CN111591436B - Pneumatic soft landing gear of small unmanned aerial vehicle - Google Patents
Pneumatic soft landing gear of small unmanned aerial vehicle Download PDFInfo
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- CN111591436B CN111591436B CN202010366144.4A CN202010366144A CN111591436B CN 111591436 B CN111591436 B CN 111591436B CN 202010366144 A CN202010366144 A CN 202010366144A CN 111591436 B CN111591436 B CN 111591436B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/22—Operating mechanisms fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/24—Operating mechanisms electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
- B64C25/62—Spring shock-absorbers; Springs
- B64C25/64—Spring shock-absorbers; Springs using rubber or like elements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a pneumatic soft landing gear of a small unmanned aerial vehicle, which comprises a connecting plate, a bottom plate, a gas source box, three actuator clamps, three soft actuators and three rigid supporting legs, wherein the bottom of the unmanned aerial vehicle is connected and fixed with the soft landing gear through the connecting plate; three actuator clamps are arranged on two sides of the bottom plate, the arrangement of the clamps is opposite to that of the rigid supporting legs, and the clamps are used for fixing the soft actuators; the top opening of the air source box is a circuit connector, the ventilation catheter is connected with three soft actuators, the wire is connected with the unmanned aerial vehicle controller, and two ends of the outer side of the air source box are fixed with two clamping pieces of the connecting plate through screws. The unmanned aerial vehicle solves the problem that the existing unmanned aerial vehicle is difficult to stably contact with the external environment when perching, and the endurance time of the unmanned aerial vehicle is prolonged.
Description
Technical Field
The invention belongs to the technical field of soft robots, and particularly relates to a pneumatic soft landing gear of a small unmanned aerial vehicle.
Background
Different from the traditional rigid robot, the soft robot body is made of soft materials or flexible materials, can be continuously deformed and theoretically has infinite freedom. Although the traditional rigid body robot has been accumulated and applied widely in various fields such as industry, medical treatment and military affairs, the structural rigidity makes the environment adaptability worse, the movement in narrow space is limited, and the robot cannot pass through a passage with the dimension smaller than that of the robot or the shape being complex. Therefore, in some special scenes, certain risks and challenges still exist in the aspects of holding, man-machine interaction and narrow space operation of complex and fragile objects. The soft robot has good safety and flexibility, overcomes the defects of complex structure, limited flexibility, poor safety and adaptability and the like of the rigid robot, and has good application prospect.
The device is divided into a plurality of modes such as cable driving, pneumatic driving, hydraulic driving and the like. In addition, research on motion generated by deformation of intelligent materials such as dielectric elastomers, conductive polymers, shape memory alloys, magnetorheological elastomers and the like under the drive of an external physical field is also carried out. The pneumatic soft robot using super elastic silica gel as the main body material is the current popular research direction, and generally comprises two parts: an extensible portion and a non-extensible strain limiting layer portion. When the high pressure is filled with gas, the actuator is deformed in a certain direction due to the difference in length change of the two parts, thereby generating bending motion.
When the small unmanned aerial vehicle performs tasks, the operation time of the small unmanned aerial vehicle can be prolonged by saving battery power when the small unmanned aerial vehicle inhabits on nearby specific terrains (such as trunks, eaves and the like), so that the capability of the unmanned aerial vehicle to stably contact with the external environment is particularly important. If the rigid landing gear is replaced by the pneumatic soft landing gear which can deform along with the external environment, the unmanned aerial vehicle can not only deal with various environments which are difficult to predict, but also greatly reduce the burden of the unmanned aerial vehicle.
Disclosure of Invention
The invention aims to provide a pneumatic soft landing gear applied to an unmanned aerial vehicle, which solves the problem that the existing unmanned aerial vehicle is difficult to stably contact with the external environment when perching and improves the endurance time of the unmanned aerial vehicle.
The technical solution for realizing the purpose of the invention is as follows: a pneumatic soft landing gear of a small unmanned aerial vehicle comprises a connecting plate, a bottom plate, a gas source box, three actuator clamps, three soft actuators and three rigid supporting legs; the bottom of the unmanned aerial vehicle is connected and fixed with the soft landing gear through a connecting plate, three rigid supporting legs are arranged on the bottom surface of the connecting plate, two rigid supporting legs are arranged at two ends of one side of the connecting plate in parallel, and the other rigid supporting leg is positioned in the middle of the opposite side; three actuator clamps are arranged on two sides of the bottom plate, the arrangement of the actuator clamps is opposite to that of the rigid body supporting legs, one actuator clamp is positioned between two parallel rigid body supporting legs, the other two actuator clamps are positioned on two sides of the other rigid body supporting leg, and the actuator clamps are used for fixing a soft actuator; the gas source box is positioned between the connecting plate and the bottom plate and is used for charging and discharging gas to the soft actuator.
Furthermore, an electromagnetic valve and a self-regulating chemical pneumatic pump are arranged in the gas source box, oxygen provided by the self-regulating chemical pneumatic pump is conveyed to a port b of the electromagnetic valve, when the electromagnetic valve is electrified, the ports a and b are opened, the port c is closed, and gas is led to the soft actuator; when the electromagnetic valve is powered off, the ports a and c are opened, the port b is closed, and the gas in the soft actuator is exhausted from the port c.
Further, the self-regulating chemical pneumatic pump comprises a polytetrafluoroethylene membrane, a hydrogen peroxide solution with the concentration of 50%, a deviation plate, a silver sheet and a closed air chamber; the polytetrafluoroethylene membrane is arranged at the position of an air outlet of the self-regulating chemical pneumatic pump and is used for isolating liquid and dredging gas; the closed air chamber is positioned at the bottom of the self-adjusting chemical pneumatic pump, the offset plate is arranged above the closed air chamber, the protruding end of the bottom of the offset plate is connected with the upper surface of the closed air chamber, the silver sheet is positioned between the offset plate and the upper surface of the closed air chamber, the hydrogen peroxide solution is contacted with the silver sheet to accelerate decomposition to generate oxygen, the air pressure in the pump rises to cause the offset plate to press the closed air chamber, when the air pressure in the pump is large enough, the offset plate completely covers the silver sheet to isolate the silver sheet from the hydrogen peroxide solution, and the reaction is terminated; when the gas outlet of the self-regulating chemical pneumatic pump is opened, the gas flows out, the gas pressure is reduced, and the reaction continues.
Further, the bottom plate is divided into two layers, the upper layer is fixedly connected with the air source box, and the lower layer is a silica gel layer and is adhered to the upper layer.
Furthermore, the top of the air source box is provided with an opening which is a circuit connecting port, the ventilation catheter is connected with the three soft actuators, and the conducting wire is connected with the unmanned aerial vehicle controller.
Furthermore, two ends of the outer side of the air source box are fixed with the two clamping pieces of the connecting plate through screws.
Further, the soft body actuator comprises a stretching layer, a strain limiting layer and a friction enhancing layer, wherein the strain limiting layer is made of inextensible flexible materials; when gas is filled, the length of the strain limiting layer is unchanged, and the extension layer deforms and elongates, so that the soft actuator bends; the friction enhancing layer is evenly spaced protrusions for enhancing the gripping ability of the soft actuator.
Further, the strain limiting layer is made of paper, fabric or plastic film.
Furthermore, the friction enhancement layer and the extension layer are oppositely arranged on the inner side and the outer side of the soft actuator.
Further, the friction enhancing layer is arranged on the surface of the strain limiting layer.
Compared with the prior art, the invention has the remarkable advantages that: (1) the soft characteristic of the soft actuator can effectively improve the contact capacity of the unmanned aerial vehicle with the external environment when the unmanned aerial vehicle inhabits, and improve the stability; the soft actuator is made of silica gel and is divided into an extension layer, a strain limiting layer and a friction enhancement layer, wherein the strain limiting layer is made of paper, fabric or plastic film and other non-extensible flexible materials; when gas is filled, the length of the strain limiting layer is unchanged, and the extension layer deforms and elongates, so that the soft actuator bends; the friction enhancement layer is a protrusion with uniform intervals and is used for enhancing the gripping capability of the soft actuator; (2) by using the chemical pneumatic pump as a simple and portable gas source, gas can be generated at any time to realize the inflation and deflation of the soft actuator.
Drawings
Fig. 1 is a three-dimensional view of the pneumatic soft landing gear of the unmanned aerial vehicle.
Figure 2 is a front view of the pneumatic soft landing gear of figure 1.
Figure 3 is a top view of the pneumatic soft landing gear of figure 1.
FIG. 4 is a schematic view of the air supply box of the pneumatic soft landing gear of FIG. 1.
Fig. 5 is a plan view of the chemical pneumatic pump.
Figure 6 is a cross-sectional view of the soft actuator of figure 1.
Fig. 7 is a three-dimensional schematic view of fig. 1 installed on a drone.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
With reference to fig. 1 to 3, a pneumatic soft landing gear of a small unmanned aerial vehicle comprises a connecting plate 1, a bottom plate 4, an air source box 3, three actuator clamps 5, three soft actuators 6, and three rigid support legs 2. The bottom of the unmanned aerial vehicle is connected and fixed with the soft landing gear through a connecting plate 1, three rigid supporting legs 2 are arranged on the bottom surface of the connecting plate 1, two of the three rigid supporting legs are positioned at two ends of one side in parallel, and the other rigid supporting leg is positioned in the middle of the opposite side. Three actuator clamps 5 are arranged on two sides of the bottom plate 4, the arrangement of the clamps is opposite to that of the rigid supporting feet 2, and the clamps are used for fixing soft actuators 6. The bottom plate 4 is divided into two layers, the upper layer is fixedly connected with the air source box 3, and the lower layer is a silica gel layer and is adhered to the upper layer. The top opening of the air source box 3 is a circuit connecting port, the ventilation conduit is connected with three soft actuators 6, the conducting wire is connected with the unmanned aerial vehicle controller, and two ends of the outer side of the air source box 3 are fixed with two clamping pieces of the connecting plate 1 through screws.
With reference to fig. 4, the gas source tank 3 is provided with a solenoid valve 7 and a self-regulating chemical pneumatic pump 8, oxygen supplied by the chemical pneumatic pump 8 is delivered to the port b of the solenoid valve 7, when the solenoid valve 7 is electrified, the ports a and b are opened, the port c is closed, and gas is led to the soft actuator 6; when the electromagnetic valve 7 is powered off, the ports a and c are opened, the port b is closed, and the gas in the soft actuator 6 is discharged from the port c. The chemical pneumatic pump 8 generates oxygen through the catalytic decomposition of hydrogen peroxide to drive the flexible actuator to bend.
Referring to fig. 5, the chemical pneumatic pump 8 includes therein a teflon membrane 9, a hydrogen peroxide solution 10 of 50% concentration, a bias plate 11, a silver plate 12, and a closed air chamber 13. Under normal conditions, the hydrogen peroxide solution 10 is contacted with the silver sheet 12 to accelerate decomposition to generate oxygen, the air pressure in the pump is increased to cause the offset plate 11 to press the closed air chamber 13, when the air pressure in the pump is large enough, the offset plate 11 completely covers the silver sheet 12 to isolate the silver sheet from the hydrogen peroxide solution 10, and the reaction is terminated; when the gas outlet of the chemical pneumatic pump 8 is opened, the gas flows out, the gas pressure is reduced, and the reaction continues. The polytetrafluoroethylene membrane 9 plays a role in isolating liquid and dredging gas.
Referring to fig. 6, the soft actuator 6 is made of silicone and is divided into a stretching layer 14, a strain limiting layer 15 and a friction enhancing layer 16, wherein the strain limiting layer 15 is made of paper, fabric or plastic film or other non-extensible flexible material. When inflated with gas, the strain limiting layer 15 is of constant length and the extensible layer 14 deforms and elongates, causing the soft body actuator 6 to bend. The friction enhancing layer 16 is a uniformly spaced protrusion that enhances the gripping ability of the soft actuator 6.
Fig. 7 is an application diagram of the pneumatic soft landing gear of the invention, when the unmanned aerial vehicle inhabits in narrower terrains such as branches, the electromagnetic valve 7 is electrified to communicate the chemical pneumatic pump 8 with the soft actuator 6, the reaction continues, the rigid supporting legs 2 are not in contact with the external environment, and the unmanned aerial vehicle stabilizes the vehicle body by means of the gripping capability of the soft actuator 6. When the unmanned aerial vehicle leaves the habitat, the electromagnetic valve 7 is powered off, the outlet of the chemical pneumatic pump 8 is closed, gas in the soft actuator 6 is discharged, and the shape of the unmanned aerial vehicle is recovered to be normal. When unmanned aerial vehicle landed, rigid body supporting legs 2 contacted ground played the effect of supporting the organism.
Claims (9)
1. The utility model provides a unmanned aerial vehicle's pneumatic software landing gear which characterized in that: the device comprises a connecting plate (1), a bottom plate (4), an air source box (3), three actuator clamps (5), three soft actuators (6) and three rigid supporting legs (2); the bottom of the unmanned aerial vehicle is connected and fixed with the soft landing gear through a connecting plate (1), three rigid supporting legs (2) are arranged on the bottom surface of the connecting plate (1), two rigid supporting legs (2) are arranged at two ends of one side of the connecting plate (1) in parallel, and the other rigid supporting leg (2) is positioned in the middle of the opposite side; three actuator clamps (5) are arranged on two sides of the bottom plate (4), the arrangement of the actuator clamps (5) is opposite to that of the rigid body supporting legs (2), one actuator clamp (5) is positioned between the two parallel rigid body supporting legs (2), the other two actuator clamps (5) are positioned on two sides of the other rigid body supporting leg (2), and the actuator clamps (5) are used for fixing a soft actuator (6); the air source box (3) is positioned between the connecting plate (1) and the bottom plate (4) and is used for inflating and deflating air to the soft actuator (6); the soft actuator (6) comprises an extensible layer (14), a strain limiting layer (15) and a friction enhancing layer (16), wherein the strain limiting layer (15) is made of a non-extensible flexible material; when gas is filled, the length of the strain limiting layer (15) is unchanged, and the extension layer (14) deforms and elongates to cause the soft actuator (6) to bend; the friction enhancing layer (16) is a uniformly spaced protrusion for enhancing the gripping ability of the soft actuator (6).
2. The pneumatic soft landing gear of a drone of claim 1, characterized in that: an electromagnetic valve (7) and a self-regulating chemical pneumatic pump (8) are arranged in the air source box (3), oxygen provided by the self-regulating chemical pneumatic pump (8) is conveyed to a port b of the electromagnetic valve (7), when the electromagnetic valve (7) is electrified, the ports a and b are opened, a port c is closed, and air is led to the soft actuator (6); when the electromagnetic valve (7) is powered off, the ports a and c are opened, the port b is closed, and the gas in the soft actuator (6) is exhausted from the port c.
3. The pneumatic soft landing gear of a drone of claim 2, characterized in that: the self-regulating chemical pneumatic pump (8) comprises a polytetrafluoroethylene membrane (9), a hydrogen peroxide solution (10) with the concentration of 50%, a deviation plate (11), a silver sheet (12) and a closed air chamber (13); the polytetrafluoroethylene membrane (9) is arranged at the position of the air outlet of the self-regulating chemical pneumatic pump (8) and is used for isolating liquid and dredging air; the closed air chamber (13) is positioned at the bottom of the self-adjusting chemical pneumatic pump (8), the offset plate (11) is arranged above the closed air chamber (13), the protruding end of the bottom of the offset plate (11) is connected with the upper surface of the closed air chamber (13), the silver sheet (12) is positioned between the offset plate (11) and the upper surface of the closed air chamber (13), the hydrogen peroxide solution (10) is contacted with the silver sheet (12) to accelerate decomposition to generate oxygen, the air pressure in the pump rises to cause the offset plate (11) to press the closed air chamber (13), and when the air pressure in the pump is large enough, the offset plate (11) completely covers the silver sheet (12) to isolate the silver sheet from the hydrogen peroxide solution (10), and the reaction is terminated; when the gas outlet of the self-regulating chemical pneumatic pump (8) is opened, the gas flows out, the gas pressure is reduced, and the reaction continues.
4. The pneumatic soft landing gear of a drone of claim 1, characterized in that: the bottom plate (4) is divided into two layers, the upper layer is fixedly connected with the air source box (3), and the lower layer is a silica gel layer and is adhered to the upper layer.
5. The pneumatic soft landing gear of a drone of claim 1, characterized in that: the top of the air source box (3) is provided with an opening and is a circuit connecting port, the ventilation conduit is connected with three soft actuators (6), and the lead is connected with the unmanned aerial vehicle controller.
6. The pneumatic soft landing gear of a drone of claim 5, characterized in that: two ends of the outer side of the air source box (3) are fixed with the two clamping pieces of the connecting plate (1) through screws.
7. The pneumatic soft landing gear of a drone of claim 1, characterized in that: the strain limiting layer (15) is made of paper, fabric or plastic film.
8. The pneumatic soft landing gear of a drone of claim 1, characterized in that: the friction enhancement layer (16) and the extension layer (14) are oppositely arranged on the inner side and the outer side of the soft actuator (6).
9. The pneumatic soft landing gear of a drone of claim 8, wherein: the friction enhancing layer (16) is arranged on the surface of the strain limiting layer (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010366144.4A CN111591436B (en) | 2020-04-30 | 2020-04-30 | Pneumatic soft landing gear of small unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010366144.4A CN111591436B (en) | 2020-04-30 | 2020-04-30 | Pneumatic soft landing gear of small unmanned aerial vehicle |
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| CN111591436A CN111591436A (en) | 2020-08-28 |
| CN111591436B true CN111591436B (en) | 2022-03-18 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741879A (en) * | 2016-12-09 | 2017-05-31 | 合肥赛为智能有限公司 | A kind of unmanned plane with protection device |
| CN107253522A (en) * | 2017-07-25 | 2017-10-17 | 河南师范大学 | Helicopter retractable landing gear |
| CN109733493A (en) * | 2019-02-19 | 2019-05-10 | 上海交通大学 | A kind of software, which is creeped, adsorbs robot |
| CN209776607U (en) * | 2019-05-09 | 2019-12-13 | 大连交通大学 | soft four-foot robot |
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2020
- 2020-04-30 CN CN202010366144.4A patent/CN111591436B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741879A (en) * | 2016-12-09 | 2017-05-31 | 合肥赛为智能有限公司 | A kind of unmanned plane with protection device |
| CN107253522A (en) * | 2017-07-25 | 2017-10-17 | 河南师范大学 | Helicopter retractable landing gear |
| CN109733493A (en) * | 2019-02-19 | 2019-05-10 | 上海交通大学 | A kind of software, which is creeped, adsorbs robot |
| CN209776607U (en) * | 2019-05-09 | 2019-12-13 | 大连交通大学 | soft four-foot robot |
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| CN111591436A (en) | 2020-08-28 |
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