Rigid-flexible coupled inhabiting and grabbing integrated variable-structure unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses a rigid-flexible coupled inhabiting and grabbing integrated variable-structure unmanned aerial vehicle. The unmanned aerial vehicle comprises a rigid-flexible coupling vehicle arm, a power unit, a driving pump and a control bin. The machine arms are connected through the air bag coupling piece upper portion, the air bag coupling piece middle portion and the air bag coupling piece lower portion, and each air bag is connected with the adjacent air bag through an air nozzle and an air pipe. And the airbags of the diagonal arms are connected in series to the electromagnetic valve through pipelines. The solenoid valve is connected with the driving pump to control opening and closing of the gas circuit. The rigid-flexible coupled inhabiting and grabbing integrated variable structure unmanned aerial vehicle has three working forms: during normal flight, the air bags are not inflated, and the vehicle arms extend; during grabbing, the first driving pump or the second driving pump is started, the air bags of the machine arms at the corresponding corners are inflated, and the machine arms are folded to form a clamping space; during inhabiting, the airbags or all the airbags of the vehicle arms are inflated, and the vehicle arms are folded to be close to the supporting face. A traditional mechanical structure is replaced with flexible air bag driving, lightweight design is achieved, air bag inflation and deflation response is rapid, the dynamic task requirement is met, and wide applicability is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and particularly to a rigid-flexible coupled perching and grasping integrated deformable unmanned aerial vehicle. Background Art

[0002] With the rapid development of unmanned aerial vehicle technology, quadrotor unmanned aerial vehicles have been widely used in the fields of logistics transportation, emergency rescue, environmental monitoring, etc. due to their advantages such as simple structure and strong maneuverability. Traditional quadrotor unmanned aerial vehicles mostly adopt a rigidly connected arm structure, which performs excellently in flight stability, but has obvious functional limitations: First, the fixed rigid arm cannot achieve active deformation, making it difficult for the unmanned aerial vehicle to complete operation tasks such as object grasping without additional external devices; Second, the lack of adaptive perching ability in complex terrain environments restricts its application effect in the wild scene. In the prior art, some improved unmanned aerial vehicles achieve folding deformation through a mechanical linkage mechanism or a servo motor drive, resulting in an increase in the overall weight of the aircraft and affecting the flight time. In addition, the current design of deformable unmanned aerial vehicles mostly focuses on the optimization of single functions and lacks systematic integration of multi-task scenarios such as flight modes, grasping operations, and perching adaptation. Therefore, there is an urgent need for an unmanned aerial vehicle solution that combines structural lightweight, rapid form conversion, and multi-task adaptation capabilities. Summary of the Invention

[0003] In order to overcome the deficiencies of existing unmanned aerial vehicles in multi-functional integration, lightweight design, and environmental adaptability, the present invention proposes a rigid-flexible coupled perching and grasping integrated deformable unmanned aerial vehicle, including four rigid-flexible coupled arms, a power unit, a drive pump, and a control cabin: a fuselage, four arms, and each arm is provided with three joints and a power unit.

[0004] Further, each of the four arms is assembled by an airbag coupling member and an airbag;

[0005] Further, the airbag coupling member includes an upper part of the airbag coupling member, a middle part of the airbag coupling member, and a lower part of the airbag coupling member, and is assembled through a connecting member to form a rigid part of the arm. Each airbag is connected to the airbag of the adjacent joint through an air nozzle and a trachea, and the airbags of the diagonal arms are connected to the same drive pump through independent pipelines, and an electromagnetic valve is provided on each pipeline;

[0006] Further, the power unit includes a motor and a propeller arranged at the end of each arm and connected to the end of the corresponding arm through the lower part of the airbag coupling member;

[0007] Further, the drive pump is symmetrically provided with a first drive pump and a second drive pump at the top, and is used to drive the airbag through an electromagnetic valve;

[0008] Furthermore, when not inflated, the airbag naturally contracts, and when inflated, it expands to push the joint to bend.

[0009] Optionally, the airbag is square, rectangular, circular or oval.

[0010] Furthermore, the arm realizes the bending action through the thrust generated by the inflation and expansion of the airbag;

[0011] Furthermore, after the arm completes the bending action, by deflating the airbag, the elastic rebound of the airbag is utilized for resetting, without the need for an additional reset mechanism.

[0012] Furthermore, the rigid-flexible coupled perching and grasping integrated variable-configuration unmanned aerial vehicle has three working modes:

[0013] In the normal flight mode, the first drive pump and the second drive pump are closed, the airbag is not inflated and contracts, the arm remains straight and extended, and the propeller rotates at high speed to achieve stable flight;

[0014] In the grasping mode, the first or second drive pump is started, the airbags of the corresponding diagonal arms are inflated and expanded, the airbags push the arms to bend to form a clamping space, and the friction spikes are used to increase the friction force with the contact surface. The remaining symmetric arms provide flight power. After grasping, the arms are quickly reset by negative pressure air extraction;

[0015] In the perching mode, both drive pumps are started simultaneously, all the airbags of the arms are inflated, or a single drive pump is started, and the airbags of the corresponding diagonal arms are inflated. The joint bending angle reaches a preset range (such as 0° to 90°), the arms bend to make the fuselage close to the surface of the perching structure, and the clamping force of the arms and the friction force of the friction spikes achieve stable perching.

[0016] Beneficial effects

[0017] Through the innovative rigid-flexible coupled airbag drive system and flexible structure design, the present invention can significantly improve the functionality and adaptability of the unmanned aerial vehicle. Its core advantages are reflected in the following aspects:

[0018] 1. Adopting a rigid-flexible coupled integrated connection to replace the traditional mechanical transmission structure, reducing the number of rigid components, effectively reducing the overall weight of the machine, achieving lightweight, thereby reducing energy consumption and significantly improving the endurance of the rigid-flexible coupled perching and grasping integrated variable-configuration unmanned aerial vehicle.

[0019] 2. The inflation and deflation processes of the airbag respond rapidly, enabling quick switching of the arm morphology. By adjusting the air pressure through the solenoid valve, the bending angle and deformation speed of the joints can be precisely controlled, allowing the rigid-flexible coupled integrated variable-structure UAV for perching and grasping to seamlessly switch between different task modes. For example, when switching from the flight mode to the grasping or perching mode, the folding and unfolding actions of the arms are rapid, meeting the requirements for real-time operations in dynamic environments. This rapid response capability expands the application potential of the rigid-flexible coupled integrated variable-structure UAV for perching and grasping in scenarios such as emergency rescue and logistics transportation.

[0020] 3. The rigid-flexible coupled integrated variable-structure UAV for perching and grasping combines the bending of the airbag-driven arms with friction spikes. In the grasping mode, the positive pressure generates pressure to enhance the grasping force, and the friction spikes provide friction for stable grasping; in the perching mode, the bending of the arms combines with the flexible adaptive deformation of the airbag to closely adhere to the support surface, and the friction spikes increase the friction force, enabling reliable perching on branches, the ground, or rough surfaces.

[0021] 4. The use of flexible materials reduces the physical impact on the operating environment and avoids collision damage that may be caused by traditional rigid structures. At the same time, the spark-free and low electromagnetic interference characteristics of the pneumatic system make it suitable for areas with flammable, explosive, or highly sensitive electronic equipment, further enhancing its applicability in scenarios such as cities and ecological protection areas.

[0022] Through the above technical advantages, the present invention not only solves the deficiencies of traditional UAVs in multi-functional integration and environmental adaptability but also provides a new technical path for the development of future intelligent and flexible UAVs, with broad application prospects and market value. Description of the Drawings

[0023] Figure 1 Schematic structural diagram of the rigid-flexible coupled integrated variable-structure UAV for perching and grasping;

[0024] Figure 2 Schematic structural diagram of the arm joint of the rigid-flexible coupled integrated variable-structure UAV for perching and grasping;

[0025] Figure 3 Schematic structural diagram of the connecting part of the arm of the rigid-flexible coupled integrated variable-structure UAV for perching and grasping;

[0026] Figure 4 Schematic structural diagram of the airbag nozzle and air pipe of the arm of the rigid-flexible coupled integrated variable-structure UAV for perching and grasping;

[0027] Figure 5 Schematic diagram of the process of a single arm of the rigid-flexible coupled integrated variable-structure UAV for perching and grasping from straight to bent and the process of the airbag from the initial state to the inflated state;

[0028] Figure 6 Schematic diagram of the process of the rigid-flexible coupled perching and grasping integrated variable structure UAV flying and then grasping an object

[0029] Figure 7 Schematic diagram of the process of the rigid-flexible coupled perching and grasping integrated variable structure UAV flying, perching and then flying again when the single drive pump starts

[0030] Figure 8 Schematic diagram of the process of the rigid-flexible coupled perching and grasping integrated variable structure UAV flying, perching and then flying again when the double drive pump starts

[0031] Explanation of reference numerals: 1. Drive pump; 2. Flexible part of the arm; 3. Solenoid valve; 4. Motor and propeller; 5. Rigid part of the arm; 6. Control cabin; 21. Airbag; 22. Air nozzle; 23. Air

[0032] tube; 51. Upper part of the airbag coupling; 52. Middle part of the airbag coupling; 53. Connecting piece; 54. Lower part of the airbag coupling; 55. Friction spike Detailed implementation mode

[0033] In the actual application of the rigid-flexible coupled perching and grasping integrated variable structure UAV of the present invention, through the synergistic effect of the airbag drive system and the arm joints, seamless switching among three forms of flight, grasping and perching can be realized. The specific operations are as follows:

[0034] In the normal flight state, the drive pump 1 is in the closed state, the airbag 21 is not inflated and shrunk, and the arm remains horizontally straight and extended. At this time, the motor drives the propeller to rotate at a high speed, providing lift for the rigid-flexible coupled perching and grasping integrated variable structure UAV, which is suitable for conventional flight tasks such as aerial inspection or same-city logistics transportation

[0035] As Figure 6 shown, when a grasping task needs to be performed (for example, picking up a small package or device), the operator starts the first or second drive pump at the diagonal position through a control signal. The drive pump fills the airbag of the corresponding arm with gas. The airbag expands under the action of air pressure, pushing the joint to gradually bend. Finally, the arm bends downward to form a clamping space. At this time, the solenoid valve is closed, and the grasping state is maintained by relying on the pressure stored in the airbag, and the friction spike is relied on to increase the friction force to achieve stable grasping. After the grasping is completed, the solenoid valve switches to the negative pressure air extraction state, the airbag shrinks, and the arm resets to the contracted state, restoring the flight ability

[0036] As Figure 7As shown, when it is necessary to perch on a long and narrow object (such as a pole or a branch), the rigid-flexible coupled perching and grasping integrated deformable UAV can switch to the perching mode. At this time, the first or the second driving pump is started, and the airbags of the corresponding diagonal arms are inflated. The joint bending angle reaches from 0° to 90°, and the arms bend downward, making the body close to the support surface. The wings and the support surface rely on friction spikes to increase the friction force to achieve stable perching. In this mode, the rigid-flexible coupled perching and grasping integrated deformable UAV can avoid energy waste and at the same time meet the needs of temporary docking, charging or avoiding environmental interference. In addition, the fast positive and negative pressure control characteristics of the airbag enable rapid response of the form switching, which is beneficial to improving the mission flexibility.

[0037] As Figure 8 shown, when it is necessary to perch on a complex and uneven terrain (such as a circular surface or a rock), the rigid-flexible coupled perching and grasping integrated deformable UAV can switch to the perching mode. At this time, the first driving pump and the second driving pump are started simultaneously, and the airbags of all the arms are inflated. The joint bending angle reaches from 0° to 90°, and the four arms bend downward. On the one hand, during the landing process on the uneven ground, the arm angle is adjusted to 45°, and the flexible airbag provides a buffering effect to protect the UAV from landing safely. On the other hand, as Figure 8 shown, on a dome-shaped perching surface such as the top of a lamp post, stable perching is achieved by bending the four arms simultaneously to grasp the circular surface.

[0038] As described above, it is only the preferred specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. In addition, the relative terms "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations, nor can they be understood as indicating or implying relative importance. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, through equivalent replacement, structural optimization or functional expansion and other ways of modification or improvement, shall be covered by the protection scope of the present invention. In this article, the principle and implementation mode of the invention are expounded through specific embodiments, but the description of the embodiments is only used to help understand the core idea of the present invention and should not be regarded as a limitation of the protection scope of the present invention. For those skilled in the art, without departing from the principle of the present invention, the adaptive adjustment and derivative design for specific application scenarios or technical requirements shall fall within the scope defined by the claims of the present invention.

Claims

1. A rigid-flexible coupled perching and grasping integrated deformable unmanned aerial vehicle, comprising rigid-flexible coupled arms, a power unit, a driving pump, and a control cabin: The rigid-flexible coupled arms are symmetrically arranged in four arms, and each arm is composed of a plurality of airbag coupling parts and airbags connected in series; The arms are connected through the upper part (51) of the airbag coupling part, the middle part (52) of the airbag coupling part, and the lower part (53) of the airbag coupling part. Each airbag (21) is connected to an adjacent airbag through a nozzle (23) and a trachea (22). The airbags (21) of the diagonal arms are connected in series through pipelines to a solenoid valve (3). The solenoid valve (3) is connected to the driving pump (1) to control the opening and closing of the air circuit; The power unit includes a motor and a propeller (4) arranged at the end of each arm and connected to the corresponding arm end through the lower part (54) of the airbag coupling part; The rotor is installed at the lower part (54) of the airbag coupling part and generates displacement following the bending of the arm. The driving pump (1) is arranged at the top of the unmanned aerial vehicle and is divided into a first driving pump and a second driving pump, which can generate positive pressure / negative pressure to achieve inflation / deflation to drive the airbags; The control cabin includes an unmanned aerial vehicle control system; The unmanned aerial vehicle has the following three working forms: The first form: The first driving pump and the second driving pump are closed, the airbags (21) contract by negative pressure pumping, the arms remain in the extended state, and lift is provided by the propellers to achieve flight; The second form: The first driving pump is started, the airbags (21) of the corresponding diagonal arms are inflated by positive pressure and expand, pushing the arms to bend downward, forming a double-arm grasping space, and jointly providing a grasping force with the friction spikes (55) to achieve object grasping, and the remaining symmetric arms provide flight power; The third form: Both the first driving pump and the second driving pump are started, the airbags (21) of all arms are inflated by positive pressure and expand, or one of the first / second driving pumps is started, and the airbags (21) of the corresponding diagonal arms are inflated by positive pressure and expand, and the corresponding arms bend downward, and jointly provide a grasping force with the friction spikes (55) to achieve stable perching.

2. The rigid-flexible coupled perching and grasping integrated deformable unmanned aerial vehicle according to claim 1, wherein: The airbag (21) is formed by thermocompression molding of a thin film or 3D printing, contracts by negative pressure pumping, and expands after positive pressure inflation to push the arm to bend; The optional shapes of the airbag (21) include square, rectangular, circular or oval; The thin film of the airbag (21) is selected from at least one of the following materials: thermoplastic polyurethane, rubber, silica gel, resin.

3. The rigid-flexible coupled perching and grasping integrated deformable unmanned aerial vehicle according to claim 1, wherein: The solenoid valve is used to precisely adjust the air extraction / inflation of the airbag (21) to achieve contraction and expansion.

4. The rigid-flexible coupled perching and grasping integrated deformable unmanned aerial vehicle according to claim 1, wherein: The bending angle range of the arm in the third form is 0° to 90°. After the airbag is inflated, the arm bends, and the friction spikes contact the support surface to achieve stable grasping.

5. The airbag according to claim 2, wherein: The inflation volume of the airbag (21) has a linear relationship with the joint bending angle, and precise control of the clamping force or perching posture is achieved by adjusting the inflation volume.

6. The rigid-flexible coupled perching and grasping integrated variable-configuration unmanned aerial vehicle according to claim 1, characterized in that: The pipelines of the driving pump (1) and the corresponding diagonal arm are independently arranged, and the solenoid valves of each pipeline support independent opening and closing to achieve the coordinated or time-sharing operation of the arms.

7. The rigid-flexible coupled perching and grasping integrated variable-configuration unmanned aerial vehicle according to claim 1, characterized in that: The bending action of the arm is driven by the thrust generated after the positive-pressure inflation and expansion of the airbag (21), and the reset action is achieved by the negative-pressure air extraction and contraction of the airbag (21).

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