Spherical shell capable of being unfolded and falling off and suitable for bionic micro flapping-wing air vehicle

Abstract

The invention discloses a spherical shell suitable for a bionic micro flapping-wing aircraft and capable of being unfolded and falling off, and belongs to the field of micro flapping-wing aircrafts. Most of flapping wings of a flapping-wing micro air vehicle are light and thin in structure, easy to damage, large in windward area and not beneficial to long-distance conveying and task execution. The mechanism comprises a fixing device, a spherical shell device, an unfolding device, a clamping-releasing device and a driving device, and storage-releasing in the long-distance conveying process of the ornithopter can be achieved through closing-unfolding of spherical shell valves. In the launching process, the spherical shell device is in a closed state, and the aircraft can be effectively protected; the wind resistance is reduced by reasonably designing the appearance, and the working radius can be enlarged. According to the mechanism, an aircraft and a shell mechanism are launched as a whole through an ejection launching device, and the position and attitude information of the aircraft is monitored through a navigation system, an attitude sensor and the like in the launching process. According to the working principle of the device, when the aircraft reaches the proper height and posture and is close to a destination, the spherical shell cover pops up, the parachute is released, flight resistance is increased, then the landing speed is reduced, the spherical shell valves are opened after the posture is stable, the aircraft is released, and secondary take-off is completed. The micro ornithopter is used in cooperation with the mechanism, the task requirements of large working radius, high reconnaissance speed and flexible and convenient task execution can be met, and application scenes are effectively enriched. In addition, the mechanism achieves modular design, is composed of a plurality of different detachable independent units, is convenient to install, can be applied to other similar aircrafts, and is high in expansibility.

Description

Technical Field

[0001] This invention relates to the field of micro flapping-wing aircraft, and provides a deployable detachable spherical shell suitable for biomimetic micro flapping-wing aircraft. Background Technology

[0002] Bionic micro flapping-wing aircraft are characterized by their small size, light weight, robustness, durability, low cost, and good stealth capabilities. However, due to the limited net lift they can generate, they cannot carry large-capacity batteries sufficient to support flight missions, limiting their flight time and radius, which is detrimental to long-distance missions. Therefore, using auxiliary devices to provide sufficient initial velocity can effectively increase the aircraft's operational range. Currently, domestic UAV takeoff technologies include taxi takeoff, vehicle-mounted takeoff, rocket-assisted takeoff, hand-launched takeoff, and catapult takeoff. Among these, catapult takeoff converts other forms of energy into the initial kinetic energy of the UAV. This takeoff method has relatively fewer technical limitations and lower operating costs, playing a significant role in both the military and civilian UAV markets.

[0003] Fixed-wing drones have a robust and streamlined appearance, while the flapping wings of biomimetic flapping-wing aircraft are exposed, making their relatively weak structure susceptible to damage. Furthermore, they generate significant aerodynamic drag during high-speed flight, hindering long-distance transport using catapult technology. For this type of drone, a shell structure combining protection and release functions needs to be designed. During the high-speed catapult phase, the shell remains closed to protect the internal aircraft; upon reaching the vicinity of the target location, the entire system decelerates, stabilizes its attitude, and releases the aircraft, enabling a precise mid-air release and secondary takeoff of the flapping-wing aircraft. Summary of the Invention

[0004] This invention addresses the problems of insufficient endurance and limited mission radius of biomimetic micro flapping-wing aircraft by adding a deployable and detachable spherical shell to the aircraft. Under the protection of the shell, the aircraft can be launched remotely or take off in the air, thereby increasing the flight radius and mission range, reducing noise before reaching the designated location, and effectively improving applicability and stealth.

[0005] A deployable detachable spherical shell suitable for biomimetic micro flapping-wing aircraft includes a fixing device, a spherical shell device, a deployment device, a clamping-release device, and a drive device.

[0006] The fixing device includes a spherical shell fixing component, a central shaft connecting column, a limiting platform, a spherical shell central column, and a central platform; the spherical shell device includes a spherical shell cover, a spherical shell flap, and a connecting platform; the unfolding device includes a central slider and a support rod; the clamping-release device includes a central push rod, a T-shaped connecting rod, and an L-shaped clamp; the driving device includes a linear servo and a linear servo push rod arm.

[0007] The spherical shell fixing component is a three-dimensional structure used to install various parts of the spherical shell mechanism, including the linear servo, spherical shell flaps, and spherical shell cover, and its overall shape is part of a sphere. The spherical shell central column is a hollow cylindrical structure. The central platform is a short cylindrical structure. Lugs are evenly arranged at the lower end of the spherical shell fixing component, and through holes are drilled on the lugs for connecting the spherical shell flaps. A partition is provided in the middle of the spherical shell fixing component, and a hanging hole is provided at the upper part of the partition for connecting a buffer device. The partition has a through hole for the servo to pass through. The centroid of the partition is connected downward to the central shaft connecting column, and the bottom end of the central shaft connecting column is connected to the limiting platform. The central shaft connecting column is a long cylindrical structure, and the limiting platform is a short cylindrical structure with a large radius, connecting the spherical shell central column. A groove is provided at the centroid of the upper part of the central platform for connecting the spherical shell central column, and the side of the central platform is fixedly connected to the linear servo. An opening is made downward from the connection between the limiting platform and the spherical shell central column, allowing the central push rod to move up and down in the spherical shell central column.

[0008] The spherical cover has a three-dimensional structure, with an overall shape resembling a spherical crown. A rubber buckle around the central axis at the lower edge of the cover connects it to the spherical shell fixing component. The spherical shell petals also have a three-dimensional structure; for ease of explanation, this patent uses a six-petaled spherical shell as an example. The petal shell is the main structure of the petal; its shape is approximately one-sixth the size of a spherical shell. A cylindrical lug with a through hole is installed on the top of the petal for connection with the spherical shell fixing component. A pair of lugs is also installed at the root of the inner side of the petal, each lug having a through hole that forms a rotating pair with the through hole of the support rod. The bottom of the petal has a connecting platform, the main body of which is one-sixth the size of a spherical crown. The platform has cylindrical protrusions or grooves on its sides. When closed, the protruding petal engages with the adjacent petal with the groove. To ensure that the petal does not obstruct the release of the micro flapping-wing aircraft when the spherical shell is opened to its highest position, the rotation range around the axis of the petal during a complete opening process and the rotation range around the axis of the clamp during a complete release process need to be reasonably set.

[0009] The central slider is a three-dimensional structure, corresponding to a six-lobed spherical shell and subjected to uniform force. The main structure of the central slider is a regular hexagonal prism, with a cylindrical through hole at its centroid, allowing the central column of the spherical shell to pass through. The central slider can move up and down along the central column of the spherical shell between the central platform and the limiting platform. Each side of the central slider is provided with a pair of lugs, each lug having a through hole, forming a rotating pair with the through hole of the support rod. The support rod is a three-dimensional structure, with a slender main structure. Each support rod has a pair of lugs symmetrically arranged on its bottom sides, each lug having a cylindrical through hole. The inner lugs closer to the central axis form a rotating pair with the lugs on the central slider, while the outer lugs farther from the central axis form a rotating pair with the inner lugs at the root of the spherical shell lobes.

[0010] The central push rod is a three-dimensional structure with a cylindrical main body. Located inside the central column of the spherical shell, it can move up and down within the opening in the central column. The bottom surface of the central push rod is fixedly connected to the aircraft clamp. The T-shaped connecting rod is also a three-dimensional structure, connected to the central push rod at the bottom. A pair of lugs are mounted on the left and right sides of the top, each lug having a through hole, forming a rotating pair with the L-shaped clamp. The L-shaped clamp is a three-dimensional structure; the short arm is a cuboid connected to a quarter-cylinder, and the long arm is a cuboid. It contacts the aircraft during clamping. A through hole is located at the L-shaped corner, forming a rotating pair with the through hole on the lug of the T-shaped connecting rod. A groove is located on the outer side of the L-shaped clamp, and a corresponding groove is located on the inner side of the T-shaped connecting rod. A torsion spring is installed in this pair of grooves.

[0011] The linear servo is fixed to the side of the center platform, and the push rod of the linear servo can pass through the through hole of the spherical shell fixing plate; the linear servo push rod arm is a three-dimensional structure, and the whole is L-shaped. The upper end is fixed to the linear servo push rod through the through hole at the bottom of the linear servo push rod. The lower end of the linear servo push rod arm points in the direction of the central column of the spherical shell and is located below the central slider, and is used to push the central slider to move upward along the axis.

[0012] The linear servo push rod and the spherical cover enable the parachute release process. The linear servo push rod moves upward, and the upper end of the linear servo push rod lifts the spherical cover, separating the spherical cover from the spherical cover fixing component, thereby deploying the buffer device to slow down the descent; the buffer device includes, but is not limited to, the parachute.

[0013] The deployment device is an offset slider-rocker mechanism. The central slider and linear servo push rod structure determine the direction of the spherical shell flap deployment movement. The symmetrical structure enables the six spherical shell flaps to open synchronously. The linear servo push rod arm drives the central slider to move upward, and the spherical shell flaps gradually unfold from the closed state through the support rod. When the central slider is at the lower limit position, the spherical shell flaps contact each other and close, forming a complete sphere that can completely cover the aircraft body. When the central slider moves upward to the upper limit position, the upper surface contacts the lower surface of the limiting platform. At this time, the spherical shell flaps open to the set maximum angle, and the support rod is approximately perpendicular to the axis of the central column of the spherical shell, so as not to hinder the aircraft from falling.

[0014] The clamping-release device is a clamping mechanism. When the central push rod is at the lower limit position, the aircraft clamp holds the aircraft by a torsion spring. The central push rod moves upward until it is at the upper limit position. At this time, the upper surface of the T-shaped connecting rod contacts the lower surface of the limiting platform. At this time, the outer plane of the L-shaped clamp is in contact with the lower plane of the central platform. The L-shaped clamp rotates outward, and the aircraft is released.

[0015] The deployable detachable spherical shell suitable for a biomimetic micro flapping-wing aircraft is characterized in that: the central slider is initially located on the central platform, the spherical shell flaps are in a closed state, the spherical shell cover is closed, and the clamps are closed to hold the aircraft; the central slider moves upward, sequentially realizing the parachute release process, the spherical shell flap opening process, and the aircraft release process; when the central slider is at the upper limit position, the upper surface of the T-shaped connecting rod contacts the lower surface of the limiting platform, the support rod is approximately perpendicular to the movement axis of the central slider, the spherical shell flaps are in a fully open state, the spherical shell cover detaches, and the aircraft clamps open.

[0016] A method for installing a deployable, detachable spherical shell suitable for biomimetic micro flapping-wing aircraft is as follows:

[0017] (1) First, the spherical shell fixing component is interference-fitted with the central shaft connecting column. The limiting platform and the spherical shell central column are connected in sequence below the central shaft connecting column. The cylindrical part of the central push rod is inserted into the spherical shell central column. The central slider is inserted into the spherical shell central column. The through holes of the two L-shaped clamps and the T-shaped connecting rod are riveted together. The spherical shell central column is interference-fitted with the central platform.

[0018] (2) The through holes of the lugs on the root of the six spherical shell flaps are riveted to the through holes of the lugs on the six spherical shell fixing parts, the inner through holes of the six support rods are riveted to the through holes of the six pairs of lugs on the central slider, and the outer through holes of the six support rods are riveted to the through holes of the pair of inner lugs on the spherical shell flaps; when the spherical shell flaps are in the closed state, the cylindrical protrusions on the adjacent connecting platforms are transitionally fitted with the cylindrical grooves of the adjacent spherical shell flaps; the dimensions of the above components are calculated according to the actual situation through kinematic relationships;

[0019] (3) Connect and fix the linear servo to the center platform through the through hole on the partition of the spherical shell fixing piece, and fix and rivet a pair of linear servo push rod arms to the through hole at the bottom of the linear servo push rod. The linear servo push rod arms point to the direction of the central column of the spherical shell and are located below the central slider.

[0020] (4) The aircraft is held in place by the L-shaped clamp, and the spherical shell cover is connected to the spherical shell fixing member by a buckle, so that the spherical shell flap is in a closed state. Attached Figure Description

[0021] Figure 1 A schematic diagram of an overall diagram of a deployable detachable spherical shell suitable for a biomimetic micro flapping-wing aircraft according to the present invention;

[0022] Figure 2 A schematic diagram of a fixing device for a deployable and detachable spherical shell suitable for a biomimetic micro flapping-wing aircraft according to the present invention;

[0023] Figure 3A schematic diagram of a spherical shell device with a deployable and detachable spherical shell suitable for a biomimetic micro flapping-wing aircraft according to the present invention;

[0024] Figure 4 A schematic diagram of a deployable detachable spherical shell for a biomimetic micro flapping-wing aircraft according to the present invention;

[0025] Figure 5 A schematic diagram of a clamping-release device for a deployable detachable spherical shell suitable for a biomimetic micro flapping-wing aircraft according to the present invention;

[0026] Figure 6 A schematic diagram of a drive device for a deployable, detachable spherical shell suitable for a biomimetic micro flapping-wing aircraft according to the present invention;

[0027] Figure 7 A schematic diagram of the first process of the present invention for a deployable detachable spherical shell suitable for a biomimetic micro flapping-wing aircraft;

[0028] Figure 8 A schematic diagram of the second process of the present invention for a deployable detachable spherical shell suitable for a biomimetic micro flapping-wing aircraft;

[0029] Figure 9 A schematic diagram of the third process of the present invention for a deployable and detachable spherical shell suitable for a biomimetic micro flapping-wing aircraft;

[0030] In the picture:

[0031] 1-Fixing device 2-Spherical shell device 3-Deploying device

[0032] 4-Clamping and releasing device 5-Drive device

[0033] 101-Spherical shell fixing component; 102-Central shaft connecting column; 103-Limiting platform

[0034] 104-Spherical shell central column; 105-Central platform

[0035] 201-Spherical shell cover; 202-Spherical shell flap; 203-Connecting platform

[0036] 301-Center slider; 302-Support rod

[0037] 401-Center push rod; 402-T-type connecting rod; 403-L-type clamp.

[0038] 501 - Linear servo; 502 - Linear servo pushrod; 503 - Linear servo pushrod arm Detailed Implementation

[0039] The specific implementation method of the present invention will be described in detail below with reference to the accompanying drawings.

[0040] This invention provides a deployable, detachable spherical shell suitable for biomimetic micro flapping-wing aircraft, such as... Figure 1 As shown, it includes a fixing device 1, a spherical shell device 2, an unfolding device 3, a clamping-releasing device 4, and a driving device 5.

[0041] like Figure 2 As shown, the fixing device 1 includes a spherical shell fixing member 101, a central shaft connecting column 102, a limiting platform 103, a spherical shell central column 104, and a central platform 105. The spherical shell fixing member 101 is used to install various parts of the spherical shell mechanism, including the spherical shell cover 201, the spherical shell flap 202, and the linear servo motor 501, and its overall shape is part of a sphere. The spherical shell central column 104 is a hollow cylindrical structure. The central platform 105 is a short cylindrical structure. Lugs are evenly arranged at the lower end of the spherical shell fixing member 101, and through holes are drilled on the lugs for connecting the spherical shell flap 202. A partition is provided in the middle of the spherical shell fixing member 101, and the upper part of the partition is provided with... The partition has a mounting hole for connecting a buffer device; the partition has a through hole for the servo motor 501 to pass through; the centroid of the partition is connected downward to the central shaft connecting column 102, the bottom end of the central shaft connecting column 102 is connected to the limiting platform 103, the central shaft connecting column 102 is a long cylindrical structure, the limiting platform 103 is a short cylindrical structure with a large radius, and it is connected to the spherical shell central column 104; the upper centroid of the center platform 105 has a groove for connecting the spherical shell central column, and the side of the center platform 105 is fixedly connected to the linear servo motor 501; a hole is opened downward from the connection between the limiting platform 103 and the spherical shell central column, so that the central push rod 401 can move up and down in the spherical shell central column;

[0042] The spherical cover 201 is shaped like a spherical crown. A rubber buckle around the central axis at the lower edge of the spherical cover 201 connects the spherical cover 201 to the spherical shell fixing member 101. The spherical shell petals 202 are three-dimensional structures; for ease of explanation, a six-petaled spherical shell is used as an example in this patent. The petal shell is the main structure of the petal; its shape is approximately one-sixth the size of a spherical shell. A pair of cylindrical lugs with through holes are installed on the upper part of the petal for connection with the spherical shell fixing member 101. A pair of lugs are also installed at the inner root of the petal. The ear plate is provided with a through hole, which forms a rotating pair with the through hole of the support rod 302. The bottom of the spherical shell petal has a connecting platform 203. The main body of the connecting platform 203 is a one-sixth spherical crown. The side of the platform has a cylindrical protrusion or a cylindrical groove. When closed, the spherical shell petal with the protrusion engages with the adjacent spherical shell petal with the groove. In order to ensure that the spherical shell petal does not hinder the release of the micro flapping-wing aircraft when the spherical shell is opened to the highest position, it is necessary to reasonably set the rotation range of the spherical shell petal around the axis during a complete opening process and the rotation range of the clamp around the axis during a complete release process.

[0043] The main structure of the central slider 204 is a regular hexagonal prism structure, which makes the six spherical shells evenly stressed. The centroid of the central slider 204 has a cylindrical through hole, allowing the central column of the spherical shell to pass through. The central slider 204 can move up and down along the central column of the spherical shell. Each side of the central slider 204 is provided with a pair of lugs, and the lugs are provided with through holes, forming a rotating pair with the through holes of the support rod 302. The support rod 302 is a three-dimensional structure with a slender main structure. Each support rod 302 has a pair of lugs symmetrically provided on its bottom sides on both sides. The lugs are provided with cylindrical through holes. The inner lugs closer to the central axis form a rotating pair with the lugs on the central slider 204, and the outer lugs farther from the central axis form a rotating pair with the inner lugs at the root of the spherical shell petals.

[0044] The main structure of the central push rod 401 is cylindrical. The central push rod 401 is located inside the central column of the spherical shell and can move up and down in the opening of the central column. The bottom surface of the central push rod 401 is fixedly connected to the aircraft clamp. The bottom of the T-shaped connecting rod 402 is connected to the central push rod 401. A pair of lugs are respectively installed on the left and right sides of the top. The lugs are provided with through holes, forming two rotating pairs with the two L-shaped clamps 403 respectively. The L-shaped clamp 403 is a three-dimensional structure. The shorter arm is a cuboid connected to a quarter cylinder, and the longer arm is a cuboid. It contacts the aircraft when clamping. There are through holes at the L-shaped corners, forming a rotating pair with the through holes on the lugs of the T-shaped connecting rod 402. The outer side of the L-shaped clamp 403 is provided with a groove, and the inner side of the corresponding T-shaped connecting rod 402 is also provided with a corresponding groove. Torsion springs are installed in these two grooves.

[0045] The linear servo 501 is fixed to the side of the center platform 105. The push rod of the linear servo 501 can pass through the through hole of the partition of the spherical shell fixing member 101. The push rod arm of the linear servo 501 is L-shaped in general. The upper end is fixed to the push rod of the linear servo 501 through the through hole at the bottom of the push rod. The lower end of the push rod arm of the linear servo 501 points in the direction of the central column of the spherical shell and is located below the central slider 204, which is used to push the central slider 204 to move upward along the axis.

[0046] The installation method for the deployable and detachable spherical outer shell of a biomimetic micro flapping-wing aircraft is as follows:

[0047] (1) First, the spherical shell fixing part 101 is press-fitted with the central shaft connecting column 102. The limiting platform 103 and the spherical shell central column are connected in sequence below the central shaft connecting column 102. The cylindrical part of the central push rod 401 is inserted into the spherical shell central column. The central slider 204 is inserted into the spherical shell central column. The through holes of the two L-shaped clamps 403 and the T-shaped connecting rod 402 are riveted together. The spherical shell central column is press-fitted with the central platform 105.

[0048] (2) The through holes of the lugs on the root of the six spherical shell flaps are riveted to the through holes of the lugs on the six spherical shell fixing parts 101, the inner through holes of the six support rods 302 are riveted to the through holes of the six pairs of lugs on the central slider 204, and the outer through holes of the six support rods 302 are riveted to the through holes of the pair of inner lugs on the spherical shell flaps; when the spherical shell flaps are in the closed state, the cylindrical protrusions on the adjacent connecting platforms 203 are made to transition into the cylindrical grooves of the adjacent spherical shell flaps; the dimensions of the above components are calculated according to the actual situation through kinematic relationships;

[0049] (3) Connect and fix the linear servo 501 to the center platform 105 through the through hole on the partition of the spherical shell fixing member 101, fix and rivet a pair of linear servo 501 push rod arms to the through hole at the bottom of the linear servo 501 push rod, with the linear servo 501 push rod arms pointing in the direction of the spherical shell central column and located below the central slider 204.

[0050] (4) The aircraft is held in place by the L-shaped clamp 403, and the spherical shell cover 201 is connected to the spherical shell fixing member 101 by a buckle, so that the spherical shell flap is in a closed state.

Claims

1. A deployable detachable spherical shell suitable for biomimetic micro flapping-wing aircraft, comprising a fixing device, a deployment device, a clamping-release device, and a driving device; characterized in that: The fixing device includes a spherical shell fixing component, a central shaft connecting column, a limiting platform, a spherical shell central column, and a central platform; the spherical shell device includes a spherical shell cover, a spherical shell flap, and a connecting platform; the unfolding device includes a central slider and a support rod; the clamping-release device includes a central push rod, a T-shaped connecting rod, and an L-shaped clamp; the driving device includes a linear servo and a linear servo push rod arm. The spherical shell fixing component is a three-dimensional structure used to install various parts of the spherical shell mechanism, including the linear servo, spherical shell flaps, and spherical shell cover, and its overall shape is part of a sphere. The spherical shell central column is a hollow cylindrical structure; the central platform is a short cylindrical structure; lugs are evenly arranged at the lower end of the spherical shell fixing component, and through holes are drilled on the lugs for connecting the spherical shell flaps; a partition is provided in the middle of the spherical shell fixing component, and a hanging hole is provided at the upper part of the partition for connecting a buffer device; the partition has a through hole for the servo to pass through; the centroid of the partition is connected downward to the central shaft connecting column, and the bottom end of the central shaft connecting column is connected to the limiting platform. The central shaft connecting column is a long cylindrical structure, and the limiting platform is a short cylindrical structure with a large radius, connecting the spherical shell central column; a groove is provided at the centroid of the upper part of the central platform for connecting the spherical shell central column, and the side of the central platform is fixedly connected to the linear servo; a hole is opened downward from the connection between the limiting platform and the spherical shell central column, allowing the central push rod to move up and down in the spherical shell central column; The spherical shell cover is a three-dimensional structure, with an overall shape resembling a spherical crown. A rubber buckle around the central axis at the lower edge of the spherical shell cover connects the cover to the spherical shell fixing component. The spherical shell petals are also three-dimensional structures; for ease of explanation, this patent uses a six-petaled spherical shell as an example. The petal shell shell is the main structure of the petal shell; its shape is approximately one-sixth of a sphere. A cylindrical lug with a through hole is installed on the top of the petal shell for connection with the spherical shell fixing component. A pair of lugs is also installed at the root of the inner side of the petal shell. These lugs have through holes that form a rotating pair with the through holes of the support rod. The bottom of the petal shell has a connecting platform. The main body of the connecting platform is shaped like one-sixth of a spherical crown, and the platform's sides have cylindrical protrusions or grooves. When closed, the protruding petal shell engages with the adjacent petal shell with the groove. The central slider is a three-dimensional structure. To ensure uniform force distribution on the six-lobed spherical shell, the main body of the central slider is a regular hexagonal prism. A cylindrical through-hole is located at the centroid of the central slider, allowing the central column of the spherical shell to pass through. The central slider can move up and down along the central column. Each side of the central slider is provided with a pair of lugs, each with a through-hole, forming a rotating pair with the through-hole of the support rod. The support rod is a three-dimensional structure with a slender main body. Each support rod has a pair of lugs symmetrically arranged on its bottom sides, each with a cylindrical through-hole. The inner lug closer to the central axis forms a rotating pair with the lug on the central slider, while the outer lug farther from the central axis forms a rotating pair with the inner lug at the root of the spherical shell lobes. The central push rod is a three-dimensional structure with a cylindrical main body. Located inside the central column of the spherical shell, it can move up and down within the opening in the central column. The bottom surface of the central push rod is fixedly connected to the aircraft clamp. The T-shaped connecting rod is also a three-dimensional structure, connected to the central push rod at the bottom. A pair of lugs are mounted on the left and right sides of the top, each lug having a through hole, forming two rotating pairs with the L-shaped clamp. The L-shaped clamp is a three-dimensional structure; the shorter arm is a cuboid connected to a quarter-cylinder, while the longer arm is a cuboid. It contacts the aircraft during clamping. Through holes are present at the L-shaped corners, forming rotating pairs with the through holes on the lugs of the T-shaped connecting rod. A groove is provided on the outer side of the L-shaped clamp, and a corresponding groove is provided on the inner side of the T-shaped connecting rod. Torsion springs are installed in these grooves. The linear servo is fixed to the side of the center platform, and the push rod of the linear servo can pass through the through hole of the spherical shell fixing plate; the linear servo push rod arm is a three-dimensional structure, and the whole is L-shaped. The upper end is fixed to the linear servo push rod through the through hole at the bottom of the linear servo push rod. The lower end of the linear servo push rod arm points in the direction of the central column of the spherical shell and is located below the central slider, and is used to push the central slider to move upward along the axis.

2. As described in claim 1, the linear servo push rod and the spherical cover realize the parachute release process. The linear servo push rod moves upward, and the upper end of the linear servo push rod lifts the spherical cover, realizing the separation of the spherical cover from the spherical cover fixing component, thereby popping out the buffer device and slowing down the descent; the buffer device includes, but is not limited to, the parachute, etc.

3. The deployment device as described in claim 1 is an offset slider rocker mechanism, wherein the central slider and linear servo push rod structure determine the direction of the spherical shell flap deployment movement, realizing the synchronous opening of the six spherical shell flaps; the linear servo push rod arm drives the central slider to move upward, and through the support rod, drives the spherical shell flaps to gradually unfold from the closed state; when the central slider is at the lower limit position, the spherical shell flaps contact each other and close, forming a complete sphere that can completely cover the aircraft body; when the central slider moves upward to the upper limit position, the upper surface contacts the lower surface of the limiting platform, at which time the spherical shell flaps open to the set maximum angle, and the support rod is approximately perpendicular to the axis of the central column of the spherical shell, which does not hinder the aircraft from falling.

4. The clamping-release device as described in claim 1 is a clamping mechanism. When the central push rod is at the lower limit position, the aircraft clamp holds the aircraft by a torsion spring. The central push rod moves upward until it is at the upper limit position, where the upper surface contacts the lower surface of the limiting platform. At this time, the outer plane of the L-shaped clamp fits against the lower plane of the central platform, and the L-shaped clamp rotates outward, thereby releasing the aircraft.

5. A deployable detachable spherical shell suitable for a biomimetic micro flapping-wing aircraft as described in any one of claims 1-4, characterized in that, The central slider is initially located on the central platform, the spherical shell flap is in the closed state, the spherical shell cover is closed, and the clamp closes to hold the aircraft; the central slider moves upward, sequentially realizing the parachute release process, the spherical shell flap opening process, and the aircraft release process. When the central slider is at its upper limit position, its upper surface is in contact with the lower surface of the limiting platform, the support rod is approximately perpendicular to the axis of motion of the central slider, the spherical shell flap is in a fully open state, the spherical shell cover falls off, and the aircraft clamp opens.

6. A method for installing a deployable detachable spherical shell suitable for a biomimetic micro flapping-wing aircraft as described in any one of claims 1-4 is as follows: (1) First, the spherical shell fixing component is interference-fitted with the central shaft connecting column. The limiting platform and the spherical shell central column are connected in sequence below the central shaft connecting column. The cylindrical part of the central push rod is inserted into the spherical shell central column. The central slider is inserted into the spherical shell central column. The through holes of the two L-shaped clamps and the T-shaped connecting rod are riveted together. The spherical shell central column is interference-fitted with the central platform. (2) The through holes of the lugs on the root of the six spherical shell flaps are riveted to the through holes of the lugs on the six spherical shell fixing parts, the inner through holes of the six support rods are riveted to the through holes of the six pairs of lugs on the central slider, and the outer through holes of the six support rods are riveted to the through holes of the pair of inner lugs on the spherical shell flaps; when the spherical shell flaps are in the closed state, the cylindrical protrusions on the adjacent connecting platforms are transitionally fitted with the cylindrical grooves of the adjacent spherical shell flaps; the dimensions of the above components are calculated according to the actual situation through kinematic relationships; (3) Connect and fix the linear servo to the center platform through the through hole on the partition of the spherical shell fixing piece, and fix and rivet a pair of linear servo push rod arms to the through hole at the bottom of the linear servo push rod. The linear servo push rod arms point to the direction of the central column of the spherical shell and are located below the central slider. (4) The aircraft is held in place by the L-shaped clamp, and the spherical shell cover is connected to the spherical shell fixing member by a buckle, so that the spherical shell flap is in a closed state.

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