CN113335493B - Six-rod tensioning integral frame and impact-resistant unmanned aerial vehicle - Google Patents

Abstract

The six-bar tensioned integral frame and the impact-resistant unmanned aerial vehicle of the present application include six rigid compression bars and twenty-four elastic cables, and four elastic cables are respectively drawn from two end points of each rigid compression bar. The four elastic cables at the endpoints are respectively connected to the four endpoints closest to the endpoint, and the six rigid compression rods are divided into three groups on average. In terms of spatial position, any two groups of rigid compression rods in the three groups of rigid compression rods are perpendicular to each other. The two rigid struts in each group are parallel to each other. The structure is light in weight and can provide high-strength impact resistance. It protects the mechanical structure of the drone while reducing the impact on the endurance of the drone. The drone can fly in the air and can be controlled in an orderly manner on the ground. rolling and the ability to take off again after falling.

Description

A six-bar tensioned overall frame and impact-resistant UAV

technical field

The invention belongs to the technical field of robots, and in particular relates to a six-bar tensioned integral frame and an impact-resistant unmanned aerial vehicle.

Background technique

For ordinary drones, it is very challenging to fly in a complex environment where obstacles are difficult to detect and avoid. Obstacles in the environment are a great threat to the safety and integrity of the UAV's mechanical structure. A little carelessness will damage the UAV's rotor or arm, causing the UAV to crash.

After extensive investigation, it is found that there are two main buffer structures for UAVs. One is to install an elastic, spherical buffer structure outside the UAV, and use the spherical structure to buffer external forces to protect the UAV. , but this drone cannot take off again after being hit and landed. The other is to install a structure similar to a squirrel cage on the outside of the UAV, so that the UAV relies on its own gravity to maintain the level of the wings. The buffering effect of the force is limited, and it cannot provide a stable landing ground for the UAV. This UAV can also only fly but cannot perform controllable rolling on the ground.

Therefore, it is urgent to design a new buffer structure to meet the protection of the mechanical structure of the UAV and enable the UAV to perform controllable rolling motion on the ground and take off again after falling.

Contents of the invention

The present invention overcomes one of the deficiencies of the prior art, and provides a tensegrity frame and an impact-resistant drone. The frame is lightweight and can provide high-strength impact resistance, while protecting the mechanical structure of the drone. To reduce the impact on the drone's endurance, the flight controller can generate a corresponding driving strategy according to the current attitude to drive the propeller of the drone to generate thrust, so that the drone can roll in an orderly and controllable manner on the ground and realize the recovery after falling. take off again.

According to one aspect of the present disclosure, the present invention provides a six-bar tensioned integral frame, which includes six rigid compression bars and twenty-four elastic cables, and the two end points of each rigid compression bar are respectively Four elastic cables are drawn out, and the four elastic cables at each end point are respectively connected to the four end points closest to the end point; wherein, the six rigid compression rods are divided into three groups on average, and in the spatial position, the Any two groups of rigid compression rods in the three groups of rigid compression rods are perpendicular to each other, and the two rigid compression rods in each group are parallel to each other.

In a possible implementation manner, the rigid compression rod includes a hollow carbon tube and a rod-cable connecting piece, the rod-cable connecting piece is respectively arranged at both ends of the hollow carbon tube, and the rod-cable connecting piece is connected to the The hollow carbon tubes are fixedly connected by an interference fit.

In a possible implementation manner, the rod-cable connector includes a 3D printed part, a bearing, a rubber ring, and a spring groove; Groove, the circlip groove is used to place a circlip for fixing the bearing, and a rubber ring is arranged on the outside of the bearing.

In a possible implementation manner, the upper part of the rod-cable connecting member is arc-shaped, and the rod-cable connecting member is provided with six through holes.

In a possible implementation manner, the elastic cord includes a spring, a nylon cord and a wire locker; wherein, the hooks at both ends of the spring are respectively connected to two sections of nylon cords of the same length, and the nylon cord passes through the lock wire The device is fixedly connected with the spring hook.

In a possible implementation manner, the wire locker is also used for fixedly connecting the nylon rope with the through hole on the rod-cable connecting member.

According to another aspect of the present disclosure, the present disclosure proposes an impact-resistant UAV, which includes a UAV and a six-bar tensioned integral frame, wherein the UAV is located on the above-mentioned six The rod tensions the inside of the overall frame, and the UAV includes a machine arm, a propeller, a battery, and a flying tower; wherein, the end of the machine arm of the UAV is provided with a through hole, and the battery is arranged at the place where the propeller is located. Below the plane, the flying tower is arranged above the plane where the propeller is located; a silica gel column is provided between the drone and the hollow carbon tube, and a through hole is provided in the middle of the silica gel column; using the nylon The rope connects and fixes the UAV and the six-bar tensioned integral frame through the through hole at the end of the machine arm, the through hole of the silica gel column and the hollow carbon tube.

The six-bar tensioned overall frame of the present disclosure includes six rigid compression rods and twenty-four elastic cables, and four elastic cables are respectively drawn from two end points of each rigid compression rod, and the four elastic cables at each end point They are respectively connected to the four endpoints closest to the endpoints, and the six rigid compression rods are divided into three groups on average. In the spatial position, any two groups of the rigid compression rods in the three groups of rigid compression rods are perpendicular to each other. Two rigid struts are parallel to each other. It can provide high-strength impact resistance, protect the mechanical structure of the UAV and reduce the impact on the endurance of the UAV, so that the UAV can fly in the air, roll in an orderly and controllable manner on the ground and fall take off again.

Description of drawings

The accompanying drawings are used to provide a further understanding of the technical solutions of the present application or the prior art, and constitute a part of the description. Wherein, the drawings expressing the embodiments of the present application are used together with the embodiments of the present application to explain the technical solutions of the present application, but do not constitute limitations on the technical solutions of the present application.

Fig. 1 shows a schematic structural diagram of a six-bar tensegrity frame according to an embodiment of the present disclosure;

Fig. 2 shows a schematic structural view of rigid compression bars of a six-bar tensioned monolithic frame according to an embodiment of the present disclosure;

Fig. 3 shows a side view of a rod-cable connection of a six-bar tensegrity frame according to an embodiment of the present disclosure;

Fig. 4 shows a cross-sectional view of a rod-cable connector of a six-bar tensegrity frame according to an embodiment of the present disclosure;

Fig. 5 shows a cross-sectional view of the assembled structure of the rod-cable connectors of the six-bar tensegrity frame according to an embodiment of the present disclosure;

Fig. 6 shows a schematic structural view of elastic cables of a six-bar tensioned integral frame according to an embodiment of the present disclosure;

Fig. 7 shows a schematic structural view of the elastic cables of the six-bar tensegrity frame according to another embodiment of the present disclosure;

Fig. 8 shows a top view of a single drone structure according to an embodiment of the present disclosure;

Fig. 9 shows a structural side view of a single drone according to an embodiment of the present disclosure;

Fig. 10 shows a top view of an impact-resistant drone according to an embodiment of the present disclosure;

Figure 11 shows 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 diagram of the connection between an impact-resistant drone and a rigid pressure bar according to an embodiment of the present disclosure.

Detailed ways

The implementation of the present invention will be described in detail below in conjunction with the accompanying drawings and examples, so as to fully understand and implement the process of how to apply technical means to solve technical problems and achieve corresponding technical effects in the present invention. The embodiments of the present application and the various features in the embodiments can be combined with each other under the premise of no conflict, and the formed technical solutions are all within the protection scope of the present invention.

Fig. 1 shows a schematic structural view of a six-bar tensegrity frame according to an embodiment of the present disclosure. As shown in Figure 1, the six-bar tensegrity frame can include: six rigid compression bars and twenty-four elastic cables, four elastic cables are drawn from the two end points of each rigid compression bar, and four elastic cables are drawn from each end point. The elastic cables are respectively connected to the four endpoints closest to the endpoint. The rigid pressure rod bears the pressure along the direction of the rigid pressure rod, and the elastic cable bears the tensile force. The whole structure will not generate torque inside due to the external force. impact resistance. Wherein, the six rigid pressure rods are divided into three groups on average, and any two groups of the three groups of rigid pressure rods are perpendicular to each other in terms of spatial positions, and the two rigid pressure rods in each group are parallel to each other. The six-bar tensegrity frame is highly symmetrical in space, and the appearance of the six-bar tensegrity frame is an icosahedron, including twenty triangles, which are eight equilateral triangles and twelve isosceles triangles.

For example, as shown in Figure 1, four elastic cables are drawn from the end of each rigid strut, which are respectively connected to the four ends of the rigid strut closest to the end of the rigid strut in space, forming a highly symmetrical Icosahedron structure. Among them, the end point A of the rigid strut is connected with the end points E, F, I, and K of the four nearest rigid struts, the end point B of the rigid strut is connected with the end points G, H, I, and K, and the end point C of the rigid strut is It is connected with the endpoints E, F, J, and L of the four nearest rigid struts, the end point D of the rigid strut is connected with the end points G, H, J, and L of the four nearest rigid struts, and the end point E is connected with the four nearest The end points A, C, I, and J of the first rigid strut are connected, the end point F of the rigid strut is connected with the end points A, C, K, and L of the four nearest rigid struts, and the end point G is connected with the four nearest rigid struts The end points J, I, B, D of the rigid strut are connected, the end point H of the rigid strut is connected with the end points B, D, K, L of the four nearest rigid struts, the end point I is connected with the end points A, B, E, G are connected, the end point J of the rigid strut is connected with the end points C, D, E, G of the four nearest rigid struts, the end point K of the rigid strut is connected with the end points A, B, F, and H are connected, and the end point L of the rigid compression bar is connected with the end points C, D, F, and H of the four nearest rigid compression bars.

Fig. 2 shows a schematic structural view of rigid compression bars of a six-bar tensioned monolithic frame according to an embodiment of the present disclosure. FIG. 3 , FIG. 4 , and FIG. 5 respectively show a side view, a cross-sectional view, and a cross-sectional view of an assembly structure of the rod-cable connectors of the six-bar tensegrity frame according to an embodiment of the present disclosure.

As shown in Figure 2, the rigid compression bar includes a hollow carbon tube 11 and a rod-cable connecting piece 9, the rod-cable connecting piece 9 is respectively arranged at both ends of the hollow carbon tube 11, and the rod-cable connecting piece 9 and the hollow carbon tube 11 are through an interference fit Fixed connection.

As shown in FIG. 3 , FIG. 4 , and FIG. 5 , the rod-cable connector 9 can be composed of four parts: a 3D printed part, a bearing 15 , a rubber ring 13 , and a spring groove 14 . The 3D printed part can be a 3D printed resin joint, and the two ends of the rigid pressure rod are installed. The 3D printed part has a built-in bearing 15 and a rubber ring 13, which can avoid the generation of torque on the rigid pressure rod and improve the impact resistance of the rigid pressure rod end. and buffering capacity against external forces.

The 3D printed part can be used to fix the hollow carbon tube 11. The 3D printed part is provided with a raised column, and the raised column is engraved with a circlip groove 14, and the circlip groove 14 is used to place a circlip for fixing the bearing 15. The bearing 15 can be wound around The fixed shaft rotates and is used to balance the torque between the four elastic cables connected to the two ends of each rigid strut, preventing additional torque from being generated inside the hollow carbon tube 11 when the entire structure is assembled. The outer side of the bearing 15 is provided with a rubber ring 13, the rubber ring 13 can buffer the impact force received by the two ends of the rigid pressure rod, and improve the ability of the end of the rigid pressure rod to withstand impact. Wherein, the upper part of the rod-cable connecting piece is arc-shaped, and the rod-cable connecting piece is provided with six through holes 12 for connecting nylon ropes.

Fig. 6 shows a schematic structural view of elastic cables of a six-bar tensegrity frame according to an embodiment of the present disclosure; Fig. 7 shows a structural schematic view of elastic cables of a six-bar tensile integral frame according to another embodiment of the present disclosure .

As shown in FIGS. 6 and 7 , the elastic cord includes a spring 16 , a nylon cord 17 and a thread locker 18 . The spring 16 generates tension, and the installation of the nylon rope 16 is realized by using a wire locker 18 . Wherein, the hooks at both ends of the spring 16 are respectively connected to two sections of nylon rope 17 with the same length, and the nylon rope 17 is fixedly connected to the spring hook through a thread locker 18 . The thread locker 18 is also used for fixedly connecting the nylon rope 17 with the through hole 12 on the rod cable connector, so as to realize the connection of the elastic rope and the rigid pressure rod.

The tensegrity frame of the present disclosure includes six rigid compression rods and twenty-four elastic cables, four elastic cables are respectively drawn from two end points of the rigid compression rods, and the four elastic cables drawn from each end point are respectively separated from the distance The four nearest ends of the end points are connected, and the six rigid compression rods are divided into three groups on average. In the spatial position, any two groups of the rigid compression rods in the three groups of rigid compression rods are The rods are parallel to each other. It can provide high-strength impact resistance, protect the mechanical structure of the drone and reduce the impact on the drone's endurance; the six-bar tension overall frame is highly symmetrical, and the frame is stable and can drive the propeller of the drone to generate thrust. This enables the UAV to roll in an orderly and controllable manner on the ground and take off again.

In terms of space, the six-bar tensioned overall frame has a large load space inside, and can carry power devices and loads, such as unmanned aerial vehicles. A new shock-resistant drone for external shocks.

8 and 9 respectively show a top view and a side view of a single drone structure according to an embodiment of the present disclosure.

As shown in Figure 8 and Figure 9, the impact-resistant UAV includes a UAV and a six-bar tensioned overall frame. The UAV can include a machine arm, a propeller 1, a battery 6, and a flying tower 3; wherein, the end of the machine arm of the UAV 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 on the plane of the propeller. 1 is located above the plane; a silica gel column is arranged between the drone and the hollow carbon tube 11, and a through hole is provided in the middle of the silica gel column; a nylon rope 17 is used to pass through the through hole at the end of the machine arm, the through hole of the silica gel column and the hollow carbon tube 11 Connect the fixed UAV and the six-bar tensioned integral frame 22.

Among them, the fuselage structure of the UAV is cut with lightweight and high-strength carbon fiber boards, and mounting holes 21 are reserved at the ends of the four arms for connecting and fixing the UAV and the hollow carbon tube 11. It needs to be explained The thing is that drones are not limited to quadcopters.

As shown in Figure 10, a part of the hollow area is dug out under the propeller 1 of the drone to increase the total thrust generated by the propeller 1. The flying tower 3 composed of ESC and flight control is fixed above the fuselage, and the battery 6 of the drone is placed in the battery box, and is fixed under the fuselage of the drone through the battery fixing plate 7, copper pillar 8 and bolts, so that The overall center of gravity of the UAV is located below the plane where the propeller 1 is located, making the UAV more stable during the process of being controlled. The silicone column 19 is molded from a model. The top of the silicone column 19 is in contact with the arm of the drone, and the bottom is in contact with the rigid pressure bar. The middle of the silicone column 19 is a through hole, and the nylon rope 17 passes through the through hole at the end of the machine arm. , silica gel column through hole, and hollow carbon tube for fixing.

Fig. 10 shows a top view of an impact-resistant drone according to an embodiment of the present disclosure; Fig. 11 shows a side view of an impact-resistant drone according to an embodiment of the present disclosure; A schematic diagram of the overall structure of the anti-shock drone of the embodiment; FIG. 13 shows a schematic diagram of the connection between the anti-shock drone and the rigid pressure bar according to an embodiment of the present disclosure.

As shown in Fig. 10 and Fig. 11, two parallel rigid pressure rods are used as the fixing seats for fixing the UAV, and the UAV is fixed inside the six-bar tensioned overall frame 22, as shown in Fig. 12 . The rod cable connector 9 at the end of each rigid pressure rod of the UAV leads to four elastic cables, which are respectively connected to the four rod cable connectors 9 closest to the end of the rod in space, forming a highly symmetrical positive Icosahedral structure. As shown in FIG. 13 , the UAV has no direct contact with the hollow carbon tubes 11 in the six-bar tensegrity 22 .

Fix the UAV inside the six-bar tensioned overall frame, connect the elastic cable and the rigid pressure bar, and the spring 16 is in an elongated state when connected, that is, there is a pre-tightening force inside the elastic cable during the assembly process, and the pre-tightening force is used for Maintaining the structural shape of the six-bar tensegrity frame, the tension force inside each elastic cable is basically the same. In terms of space, the surface of the six-bar tensegrity frame is in the shape of a regular icosahedron.

In the initial state before normal take-off, any of the 20 surfaces of the six-bar tensioned integral frame 22 that is below the plane where the UAV propeller 1 is located touches the ground, and the plane where the UAV propeller 1 is located is inclined and exists with the ground. At a certain angle, when ready to take off, the UAV enters the self-stabilizing mode, and the propeller 1 rotates and generates thrust, so that the plane where the propeller 1 is located is parallel to the ground so that the UAV takes off normally; control to realize functions such as detection and transportation of loads.

When the UAV hits an obstacle, the six-bar tensioned overall 22 shell absorbs the impact force of the obstacle on the UAV. After falling to the ground, the impact force is greatly buffered by the spring 16 and the rubber ring 13. Realize the protection of the propeller 1, the arm and other structures; rely on the sensor data inside the flight control to realize the identification of the UAV's own attitude, judge the current landing on the ground and generate the corresponding propeller 1 driving strategy, so that the overall frame based on the six-bar tension The new impact-resistant UAV rolls in an orderly and controllable manner on the ground, and finally flips to a posture suitable for take-off, so that the UAV can take off again after being hit and landed.

Although the embodiments disclosed in the present invention are as above, the described content is only an embodiment adopted for the convenience of understanding the present invention, and is not intended to limit the present invention. Anyone skilled in the technical field to which the present invention belongs can make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed by the present invention, but the patent protection scope of the present invention, The scope defined by the appended claims must still prevail.

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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