CN113335493B - Six-rod tensioning integral frame and impact-resistant unmanned aerial vehicle - Google Patents
Six-rod tensioning integral frame and impact-resistant unmanned aerial vehicle Download PDFInfo
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- CN113335493B CN113335493B CN202110489707.3A CN202110489707A CN113335493B CN 113335493 B CN113335493 B CN 113335493B CN 202110489707 A CN202110489707 A CN 202110489707A CN 113335493 B CN113335493 B CN 113335493B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/061—Frames
- B64C1/062—Frames specially adapted to absorb crash loads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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Abstract
The utility model provides an unmanned aerial vehicle shocks resistance is drawn together to six pole stretch-draw whole frame, through including six rigidity depression bars and twenty four elastic cables, four elastic cables are drawn forth respectively to two endpoints of every rigidity depression bar, four elastic cables of every endpoint are connected with four endpoints nearest apart from this endpoint respectively, and six rigidity depression bars average score is three groups, and on spatial position, arbitrary two sets of rigidity depression bar mutually perpendicular in three rigid depression bars of group, two rigidity depression bars in every group are parallel to each other. This structure quality is light and can provide the shock resistance of high strength, reduces the influence to unmanned aerial vehicle duration when protecting unmanned aerial vehicle mechanical structure, and this unmanned aerial vehicle can fly in the air and can carry out orderly controllable roll and can take off once more after dropping on ground.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a six-rod tensioning integral frame and an anti-impact unmanned aerial vehicle.
Background
For a common unmanned aerial vehicle, it is very challenging to fly in a complex environment where obstacles are difficult to detect and avoid. Obstacles in the environment have great threat to the safety and the integrity of the mechanical structure of the unmanned aerial vehicle, and can damage the rotor wing or the horn of the unmanned aerial vehicle by a little carelessness to crash the unmanned aerial vehicle.
Through extensive research discovery, present unmanned aerial vehicle's buffer structure mainly has two kinds, one kind is that there is elasticity, similar spherical buffer structure at unmanned aerial vehicle externally mounted, utilizes spherical structure to realize unmanned aerial vehicle's protection to the buffering of external power, but this kind of unmanned aerial vehicle can't take off once more after receiving the striking to fall to the ground. The other kind is at the structure of the similar squirrel cage of unmanned aerial vehicle externally mounted, makes unmanned aerial vehicle rely on self action of gravity to keep the level of wing, but the squirrel cage structure need keep the supporting role to unmanned aerial vehicle, and it is limited to lead to the cushioning effect of squirrel cage structure to external force, and can't provide stable landing surface for unmanned aerial vehicle, and this kind of unmanned aerial vehicle can only fly and can not carry out controllable roll on ground equally.
Therefore, it is necessary to design a new buffering structure to satisfy the protection of the mechanical structure of the unmanned aerial vehicle and to enable the unmanned aerial vehicle to perform controllable rolling motion on the ground and take off again after falling.
Disclosure of Invention
The invention overcomes one of the defects of the prior art, and provides a tensioning integral frame and an impact-resistant unmanned aerial vehicle, wherein the frame is light and can provide high-strength impact resistance, the influence on the cruising ability of the unmanned aerial vehicle is reduced while the mechanical structure of the unmanned aerial vehicle is protected, and flight control can generate a corresponding driving strategy according to the current posture to drive a propeller of the unmanned aerial vehicle to generate thrust, so that the unmanned aerial vehicle can orderly and controllably roll on the ground and realize take-off again after falling.
According to one aspect of the disclosure, the invention provides a six-rod tensioning integral frame, which comprises six rigid compression rods and twenty-four elastic cables, wherein four elastic cables are led out from two end points of each rigid compression rod respectively, and the four elastic cables at each end point are connected with four end points nearest to the end point respectively; the six rigid compression bars are divided into three groups on average, any two groups of rigid compression bars in the three groups of rigid compression bars are perpendicular to each other in spatial position, and the two rigid compression bars in each group are parallel to each other.
In a possible implementation manner, the rigid compression bar includes a hollow carbon tube and a bar cable connector, the bar cable connector is respectively disposed at two ends of the hollow carbon tube, and the bar cable connector and the hollow carbon tube are fixedly connected through interference fit.
In one possible implementation, the rod and cable connector comprises a 3D print, a bearing, a rubber ring, a snap spring groove; the 3D prints the piece and is provided with protruding post, be carved with the jump ring groove on the protruding post, the jump ring is laid in the jump ring groove for it is fixed the bearing, the outside of bearing is provided with the rubber circle.
In a possible implementation manner, the upper part of the rod and cable connecting piece is arc-shaped, and six through holes are formed in the rod and cable connecting piece.
In one possible implementation, the elastic cord comprises a spring, a nylon cord, and a cord locker; the hooks at the two ends of the spring are respectively connected with two nylon ropes with the same length, and the nylon ropes are fixedly connected with the spring hooks through the thread locking device.
In a possible implementation manner, the thread locking device is further used for fixedly connecting the nylon rope with the through hole in the rod rope connecting piece.
According to another aspect of the present disclosure, an anti-impact unmanned aerial vehicle is provided, which includes an unmanned aerial vehicle and a six-rod tensioning integral frame, wherein the unmanned aerial vehicle is located inside the six-rod tensioning integral frame, and the unmanned aerial vehicle includes a horn, a propeller, a battery, and a flying tower; the tail end of the arm of the unmanned aerial vehicle is provided with a through hole, the battery is arranged below the plane where the propeller is located, and the flying tower is arranged above the plane where the propeller is located; a silica gel column is arranged between the unmanned aerial vehicle and the hollow carbon tube, and a through hole is formed in the middle of the silica gel column; and the nylon rope is utilized to be connected and fixed with the unmanned aerial vehicle and the six-rod tensioning integral frame through the through hole at the tail end of the machine arm, the silica gel column through hole and the hollow carbon tube.
The six-rod tensioning integral frame comprises six rigid compression rods and twenty-four elastic cables, wherein the four elastic cables are led out from two end points of each rigid compression rod respectively, the four elastic cables of each end point are connected with the four end points which are nearest to the end points respectively, the six rigid compression rods are divided into three groups averagely, any two groups of rigid compression rods in the three groups of rigid compression rods are perpendicular to each other in spatial position, and the two rigid compression rods in each group are parallel to each other. Can provide the shock resistance of high strength, reduce the influence to unmanned aerial vehicle duration when protecting unmanned aerial vehicle mechanical structure, make this unmanned aerial vehicle can fly in the air, carry out orderly controllable roll and take off once more after dropping on ground.
Drawings
The accompanying drawings are included to provide a further understanding of the technology or prior art of the present application and are incorporated in and constitute a part of this specification. The drawings expressing the embodiments of the present application are used for explaining the technical solutions of the present application, and should not be construed as limiting the technical solutions of the present application.
FIG. 1 illustrates a schematic structural view of a six bar tensioned monolithic frame according to an embodiment of the present disclosure;
FIG. 2 illustrates a schematic structural view of a rigid strut of a six-strut tensioned unibody frame according to one embodiment of the present disclosure;
FIG. 3 illustrates a side view of a pole cable connection of a six-pole tensioned unibody frame according to one embodiment of the present disclosure;
FIG. 4 illustrates a cross-sectional view of a rod and cable connection of a six-rod tensioned monolithic frame according to an embodiment of the present disclosure;
FIG. 5 illustrates an assembled structural cross-sectional view of a rod and cable connection of a six-rod tensioned unibody frame according to one embodiment of the present disclosure;
FIG. 6 illustrates a schematic structural view of a spring cable of a six bar tensioned unibody frame according to an embodiment of the present disclosure;
FIG. 7 illustrates a schematic structural view of a spring cable of a six bar tensioned unibody frame according to another embodiment of the present disclosure;
figure 8 shows a top view of a single drone structure according to an embodiment of the present disclosure;
figure 9 shows a structural side view of a single drone in accordance with an embodiment of the present disclosure;
figure 10 illustrates a top view of an impact resistant drone according to an embodiment of the present disclosure;
figure 11 illustrates a side view of an impact resistant drone according to an embodiment of the present disclosure;
figure 12 shows a schematic overall structure of an impact resistant drone according to an embodiment of the present disclosure;
fig. 13 shows a schematic connection of an impact resistant drone with rigid pressure bars according to an embodiment of the disclosure.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the accompanying drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the corresponding technical effects can be fully understood and implemented. The embodiments and the features of the embodiments can be combined without conflict, and the technical solutions formed are all within the scope of the present invention.
FIG. 1 shows a schematic structural view of a six bar tensioned monolithic frame according to an embodiment of the present disclosure. As shown in fig. 1, the six-bar tensegrity frame may include: the device comprises six rigid pressure rods and twenty-four elastic cables, wherein the four elastic cables are led out from two end points of each rigid pressure rod respectively, and the four elastic cables at each end point are connected with the four end points closest to the end point respectively. The rigidity depression bar bears the pressure along the rigidity depression bar direction, and the elastic cord bears the pulling force, and whole structure can not produce the moment of torsion in inside because of the effect of external force, can absorb external impact force through self deformation when receiving external impact, has extremely strong shock resistance. The six rigid compression bars are averagely divided into three groups, any two groups of the three groups of rigid compression bars are perpendicular to each other in spatial position, and the two rigid compression bars in each group are parallel to each other. The six-rod tensioning integral frame is highly symmetrical in space, and is a regular icosahedron in appearance, and comprises twenty triangles including eight equilateral triangles and twelve isosceles triangles.
For example, as shown in fig. 1, four elastic cables are led out from the end of each rigid compression rod, and are respectively connected with the four ends of the rigid compression rod which are closest to the end of the rigid compression rod in spatial position, so as to form a highly symmetrical regular icosahedron structure. Wherein, the end point A of the rigid compression bar is connected with the end points E, F, I and K of the four closest rigid compression bars, the end point B of the rigid compression bar is connected with the end points G, H, I and K, the end point C of the rigid compression bar is connected with the end points E, F, J and L of the four closest rigid compression bars, the end point D of the rigid compression bar is connected with the end points G, H, J and L of the four closest rigid compression bars, the end point E is connected with the end points A, C, I and J of the four closest rigid compression bars, the end point F of the rigid compression bar is connected with the end points A, C, K and L of the four closest rigid compression bars, the end point G is connected with the end points J, I, B and D of the four closest rigid compression rods, the end point H of each rigid compression rod is connected with the end points B, D, K and L of the four closest rigid compression rods, the end point I is connected with the end points A, B, E and G of the four closest rigid compression rods, the end point J of each rigid compression rod is connected with the end points C, D, E and G of the four closest rigid compression rods, the end point K of each rigid compression rod is connected with the end points A, B, F and H of the four closest rigid compression rods, and the end point L of each rigid compression rod is connected with the end points C, D, F and H of the four closest rigid compression rods.
FIG. 2 illustrates a schematic structural view of a rigid compression bar of a six bar tensioned unibody frame according to an embodiment of the present disclosure. Fig. 3, 4, 5 show a side view, a cross-sectional view, and an assembled structural cross-sectional view, respectively, of a rod and cable connection of a six-rod tensioned monolithic frame according to an embodiment of the present disclosure.
As shown in fig. 2, the rigid compression bar comprises a hollow carbon tube 11 and a bar cable connector 9, the bar cable connector 9 is respectively disposed at two ends of the hollow carbon tube 11, and the bar cable connector 9 and the hollow carbon tube 11 are fixedly connected by interference fit.
As shown in fig. 3, 4 and 5, the rod and cable connector 9 can be composed of a 3D printing piece, a bearing 15, a rubber ring 13 and a clamp spring groove 14. The 3D prints the resin joint that the piece can print out for utilizing 3D, installs the both ends of rigidity depression bar, and 3D prints built-in bearing 15 of piece and rubber circle 13, can avoid the production of moment of torsion on the rigidity depression bar, improves the shock resistance of rigidity depression bar end and to the buffer capacity of external force.
The 3D printing piece can be used for fixing the hollow carbon tube 11, the 3D printing piece is provided with a protruding column, a clamp spring groove 14 is carved on the protruding column, a clamp spring is placed in the clamp spring groove 14 and used for fixing a bearing 15, the bearing 15 can rotate around a fixed shaft and used for balancing torque between four elastic ropes connected to two ends of each rigid compression bar, and extra torque is prevented from being generated inside the hollow carbon tube 11 when the whole structure is assembled. The rubber ring 13 is arranged on the outer side of the bearing 15, and the rubber ring 13 can buffer impact force on two end points of the rigid pressure rod, so that the impact bearing capacity of the rod end of the rigid pressure rod is improved. Wherein, the upper part of the rod and cable connecting piece is arc-shaped, and six through holes 12 are arranged on the rod and cable connecting piece and are used for connecting the nylon rope.
FIG. 6 illustrates a schematic structural view of a spring cable of a six bar tensioned unibody frame according to an embodiment of the present disclosure; fig. 7 illustrates a schematic structural view of a spring line of a six-bar tensioned monolithic frame according to another embodiment of the present disclosure.
As shown in fig. 6 and 7, the elastic cord includes a spring 16, a nylon cord 17, and a cord locker 18. The spring 16 generates tension, and the nylon rope 16 is installed by the thread locking device 18. The hooks at the two ends of the spring 16 are respectively connected with two nylon ropes 17 with the same length, and the nylon ropes 17 are fixedly connected with the spring hooks through the thread locking device 18. The thread locking device 18 is also used for fixedly connecting the nylon rope 17 with the through hole 12 on the rod rope connecting piece, so that the elastic rope is connected with the rigid pressure rod.
The tensioning integral frame comprises six rigid compression bars and twenty-four elastic cables, wherein the four elastic cables are respectively led out from two end points of the rigid compression bars, the four elastic cables led out from each end point are respectively connected with four end points which are nearest to the end points, the six rigid compression bars are averagely divided into three groups, any two groups of rigid compression bars in the three groups of rigid compression bars are perpendicular to each other in spatial position, and the two rigid compression bars in each group are parallel to each other. The impact resistance with high strength can be provided, the mechanical structure of the unmanned aerial vehicle is protected, and the influence on the cruising ability of the unmanned aerial vehicle is reduced; six pole stretch-draw whole frame high symmetry, the frame is stable can drive unmanned aerial vehicle's screw and produce thrust, makes this unmanned aerial vehicle can carry out orderly controllable roll and take off once more on ground.
In the space, the inside great load space that has of six pole stretch-draw whole frame can carry on power device and load, for example can carry on unmanned aerial vehicle etc. and the unmanned aerial vehicle that six pole stretch-draw whole frame combinations carried can be said to possess the novel unmanned aerial vehicle that shocks resistance of external impact.
Fig. 8, 9 show a single drone structure top and side views, respectively, in accordance with an embodiment of the present disclosure.
As shown in fig. 8 and 9, the anti-impact unmanned aerial vehicle comprises an unmanned aerial vehicle and a six-rod tensioning integral frame. The unmanned aerial vehicle can comprise a horn, a propeller 1, a battery 6 and a flying tower 3; the tail end of an arm of the unmanned aerial vehicle is provided with a through hole, the battery 6 is arranged below the plane where the propeller 1 is located, and the flying tower 3 is arranged above the plane where the propeller 1 is located; a silica gel column is arranged between the unmanned aerial vehicle and the hollow carbon tube 11, and a through hole is arranged in the middle of the silica gel column; the unmanned aerial vehicle and the six-rod tensioning integral frame 22 are connected and fixed by a nylon rope 17 through a through hole at the tail end of the arm, a silica gel column through hole and a hollow carbon tube connection 11.
Wherein, unmanned aerial vehicle fuselage structure to utilize the carbon fiber board of light, high strength to cut, reserve mounting hole 21 respectively at the end of four horn and be used for connecting fixed unmanned aerial vehicle and hollow carbon pipe 11, it is that unmanned aerial vehicle does not confine to four wing unmanned aerial vehicle to need to explain.
As shown in fig. 10, a partially hollow area is dug out below the propeller 1 of the drone to increase the total thrust generated by the propeller 1. The tower 3 that flies that constitutes by electricity modulation and flight control is fixed in the fuselage top, and unmanned aerial vehicle's battery 6 is placed in the battery case, through battery fixed plate 7 and copper post 8 and bolt fastening in unmanned aerial vehicle's fuselage below for unmanned aerial vehicle's whole focus is located 1 place plane below of screw, makes unmanned aerial vehicle more stable at the control in-process. The silica gel column 19 is formed by back molding of a model, the upper part of the silica gel column 19 is in contact with a machine arm of the unmanned aerial vehicle, the lower part of the silica gel column 19 is in contact with a rigid pressure bar, a through hole is formed in the middle of the silica gel column 19, and the nylon rope 17 penetrates through the through hole at the tail end of the machine arm, the through hole of the silica gel column and the hollow carbon tube for fixing.
Fig. 10 illustrates a top view of an impact resistant drone in accordance with an embodiment of the present disclosure; figure 11 illustrates a side view of an impact resistant drone according to an embodiment of the present disclosure; fig. 12 shows a schematic diagram of the overall structure of an impact resistant drone according to an embodiment of the present disclosure; fig. 13 shows a schematic connection diagram of an impact resistant drone and a rigid ram according to an embodiment of the present disclosure.
As shown in fig. 10 and 11, two parallel rigid compression bars are used as fixing seats for fixing the unmanned aerial vehicle, and the unmanned aerial vehicle is fixed inside the six-bar tensioning integral frame 22, as shown in fig. 12. Four elastic cables are led out from the rod cable connecting piece 9 at the tail end of each rigid compression rod of the unmanned aerial vehicle and are respectively connected with the four rod cable connecting pieces 9 which are closest to the tail end of the rod in spatial position, so that a highly symmetrical regular icosahedron structure is formed. As shown in fig. 13, the unmanned aerial vehicle has no direct contact with the hollow carbon tube 11 in the six-bar tension unit 22.
Fixing the unmanned aerial vehicle inside the six-rod tensioning integral frame, connecting the elastic cable with the rigid compression bar, wherein the spring 16 is in an extension state during connection, namely, the elastic cable is internally provided with a pretightening force in the assembling process, the pretightening force is used for maintaining the structural shape of the six-rod tensioning integral frame, the tension in each elastic cable is basically consistent in size, and the surface of the six-rod tensioning integral frame is in a regular icosahedron shape in space.
In an initial state before normal takeoff, any one of twenty surfaces of the six-rod tensioning integral frame 22, which is located below a plane where the propeller 1 of the unmanned aerial vehicle is located, lands, the plane where the propeller 1 of the unmanned aerial vehicle is located is inclined and has a certain included angle with the ground, when the unmanned aerial vehicle is ready to take off, the unmanned aerial vehicle enters a self-stabilizing mode, the propeller 1 rotates and generates thrust, and the plane where the propeller 1 is located is parallel to the ground, so that the unmanned aerial vehicle can take off normally; after taking off, an operator controls the remote controller to realize the control of the invention and realize the functions of detecting, transporting loads and the like.
After the unmanned aerial vehicle impacts a barrier, the shell of the six-rod tensioning whole 22 absorbs the impact force of the barrier on the unmanned aerial vehicle, and after the unmanned aerial vehicle falls to the ground, the impact force is greatly buffered by virtue of the spring 16, the rubber ring 13 and the like, so that the protection of the structures such as the propeller 1 and the horn is realized; rely on flying to control inside sensor data and realize discerning unmanned aerial vehicle self gesture, judge and land at present and generate corresponding 1 drive strategy of screw for unmanned aerial vehicle that shocks resistance based on six pole stretch-draw overall frame carries out orderly controllable roll on ground, finally overturns to the gesture that is fit for taking off, realizes that unmanned aerial vehicle receives the striking to take off once more after landing.
Although the embodiments of the present invention have been described above, the above description is only for the purpose of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (1)
1. An impact-resistant unmanned aerial vehicle is characterized by comprising an unmanned aerial vehicle and a six-rod tensioning integral frame; wherein:
the six-rod tensioning integral frame comprises six rigid compression rods and twenty-four elastic cables, wherein four elastic cables are led out from two end points of each rigid compression rod respectively, and the four elastic cables at each end point are connected with four end points which are closest to the end points respectively; the six rigid pressure rods are divided into three groups on average, any two groups of rigid pressure rods in the three groups of rigid pressure rods are vertical to each other in spatial position, and two rigid pressure rods in each group are parallel to each other;
the rigid compression bar comprises a hollow carbon tube and a bar cable connecting piece, the bar cable connecting piece is respectively arranged at two ends of the hollow carbon tube, and the bar cable connecting piece is fixedly connected with the hollow carbon tube through interference fit;
the rod cable connecting piece comprises a 3D printing piece, a bearing, a rubber ring and a clamp spring groove; the 3D printing piece is provided with a protruding column, a clamp spring groove is carved on the protruding column, a clamp spring is placed in the clamp spring groove and used for fixing the bearing, and a rubber ring is arranged on the outer side of the bearing;
the upper part of the rod cable connecting piece is arc-shaped, and six through holes are formed in the rod cable connecting piece;
the elastic rope comprises a spring, a nylon rope and a wire locking device; the hooks at two ends of the spring are respectively connected with two sections of nylon ropes with the same length, and the nylon ropes are fixedly connected with the spring hooks through the wire locking device;
the thread locking device is also used for fixedly connecting the nylon rope with the through hole on the rod and cable connecting piece;
the unmanned aerial vehicle is positioned inside the six-rod tensioning integral frame and comprises a machine arm, a propeller, a battery and a flying tower; the tail end of an arm of the unmanned aerial vehicle is provided with a through hole, the battery is arranged below the plane where the propeller is located, and the flying tower is arranged above the plane where the propeller is located; a silica gel column is arranged between the unmanned aerial vehicle and the hollow carbon tube, and a through hole is formed in the middle of the silica gel column; the nylon rope is used for connecting and fixing the unmanned aerial vehicle and the six-rod tensioning integral frame through the through hole at the tail end of the arm, the silica gel column through hole and the hollow carbon tube;
in an initial state before normal takeoff, any surface, below a plane where a propeller of the unmanned aerial vehicle is located, of twenty surfaces of the six-rod tensioning integral frame lands, the plane where the propeller of the unmanned aerial vehicle is located is inclined and has a certain included angle with the ground, when the unmanned aerial vehicle is ready to take off, the unmanned aerial vehicle enters a self-stabilizing mode, the propeller rotates and generates thrust, the plane where the propeller is located is parallel to the ground, and the unmanned aerial vehicle can take off normally;
after the unmanned aerial vehicle impacts the barrier, the six-rod tensioning integral shell absorbs the impact force of the barrier on the unmanned aerial vehicle, and after the unmanned aerial vehicle falls to the ground, the impact force is greatly buffered by virtue of the spring and the rubber ring, so that the protection of the structures of the propeller and the machine arm is realized; rely on flying to control inside sensor data and realize discerning unmanned aerial vehicle self gesture, judge and land at present and generate corresponding screw drive strategy for unmanned aerial vehicle that shocks resistance based on six pole stretch-draw overall frame carries out orderly controllable roll on ground, finally overturns to the gesture that is fit for taking off, realizes that unmanned aerial vehicle receives the striking to land after taking off once more.
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| CN103790232B (en) * | 2014-01-21 | 2015-10-21 | 浙江大学 | A kind of positive hexagon tension integral structure |
| US20190382995A1 (en) * | 2017-03-03 | 2019-12-19 | The Regents Of The University Of California | Elastic lattices for design of tensegrity structures and robots |
| CN107352022B (en) * | 2017-06-08 | 2020-04-21 | 国蓉科技有限公司 | Collision-resistant quadrotor spherical unmanned aerial vehicle system |
| CN109572987A (en) * | 2018-12-17 | 2019-04-05 | 贵州理工学院 | A kind of multi-rotor unmanned aerial vehicle based on four compression bar integral tension structures |
| CN109515714A (en) * | 2018-12-17 | 2019-03-26 | 贵州理工学院 | A kind of multi-rotor unmanned aerial vehicle based on six compression bar integral tension structures |
| CN112389667B (en) * | 2020-11-23 | 2022-01-14 | 哈尔滨工程大学 | Stretch-draw integral unmanned aerial vehicle recovery unit |
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