Multi-rotor aircraft based on Stewart six-freedom-degree parallel mechanism

Abstract

The invention relates to a multi-rotor aircraft based on a Stewart six-freedom-degree parallel mechanism. The multi-rotor aircraft comprises a rack, an undercarriage, motors, propellers and locking nuts. The undercarriage is located in the center position under the rack and fixedly connected with the rack. The bottom end of each motor is fixed to a support. Each propeller is installed on a motor spindle. Each propeller and the corresponding motor spindle are fixed through the corresponding locking nut. By the adoption of the multi-rotor aircraft, the pneumatic shock absorption principle and the spring shock absorption principle are applied to the multi-rotor aircraft, a double shock absorption effect is achieved, the shock absorption effect is good, vibration generated between an aircraft body and the ground in the landing process is reduced, damage to the aircraft body in the landing process is reduced, and the safety of a carried object or a person is guaranteed. The Stewart six-freedom-degree parallel mechanism is adopted, the beneficial effects that the mechanism is stable in structure, large in rigidity, high in bearing capacity and final motion accuracy and small in moving load are used, and the shock absorption effect and the stability and safety performance of the aircraft in the landing process are further improved.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, specifically a multi-rotor aircraft based on a Stewart six-degree-of-freedom parallel mechanism. Background technique [0002] Aircraft is an instrumental flying object manufactured by humans, capable of flying off the ground, flying in space and controlled by humans in the atmosphere or in space outside the atmosphere (space). Aircraft are divided into aircraft, spacecraft, rockets, missiles and guided weapons UAV is also a kind of aircraft. UAV is an unmanned aircraft controlled by radio remote control equipment and its own program control device. From a technical point of view, it can be divided into unmanned helicopters, unmanned fixed-wing aircraft, and unmanned aircraft. Multi-rotor aircraft, unmanned airships and unmanned parawing aircraft, etc.; can be divided into military and civilian use according to the application field, and military drones are divided into reconnaissance airc...

AI Technical Summary

Problems solved by technology

[0003] Multi-rotor UAV is a kind of UAV. Multi-rotor UAV has the advantages of compact structure, small size, strong popularity, flexible movement and stable flight. It is widely used in civilian and military applications, and is very popular among the public. Welcome; but at present, multi-rotor aircraft are also facing the two major problems of shock absorption and endurance. Endurance determines the flight time and stability of the aircraft, while shock absorption directly determines the stability and safety of the multi-rotor aircraft when it lands. Indirectly affect the quality of the multi-rotor aircraft itself and the safety of objects or personnel

There are also some technologies that have proposed solutions to the vibration damping problem of aircraft. For example, the Chinese patent No. 201510270375.4 discloses a kind of aircraft damping tripod. The sleeve and the inner shaft pass through the oil seal to form an internal sealing structure. Under the action of the resistance grease, the spring makes the expansion and contraction of the inner shaft play a buffering and shock-absorbing effect; the Chinese patent No. 201410012150.4 discloses a shock-absorbing device for an unmanned aerial vehicle, and the shock-absorbing effect is achieved by setting a shock-absorbing ball; However, the above technologies all have problems such as ineffective shock absorption.

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