsoidal regular flat plate, the right speed reducer 34 is positioned on the right side of the upper surface of the belly load plate 33, the right speed reducer 34 is provided with a rear wing connection pair 38 on the right side surface thereof and is connected with the right rear wing 23, the internal structure thereof is a speed reduction gear set, the power transmission for flapping the right rear wing 23 transmitted by the rotary gear ring 39 is adjusted, the left side of the right speed reducer 34 is connected with the connecting worm 35, the internal gear box is driven to rotate by the connecting worm 35, the connecting worm 35 is positioned on the upper side of the upper surface of the belly load plate 33 and is connected between the right speed reducer 34 and the left speed reducer 37, the outer ring gear ring with the rotary gear ring 39, the rotary gear ring 39 is engaged with the outer ring 39, the rotary gear ring 39, the left speed reducer 34 is connected with the left speed reducer 37, the left speed reducer 34, the rotary gear ring 34 is connected with the left speed reducer 37, the left speed reducer 33, the rotary gear ring 33, the left speed reducer 33 is provided with a rotary gear ring 37, the rotary gear ring 17, the left speed reducer 33, the rotary gear ring 37, the left speed reducer 33 is provided with a rotary gear ring 37, the left speed reducer 17, the rotary gear ring and a left speed reducer 17, the rotary gear set, a through hole is formed in the rotary gear ring 39 corresponding to the belly load plate 33, the wing support rod 48 is connected to the inner wall of the through hole through a support rod transfer pair 47, the driving motor 49 is fixedly connected to the wing support rod 48, the propeller 40 is fixedly connected to a rotating shaft of the driving motor 49, the magnetic fluid coil 42 is connected with a battery through a coil cable 43, and the driving motor 49 is positioned on the axis of the rotary gear ring 39; the rotary gear ring 39 provides power required by flapping flight of the whole micro aircraft, the outer gear ring is meshed with the connecting worm 35 and transmits the power to the right speed reducer 34 and the left speed reducer 37, the electromagnetic compass sensor 44 is positioned at the left rear part of the upper surface of the abdomen load plate 33 and provides azimuth information in the flight process of the micro aircraft, the battery bin 45 is positioned right behind the upper surface of the abdomen load plate 33 and internally comprises a plurality of solid lithium batteries which provide energy sources for the whole micro aircraft, and a plurality of holes are formed in the upper surface of the abdomen load plate, so that the heat dissipation capacity of the batteries in the working process is improved; the leg 24 comprises a leg connecting pair 50, a leg bearing plate 52 and six crawling feet, wherein the leg bearing plate 52 is positioned on the main body part of the leg 24 and is an ellipsoid-shaped regular flat plate, the leg connecting pair 50 is positioned in the middle of the upper surface of the leg bearing plate 52 and is connected with the abdominal load bearing piece 25, and the six crawling feet are the same in size and specification.

As a more preferable technical scheme of the invention, the crawling foot comprises a leg root part 53, a primary revolute pair 54, a leg middle part 55, a secondary revolute pair 56, a leg front part 57 and a leg tip 58, wherein the leg root part 53, the leg middle part 55 and the leg front part 57 are all rigid columns and cannot move independently, the upper surface of the leg root part 53 is connected with a leg bearing plate 52, the lower surface of the leg root part is connected with the primary revolute pair 54, the upper surface of the leg middle part 55 is connected with the primary revolute pair 54, the lower surface of the leg middle part 55 is connected with the secondary revolute pair 56, the upper surface of the leg front part 57 is connected with the secondary revolute pair 56, the lower surface of the leg tip 58 is connected with the leg tip, the primary revolute pair 54 and the secondary revolute pair 56 can rotate around the center of the plane of the base with a single degree of freedom, and the leg tip 58 is a pyramid and is a part for contacting the crawling foot with the ground.

As a more preferable technical scheme of the invention, a hinge head accommodating groove 7 is formed in the head base station 3 of the head A, and the edge of the hinge head accommodating groove 7 is connected with a spherical hinge head 5 through a hinge head revolute pair 6; the spherical joint 5 is connected in a joint clamping groove 46 arranged at the rear end of the abdominal loading plate 33.

As a more preferable technical solution of the present invention, the left coleoptera 12 and the right coleoptera 13 have the same structure, and include coleoptera ribs 20, coleoptera plates 21 and a coleoptera connecting shaft 22, the coleoptera plates 21 are main parts of the left coleoptera 12 and the right coleoptera 13 and have an ellipsoidal arc structure, the coleoptera ribs 20 have five roots, are located on the upper surface of the coleoptera plate 21 and are arranged at equal intervals in the circumferential direction, and have lengths extending from the coleoptera roots to the fin tails of the coleoptera plate 21, and the coleoptera connecting shaft 22 is located right in front of the edges of the coleoptera plate 21 and is connected with the coleoptera connecting pair 16 of the weight-bearing member 8.

As a more preferable technical scheme of the invention, the right back wing 23 and the left back wing 26 have the same structure and comprise a first-level wing vein 27, a second-level wing vein 28, a third-level wing vein 29, a fourth-level wing vein 30, a back wing connecting shaft 31 and a back wing skin 32, wherein the first-level wing vein 27, the second-level wing vein 28, the third-level wing vein 29 and the fourth-level wing vein 30 jointly form a back wing main body part, the tail end of the first-level wing vein 27 is overlapped above the tail end of the second-level wing vein 28, the tail end of the second-level wing vein 28 is overlapped above the tail end of the third-level wing vein 29, the tail end of the third-level wing vein 29 is overlapped above the tail end of the fourth-level wing vein 30, and the fourth-level wing vein 30 is positioned at the bottommost layer, the first-stage wing vein 27 is a non-radian blunt-end sharp thin rod at the head end, the second-stage wing vein 28 is a small-radian blunt-end sharp thin rod at the head end, the third-stage wing vein 29 is a medium-radian blunt-end sharp thin rod at the tail end, the fourth-stage wing vein 30 is a large-radian blunt-end sharp thin rod at the head end, the four-stage wing veins are mutually diverged to form a wing rib of the whole rear wing at a specific angle, the rear wing connecting shaft 31 is positioned right above the tail end of the first-stage wing vein 27 and is connected with the belly load part 25, the rear wing skin 32 is two layers in total, and the first-stage wing vein 27, the second-stage wing vein 28, the third-stage wing vein 29 and the fourth-stage wing vein 30 are all coated in the inner part of the first-stage wing vein 27, the second-stage wing vein 28, the third-stage wing veins and the fourth-stage wing veins 30.

The invention integrates the rotor flight mode into the flapping wing aircraft, safely and reliably improves the flight height and shortens the flight time.

By observing and researching the fliable beetles in the coleoptera, the invention finds that the beetles are provided with a pair of flexible and foldable back wings for supporting self flight and a pair of rigid coleoptera playing a protective structure, and can be used for solving the problem that the fuselage structure of a micro aircraft is fragile and easy to damage.

The invention integrates modern multi-sensor fusion technology, can realize obstacle detection and obstacle avoidance in the advancing process by applying the visual sensor and the infrared sensor, can realize autonomous positioning flight in the advancing process by applying the electromagnetic compass sensor, avoids manual intervention, and simultaneously increases the working convenience.

Drawings

FIG. 1 is a view of the overall structure of a bionic micro-aircraft according to the invention;

FIG. 2 is a view of the head structure of the bionic micro-aircraft of the present invention;

FIG. 3 is a view of the head structure of the bionic micro-aircraft (different from the view in FIG. 2);

FIG. 4 is a thoracic structure view of a bionic micro-aircraft according to the present invention;

FIG. 5 is a structural view of a chest load carrier of the bionic micro aircraft according to the invention;

FIG. 6 is a view of the structure of the chest carapace of the bionic micro-aircraft of the present invention;

FIG. 7 is a perspective view of a coleopteran of a bionic micro-aircraft according to the present invention;

FIG. 8 is a view of the abdomen structure of the bionic micro-aircraft of the present invention;

FIG. 9 is a rear wing structure view of the bionic micro aircraft of the present invention;

FIG. 10 is a view of the configuration of the abdomen load carrier of the bionic micro aircraft according to the present invention;

FIG. 11 is a structural view of a bionic micro aircraft belly load carrier (different from the view in FIG. 10);

FIG. 12 is a schematic view of a leg structure of a bionic micro-aircraft according to the invention;

FIG. 13 is a view of the overall structure of the bionic micro-aircraft according to the invention (not shown);

FIG. 14 is a structural diagram of two bionic micro aircrafts connected into a whole;

FIG. 15 is a structural diagram of three bionic micro-aircrafts connected into a whole;

wherein, A, head B, chest C, abdomen 1, compound eye camera 2, camera head tripod head 3, head base station 4, infrared sensor 5, spherical hinge 6, hinge revolute pair 7, hinge accommodating groove 8, spherical revolute pair 9, chest load-carrying piece 10, spherical connection pair 11, chest carapace 12, left cole 13, right cole 14, chest carapace connector 15, load-carrying piece 16, cole connection pair 17, abdomen kinematic pair 18, carapace plate 19, carapace connector 20, cole arris 21, cole board 22, cole connector 23, right back wing 24, leg 25, abdomen load-carrying piece 26, left back wing 27, primary wing 28, secondary wing 29, tertiary wing 29 the aircraft comprises a pulse 30, a four-stage wing pulse 31, a rear wing connecting shaft 32, a rear wing skin 33, an abdomen load plate 34, a right-way speed reducer 35, a connecting worm 36, an abdomen connecting pair 37, a left-way speed reducer 38, a rear wing connecting pair 39, a rotary gear ring 40, a propeller blade 41, an induction magnet 42, a magnetic fluid coil 43, a coil cable 44, an electromagnetic compass sensor 45, a battery bin 46, a hinged joint clamping groove 47, a support rod switching pair 48, a wing support rod 49, a driving motor 50, a leg connecting pair 51, a leg connecting shaft 52, a leg load plate 53, a leg root 54, a primary rotating pair 55, a leg middle 56, a secondary rotating pair 57, a leg front 58 and a leg tip.

Detailed Description

The invention is described below with reference to the accompanying drawings.

As shown in fig. 1 and 13, the invention provides a double-power coleoptera beetle bionic micro aircraft, which consists of a head a, a chest B and an abdomen C, wherein the head a is positioned right in front of the chest B, the head a can do small-amplitude pitching, deflecting and overturning motions relative to the chest B, and the front end of the head a is provided with a plurality of sensors which can collect obstacles in front of the aircraft in a flight or crawling path. The chest B is located head A dead astern and is located belly C dead ahead, and the connection between chest B and the belly C is fixed connection, can not carry out displacement or rotary motion. The abdomen C is positioned right behind the chest B, and the power device, the energy device, the positioning device, the flying motion mechanism and the crawling motion mechanism of the whole aircraft are all arranged on the abdomen C.

As shown in fig. 2 and 3, the head a includes a compound eye camera 1, a camera holder 2, a head base station 3, an infrared sensor 4 and a spherical revolute pair 8, the compound eye camera 1 is fixed on both sides of the camera holder 2 and respectively shoots the left front and right front visual images of the aircraft, the compound eye camera 1 moves along with the movement of the camera holder 2, the camera holder 2 is located in front of the head base station 3 and can perform a certain angle of deflection left or right, the head base station 3 is a main body part of the head a, the head base station 3 contains a processor for controlling the head sensor, the spherical revolute pair 8 is located right behind the head base station 3, the spherical revolute pair 8 connects the head base station 3 with the chest B, and the infrared sensor 4 is fixed right above the head base station 3 and the field of view is not blocked by the camera holder 2; the aircraft can emit infrared signals and receive return signals to assist in positioning an obstacle in front of the aircraft, the spherical revolute pair 8 is located on the lower side of the front and back of the head base station 3, and the head A and the chest B are connected to enable the head A to perform rotary motion with three spatial degrees of freedom within a certain angle.

As shown in fig. 4, the chest B is composed of a chest weight 9, a spherical coupling pair 10, a chest shell 11, a left coleoptera 12 and a right coleoptera 13, wherein the chest weight 9 is located under the chest shell 11 and covered by the chest shell 11, which is a main body of the chest B, the spherical coupling pair 10, the chest shell 11, the left coleoptera 12 and the right coleoptera 13 are all disposed thereon, the spherical coupling pair 10 is located at the lower front part of the chest weight 9 and connected with the spherical revolute pair 8 of the head a, the spherical surface of the spherical revolute pair 8 and the spherical surface of the spherical coupling pair 10 are included, can freely slide in a hemispherical surface, the chest carapace 11 is positioned right above the chest load-carrying piece 9 and completely covers the chest load-carrying piece, an aircraft control system positioned in the chest load-carrying piece 9 can be protected, the left coleoptera 12 and the right coleoptera 13 are positioned on the upper portion of the rear portion of the chest load-carrying piece 9, the two coleoptera are both connected to the chest load-carrying piece 9 through the connecting pairs and can freely rotate around the connecting pairs, when the aircraft does not execute a flight task, the left coleoptera 12 and the right coleoptera 13 are closed to protect related structures in the abdomen C, when the aircraft executes the flight task, the left coleoptera 12 and the right coleoptera 13 are upwards turned to a specified height to facilitate the operation of the flight wings of the aircraft, and meanwhile, additional lift force is provided in the flight process.

As shown in fig. 5, the said chest weight carrier 9 is composed of a chest shell connecting port 14, a weight carrier 15, a coleoptera connecting pair 16 and a belly moving pair 17, wherein the weight carrier 15 is a main body of the chest weight carrier 9 and is composed of two bosses with different cross sections at the front and the back, the large boss is responsible for carrying the weight from the head a and the chest shell 11 and accommodating the chest B structure control structure part of the aircraft, the small boss is responsible for carrying the weight from the left coleoptera 12, the right coleoptera 13 and the belly B, the chest shell connecting port 14 is located right above the large boss side of the weight carrier 15 and is connected with the chest shell 11, the coleoptera connecting pair 16 is divided into two parts at the left and the right, and is located obliquely above the small boss side of the weight carrier 15 and is respectively connected with the left coleoptera 12 and the right coleoptera 13, the left coleoptera 12 and the right coleoptera 13 can be tilted along a fixed path in the coleoptera connecting pair 16, when the aircraft performs a flight task, the coleoptera moves to the top of the path of the coleoptera connecting pair 16, when the two petals are in a closed state, when the flight task is not performed, the flight task, the coleoptera connecting pair is not performed, the coleoptera connecting port is opened, and the bottom of the small boss is connected with the small boss side, and is connected with the small wing connecting port of the moving pair 16, and is not connected with the wing connecting port, and is provided for the wing connecting port, and the wing connecting port of the wing 15, and is not connected with the belly, and the wing connecting port of the wing 15.

As shown in fig. 6, the chest shell 11 is composed of shell plates 18 and shell connecting shafts 19, wherein the shell plates 18 are the main body of the chest shell 11 and have a curved arc structure, the arc surface protrudes outwards, the total number of shell connecting shafts 19 is five, the shell connecting shafts 18 are located behind the shell plates 18 and all penetrate through the shell plates 18, the five shell connecting shafts 19 are arranged at equal intervals in the circumferential direction and are connected with the chest shell connecting ports 14 of the chest shell 11, the whole chest shell 11 plays a role in protecting the internal structure of the chest weight carrier 9, and the weight of the chest B is increased to fix the whole chest B, so that the deviation degree of the aircraft caused by the rotation of the head a or the working jitter of the abdomen C of the chest B is reduced.

In some embodiments, as shown in fig. 7, the left and right coleoptera are identical in structure and are composed of coleoptera ribs 20, coleoptera plates 21 and a coleoptera connecting shaft 22, wherein the coleoptera plates 21 are used as main body parts of the left and right coleoptera 12 and 13 and have an ellipsoidal arc structure, five coleoptera ribs 20 are located on the upper surface of the coleoptera plate 21 and are arranged at equal intervals in the circumferential direction, the length of the coleoptera plates extends from the coleoptera ribs 21 to the tail, the whole coleoptera plate 21 is approximately streamlined, so as to reduce the influence of the resistance of the incoming flow of the aircraft, the coleoptera ribs 20 have a function of dividing the airflow in front of the aircraft, so that the incoming flow passes along the extending direction of the coleoptera ribs 20, so as to improve the lift-drag ratio of the whole aircraft, the coleoptera connecting shaft 22 is located right in front of the edge of the coleoptera plate 21 and is connected with the coleoptera connecting pair 16 of the carrier 8, and the coleoptera connecting shaft 22 can slide in the coleoptera connecting pair 16 according to whether the whole coleoptera is opened or closed.

As shown in fig. 8, the abdomen C is composed of a right rear wing 23, a leg 24, an abdomen weight carrier 25, and a left rear wing 26, wherein the abdomen weight carrier 25 is a main supporting portion of the abdomen C, the right rear wing 23, the leg 24, and the left rear wing 26 are all fixed thereon, the right rear wing 23 has a structure identical to that of the left rear wing 26, is located above the right side of the abdomen weight carrier 25, and is a boundary irregular plane structure, the leg 24 is located directly below the abdomen weight carrier 25, and is a multi-legged mechanical structure, and plays a supporting role for the whole micro aircraft body, the left rear wing 26 is located above the left side of the abdomen weight carrier 25, and is mirror-symmetrical to the right rear wing 23 about a structural central axis, when the aircraft flies, the right rear wing 23 and the left rear wing 26 expand the whole wing surface outwards, the wing tips flap in an "o" shape track, the generated lift force supports the whole micro aircraft, when the aircraft does not perform a flying motion, the right rear wing 23 and the left rear wing 26 contract towards the inside of the abdomen C, the left belly 12, the right rear wing 13, and the right sheath wing 24 start a crawling motion.

In some embodiments, as shown in fig. 9, the right and left rear wings 23 and 26 are composed of a first-stage wing vein 27, a second-stage wing vein 28, a third-stage wing vein 29, a fourth-stage wing vein 30, a rear wing connecting shaft 31, and a rear wing skin 32, wherein the first-stage wing vein 27, the second-stage wing vein 28, the third-stage wing vein 29, and the fourth-stage wing vein 30 jointly form a rear wing main body part, the end of the first-stage wing vein 27 is overlapped above the end of the second-stage wing vein 28, the end of the second-stage wing vein 28 is overlapped above the end of the third-stage wing vein 29, the end of the third-stage wing vein 29 is overlapped above the end of the fourth-stage wing vein 30, the fourth-stage wing vein 30 is located at the bottommost layer, the first-stage wing vein 27 is a non-radian-head-end blunt-end sharp rod, the second-stage wing vein 28 is a small-radian-head-end blunt-end sharp rod, the third-stage wing vein 29 is a medium-radian-head-end sharp rod, the fourth-radian-end sharp rod, the fourth-stage wing vein 30 is a large-head-end sharp rod, the four sections of wing veins are respectively diverged at a specific angle to form a wing bone of the whole rear wing, the rear wing connecting shaft 31 is positioned right above the tail end of the first-stage wing vein 27 and is connected with the belly load-carrying piece 25, when the aircraft performs flight motion, the four sections of wing veins take the rear wing connecting shaft 31 as a rotation center and are diverged to a maximum angle, the whole rear wing is in an open state, the rear wing flutters to generate lift force to act on the whole aircraft, when the aircraft does not perform flight motion, the four sections of wing veins take the rear wing connecting shaft 31 as the rotation center and are overlapped on the second-stage wing vein 28 according to the first-stage wing vein 27, the second-stage wing vein 28 is overlapped on the third-stage wing vein 29, the third-stage wing vein 29 is overlapped on the fourth-stage wing vein 30 to be folded and contracted inwards, the whole rear wing is completely contracted inside the belly load-carrying piece 25, the rear wing skin 32 has two layers, and the first-stage wing vein 27, the second-stage wing vein 28, the third-stage wing vein 29 and the fourth-stage wing 30 are all wrapped inside, the rear wing skin 32 is a highly extensible and stretchable material, and is extensible with the deployment of the wing veins and retractable with the closure of the wing veins.

As shown in fig. 10 and 11, the belly weight 25 includes a belly weight plate 33, a right speed reducer 34, a connecting worm 35, a belly connection pair 36, a left speed reducer 37, a rear wing connection pair 38, a rotary gear 39, a propeller 40, a magnetofluid coil 42, a coil cable 43, an electromagnetic compass sensor 44, a battery compartment 45, a wing strut 48 and a driving motor 49, the belly weight plate 33 is a main body of the belly weight 25 and is an ellipsoidal regular flat plate, the right speed reducer 34 is located on the right side of the upper surface of the belly weight plate 33, a rear wing connection pair 38 is located on the right side of the right speed reducer 34 and is connected to the right rear wing 23, the internal structure is a speed reduction gear set, the power rod part for flapping the right rear wing 23 transmitted by the rotary gear 39 is adjusted, the left side of the right speed reducer 34 is connected to the connecting worm 35, the internal speed reducer is rotated by the gear box connecting worm 35, the connecting worm 35 is located on the upper surface of the belly weight plate 33 and is connected to the right speed reducer 34 and the left speed reducer 37, the rotary gear 34 is located on the left side of the belly weight plate, the right speed reducer 33, the right speed reducer 34 and the rotary gear 34, the right speed reducer 34 is located on the left side of the rotary gear, the left speed reducer, the rotary gear 34, the left speed reducer 33, the rotary gear is located on the belly weight plate, the right speed reducer 33 and the right speed reducer, the left speed reducer, the right speed reducer, the rotary gear 34, the right speed reducer, the left speed reducer, the right speed reducer 33, the left speed reducer 33 is located on the left speed reducer 33 and the right speed reducer, the rotary gear 34, the right speed reducer, the left speed reducer 33, the rotary gear ring 39 is located in the middle of the upper surface of the belly load plate 33, the outer gear ring of the rotary gear ring 39 is meshed with the connecting worm 35 and transmits power to the right speed reducer 34 and the left speed reducer 37, the induction magnets 41 are uniformly distributed on the inner ring surface of the rotary gear ring 39, a through hole is formed in the position, corresponding to the belly load plate 33, of the rotary gear ring 39, the wing support rod 48 is connected to the inner wall of the through hole through a support rod adapter 47, the driving motor 49 is fixedly connected to the wing support rod 48, the propeller 40 is fixedly connected to the rotating shaft of the driving motor 49, the magnetofluid coil 42 is connected with a battery through a coil cable 43, when current flows in the magnetofluid coil 42, an annular electric field is generated, a magnetic field in the vertical direction is generated by induction in the space inside the coil, the propeller blade 40 is located in the range of the induction fields, the induction fields are cut when the propeller blade 40 rotates, the induction field magnetism of each rotation turns once, the induction magnet 41 on the outer side rotates along with the rotation of the propeller blade 40, the faster rotation speed of the propeller blade 40, the magnetic field turns, the magnetic field magnetism of the magnetic field, the magnetic field turns faster, the rotational offset of the induction magnet 41 is generated, the propeller blade 40, the larger the reverse rotation offset of the propeller blade 40 is generated, and the magnetic field turns the opposite direction is generated. The drive motor 49 is located on the axis of the rotary ring gear 39; the rotation of the rotary gear ring 39 provides the power needed by the flapping flight of the whole micro-aircraft, the outer gear ring of the rotary gear ring 39 is meshed with the connecting worm 35 and transmits the power to the right speed reducer 34 and the left speed reducer 37, the torque transmitted by the right speed reducer 34 and the left speed reducer 37 finally drives the right rear wing 23 and the left rear wing 26 to execute the flapping motion, and the propeller blades 40 rotate to provide the output lift force for the micro-aircraft while the rear wings flap.

The electromagnetic compass sensor 44 is positioned at the left rear part of the upper surface of the belly load plate 33, provides azimuth information in the flying process of the micro aircraft, and can return the current absolute geomagnetic declination information of the micro aircraft, the battery bin 45 is positioned at the right rear part of the upper surface of the belly load plate 33, and comprises a plurality of solid-state lithium batteries inside to provide an energy source for the whole micro aircraft, the upper surface is provided with a plurality of holes to provide the energy source for the whole micro aircraft, and the upper surface is provided with a plurality of holes to improve the heat dissipation capacity of the batteries during working;

in some embodiments, as shown in fig. 12, the leg 24 is composed of a leg connecting shaft 51, a leg bearing plate 52 and six crawling feet, wherein the leg bearing plate 52 is located on the main body of the leg 24 and is an ellipsoid-shaped regular flat plate, the leg connecting shaft 51 is located in the middle of the upper surface of the leg bearing plate 52 and is connected with a leg connecting pair 50 of the abdominal loading member 25, the leg bearing plate 52 provides moving attachment for each crawling foot and is directly fixed on the right lower side of the abdominal loading member 25, the six crawling feet have the same size and specification, one is selected for description, the crawling foot is composed of a leg root 53, a primary rotating pair 54, a leg middle 55, a secondary rotating pair 56, a leg front 57 and a leg tip 58, the leg root 53, the leg middle 55 and the leg front 57 are rigid columns and cannot move independently, the leg root 53 is connected with the leg bearing plate 52 on the upper surface and the primary rotating pair 54 is connected on the lower surface, the upper surface of the middle part 55 of the leg is connected with a primary revolute pair 54, the lower surface is connected with a secondary revolute pair 56, the upper surface of the front part 57 of the leg is connected with a secondary revolute pair 56, the lower surface is connected with a leg tip 58, the primary revolute pair 54 and the secondary revolute pair 56 can carry out single-degree-of-freedom rotary motion around the plane center of the base, the leg tip 58 is a pyramid and is a part of the contact of the crawling feet and the ground, when the micro-aircraft carries out flight motion, the primary revolute pair 54 and the secondary revolute pair 56 are both turned inwards to the maximum angle, each crawling foot is both folded inwards, when the micro-aircraft carries out crawling motion, the six crawling feet imitate three-three gait postures of coleoptera beetles, the three crawling feet which are static in each gait motion keep the current state, the primary revolute pairs 54 of the three crawling feet in motion are turned outwards to drive the middle part 55 of the leg to be opened outwards, the secondary rotating pair 56 is twisted from front to back to drive the front part 57 of the leg to rotate from front to back, the tip 58 of the leg is fixed on the front part 57 of the leg, the front end of the leg is grounded to grab the ground, and the whole aircraft is pulled to climb forwards.

In some embodiments, as shown in fig. 14 and 15, the head base station 3 of the head a is provided with a hinge receiving groove 7, and the edge of the hinge receiving groove 7 is connected with a spherical hinge 5 through a hinge revolute pair 6; the spherical joint 5 is connected in a joint clamping groove 46 arranged at the rear end of the abdominal loading plate 33. The structure connects a plurality of micro aircrafts into a whole.

It is within the scope of the present invention to employ the same design but with only a different size and appearance of the secondary mounting structure or the manner of attachment.

In the description of the present invention, the terms "front", "rear", "left" and "right" refer to what is shown in fig. 1.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings only for the convenience of description and simplicity of description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and thus, are not to be construed as limiting the invention.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (6)

1. A double dynamical coleoptera beetle bionic micro aircraft which characterized in that: comprises a head, a chest and an abdomen which are connected in sequence, wherein the head is positioned at the forefront; the head comprises compound eye cameras, a camera holder, a head base station, an infrared sensor and a spherical revolute pair, the compound eye cameras are fixed on two sides of the camera holder, the camera holder is located in front of the head base station, the head base station is a head main body part, a processor for controlling the head sensor is contained in the head base station, the spherical revolute pair is located right behind the head base station, the head base station is connected with the chest through the spherical revolute pair, the infrared sensor is fixed right above the head base station, and the visual field is not blocked by the camera holder; the chest comprises a chest load-carrying piece, a spherical connecting pair, a chest shell, a left coleoptera and a right coleoptera, wherein the chest load-carrying piece is positioned under the chest shell and is coated by the chest shell; the chest load-carrying piece comprises a chest shell connecting port, a load-carrying piece, a coleoptera connecting pair and an abdomen moving pair, wherein the load-carrying piece is a main body part of the chest load-carrying piece, the front part and the rear part of the load-carrying piece are formed by combining bosses with different cross sections, the chest shell connecting port is positioned right above one side of a large boss of the load-carrying piece and is connected with the chest shell, the coleoptera connecting pair is divided into a left part and a right part, is positioned obliquely above one side of a small boss of the load-carrying piece and is respectively connected with a left coleoptera and a right coleoptera, the left cole and the right cole can tilt along a fixed path in the coleoptera connecting pair, and the abdomen moving pair is positioned right behind one side of the small boss of the load-carrying piece; the chest carapace comprises a carapace plate and carapace connecting shafts, wherein the carapace plate is a chest carapace main body, the carapace connecting shafts are positioned behind the carapace plate and penetrate through the carapace plate, and the carapace connecting shafts are distributed at equal intervals in the circumferential direction and are connected with a chest carapace connecting port of the chest carapace; the abdomen comprises a right rear wing, a leg, an abdomen load-carrying piece and a left rear wing, the abdomen load-carrying piece is a main body part of the abdomen, the right rear wing, the leg and the left rear wing are all fixed on the abdomen load-carrying piece, and the right rear wing structure and the left rear wing are positioned above the right side of the abdomen load-carrying piece; the leg part is positioned right below the abdominal loading part, and the left rear wing is positioned above the left side of the abdominal loading part and is in mirror symmetry with the right rear wing about a structural central axis; the abdomen load-carrying piece comprises an abdomen load-carrying plate, a right speed reducer, a connecting worm, an abdomen connecting pair, a left speed reducer, a rear wing connecting pair, a rotary gear ring, a propeller blade, a magnetic fluid coil, a coil cable, a battery bin, a wing strut and a driving motor, the abdomen load plate is the main body part of the abdomen load piece, the right speed reducer is positioned at the right side of the upper surface of the abdomen load plate, the right side surface of the right speed reducer is provided with a rear wing connecting pair, is connected with the right rear wing, the left side of the right speed reducer is connected with a connecting worm, an internal gear box is driven by the connecting worm to rotate, the connecting worm is positioned on the upper side of the upper surface of the belly loading plate and is connected between the right speed reducer and the left speed reducer, the worm part with the gear rotation is meshed with the outer ring surface of the rotary gear ring and is connected between the right speed reducer and the left speed reducer, the worm part with the tooth rotation and the provided rotation torque are transmitted to the right speed reducer and the left speed reducer, the abdomen connecting pair is positioned on the front side surface of the abdomen load board, is connected with an abdomen moving pair of the chest, the left speed reducer and the right speed reducer are in the same structure and opposite in direction, are positioned on the left side of the upper surface of the abdomen load carrying plate and are in mirror symmetry with the right speed reducer around the central axis of the aircraft, a back wing connecting pair is arranged on the left side surface of the left speed reducer, is connected with the left rear wing, the rotary gear ring is positioned in the middle of the upper surface of the abdominal load plate, induction magnets are uniformly distributed on the inner annular surface of the rotary gear ring, a through hole is arranged at the position of the rotary gear ring corresponding to the abdominal load plate, the wing supporting rod is connected to the inner wall of the through hole through a supporting rod transfer pair, the driving motor is fixedly connected to the wing supporting rod, the propeller blade is fixedly connected to a rotating shaft of the driving motor, the magnetic fluid coil is connected with the battery through a coil cable, and the driving motor is located on the axis of the rotating gear ring; the outer gear ring of the rotary gear ring is meshed with the connecting worm and transmits power to the right speed reducer and the left speed reducer; the shank include shank connect vice, shank loading board, six crawl foot and constitute, the shank loading board be located shank main part, shank connect vice lie in shank loading board upper surface middle part, be connected with belly load piece, the battery compartment is located belly load board upper surface dead back, its inside contains multisection solid state lithium cell.

2. The hybrid coleoptera beetle bionic micro vehicle of claim 1, wherein: the abdomen loading piece is fixedly connected with an electromagnetic compass sensor and is positioned on the left rear side of the upper surface of the abdomen loading plate.

3. The hybrid coleoptera beetle bionic micro vehicle of claim 1, wherein: the crawling foot comprises a leg root, a primary revolute pair, a leg middle part, a secondary revolute pair, a leg front part and a leg tip, wherein the upper surface of the leg root is connected with a leg bearing plate, the lower surface of the leg root is connected with the primary revolute pair, the upper surface of the leg middle part is connected with the primary revolute pair, the lower surface of the leg middle part is connected with the secondary revolute pair, the upper surface of the leg front part is connected with the secondary revolute pair, the lower surface of the leg tip is connected with the leg tip, the primary revolute pair and the secondary revolute pair can perform single-degree-of-freedom rotary motion around the center of the plane of the base of the secondary revolute pair, and the leg tip is a pyramid and is a part in contact with the ground for the crawling foot.

4. The hybrid coleoptera beetle bionic micro vehicle of claim 1, wherein: the head base station is provided with a hinge head accommodating groove, and the edge of the hinge head accommodating groove is connected with a spherical hinge head through a hinge head revolute pair; the spherical articulated head is connected in an articulated head clamping groove arranged at the rear end of the abdominal loading plate.

5. The hybrid coleoptera beetle bionic micro vehicle of claim 1, wherein: the left and right coleoptera are identical in structure and comprise coleoptera edges, coleoptera plates and a coleoptera connecting shaft, the coleoptera plates are main parts of the left and right coleoptera, the five coleoptera edges are positioned on the upper surface of the coleoptera plate and are arranged at equal intervals in the circumferential direction, the length of the coleoptera plates extends from the coleoptera edges to the fin tails, and the coleoptera connecting shaft is positioned right in front of the edges of the coleoptera plates and is connected with the coleoptera connecting pair of the load-carrying member.

6. The dual-power coleoptera beetle bionic micro-aircraft of claim 1, wherein: the structure of the right back wing and the left back wing is the same, the structure comprises a first-level wing pulse, a second-level wing pulse, a third-level wing pulse, a fourth-level wing pulse, a back wing connecting shaft and a back wing skin, wherein the first-level wing pulse, the second-level wing pulse, the third-level wing pulse and the fourth-level wing pulse jointly form a back wing main body part, the first-level wing pulse is overlapped above the tail end of the second-level wing pulse, the tail end of the second-level wing pulse is overlapped above the tail end of the third-level wing pulse, the third-level wing pulse is overlapped above the tail end of the fourth-level wing pulse, the fourth-level wing pulse is positioned at the bottommost layer, the first-level wing pulse is a sharp thin rod without a head end and a sharp tail end, the second-level wing pulse is a sharp thin rod without a head end and a middle head end, the fourth-level wing pulse is a sharp thin rod without a head end and a tail end, the fourth-level wing pulse is respectively diverged at a specific angle to form a wing bone of the whole back wing, the back wing is positioned directly above the tail end of the first-level wing pulse, the back wing pulse is connected with an abdominal loading piece, the back wing skin is shared by two layers of the first-level wing pulse, the third-level wing pulse, the fourth-level wing pulse and the fourth-level wing pulse are all covered in the four-level wing pulse, and the four-level wing pulse.

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