A separable and recyclable double flapping-wing flying robot system

Abstract

The present invention discloses a separable and recoverable double flapping-wing flying robot system, belonging to the technical field of aircraft. The present invention includes a central frame and a conical connecting seat to integrate four double flapping-wing flying robots into one body. This integrated body is equipped with a wireless charging battery, a main control board, a winding motor, copper wires and a connecting seat, and only one motor is used to complete the locking and releasing of a single robot and the central frame. The integrated body can complete attitude transformations such as pitching, rolling, and yawing, can conduct formation cruising and separate to perform tasks, ensuring comprehensive reconnaissance, and can be recovered and returned to the team after the task is completed. The present invention realizes the sustainable and emergency formation cruising of double flapping-wing flying robots.

Description

Technical Field

[0001] The present invention belongs to the technical field of aircraft, and in particular relates to a detachable and recoverable double-flapping-wing flying robot system. Background Art

[0002] Compared to rotary-wing drones, hovering dual-flapping-wing robots offer advantages such as low noise, maneuverability, and high aerodynamic efficiency. They can also fly in the low Reynolds number range. Combined with their biomimetic and miniaturized design, they possess high stealth capabilities, making them suitable for reconnaissance and reconnaissance missions and demonstrating potential advantages in border defense. However, existing flapping-wing robots generally operate individually, and swarm control methods are still immature. For example, in border patrol missions, if emergencies occur, the situation is chaotic, or the situation is not focused, a single flapping-wing robot may not be able to provide comprehensive reconnaissance and emergency response. Formation patrols may be more effective in these situations. Most flapping-wing robots use lithium batteries as their onboard energy source, resulting in short single-shot flight times and inconvenient self-charging. Some researchers have adopted piezoelectric drive technology to power the robots, but this often results in complex structures and low reliability. A solution is urgently needed that can both patrol in formation and operate independently, while also extending patrol time. Summary of the Invention

[0003] The purpose of the present invention is to provide a detachable and recoverable double-flapping-wing flying robot system. By connecting four double-flapping-wing flying robots to a central frame to form an integrated machine, the system cruises in formation, solving the problem that existing single flapping-wing robots may not be able to navigate for a long time.

[0004] To solve the above technical problems, the present invention is achieved through the following technical solutions:

[0005] The present invention is a detachable and recyclable double-flapping wing flying robot system, the system comprising:

[0006] A center frame having three or more mounting cantilevers distributed circumferentially on the center frame;

[0007] A double-flapping-wing flying robot, the double-flapping-wing flying robot is movably mounted at the end of the mounting cantilever;

[0008] The wireless charging battery is fixedly mounted on the central frame and electrically connected to the double-flapping-wing flying robot mounted on the central frame.

[0009] Furthermore, a conical connecting female seat is installed at the end of the mounting cantilever, the upper end of the conical connecting female seat is open, the top of the conical connecting female seat is provided with an L-shaped notch, and there is an arc-shaped notch below the L-shaped notch. The double-flapping wing flying robot is provided with a conical connecting male seat, and the conical connecting male seat is provided with a conflicting mounting cylinder that cooperates with the arc-shaped notch 63.

[0010] Further, below the arc-shaped notch of the conical connecting female seat, there is a circle of GND metal sheet a, and at the conical top, there is a circle of VCC metal sheet b. The conical connecting male seat has a GND metal sheet c and a VCC metal sheet d for contacting and connecting with the GND metal sheet a and the VCC metal sheet b.

[0011] Further, the conical connecting female seat is provided with copper wire connection holes at the corners of the L-shaped notch. A main control board is installed on the central frame. A winding motor is provided on the main control board, and copper wires with the same number of groups as the installation cantilevers are wound around the winding motor. The other ends of the copper wires are respectively connected to the copper wire connection holes on the conical connecting female seat.

[0012] Further, the conical connecting female seat is made of a thin sheet of nickel-titanium shape memory alloy.

[0013] Further, the main control board is used to control the rotation of the winding motor, and the rest of the control content of the aircraft is all controlled by the flight control board on the double flapping wing flying robot.

[0014] Further, the tailless double flapping wing flying robot realizes rolling by changing the rotation speeds of the two side motors, and pitch and yaw are realized by two linear servos. When the tailless double flapping wing flying robot works alone, it is powered by a small lithium battery.

[0015] Further, the lower end surfaces of the installation cantilevers are all provided with support feet perpendicular to the ground.

[0016] Further, a connecting ring is provided in the middle of the central frame, and the connecting ring is connected to all the installation cantilevers.

[0017] Further, the wireless charging battery can be annularly arranged and installed on the connecting ring.

[0018] The present invention has the following beneficial effects:

[0019] (1) The present invention realizes the formation cruise of the double flapping wing flying robot. When dealing with emergencies, the four flapping wing flying robots can separate to perform tasks and return to the team for recovery, improving the reliability of the cruise.

[0020] (2) The present invention uses a conical connecting seat of nickel-titanium shape memory alloy, which is convenient for alignment when a single flapping wing flying robot is recovered, and only one motor is used to drive the connection part.

[0021] (3) The present invention can realize an attitude control method similar to that of a quadrotor UAV, with a certain reliability.

[0022] (4) The double flapping wing flying robot in the present invention adopts a tailless scheme, greatly reducing the influence of the integrated machine structure on the flapping power.

[0023] Of course, it is not necessary for any product implementing the present invention to achieve all of the above-mentioned advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for describing the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0025] Figure 1 Schematic diagram of the overall structure of the all-in-one machine according to an embodiment of the present disclosure;

[0026] Figure 2 Schematic diagram of the center frame structure and its partial enlarged view according to an embodiment of the present disclosure;

[0027] Figure 3 Schematic diagram of the main control board and the winding motor according to an embodiment of the present disclosure;

[0028] Figure 4 Schematic diagram of the conical connecting female seat according to an embodiment of the present disclosure;

[0029] Figure 5 Schematic diagram of a single double-flapping wing flying robot according to an embodiment of the present disclosure;

[0030] Figure 6 Schematic diagram of the conical connecting male seat according to an embodiment of the present disclosure;

[0031] Figure 7 Schematic diagram of the internal structure of the conical connecting female seat according to an embodiment of the present disclosure;

[0032] Figure 8 Explosion diagram of the conical connecting male seat and female seat according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0034] In the description of the present invention, it should be understood that the terms "open hole", "upper", "lower", "thickness", "top", "middle", "length", "inner", "periphery", etc. indicating the orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0035] Embodiment 1: As Figures 1-6 shown, the present invention is a separable and recyclable double flapping wing flying robot system, including a central frame 1, a wireless charging battery 2 is provided below the central frame 1, and a main control board 3 is provided above the central frame 1. A winding motor 4 is installed on the main control board 3.

[0036] Four mounting cantilevers are circumferentially distributed on the central frame 1. Double flapping wing flying robots 7 are movably installed at the ends of the mounting cantilevers. The mounting cantilevers are I-shaped structures made of expandable polystyrene board (EPS board). Support feet perpendicular to the ground are provided on the lower end surfaces of the mounting cantilevers. A connecting ring is provided in the middle of the central frame 1. The connecting ring is connected to all the mounting cantilevers to increase the stiffness in the horizontal direction so that it can withstand a certain horizontal moment. The middle of the central frame 1 is a rectangle with 4 holes and can be hinged to the main control board 3. Mounting holes are provided at the ends of the mounting cantilevers; the mounting holes are matched with the bottom cylinders of the conical connecting female seats 6 and can be fixed with hot melt glue.

[0037] The upper end of the conical connecting female seat 6 is open. An L-shaped notch 62 is provided at the top of the conical connecting female seat 6, which enables it to be pulled outwards. There is an arc-shaped notch 63 below the L-shaped notch 62 for connecting with the conical connecting male seat 701. Below the arc-shaped notch 63, there is a ring of GND metal sheet a, and a ring of VCC metal sheet b is provided at the conical top. The metal sheets are conducted from the outer layer to the inner layer of the cone without contacting other parts. A copper wire connection hole 61 is provided on the conical connecting female seat 6. The copper wire connection hole 61 is located at the corner of the L-shaped notch 62, with a ring of GND metal sheet a, and a ring of VCC metal sheet b at the conical top is electrically connected to the wireless charging battery 2.

[0038] The first inner side 64 is the inner side of the GND metal sheet a, and the first outer side 66 is the outer side of the GND metal sheet a; the second inner side 65 is the inner side of the VCC metal sheet b, and the second outer side 67 is the outer side of the VCC metal sheet.

[0039] The double flapping-wing flying robot 7 is provided with a conical connecting male seat 701. The inside of the conical connecting male seat 701 is hollow. The conical connecting male seat 701 is provided with a square hole 706, and the square hole 706 can be connected to a square boss on the carbon frame of the double flapping-wing flying robot 7. The side of the square boss is provided with a contact mounting cylinder 705. The conical connecting male seat 701 has a GND metal sheet c and a VCC metal sheet d for contact connection with the GND metal sheet a and the VCC metal sheet b. When installed, the conical connecting male seat 701 is installed in the conical connecting female seat 6.

[0040] The main control board 3 has a drive circuit for controlling the rotation of the winding motor 4. Four groups of copper wires 5 are wound around the winding motor 4, and their other ends are respectively connected to the copper wire connection holes 61 on the conical connecting female seat 6 for pulling the corner of the L-shaped notch 62 of the conical connecting female seat 6. The contact mounting cylinder 705 of the conical connecting male seat 701 is stuck in the arc-shaped hole of the conical connecting female seat 6. If the winding motor 4 does not rotate to tighten the copper wire 5, the cylinder of the conical connecting male seat 701 is stuck and the degree of freedom is locked. At this time, the double flapping-wing flying robot 7 is fixedly connected to the central frame 1. If the winding motor 4 rotates to tighten the copper wire 5, the metal sheet of the conical connecting female seat 6 is bent outwards, and the double flapping-wing flying robot 7 can fly up and break free. In this way, one motor can control the locking and disconnection between the double flapping-wing flying robot 7 and the central frame 1.

[0041] Further, after the aircraft as a whole lands on the ground first, then the locking and disconnection between the double flapping-wing flying robot 7 and the central frame 1 are controlled.

[0042] Further, the conical connecting female seat 6 is made of nickel-titanium shape memory alloy. The winding motor 4 is connected to the main control board 3 through hot melt adhesive. The rest of the control content of the aircraft is all controlled by the flight control board on the double flapping-wing flying robot 7.

[0043] Further, the wireless charging battery 2 can be annularly arranged and installed on the connecting ring, so as to avoid the weight of the flight system being too concentrated, resulting in an increase in the control difficulty of the tailless double flapping-wing flying robot 7 and flight control. At the same time, the centers of gravity of the winding motor 4, the main control 3 and the wireless charging battery 2 are all set on the center line of the central frame 1.

[0044] In some disclosures, the installation quantity of the installation cantilever can be one of 3, 5 - 10, and the installation directions of the main control board 3 and the wireless charging battery 2 relative to the central frame 1 can also be adjusted independently.

[0045] Further, for the tailless double flapping-wing flying robot 7, rolling is achieved by changing the rotational speeds of the motors on both sides, and pitching and yawing are achieved by two linear servos 702. When it works alone, it is powered by a small lithium battery 703.

[0046] The integrated machine can perform actions such as hovering, forward flight, backward flight, pitching, rolling, and yawing. When the four double flapping wing flying robots 7 flap at the same frequency, the same upward lift is generated at the four corners of the integrated machine, and at this time, takeoff or hovering can be carried out. By increasing the flapping frequency of one double flapping wing flying robot 7 at the rear, the front and rear lift forces are unequal, and the integrated machine can achieve forward flight or forward pitching; by increasing the flapping frequency of one double flapping wing flying robot 7 at the front, the lift force at the front is higher than that at the rear, and the integrated machine can achieve backward flight or backward pitching; similarly, by changing the flapping frequencies of the double flapping wing flying robots 7 on the left and right sides to form a lift force difference, the integrated machine can achieve rolling motion. During these processes, due to the attitude change of the integrated machine, the direction of the resultant force is no longer vertically upward, which will affect the magnitude of the lift force and thus cause a change in height. Therefore, PID control needs to be used to adjust the flapping frequencies of the four double flapping wing flying robots 7 in real time to achieve height stability.

[0047] The double flapping wing flying robot 7 adopts a tailless design and does not need to use the thrust of the downward airflow on the tail wing to achieve attitude control. If a tailed design is adopted, the central frame may affect the flow direction of the downward airflow, resulting in problems with overall attitude control. In the present invention, to make the integrated machine perform a yawing motion, two linear servos 702 need to move in opposite directions, driving the wing roots 704 to twist in opposite directions. If the two wing roots 704 twist counterclockwise as a whole (observed from above), the forces acting on the double flapping wing flying robot 7 can be divided into an upward lift force and a clockwise torque. When the linear servos 702 of the four double flapping wing flying robots 7 move in the same way, the integrated machine will receive four groups of clockwise yaw torques of the same kind, and finally perform a clockwise yawing motion. To perform a counterclockwise yawing motion, the two wing roots 704 need to twist clockwise as a whole. This method will also affect the overall lift force of the integrated machine. It is necessary to increase the flapping frequency to increase the lift force to achieve height stability. It is also possible to let two double flapping wing flying robots 7 generate yaw torques, and the other two double flapping wing flying robots 7 increase the flapping frequency to compensate for the lift force loss.

[0048] In the border patrol mission, the integrated machine can have a longer cruising time compared to a single dual flapping wing flying robot 7. During the mission execution, if an unexpected situation occurs and the integrated machine cannot handle it comprehensively, the integrated machine quickly lands on the ground. The main control board 3 drives the wire winding motor 4 to rotate, the copper wire 5 is tightened, and the nickel-titanium shape memory alloy above the conical connecting female seat 6 is pulled outward by the force, and the arc-shaped hole below it is no longer blocked. At this time, the single dual flapping wing flying robot 7 immediately rises, detaches from the central frame 1, and switches to being powered by the small lithium battery 703 to disperse and cooperate in performing tasks, such as all-round real-time image monitoring. The wire winding motor 4 rotates back to its original direction, the copper wire 5 is relaxed, and the nickel-titanium shape memory alloy of the conical connecting female seat 6 returns to its original shape. After the mission is completed, the dual flapping wing flying robots 7 return to approximately directly above their respective conical connecting female seats 6 and at the same time adjust to approximately the correct orientation to avoid interference between the wings. The dual flapping wing flying robots 7 slowly descend. Since the connecting seat is conical, it is easy to align. At this time, the copper wire 5 is tightened again, the shape memory alloy of the conical connecting female seat 6 is pulled open, and the cylindrical boss of the conical connecting male seat 701 easily falls into the arc-shaped groove of the conical connecting female seat 6 due to fine adjustment and vibration. The copper wire 5 is relaxed again, and the nickel-titanium shape memory alloy returns to its original conical surface. Since the longitudinal dimension of this part of the nickel-titanium shape memory alloy is relatively large and it is not easy to deform, the dual flapping wing flying robot 7 cannot rise alone and is thus locked. After that, the integrated machine continues the patrol mission.

[0049] Embodiment 2: As Figures 1-6 shown, the specific application scenario of the present invention can be as follows. The separable and recyclable four-in-one dual flapping wing flying robot of the present invention is used for border patrol missions. After taking off from the charging seat, the integrated machine flies along a preset route in formation. During the flight, the wireless charging battery 2 powers the four dual flapping wing flying robots 7 and charges the small lithium battery 703. When the integrated machine encounters a situation where it needs to disperse and perform tasks, such as encountering enemy reconnaissance or detecting abnormal situations, the integrated machine quickly lands on the ground and releases the four dual flapping wing flying robots 7. The four dual flapping wing flying robots 7 perform different tasks respectively, such as interfering with the enemy, conducting a detailed inspection of abnormal situations, and comprehensively monitoring the surrounding environment. After the mission is completed, the four dual flapping wing flying robots 7 return to the central frame 1 and reconnect. The integrated machine continues to cruise in formation. When the power of the wireless charging battery 2 is about to run out, the integrated machine returns to the charging seat and docks with it. After charging is completed, the integrated machine takes off again.

[0050] Working principle:

[0051] The present invention connects four double flapping wing flying robots to a central frame to form an integrated machine, which cruises in formation and can perform actions such as pitching, rolling, and yawing. Each robot is equipped with a small lithium battery for short-term mission execution. The central frame is loaded with a wireless charging battery, which can supply power to the robots during formation cruising and can also charge the small lithium batteries. When it is necessary to perform tasks separately, the four robots can be detached from the central frame and can return to the central frame and connect after the tasks are completed. When the power of the wireless charging battery is about to run out, the integrated machine will fly to the charging station to complete the shift. The present invention can achieve sustainable and emergency formation cruising of double flapping wing flying robots.

[0052] In the description of this specification, the descriptions referring to the terms "one embodiment", "example", "specific example", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0053] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification to better explain the principles and practical applications of the present invention, so that those skilled in the relevant technical fields can understand and utilize the present invention well. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A separable and recyclable double flapping wing flying robot system, characterized in that: The system includes: A center frame, on which there are three or more mounting cantilevers circumferentially distributed; A double flapping wing flying robot, which is movably mounted at the end of the mounting cantilever; A wireless charging battery is fixedly mounted on the center frame and is electrically connected to the double flapping wing flying robot mounted on the center frame; A conical connecting female seat is mounted at the end of the mounting cantilever. The upper end of the conical connecting female seat is open. There is an L-shaped notch at the top of the conical connecting female seat. There is an arc-shaped notch below the L-shaped notch. A conical connecting male seat is provided on the double flapping wing flying robot. A contact mounting cylinder that cooperates with the arc-shaped notch is provided on the conical connecting male seat; Below the arc-shaped notch of the conical connecting female seat, there is a ring of GND metal sheet a. At the cone top, there is a ring of VCC metal sheet b. The conical connecting male seat has a GND metal sheet c and a VCC metal sheet d for contacting and connecting with the GND metal sheet a and the VCC metal sheet b; A copper wire connection hole is opened on the conical connecting female seat. The copper wire connection hole is located at the corner of the L-shaped notch. A main control board is mounted on the center frame. A winding motor is provided on the main control board. The same number of groups of copper wires as the number of mounting cantilevers are wound on the winding motor. The other ends of the copper wires are respectively connected to the copper wire connection holes on the conical connecting female seat; The conical connecting female seat is made of a thin sheet made of nickel-titanium shape memory alloy; 2. The separable and recyclable dual flapping wing flight robot system according to claim 1, characterized in that, The main control board is used to control the rotation of the winding motor. The rest of the control content of the aircraft is all controlled by the flight control board on the double flapping wing flying robot; 3. A separable and recyclable double flapping wing flying robot system according to claim 2, characterized in that, The double flapping wing flying robot realizes rolling by changing the rotational speeds of the motors on both sides, and realizes pitching and yaw by two linear servos. When the double flapping wing flying robot works alone, it is powered by a small lithium battery; 4. A separable and recyclable double flapping wing flying robot system according to claim 3, characterized in that Vertical support feet perpendicular to the ground are provided on the lower end surfaces of the mounting cantilevers; 5. The separable and recyclable double flapping wing flying robot system according to claim 4, characterized in that, A connecting ring is provided in the middle of the center frame, and the connecting ring is connected to the mounting cantilever; 6. The separable and recyclable double flapping wing flying robot system according to claim 5, characterized in that, The wireless charging battery is annularly arranged and mounted on the connecting ring;

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