Bladeless impact-resistant unmanned aerial vehicle based on six-pole tension integral structure
By adopting a six-bar tensioned integral structure and power component design on the drone, the problem of drone crashes caused by collisions in complex environments has been solved, achieving high impact resistance, low cost and long endurance.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- JILIN UNIVERSITY
- Filing Date
- 2022-12-23
- Publication Date
- 2026-06-09
AI Technical Summary
Existing drones are prone to crashing due to collisions when flying in complex environments. Traditional rigid protection devices cannot absorb the impact of collisions and have problems such as high production costs and short flight time.
It adopts a six-bar tensioning integral structure, placing the power component inside a rigid hollow pressure bar, combined with elastic cables to form a buffer, avoiding collisions between the propeller and obstacles, and achieving orderly ground rolling by sequentially energizing the power component.
It achieves high impact resistance, reduces the production and maintenance costs of drones, extends flight time, and has controllable rolling capability on the ground, reducing the risk of injury due to improper operation.
Smart Images
Figure CN115924150B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, specifically relating to a bladeless, impact-resistant UAV based on a six-bar tensioned integral structure. Background Technology
[0002] Unmanned aerial vehicles (UAVs) are unmanned aircraft equipped with a series of complex electronic systems that can fly autonomously or semi-autonomously. With the continuous development of UAV technology, these devices have been widely used in aerial photography, forest fire prevention, and farmland fertilization. However, flying in complex environments presents significant challenges for ordinary UAVs; moreover, collisions leading to UAV crashes and injuries are frequent.
[0003] Extensive research has revealed two main improvement methods to enable drones to fly in complex environments and avoid collision-induced crashes. One method involves equipping drones with more sophisticated sensors, allowing them to autonomously detect and avoid obstacles; however, this approach generally suffers from high production costs, increased overall weight, and reduced flight time. The other method involves adding mechanical shock protection devices to the outside of the drone or rotor; however, traditional rigid protection devices cannot absorb collision impacts, and the force generated during a collision will still be transmitted along the rigid structure to the drone's fuselage, causing some damage.
[0004] To address the aforementioned issues, patent application number 202110489707.3 discloses a "six-bar tensioned integral frame and impact-resistant drone." This drone integrates a small quadcopter within a six-bar tensioned integral frame with a certain degree of impact resilience. The drone achieves good impact resistance, controllable ground roll, and the ability to take off again after a crash. However, the technology involved in this patent has the following drawbacks: First, when the drone is subjected to a large impact force from above or below, excessive deformation of the six-bar tensioned integral frame may cause interference between the elastic cables and the rotor, resulting in damage to the drone. Second, the large gaps in the six-bar tensioned integral frame allow small obstacles to pass through the frame and directly collide with the drone's rotor, causing it to crash. Third, the drone still poses a risk of injury due to improper operation by the flight controller.
[0005] Therefore, there is an urgent need to design a new type of shock-resistant drone that, while possessing shock resistance, reduces the impact on the drone's endurance, production and maintenance costs, allowing the drone to complete certain flight missions in complex environments. Summary of the Invention
[0006] The purpose of this invention is to provide a bladeless, impact-resistant unmanned aerial vehicle (UAV) based on a six-bar tensioned integral structure. This UAV utilizes the collision elasticity of the six-bar tensioned integral structure to achieve good impact resistance. At the same time, placing the power components inside a rigid hollow pressure bar can effectively prevent the propeller from colliding with obstacles and causing crashes. In addition, this UAV can achieve orderly and controllable rolling on the ground by sequentially energizing the power components in a certain order.
[0007] To achieve this objective, the present invention adopts the following technical solution:
[0008] A bladeless, impact-resistant unmanned aerial vehicle (UAV) based on a six-bar tensioned integral structure, by placing the power components inside the rigid hollow pressure bar of the six-bar tensioned integral structure, enables the UAV to have high impact resistance and orderly and controllable rolling ability on the ground; the impact-resistant UAV has spatial structural symmetry, including a six-bar tensioned integral frame (1) and six power components (2); the six-bar tensioned integral frame (1) includes six rigid hollow pressure bars (11) that are parallel to each other in pairs and 24 elastic cables (12); the three sets of rigid hollow pressure bars (11) are in a mutually perpendicular position in space, and both ends of the rigid hollow pressure bars (11) are connected to the nearest rigid hollow pressure bar (11) end through the four elastic cables (12); the power components (2) include a DC brushless motor (21), a propeller (22) and a duct (23); the power components (2) are located inside the rigid hollow pressure bars (11);
[0009] Furthermore, the six-bar tensioned integral frame (1) includes twelve nodes, which are divided into three groups in the same plane; the three planes formed by the three groups of nodes are perpendicular to each other in space and their center points coincide.
[0010] Furthermore, the rigid hollow pressure bar (11) includes a lower rigid hollow pressure bar (11-1A), an upper rigid hollow pressure bar (11-1B), a lip (11-1C), and a connection port (11-1D); the lower rigid hollow pressure bar (11-1A) is fixedly connected to the duct (23), the upper rigid hollow pressure bar (11-1B) is fixedly connected to the duct (23), the upper rigid hollow pressure bar (11-1B) is fixedly connected to the lip (11-1C), and the duct (23) is fixedly connected to the brushless DC motor (21) by interference fit; the brushless DC motor (21) is fixedly connected to the propeller (22) by thread.
[0011] Furthermore, the flight principle of the impact-resistant UAV is as follows: the power components (2) in each set of parallel rigid hollow pressure bars (11-1 and 11-2, 11-3 and 11-4, 11-5 and 11-6) rotate in opposite directions to eliminate propeller counter-torque. The power components (2-1 and 2-2) located inside the rigid hollow pressure bars (11-1 and 11-2) are installed in the same direction along the positive Z-axis, providing lift for the impact-resistant UAV to hover and enabling its vertical movement; simultaneously, the rotational speed of the power components (2-1 and 2-2) is increased by the same amount, and when the pulling force is greater than the gravity, the impact-resistant UAV moves upward; simultaneously, the rotational speed of the power components (2-1 and 2-2) is decreased by the same amount, and when the pulling force is less than the gravity, the impact-resistant UAV moves downward. The power components (2-3 and 2-4), located inside the rigid hollow pressure bars (11-3 and 11-4), are mounted opposite each other along the Y-axis, providing the yaw torque for the rotation of the impact-resistant UAV, thus enabling the unidirectional yaw motion of the impact-resistant UAV. The power components (2-5 and 2-6), located inside the rigid hollow pressure bars (11-5 and 11-6), are mounted in the same direction along the negative X-axis, providing the thrust for the forward movement of the impact-resistant UAV, thus enabling the forward motion of the impact-resistant UAV.
[0012] Unlike traditional impact-resistant drones, the advantages of this invention are:
[0013] (1) Simple structure, low production and maintenance costs, reducing the impact on the drone's endurance;
[0014] (2) It has high structural stability and can effectively protect the mechanical structure of the UAV;
[0015] (3) The six-bar tensioned integral frame has a certain degree of elasticity, which can better buffer the impact of collision and reduce the impact of collision on the structure of the UAV.
[0016] (4) The UAV is capable of achieving orderly and controllable rolling motion on the ground;
[0017] (5) The drone has the ability to take off again after crashing. Attached Figure Description
[0018] The accompanying drawings are used to provide a further understanding of the technical solutions of this application or the prior art, and form part of the specification. The drawings illustrating examples of this application, together with the examples of this application, are used to explain the technical solutions of this application, but do not constitute a limitation on the technical solutions of this application.
[0019] Figure 1 This is a schematic diagram of the bladeless impact-resistant UAV structure based on the six-bar tensioned integral structure.
[0020] Figure 2 This is a schematic diagram of the overall six-bar tensioning structure;
[0021] Figure 3 This is a schematic diagram of the flight principle of the impact-resistant UAV.
[0022] Figure 4 This is a schematic diagram of the rigid hollow compression bar structure.
[0023] Figure 5 This is a schematic diagram of the power component structure;
[0024] Figure 6 A cross-sectional view showing the connection between the rigid hollow pressure bar and the power assembly;
[0025] Explanation of reference numerals in the attached diagram: 1—Six-bar tensioned integral frame, 11—Rigid hollow pressure bar, 11-1A—Lower rigid hollow pressure bar, 11-1—Upper rigid hollow pressure bar, 11-1C—Lip, 11-1D—Connection port, 2—Power assembly, 21—DC brushless motor, 22—Propeller, 23—Duct. Detailed Implementation
[0026] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0027] Figure 1 and Figure 2 A schematic diagram of a bladeless, impact-resistant unmanned aerial vehicle (UAV) structure based on a six-bar tensioned integral structure, according to an embodiment of this disclosure, is shown, along with a schematic diagram of the six-bar tensioned integral structure. Figure 1 As shown, the impact-resistant UAV has spatial structural symmetry, including a six-bar tensioned integral frame 1 and six power components 2; as Figure 2 As shown, the six-bar tensioned integral frame 1 includes six rigid hollow compression bars 11 that are parallel to each other in pairs and 24 elastic cables 12;
[0028] It should be noted that the three sets of rigid hollow compression bars 11 are in a mutually perpendicular position in space, and both ends of the rigid hollow compression bars 11 are connected to the nearest end of the rigid hollow compression bars 11 through the four elastic cables 12; the six-bar tensioned integral frame 1 includes twelve nodes, which are divided into three groups in the same plane; the three planes formed by the three groups of nodes are mutually perpendicular in space, and their center points coincide.
[0029] Figure 3 A schematic diagram illustrating the motion principle of an impact-resistant unmanned aerial vehicle according to an embodiment of the present disclosure is shown. Figure 3As shown, the flight principle of the impact-resistant UAV is as follows: the power components 2 in each set of parallel rigid hollow pressure bars 11-1 and 11-2, 11-3 and 11-4, 11-5 and 11-6 rotate in opposite directions to eliminate propeller counter-torque. The power components 2-1 and 2-2, located inside the rigid hollow pressure bars 11-1 and 11-2, are installed in the same direction along the positive Z-axis, providing lift for the impact-resistant UAV to hover and enabling its vertical movement. Simultaneously, by increasing the rotational speed of the power components 2-1 and 2-2 by the same amount, when the pulling force is greater than gravity, the impact-resistant UAV moves upward; conversely, by decreasing the rotational speed of the power components 2-1 and 2-2 by the same amount, when the pulling force is less than gravity, the impact-resistant UAV moves downward. The power components 2-3 and 2-4, located inside the rigid hollow pressure bars 11-3 and 11-4, are installed opposite each other along the Y-axis, providing the yaw torque for the rotation of the impact-resistant UAV, thus enabling the unidirectional yaw motion of the impact-resistant UAV. The power components 2-5 and 2-6, located inside the rigid hollow pressure bars 11-5 and 11-6, are installed in the same direction along the negative X-axis, providing the thrust for the forward movement of the impact-resistant UAV, thus enabling the forward motion of the impact-resistant UAV.
[0030] Figure 4 A schematic diagram of the rigid hollow compression bar structure according to an embodiment of the present disclosure is shown. Figure 4 As shown, the rigid hollow pressure bar 11 includes a lower rigid hollow pressure bar 11-1A, an upper rigid hollow pressure bar 11-1B, a lip 11-1C, and a connection port 11-1D;
[0031] Specifically, the lower rigid hollow pressure bar 11-1A, the upper rigid hollow pressure bar 11-1B, and the lip 11-1C are all manufactured using 3D printing.
[0032] Figure 5 A schematic diagram of the power assembly structure according to an embodiment of the present disclosure is shown. Figure 5 As shown, the power assembly 2 includes a DC brushless motor 21, a propeller 22, and a duct 23; the power assembly 2 is located inside the rigid hollow pressure bar 11.
[0033] Figure 6 A cross-sectional view showing the connection between the rigid hollow pressure bar and the power assembly according to an embodiment of the present disclosure is shown. Figure 6 As shown, the lower rigid hollow pressure bar 11-1A is fixedly connected to the duct 23, the upper rigid hollow pressure bar 11-1B is fixedly connected to the duct 23, the upper rigid hollow pressure bar 11-1B is fixedly connected to the lip 11-1C, and the duct 23 is fixedly connected to the DC brushless motor 21 by interference fit; the DC brushless motor 21 is fixedly connected to the propeller 22 by thread.
[0034] In the description of this specification, the terms "upper", "lower", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed or operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.
[0035] While the embodiments disclosed in this invention are as described above, the content is merely for the purpose of facilitating understanding of the invention and is not intended to limit the invention. Any person skilled in the art to which this invention pertains may make any modifications and variations in form and detail of the implementation without departing from the spirit and scope disclosed herein; however, the scope of patent protection for this invention shall still be determined by the scope defined in the appended claims.
Claims
1. A bladeless, impact-resistant unmanned aerial vehicle (UAV) based on a six-bar tensioned integral structure, characterized in that: By placing the power components inside the rigid hollow pressure bar of the six-bar tensioned assembly, the UAV possesses high-strength impact resistance and orderly and controllable rolling capability on the ground; the impact-resistant UAV has spatial structural symmetry, including a six-bar tensioned assembly frame (1) and six power components (2); the six-bar tensioned assembly frame (1) includes six rigid hollow pressure bars (11) that are parallel to each other in pairs and 24 elastic cables (12); the power components (2) include a DC brushless motor (21), a propeller (22) and a duct (23); the power components (2) are located inside the rigid hollow pressure bar (11); The flight principle of the impact-resistant UAV is as follows: the power components (2) in each set of parallel rigid hollow pressure rods one (11-1 and 11-2), two rigid hollow pressure rods (11-3 and 11-4), and three rigid hollow pressure rods (11-5 and 11-6) rotate in opposite directions to eliminate propeller counter-torque; the power components one (2-1 and 2-2) located inside the rigid hollow pressure rods one (11-1 and 11-2) are installed in the same direction along the positive Z-axis, providing lift for the impact-resistant UAV to hover, thus achieving the... The impact-resistant drone moves up and down; the power components two (2-3 and 2-4) located inside the rigid hollow pressure bar two (11-3 and 11-4) are installed opposite each other along the Y-axis, providing the yaw torque for the rotation of the impact-resistant drone, thus realizing the unidirectional yaw motion of the impact-resistant drone; the power components three (2-5 and 2-6) located inside the rigid hollow pressure bar three (11-5 and 11-6) are installed in the same direction along the negative X-axis, providing the thrust for the forward movement of the impact-resistant drone, thus realizing the forward movement of the impact-resistant drone.
2. The bladeless impact-resistant UAV based on a six-bar tensioned integral structure according to claim 1, characterized in that: The six-bar tensioned integral frame (1) includes twelve nodes, which are divided into three groups in the same plane; the three planes formed by the three groups of nodes are perpendicular to each other in space and their center points coincide.
3. The bladeless impact-resistant UAV based on a six-bar tensioned integral structure according to claim 1, characterized in that: The rigid hollow pressure bar (11) includes a lower rigid hollow pressure bar (11-1A), an upper rigid hollow pressure bar (11-1B), a lip (11-1C), and a connection port (11-1D); the lower rigid hollow pressure bar (11-1A) is fixedly connected to the duct (23), the upper rigid hollow pressure bar (11-1B) is fixedly connected to the duct (23), the upper rigid hollow pressure bar (11-1B) is fixedly connected to the lip (11-1C), and the duct (23) is fixedly connected to the DC brushless motor (21) by interference fit; the DC brushless motor (21) is fixedly connected to the propeller (22) by thread.