Bionic landing mechanism of fixed-wing unmanned aerial vehicle

Abstract

The application discloses a fixed-wing unmanned plane bionic landing mechanism, wherein the deformation zones on the left and right sides of the wings are each composed of eight artificial feathers, namely wing plates, and the left and right sides of the tail are each composed of four fan-shaped artificial feathers, namely tail plates; when the unmanned plane flies fast in the air, the corresponding wings and tail are folded, so that the fixed-wing unmanned plane can reduce air resistance when flying fast; when the unmanned plane is ready to land, the wings and tail are unfolded, air resistance is increased to reduce the flight speed, and then the knee part of the claw-shaped landing mechanism is bent after contacting the ground, so that the buffer effect is provided and the landing impact is reduced, and stable landing is realized.

Description

Technical Field

[0001] This invention relates to the components of a fixed-wing unmanned aerial vehicle (UAV), particularly a landing mechanism, and specifically to a biomimetic landing mechanism for a fixed-wing UAV. Background Technology

[0002] Conventional fixed-wing UAVs typically land using a runway, which requires a runway for deceleration and consumes significant resources. This limitation restricts their application due to runway construction difficulties. For traditional small and micro fixed-wing UAVs, landing difficulties are a major constraint on expanding their applications and uses. Therefore, improving landing efficiency while retaining the fixed-wing design, enabling runway-free landings, is a crucial area for in-depth research.

[0003] Based on this, the inventors have conducted in-depth research on fixed-wing drones, especially small and micro fixed-wing drones, in order to design a landing mechanism for fixed-wing drones that can solve the above-mentioned problems. Summary of the Invention

[0004] To address the aforementioned problems, the inventors conducted in-depth research and discovered that the wings and tail of an eagle play crucial roles in flight. Eagles can adjust their flight speed by changing the posture of their wings and tail. Based on this, a biomimetic landing mechanism for a fixed-wing drone was designed. In this mechanism, the deformable zones on both sides of the wing are each composed of eight artificial feathers (wingplates), and the tail is composed of four fan-shaped artificial feathers (tailplates) on each side. When the drone is flying rapidly in the air, the corresponding wings and tail fold up, reducing air resistance during high-speed flight. When the drone is preparing to land, the wings and tail unfold, increasing air resistance to reduce flight speed. Then, the claw-shaped landing mechanism bends at the knees upon contact with the ground, providing cushioning and reducing impact, thus achieving a smooth landing. This completes the invention.

[0005] The purpose of this invention is to provide a biomimetic landing mechanism for a fixed-wing unmanned aerial vehicle (UAV), which includes: two sets of wing deformation zones, two sets of tail deformation zones, and two sets of claw-shaped landing mechanisms.

[0006] The two sets of wing deformation zones are respectively located on the left and right sides of the wing, and the two sets of tail deformation zones are respectively located on the left and right sides of the tail.

[0007] The two claw-shaped landing mechanisms are arranged side by side below the fuselage;

[0008] When the drone is preparing to land, the flight speed is quickly reduced by controlling the expansion of the wing deformation zone and the tail deformation zone to increase air resistance. Then, the claw-shaped landing mechanism bends and absorbs vibration after contacting the ground to provide cushioning, thereby controlling the drone to land smoothly.

[0009] The wing deformation zone includes multiple wing plates 1, and the ends of the multiple wing plates 1 adjacent to the wing are all penetrated by the same wing plate pivot 2, so that the multiple wing plates 1 can rotate around the wing plate pivot 2, thereby enabling the wing deformation zone to have two working states: deployment and retraction.

[0010] The wing deformation zone also includes a wing drive mechanism, which comprises a wing servo 31, a wing crank 32, a wing connecting rod 33, and a baffle 34.

[0011] The wing servo 31 is mounted on the wing. The wing servo 31 drives the wing linkage 33 to swing through the wing crank 32. One end of the wing linkage 33 is rotatably connected to the wing crank 32, and the other end is rotatably connected to the baffle 34. The baffle 34 is mounted above the multiple wing plates 1, and one end of it is also penetrated by the wing plate pivot 2, allowing it to rotate around the wing plate pivot 2. The baffle 34 is fixed to the uppermost wing plate 1 and can rotate synchronously.

[0012] Driven by the wing servo 31, the baffle 34 causes multiple wing plates 1 to rotate around the wing plate pivot 2, thereby causing the wing deformation zone to switch back and forth between the two working states of deployment and retraction.

[0013] Among them, the multiple wing plates 1 have different sizes, and the length of the multiple wing plates 1 gradually decreases from top to bottom;

[0014] Adjacent wing plates 1 are connected by a rope so that when the upper wing plate 1 rotates under the action of the wing linkage 33 and the baffle 34, it can drive the lower wing plate 1 to rotate synchronously.

[0015] The tail deformation zone includes multiple tail plates 4, with the front end of each tail plate 4 being pierced by the same tail plate pivot, allowing all tail plates 4 to rotate around the pivot, thus enabling the tail deformation zone to have two working states: expansion and contraction.

[0016] The tail deformation zone also includes a tail drive mechanism, which comprises a tail servo 61, a tail crank 62, and a tail connecting rod 63.

[0017] The tail servo 61 is installed at the tail of the UAV. The tail servo 61 drives the tail linkage 63 to swing through the tail crank 62. One end of the tail linkage 63 is rotatably connected to the tail crank 62, and the other end is hinged to the tail plate 4 located at the top.

[0018] Driven by the tail servo 61, the tail connecting rod 63 causes multiple tail plates 4 to rotate around the tail plate shaft, thereby causing the tail deformation zone to switch back and forth between two working states: unfolding and retracting.

[0019] Among them, the multiple tail plates 4 are all the same size and are all fan-shaped;

[0020] The adjacent tailplates 4 are connected by a rope so that when the upper tailplate 4 rotates under the action of the tail crank 62 and the tail connecting rod 63, it can drive the lower tailplate 4 to rotate synchronously.

[0021] The claw-shaped landing mechanism includes a leg connector 71, a thigh 72, a knee connector 73, a lower leg 74, a foot connector 75, and a foot 76 connected sequentially from top to bottom.

[0022] The leg connector 71 is fixed to the abdomen of the drone, the thigh 72 is rotatably connected to the leg connector 71, and a damping mechanism is provided at the rotatable part.

[0023] Both the thigh portion 72 and the lower leg portion 74 are composed of load-bearing rods, and the included angle between the thigh portion 72 and the lower leg portion 74 is 90-120 degrees.

[0024] A thigh gear 81 is provided at one end of the thigh portion 72, and a lower leg gear 82 is provided at one end of the lower leg portion 74.

[0025] Thigh gear 81 and lower leg gear 82 mesh with each other to form the knee connector 73, thereby allowing the thigh 72 and lower leg 74 to rotate around the knee connector 73 and adjust the included angle; preferably, a damping mechanism is provided at the meshing position.

[0026] The foot connector 75 is fixed to the foot 76, the lower leg 74 is rotatably connected to the foot connector 75, and a damping mechanism is provided at the rotatable part.

[0027] The foot 76 includes multiple toe sections 91 for bearing the weight of the landing, and each toe section 91 is provided with a hook 92. The hook 92 grips the ground at the moment of landing, thereby improving landing stability.

[0028] The biomimetic landing mechanism for fixed-wing unmanned aerial vehicles provided by this invention has the following beneficial effects:

[0029] (1) The fixed-wing UAV bionic landing mechanism provided by the present invention can eliminate the runway required by traditional fixed-wing UAVs, and can decelerate in the air and land directly when landing without the need for ground taxiing deceleration. When taking off, it can be selected by hand-throwing and no runway is required.

[0030] (2) The fixed-wing UAV bionic landing mechanism provided by the present invention enables the UAV to have the ability to decelerate in the air through the bionic structure. After the claw-shaped landing mechanism touches the ground, the knee part bends to provide a buffering effect, reduce the impact of landing, and achieve stable landing and stop. Attached Figure Description

[0031] Figure 1 This diagram shows the overall structure of the biomimetic landing mechanism for the fixed-wing UAV of the present invention.

[0032] Figure 2 This diagram shows a structural schematic of the wing deformation zone of the biomimetic landing mechanism for a fixed-wing UAV of the present invention.

[0033] Figure 3 A schematic diagram of the tail deformation zone structure of the biomimetic landing mechanism for a fixed-wing unmanned aerial vehicle (UAV) of the present invention is shown.

[0034] Figure 4 A schematic diagram of the claw-shaped landing mechanism of the biomimetic landing mechanism for a fixed-wing unmanned aerial vehicle of the present invention is shown.

[0035] Figure 5 A schematic diagram of the knee connector of the bionic landing mechanism for a fixed-wing unmanned aerial vehicle of the present invention is shown.

[0036] Figure 6 This diagram shows the structure of the fixed-wing UAV bionic landing mechanism of the present invention when both the wing deformation zone and the tail deformation zone are deployed.

[0037] Figure 7 This diagram shows the structure of the fixed-wing UAV bionic landing mechanism of the present invention when both the wing deformation zone and the tail deformation zone converge.

[0038] Figure 8 This invention illustrates a method for arranging a cable in the biomimetic landing mechanism for a fixed-wing unmanned aerial vehicle (UAV).

[0039] Figure 9 This invention illustrates another way of arranging the cord in the biomimetic landing mechanism of a fixed-wing UAV. Attached Figure Description

[0041] 1-wing plate

[0042] 11-Hanging board

[0043] 2-Flange pivot

[0044] 31-Wing servo

[0045] 32-wing crank

[0046] 33-Wing Link

[0047] 34-baffle

[0048] 4-Tailplate

[0049] 61-Tail Servo

[0050] 62-Tail Crank

[0051] 63-Tail Link

[0052] 71-Leg Connector

[0053] 72- Thigh

[0054] 73-Knee Connector

[0055] 74-Lower leg

[0056] 75-Foot connector

[0057] 76-Foot

[0058] 81-Thigh Gear

[0059] 82-Small Leg Gear

[0060] 91-Toe area

[0061] 92-Hook Detailed Implementation

[0062] The features and advantages of the present invention will become clearer and more apparent from the following detailed description.

[0063] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments. Although various aspects of embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated otherwise.

[0064] This invention provides a biomimetic landing mechanism for a fixed-wing unmanned aerial vehicle, such as... Figure 1 and Figure 6 , Figure 7 As shown, the fixed-wing UAV includes a pair of fixed wings and a tail fin at the rear. A propeller is preferably provided at the front of the UAV. The mechanism includes: two sets of wing deformation zones, two sets of tail deformation zones, and two sets of claw-shaped landing mechanisms.

[0065] The two sets of wing deformation zones are respectively located on the left and right sides of the wing, and the two sets of tail deformation zones are respectively located on the left and right sides of the tail.

[0066] The two claw-shaped landing mechanisms are arranged side by side below the fuselage;

[0067] When the drone is preparing to land, the flight speed is quickly reduced by controlling the expansion of the wing deformation zone and the tail deformation zone to increase air resistance. Then, the claw-shaped landing mechanism bends and absorbs vibration after contacting the ground to provide cushioning, thereby controlling the drone to land smoothly.

[0068] In a preferred embodiment, such as Figure 2 As shown, the wing deformation zone includes multiple wing plates 1. The ends of each wing plate 1 adjacent to the wing are all pierced by the same wing plate pivot 2, allowing all wing plates 1 to rotate around this pivot 2. This enables the wing deformation zone to have both extended and retracted working states. Specifically, through holes are formed on each wing plate, and the inner diameter of the through holes is substantially the same as the outer diameter of the pivot 2. The multiple wing plates are all placed horizontally and are essentially in close contact with each other.

[0069] Preferably, the wing deformation zone further includes a wing drive mechanism, which includes a wing servo 31, a wing crank 32, a wing connecting rod 33, and a baffle 34.

[0070] The wing servo 31 is mounted on the wing and can output rotational driving force according to the command. The wing servo 31 drives the wing connecting rod 33 to swing through the wing crank 32. The two ends of the crank are respectively hinged to the wing servo 31 and the wing connecting rod 33. One end of the wing connecting rod 33 is rotatably connected to the wing crank 32, and the other end is rotatably connected to the baffle 34. The baffle 34 is mounted above the multiple wing plates 1, and one end is also penetrated by the wing plate pivot 2, which can rotate around the wing plate pivot 2. The baffle 34 is fixed to the uppermost wing plate 1 and can rotate synchronously. The baffle is a flat plate structure arranged parallel to the wing plate 1, which can protect and drive the wing plate.

[0071] Driven by the wing servo motor 31, the baffle 34 causes multiple wing plates 1 to rotate around the wing plate pivot 2, thereby causing the wing deformation zone to repeatedly switch between two working states: deployment and retraction. Figure 6 and Figure 7 The diagram shows two working states: expansion and convergence.

[0072] Preferably, the multiple wing plates 1 are of different sizes, with the length of the wing plates 1 gradually decreasing from top to bottom; the wing plates can be made of metal or plastic, and are generally flat, with different shapes depending on their placement to match the size and shape of the wing when deployed. Preferably, as... Figure 2 As described, each wing deformation zone is equipped with 8 wing plates.

[0073] Adjacent wing plates 1 are connected by a rope so that when the upper wing plate 1 rotates under the action of the wing linkage 33 and the baffle 34, it can drive the lower wing plate 1 to rotate synchronously.

[0074] In this application, the cord can be arranged in various ways. Figure 8 and Figure 9 One configuration is shown in the figure. In this configuration, the baffle 34 is fixedly connected to the uppermost wing plate 1. A vertical hanging plate 11 is provided on one side of each wing plate 1, and two through holes are opened at each end of the hanging plate 11. The rope is a non-elastic rope that can pass through the through holes and then be fixed to the hanging plates 11 on the two adjacent wing plates 1 by knotting, so that all the wing plates are connected in sequence. The rope can be one or more, as long as it can complete the task of connecting all the wing plates.

[0075] When the wing deformation zone needs to be deployed, each wing plate 1 rotates and opens sequentially under the pull of the ropes. When all the ropes are taut, the wing deformation zone enters the deployed state.

[0076] When the wing deformation zone needs to converge, the servo drives the baffle 34 and the uppermost wing plate 1 to rotate backward together. When the wing plate 1 rotates to a certain angle, the mounting plate 11 on it will abut against the mounting plate 11 on the subsequent wing plate 1, thereby pushing the subsequent wing plate to rotate together until all wing plates have rotated to the predetermined position, and the wing deformation zone enters the convergence state.

[0077] When the rope is connected to the wing plate 1 by other means, a buckling mechanism can also be set on the wing plate 1 to fix them together in the retracted state, so that each wing plate can remain in the retracted state. When it is necessary to switch to the unfolded state, the wing plate can be pulled to disengage from the buckling mechanism.

[0078] In a preferred embodiment, the tail deformation zone includes four tail plates 4. The composition of the tail deformation zone is similar to that of the wing deformation zone, and the working principle of the tail plates is also similar to that of the wing plates. Preferably, the forward ends of the multiple tail plates 4 are all penetrated by the same tail plate pivot, so that the multiple tail plates 4 can rotate around the tail plate pivot, thereby enabling the tail deformation zone to have both deployed and retracted working states.

[0079] In a preferred embodiment, such as Figure 3 As shown, the tail deformation zone also includes a tail drive mechanism, which comprises a tail servo 61, a tail crank 62, and a tail connecting rod 63.

[0080] The tail servo 61 is installed at the tail of the UAV. The tail servo 61 drives the tail linkage 63 to swing through the tail crank 62. One end of the tail linkage 63 is rotatably connected to the tail crank 62, and the other end is hinged to the tail plate 4 located at the top.

[0081] Driven by the tail servo 61, the tail connecting rod 63 causes multiple tail plates 4 to rotate around the tail plate shaft, thereby causing the tail deformation zone to switch back and forth between two working states: unfolding and retracting.

[0082] Preferably, the multiple tailplates 4 are of the same size and are all fan-shaped;

[0083] Adjacent tailplates 4 are connected by a rope so that when the upper tailplate 4 rotates under the action of the tail crank 62 and the tail connecting rod 63, it can drive the lower tailplate 4 to rotate synchronously. In a preferred embodiment, such as Figure 4 and Figure 5 The claw-shaped landing mechanism shown includes a leg connector 71, a thigh 72, a knee connector 73, a lower leg 74, a foot connector 75, and a foot 76 connected sequentially from top to bottom;

[0084] The leg connector 71 is fixed to the abdomen of the drone, and the thigh 72 is rotatably connected to the leg connector 71. A damping mechanism is provided at the rotatable part. The damping mechanism can be a spring or other damping mechanism, which can provide cushioning for the drone's landing and ensure that the claw-shaped landing mechanism can support the drone.

[0085] Preferably, both the thigh portion 72 and the lower leg portion 74 are composed of load-bearing rods, and the included angle between the thigh portion 72 and the lower leg portion 74 is 90-120 degrees. The load-bearing rods are metal or plastic rods with sufficient strength to support the drone. The included angle is variable, that is, it can be adjusted between 90-120 degrees. Preferably, when the drone lands, the impact force is absorbed by compressing this angle, so that the drone lands smoothly.

[0086] A thigh gear 81 is provided at one end of the thigh portion 72, and a lower leg gear 82 is provided at one end of the lower leg portion 74. A protective outer shell baffle is provided outside the gears.

[0087] Thigh gear 81 and lower leg gear 82 mesh with each other to form the knee connector 73, thereby allowing the thigh 72 and lower leg 74 to rotate around the knee connector 73 and adjust the included angle. Preferably, a damping mechanism is provided at the meshing position to absorb the impact force of the drone and ensure that the included angle between the thigh 72 and lower leg 74 is controlled between 90 and 120 degrees, maintaining the overall stability of the drone.

[0088] The foot connector 75 is fixed to the foot 76, the lower leg 74 is rotatably connected to the foot connector 75, and a damping mechanism is provided at the rotatable part.

[0089] The foot 76 includes multiple toe sections 91 for bearing the weight of the landing, and each toe section 91 is provided with a hook 92. The hook 92 grips the ground at the moment of landing, thereby improving landing stability.

[0090] The present invention has been described in detail above with reference to specific embodiments and exemplary examples; however, these descriptions should not be construed as limiting the present invention. Those skilled in the art will understand that various equivalent substitutions, modifications, or improvements can be made to the technical solutions and embodiments of the present invention without departing from the spirit and scope of the invention, and all such modifications and improvements fall within the scope of the present invention. The scope of protection of the present invention is defined by the appended claims.

Claims

1. A biomimetic landing mechanism for a fixed-wing unmanned aerial vehicle, characterized in that, The mechanism includes: two sets of wing deformation zones, two sets of tail deformation zones, and two sets of claw-shaped landing mechanisms; The two sets of wing deformation zones are respectively located on the left and right sides of the wing, and the two sets of tail deformation zones are respectively located on the left and right sides of the tail. The two claw-shaped landing mechanisms are arranged side by side below the fuselage; When the drone is preparing to land, the flight speed is quickly reduced by controlling the expansion of the wing deformation zone and the tail deformation zone. Then, the claw-shaped landing mechanism bends and absorbs vibration after contacting the ground to provide cushioning, thereby enabling the drone to land smoothly. The wing deformation zone includes multiple wing plates (1), and the ends of the multiple wing plates (1) adjacent to the wing are all penetrated by the same wing plate pivot (2), so that the multiple wing plates (1) can rotate around the wing plate pivot (2), thereby enabling the wing deformation zone to have two working states: unfolding and retracting. The wing deformation zone also includes a wing drive mechanism, which includes a wing servo (31), a wing crank (32), a wing link (33), and a baffle (34). The wing servo (31) is mounted on the wing. The wing servo (31) drives the wing linkage (33) to swing through the wing crank (32). One end of the wing linkage (33) is rotatably connected to the wing crank (32), and the other end is rotatably connected to the baffle (34). The baffle (34) is mounted above the multiple wing plates (1), and one end is also penetrated by the wing plate pivot (2), so it can rotate around the wing plate pivot (2). The baffle (34) is fixed to the uppermost wing plate (1) and can rotate synchronously. Driven by the wing servo (31), the baffle (34) causes multiple wing plates (1) to rotate around the wing plate pivot (2), thereby causing the wing deformation zone to switch back and forth between the two working states of deployment and retraction. When the drone is preparing to land, the flight speed is quickly reduced by controlling the deployment of the wing deformation zone and the tail deformation zone to increase air resistance. The tail deformation zone includes multiple tail plates (4), and the front end of each tail plate (4) is penetrated by the same tail plate pivot, so that each tail plate (4) can rotate around the tail plate pivot, thus enabling the tail deformation zone to have two working states: expansion and contraction. The tail deformation zone also includes a tail drive mechanism, which includes a tail servo (61), a tail crank (62), and a tail connecting rod (63). The tail servo (61) is installed at the tail of the UAV. The tail servo (61) drives the tail linkage (63) to swing through the tail crank (62). One end of the tail linkage (63) is rotatably connected to the tail crank (62), and the other end is hinged to the tail plate (4) located at the top. Driven by the tail servo (61), the tail connecting rod (63) drives multiple tail plates (4) to rotate around the tail plate shaft, thereby causing the tail deformation zone to switch back and forth between the two working states of expansion and contraction. The claw-shaped landing mechanism includes a leg connector (71), a thigh (72), a knee connector (73), a lower leg (74), a foot connector (75), and a foot (76) connected from top to bottom. The leg connector (71) is fixed to the abdomen of the UAV, the thigh (72) is rotatably connected to the leg connector (71), and a damping mechanism is provided at the rotating part. Both the thigh (72) and the calf (74) are composed of load-bearing rods, and the included angle between the thigh (72) and the calf (74) is 90-120 degrees. A thigh gear (81) is provided at one end of the thigh (72), and a calf gear (82) is provided at one end of the lower leg (74). The thigh gear (81) and the lower leg gear (82) mesh with each other to form the knee connector (73), thereby enabling the thigh (72) and the lower leg (74) to rotate around the knee connector (73) and adjust the included angle. A damping mechanism is provided at the meshing position. The damping mechanism absorbs the impact force of the drone and ensures that the included angle between the thigh (72) and the lower leg (74) is controlled between 90 and 120 degrees, maintaining the overall stability of the drone.

2. The fixed-wing UAV bionic landing mechanism according to claim 1, characterized in that, The multiple wing plates (1) are of different sizes, and the length of the multiple wing plates (1) gradually decreases from top to bottom; Adjacent wing plates (1) are connected by a rope so that when the upper wing plate (1) rotates under the action of the wing linkage (33) and the baffle (34), it can drive the lower wing plate (1) to rotate synchronously.

3. The fixed-wing UAV bionic landing mechanism according to claim 1, characterized in that, The multiple tailplates (4) are all the same size and are all fan-shaped; The adjacent tail plates (4) are connected by a rope so that when the upper tail plate (4) rotates under the action of the tail crank (62) and the tail connecting rod (63), it can drive the lower tail plate (4) to rotate synchronously.

4. The fixed-wing UAV bionic landing mechanism according to claim 1, characterized in that, The foot connector (75) is fixed to the foot (76), the lower leg (74) is rotatably connected to the foot connector (75), and a damping mechanism is provided at the rotatable part; The foot (76) includes multiple toe sections (91) for bearing the landing force, and each toe section (91) is provided with a hook (92) to grip the ground at the moment of landing, thereby improving landing stability.

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