Four-rotor aircraft with wall surface landing and take-off function

Abstract

The invention discloses a four-rotor aircraft with a wall surface landing and take-off function. The four-rotor aircraft with the wall surface landing and take-off function comprises a rotorcraft body; a landing mechanism is connected to the rotorcraft body; the landing mechanism comprises a connecting frame; the two ends of the connecting frame are correspondingly connected with a U-shaped landing gear through supporting rods; two side stopping end parts of the landing gear are correspondingly connected with one ends of the supporting rods through rotating shafts; the two side stopping end parts of the landing gear are also correspondingly connected with one ends of outriggers; sliding wheels are arranged at the other ends of the outriggers; an adhesion mechanism is arranged on a cross rod of the landing gear; elastic elements are also arranged at the connecting parts of the landing gear and the supporting rods; locking reeds are also connected to the two end parts of the connecting frame; and the rotorcraft body is connected with the connecting frame. After the rotorcraft body turns over for a smaller angle, the gravity forces of the four-rotor aircraft is balanced by using the adhesion mechanism; the four-rotor aircraft body changes the posture so that the top surface of the four-rotor aircraft body is pressed close to the wall surface; and therefore, the landing process ofthe four-rotor aircraft is stable and reliable.

Description

technical field [0001] The invention belongs to the technical field of engineering bionics and mechanical design and manufacture, and relates to a quadrotor aircraft with wall landing and take-off functions. Background technique [0002] Rotorcraft has the advantages of small size, flexible movement, vertical take-off and landing, simple operation, and strong adaptability to complex space environments. It has broad application prospects in disaster search and rescue, military reconnaissance and other fields, but the short endurance time limits the practical application of rotorcraft. One of the main technical bottlenecks. [0003] By imitating the landing behavior of birds and flying insects, the quadrotor aircraft has a composite wall landing function. When the quadrotor aircraft is not necessary to fly, it can land on the wall in a low-power state to perform tasks or rest, which can effectively extend its effective mission time. [0004] At home and abroad, there have bee...

AI Technical Summary

Problems solved by technology

Chinese patent (application number 201110322551.6; patent name: a micro-robot for air flight and omnidirectional adsorption; publication number: 102390528A; publication date: 2012.03.28) discloses a micro-robot for air flight and omnidirectional adsorption. The robot has the ability to inhabit and absorb on the surface of objects in the air, realizing the mechanism of imitating the flight and inhabitation of flying creatures. However, when it lands on the wall, the quadrotor aircraft is still in a horizontal attitude, the center of gravity is far from the wall, and the overturning moment is relatively large.

The SCAMP robot with flight and wall climbing functions developed by Stanford University in the United States lands on the wall when the top of the quadrotor is close to the wall, the center of gravity is closer to the wall, and the overturning moment is small (Pope M T, Kimes C W, Jiang H, et al. A Multimodal Robot for Perching and Climbing on Vertical Outdoor Surfaces[J].IEEE Transactions on Robotics,2017,33(1):38-48.), but during the wall landing process, the head of the SCAMP robot touches the wall support, under its own inertia and aerodynamic propulsion Under the action of force, the fuselage flips 90° and the rear claw structure touches the wall for adhesion. During the flip process, the component force of the aerodynamic propulsion force in the vertical direction is not enough to overcome its own gravity, and the stability is insufficient.

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