Butterfly-imitating ornithopter capable of inhabiting on vertical wall surface

Abstract

The invention discloses a butterfly-like ornithopter capable of inhabiting on a vertical wall surface. The butterfly-like ornithopter comprises a main rod, a mounting plate, two wings, a driving module, an adhesion module, a battery module and a control module, the wings adopt bionic citrus and papilionaceous wings; the adhesion module comprises two feeler levers, two adhesion plates and two nanometer adhesion pads, the two feeler levers are symmetrical about the main rod, and one end of each feeler lever is fixedly connected with the front end of the main rod; the two adhesion plates are respectively connected with the other ends of the two feeler levers through ball head hinges; the two nano adhesion pads are respectively arranged on the two adhesion plates and are used for generating Van der Waals force to be adsorbed on a vertical wall surface while generating deformation to absorb impact force when the aircraft collides with the wall surface, so that the flapping-wing aircraft can be adsorbed on the vertical wall surface when being converted from a horizontal state to a vertical state through the spherical hinge under the action of gravity. The flapping-wing aircraft is simple in structure and convenient to control, and the problems that the flapping-wing aircraft is insufficient in lift force and lands on a vertical wall surface are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of insect-like flapping-wing aircrafts, and particularly to a butterfly-like flapping-wing aircraft capable of perching on a vertical wall surface. Background Art

[0002] Modern warfare has increasingly high requirements for reconnaissance concealment. As a low-cost aircraft that can carry reconnaissance equipment, an unmanned aerial vehicle (UAV) can conduct reconnaissance missions covertly and provide rich information for combat decision-making. Compared with fixed-wing and rotary-wing UAVs, flapping-wing UAVs have lower noise and better concealment. Since the very beginning of the design of insect-like flapping-wing aircrafts, they have been assigned the task requirements of flying and collecting information in restricted spaces such as buildings, caves, and tunnels. The ability to attach to a wall surface increases the actual working time of the aircraft, enhances its adaptability to the environment, and expands the application prospects of the aircraft. In order to successfully complete the landing maneuver on the wall surface, relatively high requirements are imposed on the stability, load capacity, control, and planning complexity of the insect-like flapping-wing aircraft.

[0003] Currently, the research on insect-like flapping-wing aircrafts at home and abroad has been quite mature, including the Robobee aircraft developed by Harvard University and the Delfly aircraft developed by Delft University of Technology in the Netherlands, which can sustain hovering, vertical takeoff and landing flights, and can simulate the flight behavior of insects; the mechanical dragonfly developed by Nanjing University of Aeronautics and Astronautics, which adopts a hybrid layout of flapping wings and rotors and can land and take off freely on various vertical surfaces. However, there is not much research on insect-like flapping-wing aircrafts that can perch on a vertical surface. In the existing technology, the following problems exist in insect-like flapping-wing aircrafts: (1) The transmission device is complex, making it difficult to miniaturize and having a weak load capacity; (2) The control system is simple, but the attitude transformation is complex and the control difficulty is large; (3) The airflow disturbance near the wall surface is large, making it difficult to approach the wall surface for landing; (4) The perching method and principle are complex, the perching environment requirements are high, and the perching success rate is low. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a butterfly-like flapping-wing aircraft capable of perching on a vertical wall surface in view of the defects involved in the background art.

[0005] The present invention adopts the following technical solutions to solve the above technical problems: A butterfly-like flapping-wing aircraft capable of perching on a vertical wall surface, characterized by comprising a main rod, a mounting plate, a first wing, a second wing, a driving module, an adhesion module, a battery module, and a control module; The mounting plate is fixed on the main rod and is symmetrically arranged with respect to the main rod; The first wing and the second wing have the same structure, both of which adopt the bionic Papilio xuthus wing with a leading edge sweep angle of 0°, and both include a forewing, a hindwing and a wing root. The driving module includes a first servo motor, a second servo motor, a first servo arm, a second servo arm, a first connecting rod and a second connecting rod; the first servo motor, the second servo motor, the first servo arm and the second servo arm are all fixed on the mounting plate, and the output shafts of the first servo motor and the second servo motor are coaxially and fixedly connected to the spline holes of the first servo arm and the second servo arm respectively; one end of the first connecting rod is fixedly connected to the load output end of the first servo arm, and the other end is fixedly connected to the wing root of the first wing, and the first connecting rod and the first wing are coplanar; one end of the second connecting rod is fixedly connected to the load output end of the second servo arm, and the other end is fixedly connected to the wing root of the second wing, and the second connecting rod and the second wing are coplanar; the first wing and the second wing are symmetrically arranged on both sides of the main rod. The adhesion module includes a first touch rod, a second touch rod, a first adhesion plate, a second adhesion plate, a first nano - adhesion pad and a second nano - adhesion pad. Among them, the first touch rod and the second touch rod have the same structure, both of which are curved strip - shaped structures imitating butterfly antennae, and both are fixedly connected to the front end of the main rod at one end and are symmetrically arranged with respect to the main rod; the other ends of the first touch rod and the second touch rod are respectively connected to the centers of the first adhesion plate and the second adhesion plate through ball - head hinges; the first nano - adhesion pad and the second nano - adhesion pad are respectively arranged on the first adhesion plate and the second adhesion plate, which are used to deform and absorb the impact force when the flying vehicle hits the wall surface, and at the same time generate van der Waals force to adsorb on the vertical wall surface, so that the flapping - wing flying vehicle can adsorb on the vertical wall surface when it is transformed from horizontal to vertical under the action of gravity through the spherical hinge. The control module and the battery module are both fixed on the mounting plate. The control module is electrically connected to the battery module, the first servo motor and the second servo motor respectively, and is used to control the operation of the first servo motor and the second servo motor.

[0006] As a further optimized solution of the bionic butterfly flapping - wing flying vehicle capable of perching on a vertical wall in the present invention, the first adhesion plate, the second adhesion plate, the first nano - adhesion pad and the second nano - adhesion pad are all circular with the same shape.

[0007] Compared with the prior art, the present invention adopts the above - mentioned technical solutions and has the following technical effects: 1. The present invention adopts the shape of the wild Papilio xuthus wing, which has excellent flight performance, good stability and a high kinetic energy conversion ratio. 2. The flapping of the wings is controlled by a servo motor, the control is more accurate, the yaw operation is simpler and the wing motion function is easy to update subsequently; the flapping frequency is low and the noise is small. 3. A part with curvature is used to buffer the collision and absorb the impact, reducing the load of the flying vehicle. 4. The adhesion material is cut from a self-developed nano adhesion pad, and has good adhesion effect relying on van der Waals force; 5. The structure design is simple, the overall mass is small, the attachment safety performance is high, and the control is simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 is a schematic structural diagram of the present invention; Figure 2 is a schematic structural diagram of the adhesion module in the present invention.

[0009] In the figure, 1 - the front wing of the first wing, 2 - the rear wing of the first wing, 3 - the wing root of the first wing, 4 - the main rod, 5 - the drive module, 6 - the second touch rod, 7 - the second nano adhesion pad, 9 - the battery module, 10 - the ball head hinge, 11 - the second adhesion plate. DETAILED DESCRIPTION OF THE INVENTION

[0010] The technical solution of the present invention will be further described in detail below with reference to the drawings: The present invention can be implemented in many different forms and should not be considered limited to the embodiments described herein. On the contrary, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present invention to those skilled in the art. In the drawings, components are enlarged for clarity.

[0011] It should be understood that although terms such as first, second, third, etc. may be used herein to describe various elements, components, and / or parts, these elements, components, and / or parts are not limited by these terms. These terms are only used to distinguish one element, component, and / or part from another. Thus, the first element, component, and / or part discussed below may become the second element, component, or part without departing from the teachings of the present invention.

[0012] As Figure 1 shown, the present invention discloses a butterfly-inspired flapping-wing aircraft capable of perching on a vertical wall, which is characterized in that it includes a main rod, a mounting plate, a first wing, a second wing, a drive module, an adhesion module, a battery module, and a control module; The mounting plate is fixed on the main rod and is symmetrically arranged with respect to the main rod; The first wing and the second wing have the same structure, both adopt the wings of the Papilio xuthus as a bionic model, the leading edge sweep angle is 0°, both include a front wing, a rear wing, and a wing root, have a thin and long tail protrusion with the function of guiding and capturing eddy currents, and a smaller included angle of the rear wing; The driving module includes a first servo, a second servo, a first servo arm, a second servo arm, a first connecting rod and a second connecting rod; the first servo, the second servo, the first servo arm and the second servo arm are all fixed on the mounting plate, and the output shafts of the first servo and the second servo are coaxially and fixedly connected to the spline holes of the first servo arm and the second servo arm respectively; one end of the first connecting rod is fixedly connected to the load output end of the first servo arm, and the other end is fixedly connected to the root of the first wing, and the first connecting rod and the first wing are coplanar; one end of the second connecting rod is fixedly connected to the load output end of the second servo arm, and the other end is fixedly connected to the root of the second wing, and the second connecting rod and the second wing are coplanar; the first wing and the second wing are symmetrically arranged on both sides of the main rod; The adhesion module includes a first touch rod, a second touch rod, a first adhesion plate, a second adhesion plate, a first nano - adhesion pad and a second nano - adhesion pad. Among them, the first touch rod and the second touch rod have the same structure, both are curved strip structures imitating butterfly antennae, and both are fixedly connected to the front end of the main rod at one end and are symmetrically arranged with respect to the main rod, as Figure 2 shown; the other ends of the first touch rod and the second touch rod are respectively connected to the centers of the first adhesion plate and the second adhesion plate through ball - head hinges; the first adhesion plate, the second adhesion plate, the first nano - adhesion pad and the second nano - adhesion pad are all circular with the same shape; the first nano - adhesion pad and the second nano - adhesion pad are respectively arranged on the first adhesion plate and the second adhesion plate, and are used to deform and absorb the impact force when the aircraft hits the wall surface, and at the same time generate van der Waals force to adsorb on the vertical wall surface, so that when the flapping - wing aircraft is transformed from horizontal to vertical under the action of gravity through the spherical hinge, it can adsorb on the vertical wall surface; The control module and the battery module are both fixed on the mounting plate; The control module is electrically connected to the battery module, the first servo and the second servo respectively, and is used to control the operation of the first servo and the second servo.

[0013] Those skilled in the art of this technology can understand that, unless otherwise defined, all terms used here (including technical terms and scientific terms) have the same meaning as the general understanding of those of ordinary skill in the art to which this invention belongs. It should also be understood that terms such as those defined in a general dictionary should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted with an idealized or overly formal meaning unless defined as here.

[0014] The specific embodiments described above have further detailed the purpose, technical solution and beneficial effects of the present invention. It should be understood that the above - mentioned are only the specific embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. A butterfly-like flapping-wing aircraft capable of perching on a vertical wall, characterized in that: It includes a main rod, a mounting plate, a first wing, a second wing, a drive module, an adhesion module, a battery module and a control module; The mounting plate is fixed on the main rod and is symmetrically arranged with respect to the main rod; The first wing and the second wing have the same structure, both are imitating the wings of the citrus swallowtail butterfly, with a forward sweep angle of 0°, and both include a forewing, a hindwing and a wing root; The driving module comprises a first servo, a second servo, a first servo arm, a second servo arm, a first connecting rod and a second connecting rod; the first servo, the second servo, the first servo arm and the second servo arm are all fixed on the mounting plate, and the output shafts of the first servo and the second servo are coaxially fixedly connected to the spline holes of the first servo arm and the second servo arm respectively; one end of the first connecting rod is fixedly connected to the load output end of the first servo arm, and the other end is fixedly connected to the wing root of the first wing, and the first connecting rod and the first wing are coplanar; one end of the second connecting rod is fixedly connected to the load output end of the second servo arm, and the other end is fixedly connected to the wing root of the second wing, and the second connecting rod and the second wing are coplanar; the first wing and the second wing are symmetrically arranged on both sides of the main rod; The adhesion module comprises a first feeler rod, a second feeler rod, a first adhesion plate, a second adhesion plate, a first nano-adhesion pad and a second nano-adhesion pad, wherein the first feeler rod and the second feeler rod have the same structure, both are curved strip structures imitating butterfly antennae, one end of each of which is fixedly connected to the front end of the main rod and is symmetrically arranged about the main rod; the other ends of the first feeler rod and the second feeler rod are respectively connected to the center of the first adhesion plate and the second adhesion plate through a ball hinge; the first nano-adhesion pad and the second nano-adhesion pad are respectively arranged on the first adhesion plate and the second adhesion plate, and are used to deform and absorb impact force when the aircraft hits the wall, and generate van der Waals force to adsorb on the vertical wall, so that the flapping-wing aircraft can be adsorbed on the vertical wall when it is converted from horizontal to vertical through the ball hinge under the action of gravity; The control module and the battery module are both fixed on the mounting plate; The control module is electrically connected to the battery module, the first steering gear and the second steering gear respectively, and is used to control the operation of the first steering gear and the second steering gear.

2. The butterfly-like flapping-wing aircraft capable of perching on a vertical wall according to claim 1, characterized in that: The first adhesive plate, the second adhesive plate, the first nano-adhesion pad and the second nano-adhesion pad are all circular in shape.

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