Unmanned aerial vehicle device with variable stiffness protection function

Abstract

The invention discloses an unmanned aerial vehicle device with a variable stiffness protection function, and relates to the technical field of unmanned aerial vehicles. The device comprises a protection framework arranged around a propeller, an air bag, a supporting arm assembly and a driving adjusting assembly. The protective framework is formed by connecting tensioning basic units and tensioning lines in series. The linear driving units drive the supporting arm assemblies to support and unfold the air bags, and meanwhile the tensioning degree of the tensioning lines is synchronously adjusted through the linkage mechanisms: at the first position, the tensioning lines are tensioned, the tensioning basic units are locked mutually, and a rigid duct structure surrounding the propeller is formed; and at the second position, the tension line is loosened, and the framework is switched to be in a relatively movable flexible state. Through a single-source double-drive mechanism, double protection of propeller duct synergy and fuselage airbag buffering is achieved, and rapid switching between a rigid aerodynamic configuration and a flexible buffering state is completed on the premise that dead weight is not increased.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV device with variable stiffness protection function. Background Technology

[0002] Drones are increasingly used in aerial photography, inspection and transportation, but when flying in complex environments (such as jungles and waters), they face serious safety hazards such as crashes, getting caught in trees and falling into the water.

[0003] Current drone protection technologies have the following significant drawbacks: Existing propeller guards are mostly fixed, rigid mesh covers. While they can block foreign objects, they significantly increase the frontal area and turbulence, leading to increased drag and a substantial reduction in flight time. Furthermore, such rigid structures cannot effectively absorb kinetic energy through deformation during high-speed impacts, easily transferring the impact force directly to the motor bearings. Current protective structures often focus only on the propeller, neglecting the protection of the core electronic components of the fuselage. Especially when a drone accidentally falls into water, the lack of buoyancy devices makes it highly susceptible to sinking, resulting in the failure of its electrical circuits.

[0004] While some deformable or variable-stiffness protection concepts exist, current technologies typically rely on separate servo motor groups or complex aerodynamic systems to control the deployment and stiffness adjustment of the structure separately. This design not only adds extra "dead weight" but also results in cumbersome control logic and reduced system reliability.

[0005] Therefore, how to provide a drone device that can improve propeller aerodynamic efficiency by utilizing the duct effect, achieve amphibious protection of the fuselage, and have a lightweight drive structure has become an urgent technical problem to be solved. Summary of the Invention

[0006] The main objective of this invention is to provide a drone device with variable stiffness protection function, which aims to provide a drone device that can improve the aerodynamic efficiency of the propeller by utilizing the duct effect, achieve amphibious protection of the fuselage, and has a lightweight drive structure.

[0007] To achieve the above objectives, the present invention proposes a drone device with variable stiffness protection function, comprising: A protective frame is arranged around the propeller of the drone. The protective frame includes multiple tension basic units and tension lines that connect the tension basic units in series. A positioning structure for locking is provided between adjacent tension basic units. An airbag, and a support arm assembly for supporting the airbag; and The drive adjustment assembly includes a linear drive unit, a tension adjustment component, and a linkage mechanism connecting the two. The linear drive unit is connected to the support arm assembly and is used to drive the support arm assembly to move between a first position and a second position. The linear drive unit simultaneously drives the tension adjustment component to change the tension of the tensioning wire through the linkage mechanism. When the support arm assembly is in the first position, the tensioning wire is tensioned, and the tensioning basic units are locked together by the positioning structure to form a rigid state. When the support arm assembly is in the second position, the tensioning wire is relaxed, and the tensioning basic units are in a flexible state that can move relatively freely.

[0008] Preferably, the tensioning basic unit has a longitudinal threading hole and a transverse threading hole, and the tensioning wire passes through the longitudinal threading hole and the transverse threading hole to connect multiple tensioning basic units in series.

[0009] Preferably, the positioning structure is a positioning groove formed on the contact surface of the tensioning basic unit; when the tensioning wire is tensioned, adjacent tensioning basic units interlock with each other through the positioning groove, and multiple tensioning basic units lock each other to form a cylindrical duct structure.

[0010] Preferably, the tensioning basic unit has an inclined surface design, and when the protective frame forms the cylindrical duct structure, the protective frame forms a duct for regulating airflow.

[0011] Preferably, the tension adjusting component is a cross disc; the linkage mechanism is a linkage rod connecting the output end of the linear drive unit and the cross disc; the linear drive unit drives the linkage rod to move, and the linkage rod drives the cross disc to rotate, thereby adjusting the tension of the tensioning wire connected to the cross disc.

[0012] Preferably, there are two support arm assemblies, namely a first support arm structure and a second support arm structure; one end of the first support arm structure and the second support arm structure are connected to the drone fuselage, and the other end supports the airbag.

[0013] Preferably, a limiting block is provided at the connection between the first support arm structure and the second support arm structure; the limiting block is used to restrict the first support arm structure and the second support arm structure from collapsing inward, and to make the support arm assembly form a semi-circular structure when it unfolds outward.

[0014] Preferably, the linear drive unit includes four linear motors; the four linear motors are symmetrically mounted on the fuselage of the UAV via a mounting bracket.

[0015] Preferably, the airbag covers the outside of the support arm assembly and the upper and lower parts of the drone fuselage; when the support arm assembly extends outward, the support arm assembly supports the airbag.

[0016] Preferably, it further includes an onboard computer and a flight control module connected to the onboard computer; the flight control module is used to detect the flight attitude signal of the UAV and send instructions to the onboard computer when an abnormal signal is detected, and the onboard computer controls the linear drive unit to operate.

[0017] The above technical solution has the following advantages: This invention utilizes a linear drive unit to adjust the structural state of a single power source through a linkage mechanism. When the support arm assembly is in the first position (flight mode), the tension line is taut, and the basic tensioning units are forcibly interlocked around the propeller, forming a highly rigid ducted structure. This ducted structure not only protects the propeller but also effectively regulates airflow, generating a duct lift effect, thereby helping to improve flight efficiency. When the support arm assembly is in the second position (protection mode), the structure instantly switches to a flexible tensioned state, effectively dispersing and absorbing the impact kinetic energy against the power system, preventing propeller damage. Attached Figure Description

[0018] The present invention will now be described in detail with reference to specific embodiments and accompanying drawings, wherein: Figure 1 This is a schematic diagram of the overall structure of the unmanned aerial vehicle (UAV) device in the first position (flight mode) provided in an embodiment of the present invention.

[0019] Figure 2 This is a schematic diagram of the overall structure of the unmanned aerial vehicle device in the second position (protection mode) provided in an embodiment of the present invention.

[0020] Figure 3 An enlarged structural schematic diagram of the support arm assembly structure is provided for an embodiment of the present invention.

[0021] Figure 4 A detailed schematic diagram of the tensioning basic unit and its positioning structure provided in an embodiment of the present invention.

[0022] Figure 5 This is a block diagram of the control system connection of an unmanned aerial vehicle (UAV) device provided in an embodiment of the present invention.

[0023] 1. Frame; 2. Arm; 3. Motor; 4. Propeller; 5. Tensioning basic unit; 6. First support arm structure; 7. Second support arm structure; 8. Linear motor; 9. Onboard computer; 10. Flight control module; 11. Cross disc; 12. Airbag. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some, not all, of the embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative effort should fall within the scope of protection of the present application.

[0025] Example 1 This embodiment provides a drone device with variable stiffness protection, which aims to solve the problems in existing drone protection structures that are difficult to balance aerodynamic rigidity during flight and flexible buffering during impact, and whose drive mechanisms are complex and heavy. Figures 1 to 5 As shown, the drone device mainly includes the drone body and a protection system installed on the drone body.

[0026] First, the basic structure of the UAV is described, which includes a frame 1, which serves as the central main body supporting other components. Several arms 2 extend from the frame 1, and each arm 2 has a motor 3 installed at its end. A propeller 4 is mounted on the output shaft of the motor 3. An onboard computer 9 and a flight control module 10 are located below the center of the frame 1 or within its internal space. The flight control module 10 integrates attitude sensors such as gyroscopes to monitor the UAV's flight attitude signals in real time and interact with the onboard computer 9.

[0027] The core of this embodiment lies in its variable stiffness protection system. This system mainly consists of a protective frame, a support arm assembly, and a drive adjustment assembly.

[0028] The protective frame is arranged around each propeller 4 (or propeller assembly) of the UAV, and its construction is based on the principle of a tensioned integral structure. Specifically, the protective frame is composed of multiple independent tensioned basic units 5 connected in series by tension lines. To establish this series connection, each tensioned basic unit 5 has longitudinal and transverse threading holes, through which the tension lines weave the units into a mesh or cage structure. Notably, a positioning structure for locking is provided between adjacent tensioned basic units 5. In this embodiment, the positioning structure is specifically designed as a positioning groove on the contact surface of the tensioned basic unit 5. The cross-sectional shape of the positioning groove is preferably trapezoidal or V-shaped to facilitate docking and locking.

[0029] The support arm assembly supports the external airbag 12. Preferably, there are two support arm assemblies: a first support arm structure 6 and a second support arm structure 7. One end of the first support arm structure 6 and the second support arm structure 7 are respectively hinged or fixedly connected to the frame 1, and the other end extends outward to support and deploy the airbag 12. To prevent the support arms from collapsing inward and causing protective failure upon external impact, a limiting block is provided at the connection point or hinge of the first support arm structure 6 and the second support arm structure 7. The structural logic of this limiting block is configured to allow the support arm to unfold outward to form a semi-circular structure, but restrict its inward bending, thereby ensuring the stability of the protective space.

[0030] The drive adjustment component is the key to realizing the "single-source dual-drive" function of this device. This component includes a linear drive unit, a linkage mechanism, and a tension adjustment element.

[0031] In this embodiment, the linear drive unit serves as the sole power input source, specifically employing a linear motor 8. To ensure balanced thrust, four linear motors 8 can be used, symmetrically mounted around the frame 1 via a mounting bracket. The output slider of the linear motor 8 is connected to the support arm assembly, directly driving the first support arm structure 6 and the second support arm structure 7 to move linearly between the retracted state (first position) and the extended state (second position).

[0032] Meanwhile, the linear motor 8 is also connected to the tension adjusting component via a linkage mechanism. In this embodiment, the tension adjusting component is specifically a rotatable cross disc 11. The linkage mechanism is specifically designed as a linkage rod, one end of which is connected to the output slider of the linear motor 8, and the other end is connected to the eccentric position of the cross disc 11. One end of the tensioning wire is fixed or connected to the tensioning basic unit 5, and the other end converges and connects to the cross disc 11.

[0033] Based on the above structure, this embodiment achieves the switching between the following two working modes: The first mode is flight mode. When high-speed flight is required or full protection is not needed, the onboard computer 9 controls the linear motor 8 to retract. At this time, the linear motor 8 drives the support arm assembly to retract inward to the first position, reducing the overall size and frontal area of ​​the device. During the retraction of the linear motor 8, the linkage drives the cross disc 11 to rotate in the tensioning direction. This action tensions the tension line. As the tension of the tension line increases, adjacent tensioning basic units 5 are strongly pulled towards each other and locked together by the positioning grooves on the contact surface. At this time, the originally loose tensioning overall structure is forcibly locked into a rigid cylindrical duct structure, which tightly surrounds the propeller 4. In addition, the outer surface of the tensioning basic unit 5 has a bevel design. When it locks into a cylindrical duct structure, this bevel design can organize the airflow passing through the propeller 4, producing a duct lift effect, thereby helping to improve flight efficiency in flight mode rather than becoming a drag source.

[0034] The second mode is the protective mode. When the flight control module 10 detects abnormal drone attitude, loss of control, or impending collision via the gyroscope, or when the user commands it to enter a protective state, the onboard computer 9 controls the linear motor 8 to extend rapidly. The linear motor 8 pushes the first support arm structure 6 and the second support arm structure 7 outward to the second position. Simultaneously, the extension action of the linear motor 8 drives the cross disc 11 to rotate in the relaxation direction via the linkage. This action releases the tension of the tensioning wire. Once the tension is reduced, the positioning grooves between the tensioning basic units 5 disengage, and the units are unlocked. At this time, the protective frame surrounding the propeller 4 instantly switches from a rigid state to a relatively flexible state, i.e., the overall tensioned structure state. In this state, each tensioning basic unit 5 is suspended in the tensioning wire network. When subjected to external impact, the impact energy can be quickly dispersed to each unit of the entire flexible frame and the elastic cable, thereby achieving excellent buffering and energy absorption effects and protecting the core power system.

[0035] Furthermore, to further enhance the device's environmental adaptability, this embodiment also includes airbags covering the outside of the support arm assembly and the upper and lower parts of the fuselage. When the support arm assembly extends outward, the first support arm structure 6 and the second support arm structure 7 taut and support the airbags. This design has a dual effect: firstly, the smooth surface of the taut airbags effectively prevents branches from getting stuck inside the protective frame in complex environments such as jungle crossings; secondly, if the drone accidentally falls into the water, the airbags on the upper and lower parts of the fuselage can provide sufficient buoyancy to prevent damage to electronic components caused by the drone sinking, thus achieving amphibious protection capabilities.

[0036] Through the above-mentioned ingenious mechanical coordination, this embodiment achieves the synchronous coupling of structural deployment and stiffness adjustment by using a single linear drive unit. This avoids the dead weight burden caused by the additional servo motors required in the prior art to achieve variable structure and stiffness. While ensuring high-strength protection, it maximizes the retention of the UAV's payload and endurance.

[0037] Example 2 Based on Embodiment 1, this embodiment further elaborates on the intelligent control logic and emergency response mechanism of the UAV device to achieve fully automatic active protection function.

[0038] In this embodiment, the control center of the UAV device is jointly composed of an onboard computer 9 and a flight control module 10. The flight control module 10, as the sensing front end, integrates high-precision attitude sensors, specifically a three-axis gyroscope and a three-axis accelerometer. These sensors are configured to monitor the UAV's attitude angles, angular velocities, and acceleration data in real time at millisecond-level frequencies.

[0039] The device operates according to the following logic: During normal flight operations, the flight control module 10 continuously reads sensor data and compares it with preset normal flight parameter thresholds. Once the flight control module 10 detects an abnormal signal, such as severe shaking of the drone, a tilt angle exceeding a safety threshold, or acceleration signals resembling free fall, it immediately generates a trigger command. Furthermore, if the flight control module 10 detects a communication signal loss with the remote control for a preset duration, such as exceeding 2 seconds, it will also generate a trigger command.

[0040] The trigger command generated by the flight control module 10 is quickly sent to the onboard computer 9. Upon receiving the command, the onboard computer 9 immediately sends an action signal to the drive adjustment component without manual intervention. Specifically, the onboard computer 9 controls the linear motor 8 to perform the extension action. As described in Embodiment 1, the extension action of the linear motor 8 simultaneously completes two key steps through mechanical linkage: first, it pushes the first support arm structure 6 and the second support arm structure 7 outward; second, it drives the tension adjustment component, i.e., the cross disc 11, to release the tension of the tensioning wire.

[0041] This automated process ensures that, in the event of a crash or loss of control, the protective frame surrounding the propeller 4 can rapidly switch from a rigid duct state suitable for flight to a flexible tensioned state suitable for collision buffering. This response process is extremely fast, effectively addressing sudden crashes. Once the drone has regained stable flight or landed, the onboard computer 9 can control the linear motor 8 to reverse its movement, retract the support arm, and re-tension the tension cable, allowing the tensioning unit 5 to relock via the positioning structure, restoring its rigid aerodynamic shape for continued flight or easy recovery.

[0042] Example 3 This embodiment provides a detailed description of the specific layout of the drive adjustment components and the airbag structure to optimize the mechanical balance and environmental adaptability of the device.

[0043] To ensure force balance during the deployment and retraction of the support arm assemblies and to provide sufficient drive redundancy, the linear drive unit in this embodiment is specifically configured with four linear motors 8. These four linear motors 8 are mounted symmetrically around the UAV frame 1 via a mounting bracket. Each linear motor 8 drives a corresponding set of support arm assemblies, ensuring the synchronous deployment and retraction of the protective frame in all four directions. This symmetrical layout not only balances the UAV's center of gravity but also effectively counteracts the reaction torque generated during mechanism movement, maintaining fuselage stability.

[0044] Furthermore, this embodiment further defines the specific configuration of the airbag 12. The airbag 12 is made of a lightweight and high-strength waterproof material, specifically a nylon composite fabric or a thermoplastic polyurethane film. The airbag 12 not only covers the outer sides of the first support arm structure 6 and the second support arm structure 7, but also extends to cover the upper and lower areas of the UAV fuselage 1.

[0045] During normal flight, the linear motor 8 retracts, and the airbag 12 retracts and folds along with the support arm assembly, fitting snugly against the fuselage surface. At this time, the device has a small frontal area, reducing flight drag. When entering the protective state, the linear motor 8 pushes the support arm assembly to unfold, and the support arm assembly, acting as a frame, quickly inflates and tightens the airbag 12.

[0046] This design endows the drone with amphibious protection capabilities. When the drone flies in complex environments such as jungles, the smooth surface of the stretched airbag 12 effectively deflects branches or vines, preventing them from snagging on the internal propellers 4 or cables through gaps in the internal protective frame. When the drone faces the risk of forced landing on water or accidental water immersion, the deployed and fully inflated airbag 12 provides a drainage volume greater than the drone's overall weight, thereby generating sufficient buoyancy to lift the drone above the water surface. This effectively prevents the fuselage from sinking and protects core electronic components such as the onboard computer 9, flight control module 10, and motors 3 from water damage, greatly improving the drone's survivability in water-related missions.

[0047] Through the combination of the above embodiments, this application not only achieves innovation in rigid-flexible coupling in mechanical structure, but also forms a complete closed-loop protection scheme in control logic and application scenarios.

[0048] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A drone device with variable stiffness protection function, characterized in that, include: A protective frame is arranged around the propeller of the drone. The protective frame includes multiple tension basic units and tension lines that connect the tension basic units in series. A positioning structure for locking is provided between adjacent tension basic units. An airbag, and a support arm assembly for supporting the airbag; as well as The drive adjustment assembly includes a linear drive unit, a tension adjustment component, and a linkage mechanism connecting the two. The linear drive unit is connected to the support arm assembly and is used to drive the support arm assembly to move between a first position and a second position. The linear drive unit simultaneously drives the tension adjustment component to change the tension of the tensioning wire through the linkage mechanism. When the support arm assembly is in the first position, the tensioning wire is tensioned, and the tensioning basic units are locked together by the positioning structure to form a rigid state. When the support arm assembly is in the second position, the tensioning wire is relaxed, and the tensioning basic units are in a flexible state that can move relatively freely.

2. The UAV device with variable stiffness protection function according to claim 1, characterized in that, The tensioning basic unit has longitudinal threading holes and transverse threading holes. The tensioning wire passes through the longitudinal threading holes and transverse threading holes to connect multiple tensioning basic units in series.

3. The UAV device with variable stiffness protection function according to claim 1, characterized in that, The positioning structure is a positioning groove formed on the contact surface of the tensioning basic unit; when the tensioning wire is tensioned, adjacent tensioning basic units interlock with each other through the positioning groove, and multiple tensioning basic units lock each other to form a cylindrical duct structure.

4. The UAV device with variable stiffness protection function according to claim 3, characterized in that, The tensioning basic unit has an inclined surface design. When the protective frame forms the cylindrical duct structure, the protective frame forms a duct for regulating airflow.

5. The unmanned aerial vehicle device with variable stiffness protection function according to claim 1, characterized in that, The tension adjusting component is a cross disc; the linkage mechanism is a linkage rod connecting the output end of the linear drive unit and the cross disc; the linear drive unit drives the linkage rod to move, and the linkage rod drives the cross disc to rotate, thereby adjusting the tension of the tensioning wire connected to the cross disc.

6. The unmanned aerial vehicle device with variable stiffness protection function according to claim 1, characterized in that, The support arm assembly includes a first support arm structure and a second support arm structure; one end of the first support arm structure and the second support arm structure are connected to the fuselage of the drone, and the other end supports the airbag.

7. The UAV device with variable stiffness protection function according to claim 6, characterized in that, A limiting block is provided at the connection between the first support arm structure and the second support arm structure; the limiting block is used to restrict the first support arm structure and the second support arm structure from collapsing inward, and to make the support arm assembly form a semi-circular structure when it unfolds outward.

8. The unmanned aerial vehicle (UAV) device with variable stiffness protection function according to claim 1, characterized in that, The linear drive unit includes four linear motors; the four linear motors are symmetrically mounted on the fuselage of the UAV via a mounting bracket.

9. The unmanned aerial vehicle device with variable stiffness protection function according to claim 1, characterized in that, The airbag covers the outside of the support arm assembly and the upper and lower parts of the drone fuselage; when the support arm assembly extends outward, the support arm assembly supports the airbag.

10. The unmanned aerial vehicle (UAV) device with variable stiffness protection function according to claim 1, characterized in that, It also includes an onboard computer and a flight control module connected to the onboard computer; the flight control module is used to detect the flight attitude signal of the UAV and send instructions to the onboard computer when an abnormal signal is detected, and the onboard computer controls the linear drive unit to operate.

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