A decoupled modular keel structure

Abstract

The present application relates to the technical field of unmanned aerial vehicle cluster cooperative control and lightweight space structure design, and particularly relates to a decoupled modular keel structure, which comprises a head traction module, a body module, a tail module, a truss support module and a power keel joint module, and the geometric center of the head traction module is provided with one power keel joint module. The body module comprises two sections connected in sequence, each section comprising a truss support module and a power keel joint module. The tail module is composed of one power keel joint module. The truss support module is connected with the dragon flexible material through a flexible connection assembly, the flexible connection assembly allows the truss support module to swing relative to the dragon skin, and a motion redundancy gap is reserved between adjacent truss support modules. The present application realizes the decoupling of form support, power driving and flexible adaptation through modular design, is convenient to disassemble and assemble, has low maintenance cost, and is suitable for outdoor low-altitude aerial dragon culture performance.

Description

Technical Field

[0001] This invention relates to the field of collaborative control of unmanned aerial vehicle (UAV) swarms and lightweight spatial structure design technology, and in particular to a decoupled modular keel structure. Background Technology

[0002] With the expansion of drone applications in various cultural and artistic performance scenarios, low-altitude performances combining drones with traditional dragon dance culture are rapidly emerging, achieving both innovative development of traditional culture and accurately responding to the goals of low-altitude economic development.

[0003] Unlike conventional drone swarm performances, aerial dragon dance requires a flexible dragon body to perform complex maneuvers such as spiral ascents and serpentine swings. This necessitates addressing specialized technical requirements such as drone fixation, coupling control under dragon body constraints, and maintaining the dragon's shape. Currently, the main technical approaches for connecting the dragon's frame to drones in aerial dragon dance are as follows: First, a purely flexible towing scheme, where the drone directly tows an unsupported flexible dragon skin, eliminating the need for a dedicated dragon frame structure; second, a rigid integrated dragon frame scheme, where the drone is fixedly connected to a rigid dragon frame and then bound to the dragon skin to achieve form support; and third, a simplified modular dragon frame scheme, where the dragon body is segmented with simple support structures and then easily connected to the drone.

[0004] However, all of the above technical solutions have obvious limitations and bottlenecks. The purely flexible towing solution, due to the lack of a dedicated support structure, will cause the dragon's body shape to collapse, interference between the dragon skin and the aircraft, and strong control coupling between the drone. Moreover, the movement of the dragon skin is greatly affected by airflow, making the dragon body difficult to control, resulting in poor visual effects and failing to meet the requirements for performance stability. The rigid integrated keel solution can maintain the shape of the dragon body, but it is heavy, inconvenient to disassemble and assemble, and the connection between the rigid structure and the flexible dragon skin is prone to failure. The drone's vibration is directly transmitted to the dragon body, affecting flight stability. At the same time, it lacks modular design, resulting in high maintenance costs. The simple modular keel solution has a certain degree of maintainability, but the support strength is insufficient, the drone's power output and the dragon's posture adjustment interfere with each other, and the connection reliability is poor, making it difficult to adapt to high-difficulty performance movements in complex outdoor airflow environments.

[0005] Therefore, a modular, lightweight, and decoupled keel structure solution is needed to support the stable performance of aerial dragon dance in complex outdoor airflow environments. Summary of the Invention

[0006] The purpose of this invention is to provide a decoupled modular keel structure to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides a decoupled modular keel structure, including a dragon head traction module, a dragon body module, a dragon tail module, a truss support module, and a power keel joint module, wherein a power keel joint module is disposed at the geometric center of the dragon head traction module; The dragon body module includes two sections connected in sequence. Each section includes a truss support module and a power keel joint module. The truss support module is located at the front end of the section, and the power keel joint module is located at the rear end of the section. The tail module is composed of a power keel joint module; The truss support module is fixedly connected to the flexible material of the dragon dance through a flexible connection component, which allows the truss support module to swing relative to the flexible material of the dragon dance. A motion redundancy gap is reserved between two adjacent truss support modules.

[0008] Preferably, the truss support module includes carbon fiber rods and 3D-printed nylon node balls, with the carbon fiber rods inserted into pre-drilled holes in the node balls to form a space truss structure.

[0009] Preferably, the carbon fiber rod includes a longitudinal main rod, a cross-sectional frame rod, and diagonal web rods. The ends of the longitudinal main rod, the cross-sectional frame rod, and the diagonal web rods are respectively connected to the corresponding node balls, and the rods do not overlap or interfere with each other.

[0010] Preferably, the flexible connection assembly includes high-strength nylon webbing, locally reinforced lining, and D-rings; The locally reinforcing lining is sewn onto the inside of the flexible material used for dragon dancing. One end of the high-strength nylon webbing is sewn and fixed to the locally reinforced lining, and the other end is fixedly connected to the D-ring. The node ball is provided with a hanging hole, and the D-shaped ring is hung in the hanging hole.

[0011] Preferably, the power keel joint module includes a ducted rotor drone, a lightweight frame, shock-absorbing pads, and a quick-release locking mechanism; The shock-absorbing rubber pads are fixedly mounted on the lightweight frame; The ducted rotor UAV is placed above the shock-absorbing rubber pad and is fixedly connected to the lightweight frame, and the center of gravity of the ducted rotor UAV coincides with the geometric center of the lightweight frame. The quick-release locking mechanism is installed on the lightweight frame and is used for detachable connection with the nylon webbing on the flexible material of the dragon dance.

[0012] Preferably, the lightweight frame includes a transverse main beam and a longitudinal support beam; The longitudinal support beams extending downwards are symmetrically provided at both ends of the transverse main beam; The upper surface of the transverse main beam is provided with a groove that is compatible with the shock-absorbing rubber pad, and the inner wall of the groove is provided with an anti-slip texture. The connection between the transverse main beam and the longitudinal support beam is provided with an arc transition structure.

[0013] Preferably, the longitudinal support beam is provided with a reserved mounting hole, one end of the quick-release locking mechanism is installed in the reserved mounting hole, and the other end is connected to the D-shaped ring at the end of the nylon webbing.

[0014] Preferably, the shock-absorbing pad is made of silicone and fits between the bottom contour of the ducted rotor UAV and the groove of the lightweight frame; The ducted rotor UAV is fixedly connected to the transverse main beam by straps.

[0015] Preferably, the quick-release locking mechanism includes a screw, a limiting retaining ring, a sleeve body, a locking button, a return spring, a movable locking tongue, and a C-shaped hook. The upper end of the screw is threadedly connected to a pre-reserved mounting hole on the longitudinal support beam, and the lower end of the screw is provided with a spherical limiting boss. The limiting retaining ring is sleeved on the outside of the spherical limiting boss. The upper end of the sleeve body supports the limiting retaining ring, allowing the sleeve body to rotate circumferentially relative to the screw and be axially limited. The sleeve body is equipped with a locking button on its side wall, and a movable locking tongue is provided inside the sleeve body. The return spring abuts between the movable locking tongue and the sleeve body to provide an outward return force for the movable locking tongue. The C-shaped hook is fixed to the lower end of the sleeve body. Pressing the locking button can drive the movable locking tongue to retract and open the opening of the C-shaped hook. After releasing the locking button, the movable locking tongue extends to close the opening of the C-shaped hook, realizing quick locking.

[0016] Preferably, the number of the power keel joint modules is four, and the four power keel joint modules are respectively disposed on the head traction module, the two sections of the body module and the tail module.

[0017] Therefore, the present invention provides a decoupled modular keel structure with the following beneficial effects: The present invention independently sets and separates the functions of the truss support module, the power keel joint module and the flexible connection component. The truss support module is used to stabilize and maintain the shape of the keel body, the power keel joint module independently provides power output, and the flexible connection component allows the truss to have a certain range of swing freedom relative to the keel skin. This reduces the interference between the power output of the UAV and the attitude adjustment of the keel body, the interference between the keel skin and the body, and the strong control coupling between the UAVs in the existing solution.

[0018] All modules of this invention adopt a modular design. The truss is quickly assembled and disassembled through the node ball plug-in. The power keel joint module is quickly connected and separated from the keel skin through the quick-release locking mechanism. The two truss sections are independent of each other and can be replaced and maintained separately. All components are made of mature parts or 3D printed parts, which is convenient for mass production.

[0019] In the powered keel joint module, the ducted rotor drone is fixed to the lightweight frame via shock-absorbing pads. These pads, made of highly elastic and wear-resistant silicone, conform to the drone's bottom contour and the frame's grooved structure, effectively absorbing vibrations generated during drone operation. Simultaneously, the drone's center of gravity coincides with the geometric center of the lightweight frame, ensuring even force distribution during power output, preventing flight instability caused by center of gravity shift, reducing the impact of vibration on the truss support module and the keel skin, and enhancing the performance experience. Attached Figure Description

[0020] Figure 1 This is the overall intent of a decoupled modular keel structure in an embodiment of the present invention; Figure 2 This is a schematic diagram showing a partial connection between the 3D-printed nylon node sphere and the dragon body material in an embodiment of the present invention; Figure 3 This is a schematic diagram of the lightweight frame structure in an embodiment of the present invention; Figure 4 for Figure 3 A magnified view of a section at point A in the middle; Figure 5 This is a schematic diagram of the truss support module in an embodiment of the present invention; Figure 6 This is a right view of the lightweight frame in an embodiment of the present invention; Figure 7 This is an overall schematic diagram of the power keel joint module in an embodiment of the present invention; Figure Labels 1. Dragon head traction module; 2. Dragon body module; 201. Nylon webbing; 202. Partially reinforced lining; 203. D-ring; 3. Dragon tail module; 4. Truss support module; 401. 3D printed nylon node ball; 402. Longitudinal main rod; 403. Section frame rod; 404. Diagonal web rod; 5. Power keel joint module; 501. Ducted rotor UAV; 502. Lightweight frame; 5021. Transverse main beam; 5022. Longitudinal support beam; 5023. Reserved mounting holes; 504. Shock-absorbing pad; 6. Quick-release locking mechanism; 61. Screw; 611. Spherical limiting boss; 62. Limiting retaining ring; 63. Sleeve body; 64. Locking button; 65. Return spring; 66. Movable locking tongue; 67. C-shaped hook. Detailed Implementation

[0021] In the description of this invention, it should be noted that 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, or the orientation or positional relationship in which the product of this invention is usually placed when in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0022] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0024] Example like Figure 1-7 As shown, the present invention provides a decoupled modular keel structure for low-altitude aerial dragon dance performances, which decouples form support, power drive and flexible adaptation, thereby improving the stability, controllability and visual effect of aerial dragon dance.

[0025] The structure as a whole includes a dragon head traction module 1, a dragon body module 2, a dragon tail module 3, two truss support modules 4, flexible connection components, and four power keel joint modules 5. Each module adopts a modular design, which facilitates disassembly, maintenance, and mass production.

[0026] Four powered dragon bone joint modules 5 are respectively installed on the head traction module 1, the two sections of the dragon body module 2, and the tail module 3. Two truss support modules 4 are respectively installed on the two sections of the dragon body module 2. Flexible connection components are used to achieve reliable connection between the truss support modules 4 and the flexible material of the dragon dance (i.e., dragon skin), and a certain degree of swing freedom is reserved to adapt to the needs of dynamic posture adjustment in the air.

[0027] The dragon head traction module 1, serving as the traction end of the entire keel structure, has no spatial truss support structure. A powered keel joint module 5 is fixedly installed at its geometric center. This powered keel joint module 5 acts as the main traction source for the overall structure, providing initial traction for the dragon in the air and ensuring the stability of the dragon's overall posture. Its installation position corresponds to the geometric center of the dragon head's flexible material, preventing the dragon head from tilting during traction.

[0028] The dragon body module 2 comprises two interconnected structural sections. Each section includes an independent truss support module 4 and a powered keel joint module 5, connected in that the truss support module 4 comes first, followed by the powered keel joint module 5. After the two dragon body sections are connected, the overall structure is in a flexible, extended state, suitable for complex performance maneuvers such as serpentine swaying and spiral ascents. The two truss support modules 4 are completely separate, independently providing form support for their respective dragon body segments. This prevents damage to one truss section from affecting the overall shape retention of the dragon body and facilitates individual replacement and maintenance. A motion redundancy gap is reserved between adjacent truss support modules 4. This gap is used to avoid the movement trajectory of the subsequent lightweight frame 502, ensuring that the lightweight frame 502 does not interfere with the space truss during flight, while providing sufficient space for the dragon body's swaying.

[0029] The dragon tail module 3 consists of only one powered keel joint module 5, without any truss support device. It utilizes the power output of the powered keel joint module 5 to enable the flexible swinging of the dragon tail, while reducing the weight of the dragon tail, reducing the overall flight load, and preventing the dragon body from becoming unbalanced due to excessive weight of the dragon tail.

[0030] The truss support module 4 consists of carbon fiber rods inserted into pre-drilled holes in 3D-printed nylon node balls 401 and secured with fasteners. The carbon fiber rods are made of high-strength, lightweight carbon fiber composite material and include longitudinal main rods 402, cross-section frame rods 403, and diagonal web rods 404. The longitudinal main rods 402 extend along the length of the truss body, the cross-section frame rods 403 form the truss cross-section profile, and the diagonal web rods 404 are inclinedly connected between the longitudinal main rods 402 and the cross-section frame rods 403. These three components work together to form a stable spatial truss structure, with no overlap or interference between the members, and all member ends connected to node balls 401. This structure has a clear force distribution, with each member only bearing axial force, reducing the weight of a single truss section and meeting the lightweight payload requirements of low-altitude aircraft.

[0031] The flexible connection assembly includes a high-strength nylon webbing 201 sewn onto the inside of the dragon skin, a locally reinforcing lining 202, and a plastic D-ring 203. The locally reinforcing lining 202 is sewn at the connection between the dragon skin and the nylon webbing 201 to enhance the local strength of the dragon skin and prevent damage from long-term stress. The high-strength nylon webbing 201 is made of wear-resistant and tensile-resistant nylon material; one end is sewn to the locally reinforcing lining 202, and the other end is fixedly connected to the plastic D-ring 203. The node ball 401 has a dedicated hook hole, into which the plastic D-ring 203 is hooked in a movable hooking method. This hooking method allows the truss support module 4 to have a certain range of swing freedom relative to the dragon skin, ensuring the dragon body maintains its shape while avoiding component interference caused by rigid connections. It also allows for quick separation of the truss and the dragon skin, facilitating the replacement and cleaning of the dragon skin.

[0032] Each power keel joint module 5 includes a ducted rotor drone 501, a lightweight frame 502, shock-absorbing pads 504, and a quick-release locking mechanism 6. The ducted rotor drone 501 is a miniaturized, highly stable model aircraft-grade ducted rotor drone, and its output power can be adjusted according to performance requirements. The four ducted rotor drones 501 operate independently without mechanical or flexible connections, achieving decoupling of power drive and preventing the failure of a single drone from affecting the operation of the overall structure.

[0033] The lightweight frame 502 serves as the mounting base for the power keel joint module 5, and includes a transverse main beam 5021 and a longitudinal support beam 5022. The transverse main beam 5021 is a hollow structure, and its width is adapted to the installation width of the ducted rotor UAV 501 to ensure the stability of the center of gravity of the ducted rotor UAV 501 after installation. Symmetrically, longitudinal support beams 5022 extending downwards are provided at both ends of the transverse main beam 5021. The upper surface of the transverse main beam 5021 has grooves adapted to the shock-absorbing pads 504, and the inner wall of the grooves has anti-slip textures to achieve the positioning and installation of the shock-absorbing pads 504, preventing displacement of the shock-absorbing pads 504 during flight.

[0034] The longitudinal support beam 5022 is provided with a reserved mounting hole 5023, and the inner wall of the mounting hole is provided with an internal thread to facilitate the threaded connection and fixation of the quick-release locking mechanism 6.

[0035] The shock-absorbing pad 504 is made of highly elastic and wear-resistant silicone material, conforming to the bottom contour of the ducted rotor drone 501 and the groove structure of the lightweight frame 502. The ducted rotor drone 501 is secured to the lightweight frame 502 via the shock-absorbing pad 504 and high-strength straps made of stainless steel, which are wrapped around the drone fuselage and the transverse main beam 5021 and tightened for reliable fixation. The drone's center of gravity coincides with the geometric center of the lightweight frame 502, ensuring even force distribution on the frame during power output and preventing flight instability caused by center of gravity shift. The shock-absorbing pad 504 effectively absorbs vibrations generated during drone operation, reducing the impact of vibrations on the truss support module 4 and the keel, while also reducing vibration noise.

[0036] The quick-release locking mechanism 6 is used to enable quick connection and separation between the power keel joint module 5 and the D-shaped ring 203 at the end of the nylon webbing 201 on the keel skin.

[0037] The quick-release locking mechanism 6 specifically includes a screw 61, a limiting retaining ring 62, a sleeve body 63, a locking button 64, a return spring 65, a movable locking tongue 66, and a C-shaped hook 67. The upper end of the screw 61 is provided with external threads, which are threadedly connected and fixed to the pre-drilled mounting holes on the longitudinal support beam 5022. The lower end of the screw 61 is provided with a spherical limiting boss 611, and the limiting retaining ring 62 is fitted onto the outside of the spherical limiting boss 611. The upper end of the sleeve body 63 supports the limiting retaining ring 62, allowing the sleeve body 63 to rotate circumferentially relative to the screw 61 and be axially limited.

[0038] A locking knob 64 is fitted on the side wall of the sleeve body 63. One end of the locking knob 64 extends outside the sleeve body 63 for the operator to press, while the other end extends into the sleeve body 63 and abuts against the movable locking tongue 66. The movable locking tongue 66 passes through the inside of the sleeve body 63 and can slide back and forth horizontally within the sleeve body 63. A return spring 65 abuts between the movable locking tongue 66 and the inner wall of the sleeve body 63, providing a return force for the movable locking tongue 66 to extend outward.

[0039] C-shaped hook 67 is fixedly connected to the lower end of sleeve body 63. C-shaped hook 67 has a C-shaped opening structure and is used to hook the D-shaped ring 203 at the end of nylon webbing 201. When the operator presses the locking button 64, the locking button 64 drives the movable locking tongue 66 to retract backward against the elastic force of the return spring 65, opening the opening of C-shaped hook 67. At this time, the D-shaped ring 203 can be hooked into or removed from C-shaped hook 67. After releasing the locking button 64, the movable locking tongue 66 extends outward under the elastic force of the return spring 65, closing the opening of C-shaped hook 67 and preventing the D-shaped ring 203 from dislodging, thus achieving quick locking. This quick-release locking mechanism 6 has a simple structure and is easy to operate. The hook can be opened and closed by pressing the locking button 64 with only one hand. Combined with its modular design, it improves the disassembly and assembly efficiency and maintenance convenience of the keel structure.

[0040] The specific assembly method and usage process of this embodiment are as follows: Assembly of truss support module 4: Insert the longitudinal main rod 402, the cross-section frame rod 403 and the diagonal web rod 404 into the existing mounting holes of the 3D printed nylon node ball 401 to achieve the insertion and fixation of each rod with the node ball 401, forming a complete space truss structure.

[0041] Assembly of the powered keel joint module 5: Embed the shock-absorbing pad 504 into the groove of the transverse main beam 5021 of the lightweight frame 502. Place the ducted rotor UAV 501 on the shock-absorbing pad 504, adjust its position so that the UAV's center of gravity coincides with the geometric center of the lightweight frame 502, and secure it to the transverse main beam 5021 using stainless steel strapping. Then, thread the upper end of the screw 61 of the quick-release locking mechanism 6 into the reserved mounting hole of the longitudinal support beam 5022, completing the assembly of the powered keel joint module 5.

[0042] Assembly of the flexible connection component: The local reinforcing lining 202 is sewn to the preset position on the inside of the nylon skin, one end of the high-strength nylon webbing 201 is sewn to the local reinforcing lining 202 and the other end is fixedly connected to the plastic D-ring 203.

[0043] After each independent module is assembled, the whole assembly is performed. The power keel joint module 5 of the faucet traction module 1 is connected and fixed to the D-ring 203 at the end of the nylon webbing 201 of the faucet skin through its quick-release locking mechanism 6.

[0044] First, attach the truss support module 4 to the corresponding node ball 401 mounting hole of the dragon body using plastic D-rings 203. Then, connect and fix the power keel joint module 5 to the D-ring 203 at the end of the nylon webbing 201 of the dragon body skin using quick-release locking mechanism 6. Connect the two dragon body sections sequentially, ensuring that there is a pre-reserved movement redundancy gap between adjacent truss support modules 4. Connect and fix the power keel joint module 5 of the dragon tail module 3 to the D-ring 203 at the end of the nylon webbing 201 of the dragon tail skin using quick-release locking mechanism 6, completing the assembly of the entire keel structure and dragon skin.

[0045] When each quick-release locking mechanism 6 is connected to the D-ring 203, press the locking button 64 to retract the movable locking tongue 66, opening the opening of the C-hook 67. After hooking the D-ring 203 into the C-hook 67, release the locking button 64. The movable locking tongue 66 extends under the action of the return spring 65 to close the opening of the C-hook 67, achieving quick locking.

[0046] During the flight performance, four ducted rotor drones 501 are activated. The power keel joint module 5 of the dragon head traction module 1 provides the main traction force, lifting the entire dragon body into the air. The two power keel joint modules 5 of the dragon body module 2 provide auxiliary power to adjust the dragon's posture. The power keel joint module 5 of the dragon tail module 3 adjusts the trajectory of the dragon tail's swing, coordinating with the dragon body to complete high-difficulty performance maneuvers such as spiral ascents and serpentine swings.

[0047] During flight, truss support module 4 provides stable support for the dragon's body, preventing collapse. Flexible connection components allow the truss to sway relative to the dragon's skin, adapting to the dragon's dynamic posture adjustments. Shock-absorbing pads 504 absorb drone vibrations, reducing their impact on the overall structure. Motion redundancy gaps between adjacent trusses prevent interference between the lightweight frame 502 and the spatial truss. The four drones operate independently, achieving power decoupling and ensuring that if one drone malfunctions, the others can continue operating, enhancing the performance's stability.

[0048] After the performance, the drone's power is turned off. Once the dragon body lands smoothly, press the locking levers 64 on each quick-release locking mechanism 6 to retract the movable locking tongue 66, opening the C-shaped hook 67. Remove the D-shaped ring 203 from the C-shaped hook 67, achieving rapid separation of the powered keel joint module 5 from the dragon skin. Then, disassemble each modular component for cleaning, inspection, and maintenance, facilitating future reuse. If a module is found to be damaged, it can be individually disassembled and replaced, reducing maintenance costs.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A decoupled modular keel structure for low-altitude aerial dragon dance performances, characterized in that: It includes a dragon head traction module, a dragon body module, a dragon tail module, a truss support module, and a power keel joint module, wherein a power keel joint module is provided at the geometric center of the dragon head traction module; The dragon body module includes two sections connected in sequence. Each section includes a truss support module and a power keel joint module. The truss support module is located at the front end of the section, and the power keel joint module is located at the rear end of the section. The tail module is composed of a power keel joint module; The truss support module is fixedly connected to the flexible material of the dragon dance through a flexible connection component, which allows the truss support module to swing relative to the flexible material of the dragon dance. A motion redundancy gap is reserved between two adjacent truss support modules.

2. The decoupled modular keel structure according to claim 1, characterized in that: The truss support module includes carbon fiber rods and 3D-printed nylon node balls. The carbon fiber rods are inserted into the reserved holes of the node balls to form a space truss structure.

3. The decoupled modular keel structure according to claim 2, characterized in that: The carbon fiber rod includes a longitudinal main rod, a cross-sectional frame rod, and diagonal web rods. The ends of the longitudinal main rod, the cross-sectional frame rod, and the diagonal web rods are respectively connected to the corresponding node balls. The rods do not overlap or interfere with each other.

4. The decoupled modular keel structure according to claim 3, characterized in that: The flexible connection assembly includes high-strength nylon webbing, locally reinforced lining, and a D-ring; The locally reinforcing lining is sewn onto the inside of the flexible material used for dragon dancing. One end of the high-strength nylon webbing is sewn and fixed to the locally reinforced lining, and the other end is fixedly connected to the D-ring. The node ball is provided with a hanging hole, and the D-shaped ring is hung in the hanging hole.

5. A decoupled modular keel structure according to claim 4, characterized in that: The power keel joint module includes a ducted rotor drone, a lightweight frame, shock-absorbing pads, and a quick-release locking mechanism. The shock-absorbing rubber pads are fixedly mounted on the lightweight frame; The ducted rotor UAV is placed above the shock-absorbing rubber pad and is fixedly connected to the lightweight frame, and the center of gravity of the ducted rotor UAV coincides with the geometric center of the lightweight frame. The quick-release locking mechanism is installed on the lightweight frame and is used for detachable connection with the nylon webbing on the flexible material of the dragon dance.

6. A decoupled modular keel structure according to claim 5, characterized in that: The lightweight frame includes transverse main beams and longitudinal support beams; The longitudinal support beams extending downwards are symmetrically provided at both ends of the transverse main beam; The upper surface of the transverse main beam is provided with a groove that is compatible with the shock-absorbing rubber pad, and the inner wall of the groove is provided with an anti-slip texture. The connection between the transverse main beam and the longitudinal support beam is provided with an arc transition structure.

7. A decoupled modular keel structure according to claim 6, characterized in that: The longitudinal support beam is provided with a reserved mounting hole. One end of the quick-release locking mechanism is installed in the reserved mounting hole, and the other end is connected to the D-shaped ring at the end of the nylon webbing.

8. A decoupled modular keel structure according to claim 5, characterized in that: The shock-absorbing pads are made of silicone and fit between the bottom contour of the ducted rotor UAV and the groove of the lightweight frame. The ducted rotor UAV is fixedly connected to the transverse main beam by straps.

9. A decoupled modular keel structure according to claim 6, characterized in that: The quick-release locking mechanism includes a screw, a limiting retaining ring, a sleeve body, a locking button, a return spring, a movable locking tongue, and a C-shaped hook. The upper end of the screw is threadedly connected to a pre-drilled mounting hole on the longitudinal support beam, and the lower end of the screw is provided with a spherical limiting boss. The limiting retaining ring is sleeved on the outside of the spherical limiting boss. The upper end of the sleeve body supports the limiting retaining ring, allowing the sleeve body to rotate circumferentially relative to the screw and be axially limited. The sleeve body is equipped with a locking button on its side wall, and a movable locking tongue is provided inside the sleeve body. The return spring abuts between the movable locking tongue and the sleeve body to provide an outward return force for the movable locking tongue. The C-shaped hook is fixed to the lower end of the sleeve body. Pressing the locking button can drive the movable locking tongue to retract and open the opening of the C-shaped hook. After releasing the locking button, the movable locking tongue extends to close the opening of the C-shaped hook, realizing quick locking.

10. A decoupled modular keel structure according to claim 1, characterized in that: The number of the power keel joint modules is four, and the four power keel joint modules are respectively installed on the head traction module, the two sections of the body module and the tail module.

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