WO2017215200A1 - 无线充电无人机 - Google Patents

无线充电无人机 Download PDF

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Publication number
WO2017215200A1
WO2017215200A1 PCT/CN2016/107937 CN2016107937W WO2017215200A1 WO 2017215200 A1 WO2017215200 A1 WO 2017215200A1 CN 2016107937 W CN2016107937 W CN 2016107937W WO 2017215200 A1 WO2017215200 A1 WO 2017215200A1
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WO
WIPO (PCT)
Prior art keywords
wireless charging
boom
bionic mechanical
charging drone
mechanical leg
Prior art date
Application number
PCT/CN2016/107937
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English (en)
French (fr)
Inventor
刘均
刘新
宋朝忠
欧阳张鹏
Original Assignee
深圳市元征科技股份有限公司
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Publication of WO2017215200A1 publication Critical patent/WO2017215200A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
    • B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/08—Undercarriages non-fixed, e.g. jettisonable
    • B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/25—Fixed-wing aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/34—In-flight charging
    • B64U50/35—In-flight charging by wireless transmission, e.g. by induction
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries

Definitions

  • the invention relates to a wireless charging drone.
  • the drone is referred to as the "UAV”, abbreviated as “UAV”, and is a non-manned aircraft operated by radio remote control equipment and self-provided program control devices.
  • UAV The drone
  • the scope of use of drones has been widely used in military, scientific research, and civilian applications, specifically in power, communications, meteorology, agriculture, oceanography, exploration, photography, disaster prevention and mitigation, crop yield estimation, anti-drug, border patrol, Public security and anti-terrorism and other fields are widely used.
  • the related drones have many problems of short battery life, affecting the scope of application and the experience of users.
  • the main object of the present invention is to provide a wireless charging drone, which aims to extend the life of the drone and improve the user experience.
  • a wireless charging drone includes a fuselage, a wing, a bionic mechanical leg, and a receiving device disposed on the body, the receiving device for receiving an energy emitting device disposed on the ground.
  • the bionic mechanical leg is pivotally connected to the bottom of the fuselage.
  • the receiving device comprises a receiving antenna and a microwave rectifier for converting microwaves collected by the receiving antenna into high voltage direct current power.
  • the microwave rectifier is a cyclotron microwave rectifier.
  • the receiving antenna is disposed on a bionic mechanical leg.
  • the receiving antenna is a bionic mechanical leg.
  • the bionic mechanical leg comprises a first boom pivotally connected to the bottom of the fuselage and a second boom pivotally connected to the first boom, the fuselage and the first boom joint, the first boom A servo motor is provided at the junction with the second boom for rotation of the pivotal position.
  • a side of the second boom arm body facing the advancing direction of the wireless charging drone is provided with a wheel
  • the second arm frame is provided with a motor for driving the wheel to rotate, the fuselage and the first arm
  • the frame connection, the first arm frame and the second arm frame are all provided with angle fixing devices.
  • the facing bionic mechanical leg position of the bottom of the fuselage has a cavity formed from a recess formed at the bottom, the cavity for receiving the bionic mechanical leg.
  • the bionic mechanical leg receives/releases the cavity in the direction of the body axis under the driving of the servo motor, thereby realizing the conversion of the wireless charging drone in both the ground driving and the air flying state.
  • the fuselage, the wing, and the bionic mechanical leg are all carbon fiber structures.
  • the receiving device provided on the fuselage cooperates with the energy emitting device on the ground, so that the drone has a long battery life, which increases the convenience and experience of the user.
  • FIG. 1 is a schematic structural view of a first embodiment of a wireless charging drone according to the present invention
  • FIG. 2 is a schematic structural view of a second embodiment of a wireless charging drone according to the present invention.
  • FIG. 3 is a schematic view of another perspective of the wireless charging drone of FIG. 1 in which a bionic mechanical leg is not shown;
  • FIG. 4 is a schematic view showing the operation of the receiving device and the ground energy transmitting device of the wireless charging drone of the present invention.
  • Label name Label name 10 body 41 power supply 20 Wing 42 Microwave generator 30 Bionic mechanical leg 43 Transmitting antenna 31 First boom 50 Receiving device 32 Second boom 51 Receive antenna 33 wheel 52 Microwave rectifier 40 Energy emitting device 60 Cavity
  • first, second, and the like in the present invention are used for the purpose of description only, and are not to be construed as indicating or implying their relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include at least one of the features, either explicitly or implicitly.
  • the meaning of "a plurality” is at least two, such as two, three, etc., unless specifically defined otherwise.
  • the terms "connected”, “fixed” and the like should be understood broadly, unless otherwise clearly defined and limited.
  • “fixed” may be a fixed connection, or may be a detachable connection, or may be integrated; It may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and may be an internal connection of two elements or an interaction relationship of two elements unless explicitly defined otherwise.
  • the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
  • a wireless charging drone provided by the present invention includes a body 10, a wing 20, a bionic mechanical leg 30, and a receiving device 50 disposed on the body 10.
  • the receiving device 50 is configured to receive The energy emitted by the energy emitting device 40 on the ground, the bionic mechanical leg 30 is pivotally connected to the bottom of the fuselage 10.
  • the wireless energy transmission system formed by the ground energy transmitting device 40 and the receiving device 50 is applied to the currently popular wireless charging scheme, which can free the device from the constraint of wired power transmission, and freely arrange the orientation of the device to be charged according to the needs of the application environment.
  • the energy emitting device 40 is disposed on the ground, and the receiving device 50 is disposed on the drone to cooperate with the rechargeable battery (not shown), so that the drone can be charged without stopping at the ground connection, thereby greatly increasing the flight time of the drone; At the same time, the use of disposable non-rechargeable batteries will be greatly reduced, which is very beneficial for saving resources and protecting the environment.
  • the drone is propelled by propeller or jet in the air.
  • the drone By setting the bionic mechanical leg 30 in the lower part of the fuselage 10, the drone can walk on the ground, which enhances the environmental adaptability of the drone.
  • the receiving device 50 includes a receiving antenna 51 and a microwave rectifier 52 for converting the microwave collected by the receiving antenna 51 into high voltage direct current power.
  • the ground-based energy emitting device 40 includes a power source 41, a microwave generator 42 and a transmitting antenna 43 for converting the electrical energy transmitted by the power source 41 into microwaves, and transmitting the microwaves through the transmitting antenna 43.
  • the microwave wireless energy transmission system adopted by the technical scheme of the invention can realize long-distance, high-power electric energy transmission, and uses microwave as a carrier of energy. Due to the self-characteristics of the microwave, the wavelength is relatively short, the orientation is good, and the dispersion is small, and can be used for Realize the remote transmission of electrical energy.
  • the energy emitting device 40 includes a power source 41, a microwave generator 42 and a transmitting antenna 43.
  • the power source 41 is a variety of power sources available on the ground, including but not limited to various types of batteries, generators, etc., especially from wind energy. The clean energy of solar energy conversion is more in line with the development theme of today's society; the microwave generator 42 is used to convert the electric energy from the power source 41 into a high-power, high-frequency microwave, and then transmit the microwave through the transmitting antenna 43.
  • the receiving antenna 51 of the receiving device 50 disposed on the body 10 collects the microwaves transmitted by the energy emitting device 40 on the ground, and then converts the collected microwaves into the high voltage required to drive the drone through the microwave rectifier 52. DC power, the entire working process of wireless energy transmission.
  • the microwave rectifier 52 is a cyclotron microwave rectifier.
  • the rectifier is the key component of wireless transmission.
  • the cyclotron microwave rectifier is suitable for high-power, high-voltage energy transmission.
  • the single-tube rectification efficiency is close to 85%.
  • the basic principle of the cyclotron microwave rectifier is that the fast-rotating electron beam wave resonates to absorb microwave energy in the resonant cavity. It is essentially a DC power source. When the load is overloaded, it can generally self-protect quickly, and can automatically resume normal operation when the overload disappears.
  • the input microwave frequency, cavity frequency and cyclotron frequency should be as close as possible.
  • the receiving antenna 51 is disposed on the bionic mechanical leg 30.
  • the arrangement of the receiving antenna 51 on the bionic mechanical leg 30 allows the receiving antenna 50 to not protrude extra on the surface of the body 10, ensuring the optimal aerodynamic shape of the drone, reducing air resistance and reducing energy consumption.
  • the receiving antenna 51 is a bionic mechanical leg 30.
  • the receiving antenna 51 directly uses the bionic mechanical leg 30 to combine the ground running component of the drone with the wireless energy receiving antenna, and the bionic mechanical leg 30 can adjust the angle of pivoting with the body 10 to allow the receiving antenna 51 To achieve the best microwave receiving effect, and no need to set up an additional antenna, which is beneficial to the structural optimization design of the drone. Therefore, the technical solution of the present invention enables the drone to have a long battery life by combining the wireless energy transmission system receiving device 50 and the bionic mechanical leg 30, thereby increasing user convenience and experience.
  • the bionic mechanical leg 30 includes a first boom 31 pivotally connected to the bottom of the fuselage 10 and a second boom 32 pivotally connected to the first boom 31, the fuselage 10 and the first boom 31 A connection, a connection between the first boom 31 and the second boom 32 is provided with a servo motor (not shown) for rotating the pivotal position.
  • the bionic mechanical leg 30 disposed at the bottom of the fuselage 10 is in the form of two truncated arms, which can simulate the walking of the human legs and realize the convenience and practicability of the drone walking on the ground.
  • the side of the arm of the second boom 32 facing the direction of advancement of the wireless charging drone is provided with a wheel 33, and the second arm 32 is internally provided.
  • a motor (not shown) for driving the wheel 33 to rotate.
  • the body 10 is connected to the first arm frame 31, and the first arm frame 31 and the second arm frame 32 are each provided with an angle fixing device.
  • the second boom 32 can be rotated by the servo motor, and the second boom 32 is rotated to a horizontal state, at which time the wheel 33 is in contact with the ground, and the motor 33 drives the wheel 33 to rotate to advance the drone; and the first boom 31 can also be rotated by the servo motor to the bottom of the fuselage 10 to adjust the height of the drone's ground and increase the obstacle passing ability of the drone when driving on the ground.
  • the angle fixing device provided between the movable parts can ensure the stable posture of the drone on the ground and improve the safety.
  • the bottom of the fuselage 10 facing the bionic mechanical leg 30 has a cavity 60 formed from a recess formed therein, the cavity 60 for receiving the bionic mechanical leg 30.
  • the bionic mechanical leg 30 can be housed in the cavity 60 of the fuselage 10 when the drone takes off, reducing flight resistance and reducing energy consumption. Place the bionic mechanical leg down when you need to walk or receive microwave energy.
  • the bionic mechanical leg 30 receives/releases the cavity 60 in the axial direction of the body 10 under the driving of the servo motor, thereby realizing the conversion of the wireless charging drone in both the ground driving and the air flying state.
  • the servo motor is used to precisely control the retraction of the bionic mechanical leg 30, so that the drone accurately completes the conversion between the ground driving and the air flight, thereby improving safety and maneuverability.
  • the fuselage 10 and the wing 20 are both carbon fiber structures, and the weight is reduced and the energy consumption is reduced under the premise of ensuring structural strength.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Remote Sensing (AREA)
  • Transportation (AREA)
  • Power Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Toys (AREA)

Abstract

一种无线充电无人机，包括机身（10）、机翼（20）、仿生机械腿（30）以及设于机身上的接收装置（50），接收装置用于接收设于地面的能量发射装置（40）发射的能量，仿生机械腿与机身底部枢接。该无人机通过设在机身上的接收装置配合地面的能量发射装置，使无人机具备了较长的续航时间，增加了便利性。

Description

无线充电无人机
技术领域
本发明涉及一种无线充电无人机。
背景技术
无人驾驶飞机简称“无人机”，英文缩写为“UAV”，是利用无线电遥控设备和自备的程序控制装置操纵的不载人飞机。目前，无人机的使用范围已经广泛应用于军事、科研、民用三大领域，具体在电力、通信、气象、农业、海洋、勘探、摄影、防灾减灾、农作物估产、缉毒缉私、边境巡逻、治安反恐等领域应用甚广。目前，相关的无人机多存在续航时间短的问题，影响其应用范围以及使用者的体验性。
发明内容
本发明的主要目的是提供一种无线充电无人机，旨在延长无人机的续航时间，提高使用者的体验性。
为实现上述目的，本发明提出的无线充电无人机包括机身、机翼、仿生机械腿以及设于机身上的接收装置，所述接收装置用于接收设于地面的能量发射装置发射的能量，所述仿生机械腿与机身底部枢接。
优选地，所述接收装置包括接收天线和微波整流器，所述微波整流器用于将接收天线收集的微波转变为高压直流电能。
优选地，所述微波整流器为回旋波微波整流器。
优选地，所述接收天线设置在仿生机械腿上。
优选地，所述接收天线为仿生机械腿。
优选地，所述仿生机械腿包括与机身底部枢接的第一臂架以及与第一臂架枢接的第二臂架，所述机身与第一臂架连接处、第一臂架与第二臂架连接处均设置有伺服电机用于实现枢接位置的旋转。
优选地，所述第二臂架臂体的朝向无线充电无人机前进方向的一侧设有车轮，所述第二臂架内设有驱动车轮转动的电机，所述机身与第一臂架连接处、所述第一臂架与第二臂架连接处均设有角度固定装置。
优选地，所述机身底部的面对仿生机械腿位置具有一个从底部凹陷形成的腔体，所述腔体用于容置所述仿生机械腿。
优选地，所述仿生机械腿在伺服电机的驱动下沿机身轴线方向收入/放出所述腔体，实现无线充电无人机在地面行驶和空中飞行两种状态的转换。
优选地，所述机身、机翼、仿生机械腿均为碳纤维结构。
本发明技术方案中，通过设在机身上的接收装置配合地面的能量发射装置，使无人机具备了较长的续航时间，增加了使用者的便利性和体验性。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。
图1为本发明无线充电无人机第一实施例的结构示意图；
图2为本发明无线充电无人机第二实施例的结构示意图；
图3为图1中无线充电无人机的另一视角的示意图，其中仿生机械腿未示出；
图4为本发明无线充电无人机的接收装置和地面能量发射装置的工作示意图。
附图标号说明：
标号 名称 标号 名称
10 机身 41 电源
20 机翼 42 微波发生器
30 仿生机械腿 43 发射天线
31 第一臂架 50 接收装置
32 第二臂架 51 接收天线
33 车轮 52 微波整流器
40 能量发射装置 60 腔体
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明，本发明实施例中所有方向性指示（诸如上、下、左、右、前、后……）仅用于解释在某一特定姿态（如附图所示）下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
另外，在本发明中如涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“连接”、“固定”等应做广义理解，例如，“固定”可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
另外，本发明各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本发明要求的保护范围之内。
请参照图1，在本发明提供的无线充电无人机包括机身10、机翼20、仿生机械腿30以及设于机身10上的接收装置50，所述接收装置50用于接收设于地面的能量发射装置40发射的能量，所述仿生机械腿30与机身10底部枢接。
由地面的能量发射装置40与接收装置50形成的无线能量传输系统应用于目前非常流行的无线充电方案中，可以让设备摆脱有线电力传输的束缚，根据应用环境的需要自由布置待充电设备的方位。将能量发射装置40设置在地面上，在无人机上设置接收装置50配合充电电池（图未示），就可以使无人机不必停在地面接线充电，大大增加了无人机的飞行时间；同时一次性非充电电池的使用量也会大为减少，对节约资源和保护环境都非常有利。
无人机空中飞行时采用螺旋桨或喷气方式推进，通过在机身10下部设置仿生机械腿30，使无人机可以在地面行走，增强了无人机的环境适应性。
优选地，所述接收装置50包括接收天线51和微波整流器52，所述微波整流器52用于将接收天线51收集的微波转变为高压直流电能。
设在地面的能量发射装置40包括电源41、微波发生器42和发射天线43，所述微波发生器42用于将电源41传送的电能转变为微波，再通过发射天线43将微波传输出去。
本发明的技术方案采用的微波无线能量传输系统能实现长距离、大功率的电能传输，采用微波作为能量的载体，由于微波的自身特性，其波长比较短、定向性好、弥散小，可用于实现电能的远程传输。这种所述能量发射装置40包括电源41、微波发生器42和发射天线43，电源41是地面可以获得的各种电力来源，包括但不仅限于各类电池、发电机等装置，尤其是来自风能、太阳能转化的清洁能源，更契合当今社会绿色环保的发展主题；微波发生器42用于将来自电源41的电能，转变为大功率、高频的微波，然后通过发射天线43将微波传输出去。
相应的，设在机身10上的接收装置50的接收天线51收集地面上的能量发射装置40传送的微波，再通过微波整流器52将收集到的微波转变为驱动无人机工作所需要的高压直流电能，实现了无线能量传输的整个工作过程。
优选地，所述微波整流器52为回旋波微波整流器。
整流器是无线输电的关键器件，回旋波微波整流器适用于大功率、高电压的能量传输，单管的整流效率均接近85%。回旋波微波整流器的基本原理是快回旋电子束波在谐振腔中共振吸收微波能量，其本质上是直流电源，负载过载时一般能够快速自我保护，并在过载消失时能快速自动恢复正常工作。在使用中，输入微波频率、谐振腔频率和回旋频率三者应尽可能接近。
优选地，所述接收天线51设置在仿生机械腿30上。
将接收天线51设置在仿生机械腿30上可以让接收天线50不会在机身10的表面额外伸出，保证了无人机的最佳气动外形，减小了空气阻力，降低能耗。
优选地，所述接收天线51为仿生机械腿30。
作为进一步优化，接收天线51直接采用仿生机械腿30，将无人机的地面行走部件和无线能量接收天线相结合，并且仿生机械腿30可以调节与机身10枢接的角度，让接收天线51达到最佳的微波接收效果，同时不需要再额外设置天线，有利于无人机的结构优化设计。因此，本发明的技术方案通过将无线能量传输系统接收装置50和仿生机械腿30的组合，使无人机具备了较长的续航时间，增加了使用者的便利性和体验性。
优选地，所述仿生机械腿30包括与机身10底部枢接的第一臂架31以及与第一臂架31枢接的第二臂架32，所述机身10与第一臂架31连接处、第一臂架31与第二臂架32连接处均设置有伺服电机（图未示）用于实现枢接位置的旋转。
在机身10底部设置的仿生机械腿30为两截臂架形式，可以模拟人的双腿直立行走，实现了无人机在地面行走的便捷性和实用性。
在第二实施例中，请参阅图2，优选地，所述第二臂架32臂体的朝向无线充电无人机前进方向的一侧设有车轮33，所述第二臂架32内设有驱动车轮33转动的电机（图未示），所述机身10与第一臂架31连接处、所述第一臂架31与第二臂架32连接处均设有角度固定装置。
第二臂架32可以在伺服电机的带动下旋转，第二臂架32旋转至水平状态，此时车轮33与地面接触，在电机驱动下车轮33转动使无人机前进；而第一臂架31也可在伺服电机带动下相对机身10底部转动，以调节无人机的离地高度，增加无人机在地面行驶时的障碍通过能力。在活动部件之间设置的角度固定装置，可保证无人机在地面行驶的姿态稳定，提高了安全性。
请参阅图3，优选地，所述机身10底部的面对仿生机械腿30位置具有一个从底部凹陷形成的腔体60，所述腔体60用于容置所述仿生机械腿30。
仿生机械腿30可以在无人机起飞时，收容在机身10的腔体60内，减少飞行阻力，降低能耗。在需要行走或者接收微波能量时，将仿生机械腿放下来。
优选地，所述仿生机械腿30在伺服电机的驱动下沿机身10轴线方向收入/放出所述腔体60，实现无线充电无人机在地面行驶和空中飞行两种状态的转换。
采用伺服电机精确控制仿生机械腿30的收放，使无人机准确地完成地面行驶和空中飞行两种状态的转换，提高了安全性和可操控性。
优选地，所述机身10、机翼20均为碳纤维结构，在保证结构强度的前提下，降低重量、减少能耗。
以上所述仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是在本发明的发明构思下，利用本发明说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本发明的专利保护范围内。

Claims (10)

  1. 一种无线充电无人机，其特征在于，所述无线充电无人机包括机身、机翼、仿生机械腿以及设于机身上的接收装置，所述接收装置用于接收设于地面的能量发射装置发射的能量，所述仿生机械腿与机身底部枢接。
  2. 如权利要求1所述的无线充电无人机，其特征在于，所述接收装置包括接收天线和微波整流器，所述微波整流器用于将接收天线收集的微波转变为高压直流电能。
  3. 如权利要求2所述的无线充电无人机，其特征在于，所述微波整流器为回旋波微波整流器。
  4. 如权利要求2所述的无线充电无人机，其特征在于，所述接收天线设置在仿生机械腿上。
  5. 如权利要求2所述的无线充电无人机，其特征在于，所述接收天线为仿生机械腿。
  6. 如权利要求1所述的无线充电无人机，其特征在于，所述仿生机械腿包括与机身底部枢接的第一臂架以及与第一臂架枢接的第二臂架，所述机身与第一臂架连接处、第一臂架与第二臂架连接处均设置有伺服电机用于实现枢接位置的旋转。
  7. 如权利要求6所述的无线充电无人机，其特征在于，所述第二臂架臂体的朝向无线充电无人机前进方向的一侧设有车轮，所述第二臂架内设有驱动车轮转动的电机，所述机身与第一臂架连接处、所述第一臂架与第二臂架连接处均设有角度固定装置。
  8. 如权利要求6所述的无线充电无人机，其特征在于，所述机身底部的面对仿生机械腿位置具有一个从底部凹陷形成的腔体，所述腔体用于容置所述仿生机械腿。
  9. 如权利要求8所述的无线充电无人机，其特征在于，所述仿生机械腿在伺服电机的驱动下沿机身轴线方向收入/放出所述腔体，实现无线充电无人机在地面行驶和空中飞行两种状态的转换。
  10. 如权利要求1所述的无线充电无人机，其特征在于，所述机身、机翼均为碳纤维结构。
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