WO2020073765A1 - 一种新型轻量化旋翼飞行机器人 - Google Patents

一种新型轻量化旋翼飞行机器人 Download PDF

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Publication number
WO2020073765A1
WO2020073765A1 PCT/CN2019/105071 CN2019105071W WO2020073765A1 WO 2020073765 A1 WO2020073765 A1 WO 2020073765A1 CN 2019105071 W CN2019105071 W CN 2019105071W WO 2020073765 A1 WO2020073765 A1 WO 2020073765A1
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Prior art keywords
hose
power
mounting plate
fixedly connected
holes
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PCT/CN2019/105071
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English (en)
French (fr)
Inventor
王尧尧
孟思华
陈柏
李彬彬
赵锦波
田波
华达人
吴洪涛
鞠烽
姚佳烽
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南京航空航天大学
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Publication of WO2020073765A1 publication Critical patent/WO2020073765A1/zh

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts

Definitions

  • the invention relates to the technical field of aircraft, and in particular to a new type of lightweight rotor flying robot.
  • UAV Unmanned Aerial Vehicle
  • Rotor-flying robots are constructed by adding a mechanical arm to the rotorcraft, which has a bulky structure, poor concealment and short battery life.
  • the robot arm facing the rotorcraft still uses the traditional joint motor drive mode.
  • the drive unit and its protection module are directly installed at the joint of the robot arm, resulting in a significant increase in the volume inertia of the robot arm.
  • the low-altitude battlefield requires rigidity for high concealment and long endurance.
  • the technical problem to be solved by the present invention is to provide a new type of lightweight rotor flying robot that replaces the traditional mechanical arm with a bionic working unit, which reduces the weight of the aircraft and significantly reduces the moving parts. Volume inertia improves dexterity and privacy.
  • a new type of lightweight rotor flying robot includes a drone body, a mounting plate and several bionic units provided on the mounting plate;
  • the mounting plate is fixed on the lower end of the UAV body
  • the bionic unit includes a first to a third power unit, a first to a third steering unit, a hose mounting seat, a hose, a first to a third power rope, a core rope, and a number of supporting discs;
  • the plurality of support wafers are evenly and fixedly arranged in the hose, and the plane where they are located is perpendicular to the central axis of the hose;
  • the support wafer is provided with first to fourth through holes, wherein the fourth through hole is provided at the center of the support wafer for the core rope to pass through; the first to third through holes
  • the included angle between the center of the circle and the center of the support wafer is 120 °, and the distances from the center of the first to third through holes to the center of the support wafer are equal.
  • the first to third through holes are respectively Used for passing the first to third power ropes;
  • One end of the hose is fixed to the lower end surface of the mounting plate through a hose mounting seat;
  • first to third power ropes and the core rope are fixedly connected to the outermost support disc of the end of the hose away from the hose mounting seat, and the other ends of the first to third power ropes pass through the soft
  • the first to third through holes in each support disc in the tube extend from the end of the hose close to the hose mounting seat, and the other end of the core rope passes through the fourth through holes in each support disc in the hose and The outermost support disc on the end of the hose close to the hose mounting seat is fixed;
  • the core rope is made of flexible material, which can be bent freely but cannot be stretched;
  • the hose mounting base and the mounting plate are provided with through holes for the first to third power ropes to pass through;
  • Each of the first to third steering units includes a pulley bracket and a pulley, wherein the pulley bracket is fixed on the upper end surface of the mounting plate; the pulley is provided on the pulley bracket and can be attached to the pulley bracket Free rotation
  • Each of the first to third power units includes a stepper motor, a motor bracket, a coupling, a spool, and bearings;
  • the stepping motor is fixed on the upper end surface of the mounting plate through a motor bracket, and its output shaft is fixedly connected to one end of the coupling;
  • One end of the spool is fixedly connected to the other end of the coupling, and the other end is connected to the upper end surface through a bearing;
  • the first to third power ropes are fixedly connected to the spools of the first to third power units through the pulleys of the first to third steering units.
  • the first to third power units also include a reducer, and the output shaft of the stepper motor passes through the reducer and the coupling One end is connected.
  • the core rope uses a steel cable.
  • all of the support discs provided in the flexible tube are fixedly connected to the hose by means of interference fit.
  • the hose mounting seat includes a fixing ring, first to third fixing pieces, and a fixing tube;
  • One end of the fixing tube is fixedly connected with the lower end surface of the fixing ring;
  • the first to third fixing pieces and the fixing ring are located on the same plane, and one end of the first to third fixing pieces are fixedly connected to the outer wall of the fixing ring; the first to third fixing pieces and the installation The lower end of the board is fixed;
  • the end of the hose close to the hose mounting seat is arranged in the fixed pipe by an interference fit, and is fixedly connected with the fixed pipe.
  • a camera device is provided on the UAV body to cooperate with the operation of the bionic unit.
  • the present invention adopts the above technical solutions and has the following technical effects:
  • the working unit of the rotorcraft with the bionic working unit proposed by the present invention is a rope drive, which eliminates the joint drive motor and replaces the mechanical arm with the bionic working unit to reduce the volume inertia.
  • the driving motor of the bionic working unit can be installed on the aircraft body On the installation board, the free routing configuration of the rope is used to transmit the driving force to the bionic working unit to realize the movement of the working unit; and the bionic unit can be wound up and retracted when not working, which can greatly reduce the target during the supplementary work Volume, improve concealment.
  • the rear-mounted drive mechanism can reduce the weight of the operating unit itself, which is conducive to the miniaturization of the rotor platform on which the operating unit is mounted, which improves the concealment of the aircraft and can be used to perform confidential missions;
  • the rear position of the driving mechanism can greatly reduce the weight of the operating unit and increase the range of use of the aircraft, which can effectively meet the urgent needs of low-altitude battlefields for concealment, endurance and survivability.
  • Figure 1 is a schematic structural view of a new type of lightweight rotor flying robot
  • Figure 2 is a schematic diagram of the structure of the mounting plate and the bionic unit
  • FIG. 3 is a schematic diagram of the structure of the first power unit, the second power unit, the first steering unit, the second steering unit, the hose mounting seat and the hose;
  • Figure 4 is a schematic diagram of the structure of the power unit
  • Figure 5 is a schematic diagram of the structure of the hose and the supporting disc matching
  • FIG. 6 is a schematic structural view of a steering unit.
  • the present invention discloses a new type of lightweight rotor flying robot, which includes a drone body, a mounting plate and several bionic units provided on the mounting plate; the mounting plate is fixed on the The lower end of the human-machine body.
  • the bionic unit includes a first to a third power unit, a first to a third steering unit, a hose mounting seat, a hose, a first to a third power rope, a core rope, and a plurality of supporting discs.
  • the plurality of support wafers are uniformly fixedly arranged in the hose, and their planes are perpendicular to the central axis of the hose; the support wafers are provided with first to fourth through holes , Wherein the fourth through hole is provided at the center of the supporting disc for the core rope to pass through; the angle between the connection line between the center of the first to third through holes and the center of the supporting disc Both are 120 °, and the distances from the center of the first to third through holes to the center of the supporting wafer are all equal.
  • the first to third through holes are used for the first to third power ropes to pass through.
  • One end of the hose is fixed to the lower end surface of the mounting plate through a hose mounting seat; the ends of the first to third power cords and the core rope are the outermost ends of the hose away from the hose mounting seat
  • the support discs are fixedly connected, and the other ends of the first to third power cords respectively pass through the first to third through holes in each support disc in the hose and extend from the end of the hose close to the hose mounting seat.
  • the other end of the rope passes through the fourth through-holes in each support disk in the hose and is fixedly connected to the outermost support disk at the end of the hose close to the hose mounting seat;
  • the core rope is made of flexible material and can be free It is curved but not telescopic;
  • the hose mounting base and the mounting plate are provided with through holes for the first to third power ropes to pass through.
  • the first to third steering units each include a pulley bracket and a pulley, wherein the pulley bracket is fixed on the upper end surface of the mounting plate; the pulley is provided on the pulley bracket, It can rotate freely on the pulley bracket.
  • each of the first to third power units includes a stepper motor, a motor bracket, a coupling, a spool, and a bearing; the stepper motor is fixed on the upper end surface of the mounting plate through the motor bracket , The output shaft is fixedly connected to one end of the coupling; one end of the spool is fixedly connected to the other end of the coupling, and the other end is connected to the upper end surface through a bearing.
  • the first to third power ropes are fixedly connected to the spools of the first to third power units through the pulleys of the first to third steering units.
  • the first to third power units may further include a speed reducer, and the output shaft of the stepping motor is connected to one end of the coupling through the speed reducer.
  • the core rope is preferably a steel cable.
  • the plurality of supporting discs provided in the hose are all fixedly connected to the hose by means of interference fit.
  • the hose mounting seat includes a fixing ring, first to third fixing pieces, and a fixing tube; one end of the fixing pipe is fixedly connected to the lower end surface of the fixing ring; the first to third fixing pieces and the fixing The rings are on the same plane, and one end of the first to third fixing pieces is fixedly connected to the outer wall of the fixing ring; the first to third fixing pieces are fixedly connected to the lower end surface of the mounting plate; the hose is close to the soft
  • One end of the tube mounting seat is arranged in the fixed tube by an interference fit, and is fixedly connected with the fixed tube.
  • the drone body can also be provided with a camera device to cooperate with the operation of the bionic unit.
  • the camera device collects the destination video and returns the data. After moving the aircraft to the working area through the controller, the bionic power unit will bionic The unit comes into contact with the target, and works on the target through the winding action of the bionic unit.
  • the action of the bionic unit is made by the first to third power rope traction in the hose; when the first power unit is working, the first power rope is pulled by the winding, the length of the unwound spool is shortened, the bionic The unit generates a winding action in the direction of the first power rope. Control the first power unit to flip, release the first power god, and then control the second and third power ropes to pull, the bionic unit straightens and resets; any two power ropes can control the 120-degree motion range, then the bionic unit can be Free movement in 360 degrees.
  • Application method The human eye visually observes the position of the target, and then controls the aircraft through the mobile control device to make the aircraft properly approach the target and causes the camera device to collect the destination video and return the data. Winding angle and winding number.
  • the information is transmitted to the signal receiver of the aircraft control unit.
  • the output of the signal receiver is connected to the input of the controller.
  • the output of the controller outputs the information.
  • the control rope drives the mechanical arm drive unit to achieve the expected displacement or angle of each component to complete the alignment. Target operation.

Abstract

一种新型轻量化旋翼飞行机器人，包含无人机本体（1）、安装板（2）和若干设置在安装板（2）上的仿生单元（3）；安装板（2）固定在无人机本体（1）的下端；仿生单元（3）包含第一至第三动力单元（4）、第一至第三转向单元（7）、软管安装座（6）、软管（5）、第一至第三动力绳（8）、芯绳、以及若干支撑圆片（15）；第一至第三转向单元（7）均包含滑轮支架（18）和滑轮（19）；第一至第三动力单元（4）均包含步进电机（9）、电机支架（11）、联轴器（12）、线轴（13）和轴承（14）。

Description

一种新型轻量化旋翼飞行机器人 技术领域
本发明涉及飞行器技术领域，尤其涉及一种新型轻量化旋翼飞行机器人。
背景技术
随着世界各国对国防战略投入的逐渐增加以及西方大国空天战略的日益强化，空中战场的竞争日渐白热化。无人驾驶飞行器(Unmanned Aerial Vehicle,UAV)是维护国家权益、资源安全乃至国家战略安全的重要平台。但是传统的带机械手的旋翼飞行器面临这许多问题需要解决：
1.旋翼飞行机器人(Rotor-flying robots,RFR)是在旋翼飞行器上加装机械臂构成的，结构笨重、隐蔽性差、续航短。现阶段面向旋翼飞行器的机械臂仍采用传统关节电机驱动模式，将驱动单元及其防护模块直接安装于机械臂关节处，导致机械臂体积惯量显著增大，继而迫使RFR向大型化发展，难以满足低空战场对高隐蔽性、长续航的刚性需求。
2.旋翼飞行器与机械臂及时变非定常流场环境间的动力学耦合机理亟待突破。RFR低空作业时，其产生的时变非定常气流与机体和作业机械臂之间会产生极其复杂的动力学耦合，严重制约系统作业精度和效率的提升。
3.RFR协调控制性能有待提升。复杂的多体动力学特性、较大的系统未建模动态以及时变非定常气流扰动的存在，使RFR低空作业时面临极其复杂的集总干扰影响，导致协调控制性能不甚理想，不利于综合控制性能的提升。
近年来，RFR是当前旋翼飞行器领域研究的前沿热点，各国科研机构均开展了较为广泛的研究，取得了一些令人振奋的研究成果。另外，近几年，随着仿生技术的迅速发展，仿生技术被广泛的应用于各个领域。与刚性关节式机器人相比，连续体机器人可以柔顺而灵活的改变自身的形状，以适应不同环境、不同形状物体的需求。将仿生技术和旋翼飞行器结合，能显著降低运动部件的体积惯量，能显著地提高灵巧性以及隐秘性，可有效提升负载自重比，继而使得搭载平台深度小型化，有利于提升RFR低空战场的隐蔽性和续航力。
发明内容
本发明所要解决的技术问题是针对背景技术中所涉及到的缺陷，提供一种新型轻量化旋翼飞行机器人，将传统的机械臂替换为仿生作业单元，降低了飞行器的重量，显著降低运动部件的体积惯量，提高灵巧性以及隐秘性。
本发明为解决上述技术问题采用以下技术方案：
一种新型轻量化旋翼飞行机器人，包含无人机本体、安装板和若干设置在安装板上的仿生单元；
所述安装板固定在所述无人机本体的下端；
所述仿生单元包含第一至第三动力单元、第一至第三转向单元、软管安装座、软管、第一至第三动力绳、芯绳、以及若干支撑圆片；
所述若干支撑圆片均匀固定设置在所述软管内，其所在平面均和所述软管的中轴线垂直；
所述支撑圆片上设有第一至第四通孔，其中，所述第四通孔设置在支撑圆片的圆心、用于供所述芯绳穿过；所述第一至第三通孔圆心处和支撑圆片圆心处的连线的夹角均为120°，且第一至第三通孔圆心处到支撑圆片圆心处的距离均相等，所述第一至第三通孔分别用于供第一至第三动力绳穿过；
所述软管的一端通过软管安装座固定在所述安装板的下端面；
所述第一至第三动力绳、芯绳的一端均和所述软管远离软管安装座一端最外侧的支撑圆片固连，且第一至第三动力绳的另一端分别穿过软管内各个支撑圆片上的第一至第三通孔后从软管靠近软管安装座的一端伸出，芯绳的另一端分别穿过软管内各个支撑圆片上的第四通孔后和软管靠近软管安装座一端最外侧的支撑圆片固连；
所述芯绳采用柔性材料制成，能够自由弯曲但不能伸缩；
所述软管安装座、安装板上均设有供所述第一至第三动力绳穿过的通孔；
所述第一至第三转向单元均包含滑轮支架和滑轮，其中，所述滑轮支架固定在所述安装板的上端面上；所述滑轮设置在所述滑轮支架上，能够在所述滑轮支架上自由转动；
所述第一至第三动力单元均包含步进电机、电机支架、联轴器、线轴和轴承；
所述步进电机通过电机支架固定在所述安装板的上端面上，其输出轴和所述联轴器的一端固连；
所述线轴一端和所述联轴器的另一端固连、另一端通过轴承和所述上端面相连；
所述第一至第三动力绳分别通过第一至第三转向单元的滑轮变向后和所述第一至第三动力单元的线轴固连。
作为本发明一种新型轻量化旋翼飞行机器人进一步的优化方案，所述第一至第三动力单元中还均包含减速器，所述步进电机的输出轴通过减速器和所述联轴器的一端相连。
作为本发明一种新型轻量化旋翼飞行机器人进一步的优化方案，所述芯绳采用钢缆。
作为本发明一种新型轻量化旋翼飞行机器人进一步的优化方案，所述若干设置在软 管内的支撑圆片均通过过盈配合的方式和软管固连。
作为本发明一种新型轻量化旋翼飞行机器人进一步的优化方案，所述软管安装座包含固定环、第一至第三固定片、以及固定管；
所述固定管的一端和固定环的下端面固连；
所述第一至第三固定片和所述固定环位于同一平面，且第一至第三固定片的一端均和固定环的外壁固连；所述第一至第三固定片和所述安装板的下端面固连；
所述软管靠近软管安装座的一端通过过盈配合的方式设置在所述固定管内，和所述固定管固连。
作为本发明一种新型轻量化旋翼飞行机器人进一步的优化方案，所述无人机本体上设有摄像装置，以配合操作所述仿生单元。
本发明采用以上技术方案与现有技术相比，具有以下技术效果：
本发明提出的带有仿生作业单元的旋翼飞行器的作业单元为绳驱动，省去了关节驱动电机以及将仿生作业单元替代机械臂降低了体积惯性，仿生作业单元的驱动电机可以安装在飞行器本体上的安装板上，利用绳索的自由走线配置，将驱动力传至仿生作业单元上，实现作业单元的运动；并且仿生单元在不作业时可以卷绕收起，可以大大降低补作业时的目标体积，提升隐蔽性。另外驱动机构后置，一方面能够减小了作业单元自身的重量，这有利于作业单元的搭载平台——旋翼飞行器的小型化的实现，使飞行器的隐蔽性提高，可用于执行机密任务；另一方面驱动机构后置，能极大地减小了作业单元的重量，提高了飞行器使用范围，可有效满足低空战场对隐蔽性、续航力、生存力的迫切需求。
附图说明
图1为一种新型轻量化旋翼飞行机器人的结构示意图；
图2为安装板和仿生单元相配合的结构示意图；
图3为第一动力单元、第二动力单元、第一转向单元、第二转向单元、软管安装座和软管相配合的结构示意图；
图4为动力单元的结构示意图；
图5为软管和支撑圆片相配合的结构示意图；
图6为转向单元的结构示意图。
图中，1-无人机本体，2-安装板，3-仿生单元，4-第二动力单元，5-软管，6-软管安装座，7-第一转向单元，8-第一动力绳，9-电机，10-减速器，11-电机支架，12-联轴器，13-线轴，14-轴承，15-支撑圆片，16-第一通孔，17-第四通孔，18-滑轮支架，19-滑轮。
具体实施方式
下面结合附图对本发明的技术方案做进一步的详细说明：
本发明可以以许多不同的形式实现，而不应当认为限于这里所述的实施例。相反，提供这些实施例以便使本公开透彻且完整，并且将向本领域技术人员充分表达本发明的范围。在附图中，为了清楚起见放大了组件。
如图1和图2所示，本发明公开了一种新型轻量化旋翼飞行机器人，包含无人机本体、安装板和若干设置在安装板上的仿生单元；所述安装板固定在所述无人机本体的下端。
所述仿生单元包含第一至第三动力单元、第一至第三转向单元、软管安装座、软管、第一至第三动力绳、芯绳、以及若干支撑圆片。
如图5所示，所述若干支撑圆片均匀固定设置在所述软管内，其所在平面均和所述软管的中轴线垂直；所述支撑圆片上设有第一至第四通孔，其中，所述第四通孔设置在支撑圆片的圆心、用于供所述芯绳穿过；所述第一至第三通孔圆心处和支撑圆片圆心处的连线的夹角均为120°，且第一至第三通孔圆心处到支撑圆片圆心处的距离均相等，所述第一至第三通孔分别用于供第一至第三动力绳穿过。
所述软管的一端通过软管安装座固定在所述安装板的下端面；所述第一至第三动力绳、芯绳的一端均和所述软管远离软管安装座一端最外侧的支撑圆片固连，且第一至第三动力绳的另一端分别穿过软管内各个支撑圆片上的第一至第三通孔后从软管靠近软管安装座的一端伸出，芯绳的另一端分别穿过软管内各个支撑圆片上的第四通孔后和软管靠近软管安装座一端最外侧的支撑圆片固连；所述芯绳采用柔性材料制成，能够自由弯曲但不能伸缩；所述软管安装座、安装板上均设有供所述第一至第三动力绳穿过的通孔。
如图6所示，所述第一至第三转向单元均包含滑轮支架和滑轮，其中，所述滑轮支架固定在所述安装板的上端面上；所述滑轮设置在所述滑轮支架上，能够在所述滑轮支架上自由转动。
如图4所示，所述第一至第三动力单元均包含步进电机、电机支架、联轴器、线轴和轴承；所述步进电机通过电机支架固定在所述安装板的上端面上，其输出轴和所述联轴器的一端固连；所述线轴一端和所述联轴器的另一端固连、另一端通过轴承和所述上端面相连。
如图3所示，所述第一至第三动力绳分别通过第一至第三转向单元的滑轮变向后和所述第一至第三动力单元的线轴固连。
所述第一至第三动力单元中还可以包含减速器，所述步进电机的输出轴通过减速器 和所述联轴器的一端相连。
所述芯绳优先采用钢缆。
实施例中，所述若干设置在软管内的支撑圆片均通过过盈配合的方式和软管固连。所述软管安装座包含固定环、第一至第三固定片、以及固定管；所述固定管的一端和固定环的下端面固连；所述第一至第三固定片和所述固定环位于同一平面，且第一至第三固定片的一端均和固定环的外壁固连；所述第一至第三固定片和所述安装板的下端面固连；所述软管靠近软管安装座的一端通过过盈配合的方式设置在所述固定管内，和所述固定管固连。
所述无人机本体上还可以设有摄像装置，以配合操作所述仿生单元，摄像装置采集目的地视频并传回数据，在通过控制器将飞行器移动至工作区域，通过仿生动力单元将仿生单元和目标物进行接触，通过仿生单元的卷绕动作对目标物进行作业。
仿生单元的动作由在软管中的第一至第三动力绳牵引作出；当第一动力单元工作时，第一动力绳受到卷绕牵拉作用，未卷绕在线轴上的长度缩短，仿生单元即产生向第一动力绳方向处的卷绕动作。控制第一动力单元翻转，松开第一动力神，再控制第二、第三动力绳拉动，仿生单元则伸直复位；任意两根动力绳可控制120度的动作范围，则仿生单元可在360度上自由动作。
应用方法：人眼目测目标物位置，然后通过移动控制设备控制飞行器，使飞行器恰当接近目标物并使摄像装置采集目的地视频并传回数据，通过计算得出飞行器的移动距离、仿生作业单元卷绕角度与卷绕圈数。将这些信息发射至飞行器控制单元的信号接收器，信号接收器输出端连接控制器输入端，控制器输出端将信息输出，控制绳驱动机械臂驱动单元使各个部件达到预期位移或角度从而完成对目标物的操作作业。
本技术领域技术人员可以理解的是，除非另外定义，这里使用的所有术语(包括技术术语和科学术语)具有与本发明所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语应该被理解为具有与现有技术的上下文中的意义一致的意义，并且除非像这里一样定义，不会用理想化或过于正式的含义来解释。
以上所述的具体实施方式，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施方式而已，并不用于限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (6)

  1. 一种新型轻量化旋翼飞行机器人，其特征在于，包含无人机本体、安装板和若干设置在安装板上的仿生单元；
    所述安装板固定在所述无人机本体的下端；
    所述仿生单元包含第一至第三动力单元、第一至第三转向单元、软管安装座、软管、第一至第三动力绳、芯绳、以及若干支撑圆片；
    所述若干支撑圆片均匀固定设置在所述软管内，其所在平面均和所述软管的中轴线垂直；
    所述支撑圆片上设有第一至第四通孔，其中，所述第四通孔设置在支撑圆片的圆心、用于供所述芯绳穿过；所述第一至第三通孔圆心处和支撑圆片圆心处的连线的夹角均为120°，且第一至第三通孔圆心处到支撑圆片圆心处的距离均相等，所述第一至第三通孔分别用于供第一至第三动力绳穿过；
    所述软管的一端通过软管安装座固定在所述安装板的下端面；
    所述第一至第三动力绳、芯绳的一端均和所述软管远离软管安装座一端最外侧的支撑圆片固连，且第一至第三动力绳的另一端分别穿过软管内各个支撑圆片上的第一至第三通孔后从软管靠近软管安装座的一端伸出，芯绳的另一端分别穿过软管内各个支撑圆片上的第四通孔后和软管靠近软管安装座一端最外侧的支撑圆片固连；
    所述芯绳采用柔性材料制成，能够自由弯曲但不能伸缩；
    所述软管安装座、安装板上均设有供所述第一至第三动力绳穿过的通孔；
    所述第一至第三转向单元均包含滑轮支架和滑轮，其中，所述滑轮支架固定在所述安装板的上端面上；所述滑轮设置在所述滑轮支架上，能够在所述滑轮支架上自由转动；
    所述第一至第三动力单元均包含步进电机、电机支架、联轴器、线轴和轴承；
    所述步进电机通过电机支架固定在所述安装板的上端面上，其输出轴和所述联轴器的一端固连；
    所述线轴一端和所述联轴器的另一端固连、另一端通过轴承和所述上端面相连；
    所述第一至第三动力绳分别通过第一至第三转向单元的滑轮变向后和所述第一至第三动力单元的线轴固连。
  2. 根据权利要求1所述的新型轻量化旋翼飞行机器人，其特征在于，所述第一至第三动力单元中还均包含减速器，所述步进电机的输出轴通过减速器和所述联轴器的一端相连。
  3. 根据权利要求1所述的新型轻量化旋翼飞行机器人，其特征在于，所述芯绳采用钢缆。
  4. 根据权利要求1所述的新型轻量化旋翼飞行机器人，其特征在于，所述若干设置在软管内的支撑圆片均通过过盈配合的方式和软管固连。
  5. 根据权利要求1所述的新型轻量化旋翼飞行机器人，其特征在于，所述软管安装座包含固定环、第一至第三固定片、以及固定管；
    所述固定管的一端和固定环的下端面固连；
    所述第一至第三固定片和所述固定环位于同一平面，且第一至第三固定片的一端均和固定环的外壁固连；所述第一至第三固定片和所述安装板的下端面固连；
    所述软管靠近软管安装座的一端通过过盈配合的方式设置在所述固定管内，和所述固定管固连。
  6. 根据权利要求1所述的新型轻量化旋翼飞行机器人，其特征在于，所述无人机本体上设有摄像装置，以配合操作所述仿生单元。
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