Rotor-suction aircraft based on dynamic conforming technology

Abstract

The utility model relates to a rotor adsorption aircraft based on dynamic technology, including unmanned aerial vehicle body, the rotor of setting on unmanned aerial vehicle body, the lateral surface of unmanned aerial vehicle body is equipped with the flexible support mechanism that can change shape, be equipped with a plurality of adsorption element that can carry out adsorption on the flexible support mechanism, the utility model discloses the shape of two groups of flexible support mechanism of whole unmanned aerial vehicle single side can change shape and remove adsorption, and then adjust the angle to realize the removal adsorption and the re -adsorption after adjusting the angle, and this design makes the lateral surface can realize the state of crawling, makes the unmanned aerial vehicle in adsorption state time can carry out the fine adjustment position.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a rotor adsorption aircraft based on dynamic bonding technology. Background Technology

[0002] Aircraft or drones with adsorption hovering capabilities are a new type of aircraft that combines traditional flight capabilities with special adsorption technology. Through built-in electromagnetic devices or biomimetic suction cup structures, they can quickly approach and firmly adhere to target surfaces such as walls, glass, or metal during flight, achieving stable hovering and even clinging movement. This design significantly enhances the drone's operational capabilities in complex environments. In adsorption mode, the drone can shut down its rotors, maintaining only sensor operation, significantly extending mission duration. In the future, with advancements in materials science and microfabrication technology, the resulting van der Waals force suction cups (biomimetic adhesive pads) may enable the development of lighter, more intelligent versions of adsorption aircraft (or robots), even achieving adaptive adsorption to different material surfaces, providing entirely new solutions for industrial inspection and military reconnaissance.

[0003] The authorization announcement number CN222005369U discloses a monitoring drone. According to its instruction manual and drawings, the solution utilizes the adsorption capacity of the adsorption component and the supporting effect of the support plate to suspend the connecting plate on the wall, so that the suspension frame can hover in the air.

[0004] However, the solution has certain limitations: 1. The suspension frame cannot be deformed and adjusted according to the specific terrain or the shape of the object being adsorbed, thus limiting its adsorption capabilities; 2. The drone cannot make fine adjustments to its position while in the adsorption state, and the accuracy of position adjustment via the rotor is not high, resulting in limitations in position adjustment. Summary of the Invention

[0005] This invention addresses the problems encountered by adsorption drones during adsorption, proposing a rotor-based adsorption drone based on dynamic bonding technology. Its core concept lies in overcoming the limitation of existing adsorption drones, which can only perform static adsorption. To achieve this, this invention is not limited to a specific mechanical structure but proposes a systematic method based on multiple independently controlled flexible adsorption mechanisms. The core of this method is to control the deformation of a flexible support mechanism through a driving mechanism (including but not limited to rope-driven, pneumatic-driven, and smart material-driven mechanisms), combined with adsorption elements and control logic, ultimately achieving adaptive bonding and attitude adjustment of the drone on the adsorption surface. Specifically, by controlling the flexible support mechanism on the side of the drone to alternately perform the actions of "deformation to release adsorption - motor angle adjustment - reset and re-adsorption," the drone can crawl along the adsorption surface, enabling precise attitude fine-tuning while in adsorption mode.

[0006] The purpose of this invention is achieved through the following technical solution: a rotor adsorption aircraft based on dynamic bonding technology, including a drone body, a rotor set on the drone body, a flexible support mechanism that can deform on the side of the drone body, and a plurality of adsorption elements that can adsorb on the flexible support mechanism.

[0007] Preferably, the UAV body includes a first annular support member, a drive support frame, a first motor housing, a first drive motor, a first rotor, and aileron elements. The first annular support member has several drive support frames inside, and the ends of the drive support frames are connected to the first motor housing. The first motor housing has a first drive motor inside, and the ends of the first drive motor have a first rotor. The first annular support member has several aileron elements on its outer side.

[0008] Preferably, the aileron element includes a rotor support shell disposed outside the first annular support member and a second drive motor disposed inside the rotor support shell, wherein the end of the second drive motor is connected to a second rotor.

[0009] Preferably, the bottom of the drone body extends downward to provide a ring-shaped support component, the flexible support mechanism is deformable relative to the surface of the ring-shaped support component, and the middle of the drone body extends downward to provide an electrical support shaft for storing electrical components.

[0010] Preferably, the annular support assembly includes a first ring, a second annular support member, and a second ring. The first ring is disposed at the bottom of the UAV body, and the second annular support member and the second ring are disposed sequentially at the bottom of the first ring.

[0011] Preferably, the flexible support mechanism includes a second motor housing, a third drive motor, a second annular support member, a rotating support base, flexible support plates, and suction cup support members. The third drive motor is located inside the second motor housing. The rotating shaft of the third drive motor passes through the rotating support base located inside the second annular support member. Several flexible support plates and several suction cup support members are sequentially hinged to the ends of the rotating support base. Each suction cup support member has an adsorption element on one side. The shape formed by the several flexible support plates and suction cup support members is deformed by the pull of the drive assembly.

[0012] Preferably, the adsorption element is a suction cup (which can be a polymer suction cup based on van der Waals forces, i.e., a biomimetic adhesive device with a micro-pillar array structure made of a polymer substrate through precision manufacturing, see CN202311437369.4, or a suction cup based on a temperature-sensitive phase change material, or a negative pressure suction cup with a vacuum pump). The flexible support plate and the suction cup support are hinged together by a pin. This setting is to allow the arc shape formed by the flexible support plate and the suction cup support to change.

[0013] Preferably, the drive assembly includes a rope-driven support shell, a rotating wheel, a fourth drive motor, and a drive rope. The side of the electrical support shaft is provided with several locking support columns. The ends of the locking support columns are connected to the rope-driven support shell. The inside of the rope-driven support shell is provided with a rotating wheel that can rotate. The rotating wheel is driven by the fourth drive motor outside the rope-driven support shell. Each suction cup support is provided with a drive rope fixedly connected to its other side.

[0014] Preferably, the bottom of the electrical support shaft is provided with a docking bracket, and the middle of the docking bracket is provided with a robotic arm connecting plate for mounting a robotic arm. This arrangement is to enable the bottom of the entire drone to be equipped with robotic arms with different functions according to the user's needs.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. Achieves precise pose fine-tuning under adsorption conditions. This invention utilizes independently controlled flexible support mechanisms on both sides to alternately perform a crawling motion of "deformation desorption - motor angle adjustment - resetting and re-adsorption". This design enables the UAV to achieve precise and silent six-degree-of-freedom pose adjustment while adsorbing onto a vertical or inclined surface, in an energy-saving state with the main rotor off, completely solving the problems of difficult and inaccurate position adjustment in traditional adsorption UAVs;

[0017] 2. The entire drone is designed in a barrel shape, unlike the configuration of most multi-rotor drones on the market. This design provides a highly integrated and well-protected platform configuration: the unique barrel-shaped fuselage design houses the rotor, transmission mechanism, and payload, forming a natural protective cavity that significantly improves collision safety during flight and adsorption. This compact configuration reduces external protrusions, while its core framework provides standardized installation interfaces and expansion capabilities for various functional modules (such as sensors and operating mechanisms).

[0018] 3. A standardized robotic arm connection plate is designed at the bottom of the drone, enabling the robotic arm to compensate for attitude fluctuations in real time during hovering operations. This design is compatible with 3-6 degree-of-freedom robotic arms, allowing for precise manipulation based on the stability provided by adsorption and hovering. This significantly expands the application depth and reliability of drones in scenarios requiring precise operation, such as high-altitude maintenance and disaster relief, enhances the ability to perform precise aerial operations in complex environments, and reduces the energy consumption of attitude adjustment during traditional drone aerial operations. Attached Figure Description

[0019] Figure 1 This is a perspective view of the present utility model;

[0020] Figure 2 This is a perspective view of the present utility model;

[0021] Figure 3 This is a perspective view of the present utility model;

[0022] Figure 4 This is a perspective view of the present utility model;

[0023] Figure 5 For the present utility model in Figure 4 A 3D diagram of region A;

[0024] Figure 6 This is an exploded view of the drive component of this utility model;

[0025] Figure 7 This is a perspective view of the present invention.

[0026] The diagram shows the following components: 1. UAV body; 11. First ring-shaped support; 12. Drive support frame; 13. First motor housing; 14. First drive motor; 15. First rotor; 16. Electrical support shaft; 161. Locking support column; 2. Aileron element; 21. Rotor support housing; 22. Second drive motor; 23. Second rotor; 3. Flexible support mechanism; 31. Second motor housing; 32. Third drive motor; 33. Rotary support base; 34. Flexible support plate; 35. Suction cup support; 4. Adsorption element; 5. Ring-shaped support assembly; 51. First ring; 52. Second ring-shaped support; 53. Second ring; 6. Drive assembly; 61. Rope-driven support housing; 62. Rotary wheel; 63. Fourth drive motor; 64. Drive rope; 7. Docking bracket; 71. Robotic arm connecting plate. Detailed Implementation

[0027] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings:

[0028] like Figure 1 and Figure 2As shown, a rotor adsorption aircraft based on dynamic bonding technology includes a drone body 1 and a rotor mounted on the drone body 1. The drone body 1 includes a first annular support 11, a drive support frame 12, a first motor housing 13, a first drive motor 14, a first rotor 15, and aileron elements 2. The first annular support 11 has several drive support frames 12 inside, and the ends of the drive support frames 12 are connected to the first motor housing 13. The first motor housing 13 has the first drive motor 14 inside, and the ends of the first drive motor 14 have the first rotor 15. The first annular support 11 has several aileron elements 2 on its outer side.

[0029] The aileron element 2 includes a rotor support shell 21 disposed outside the first annular support member 11 and a second drive motor 22 disposed inside the rotor support shell 21. The end of the second drive motor 22 is connected to a second rotor 23.

[0030] The first drive motor 14 drives the first rotor 15 to rotate, and the lift generated by the first rotor 15 can propel the entire drone in flight. When the drone needs to rotate to adjust its angle or flight direction during flight, the shaft of the second drive motor 22 drives the second rotor 23 to rotate. Since the shaft of the second rotor 23 is perpendicular to the first rotor 15, the driving force generated by the second rotor 23 during rotation can cause the drone to make minor adjustments to its direction.

[0031] Please continue to refer to this. Figure 3 The bottom of the drone body 1 extends downward to provide an annular support component 5. The annular support component 5 includes a first ring 51, a second annular support member 52, and a second ring 53. The first ring 51 is located at the bottom of the drone body 1, and the second annular support member 52 and the second ring 53 are sequentially arranged at the bottom of the first ring 51.

[0032] The cooperation between the first annular support 11, the first circular ring 51, the second annular support 52, and the second circular ring 53 assembles the entire drone into a barrel-like shape, distinguishing it from most fixed-wing drones on the market. The barrel-shaped fuselage forms a natural protective cavity, which can house the rotor and other loads, reducing protruding external components. The deformable design of the flexible support mechanism 3 (such as fitting and storing or angle adjustment) enables structural self-adaptation, ensuring both portability and support for the expansion of functional modules.

[0033] Please continue to refer to this. Figure 2 , Figure 4 and Figure 5As shown, the side of the drone body 1 is provided with a flexible support mechanism 3 capable of deformation, and the flexible support mechanism 3 is provided with a plurality of adsorption elements 4 capable of adsorption. The flexible support mechanism 3 can deform relative to the surface of the annular support assembly 5.

[0034] In this embodiment, the flexible support mechanism 3 includes a second motor housing 31, a third drive motor 32, a rotating support base 33, flexible support plates 34, and suction cup support members 35. The third drive motor 32 is housed inside the second motor housing 31. The rotating shaft of the third drive motor 32 passes through the rotating support base 33 located inside the second annular support member 52. A plurality of flexible support plates 34 and a plurality of suction cup support members 35 are sequentially hinged to the ends of the rotating support base 33. Each suction cup support member 35 has an adsorption element 4 on one side. The shape formed by the plurality of flexible support plates 34 and suction cup support members 35 is deformed by the pull of the drive assembly 6. The adsorption element 4 is a suction cup, and the flexible support plates 34 and suction cup support members 35 are hinged together by a pin.

[0035] During the rotation of the shaft of the third drive motor 32, it can drive the rotating support 33 to change its angle. During the rotation of the rotating support 33, the flexible support plate 34 and the suction cup support 35 are adjusted at the same time.

[0036] Since the entire drone is barrel-shaped, when divided into left and right sides, each side has two sets of flexible support plates 34 and suction cup supports 35. After the suction element 4 on the first set of suction cup supports 35 adheres to the surface of a designated object, the second set of flexible support plates 34 and suction cup supports 35 can adjust the angle of the flexible support plate 34 using a third drive motor 32, and then restore the deformation of the flexible support plate 34 until the suction cups in the second set can adhere. After the second set completes the angle adjustment and adhesion, the first set of flexible support plates 34 and suction cup supports 35 similarly use the flexible support plate 34 to change shape to release adhesion, and then use the third drive motor 32 of the first set to adjust the angle and re-adhere, enabling that side to achieve a crawling state.

[0037] Please continue to refer to this. Figure 3 , Figure 5 and Figure 6The UAV body 1 has an electrical support shaft 16 extending downward from the middle for storing electrical components. The drive assembly 6 includes a rope-driven support shell 61, a rotating wheel 62, a fourth drive motor 63, and a drive rope 64. The side of the electrical support shaft 16 is provided with several locking support columns 161. The ends of the locking support columns 161 are connected to the rope-driven support shell 61. The rotating wheel 62 is rotatably provided inside the rope-driven support shell 61. The rotating wheel 62 is driven by the fourth drive motor 63 outside the rope-driven support shell 61. Each suction cup support 35 has a drive rope 64 fixedly connected to its other side.

[0038] The shaft of the fourth drive motor 63 can drive the wheel 62 to rotate during rotation. The wheel 62 can pull the drive rope 64 during rotation. The drive rope 64 can change the curvature of the shape formed by the flexible support plates 34 and the suction cup support 35 during the pulling or releasing process, so that the adsorption element 4 on the suction cup support 35 can be tightly adsorbed to the surface of the adsorbed object of different shapes.

[0039] Please continue to refer to this. Figure 7 The bottom of the electrical support shaft 16 is provided with a docking bracket 7, and the middle of the docking bracket 7 is provided with a robotic arm connecting plate 71 for mounting the robotic arm. By setting an integrated robotic arm connecting plate 71 at the bottom of the drone, the robotic arm can compensate for the drone's attitude fluctuations in real time when hovering, which is compatible with 3-6 degree of freedom robotic arms and supports scenarios that require precise aerial operations, such as high-altitude equipment maintenance and disaster site demolition; moreover, the robotic arm can autonomously adjust its working trajectory in the hovering state, reducing the energy consumption of drone attitude adjustment.

[0040] Working principle and usage of this utility model:

[0041] The entire drone has a barrel-shaped configuration. When divided into left and right sides, each side has two sets of flexible support plates 34 and suction cup support components 35.

[0042] After the suction element 4 on the suction cup support 35 of the first group is adsorbed onto the surface of the designated object, the second group of flexible support plate 34 and suction cup support 35 can change the shape of the flexible support plate 34, and then the second group can use the third drive motor 32 to adjust the angle and restore the deformation of the flexible support plate 34 until the suction cup in the second group can be adsorbed.

[0043] After the second group completes the angle adjustment and adsorption, the flexible support plate 34 and suction cup support 35 of the first group similarly use the flexible support plate 34 to change shape to release the adsorption, and use the third drive motor 32 of the first group to adjust the angle and re-adsorb, so that the side can achieve a crawling state, so that the UAV can make fine adjustments to its position while in the adsorption state, improving the accuracy of the position adjustment.

[0044] Specifically, the flight control system of the UAV body is configured to execute the following crawling control process: First, control the drive component in the first set of flexible support mechanisms 3 to cause the suction cup support to warp and deform by pulling the drive rope 64, thereby breaking the seal between the suction cup and the contact surface and releasing the adsorption; Second, control the corresponding third drive motor 32 to rotate, adjusting the entire flexible support mechanism 3 to the target angle; Third, control the drive component to release the drive rope 64, using material elasticity or auxiliary mechanisms to make the suction cup re-adhere to the surface and complete the adsorption. Then, repeat steps 1-3 for the second set of mechanisms. Through the alternating actions of the two sets of mechanisms, the UAV achieves crawling movement along the adsorption surface.

[0045] It should be noted that the specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains can make various modifications or additions to the described specific embodiments or use similar methods to substitute them, but without departing from the spirit of this utility model or exceeding the scope defined by the appended claims. For example:

[0046] Regarding the aforementioned flexible support mechanism: The flexible support mechanism and adsorption element of this utility model are not limited to the discrete joint structure composed of the hinged flexible support plate 34 and the suction cup support 35. It can also be a continuous robot structure (composed of a section of flexible material with continuous bending capability), or a soft arm based on a pneumatic network structure, or any mechanism that can achieve controllable bending deformation and is equipped with an adsorption element.

[0047] Regarding the driving method: The rope-tendon drive of this utility model is not limited to the above-described motor 63-rotor 62-drive rope 64 scheme. The "tendon" can also be steel wire, Kevlar rope, or fiber tendon. The driving source can also be a linear motor, hydraulic cylinder, or pneumatic cylinder, etc., which directly provides linear tension, or the contraction of shape memory alloy wire can be used as the driving method.

[0048] Regarding the fuselage configuration: The UAV body 1 of this utility model is not limited to the barrel-shaped configuration described above. Any aircraft platform that can provide a stable mounting base and necessary load space for the flexible adsorption mechanism, such as traditional multi-rotor frames, compound wing layouts, etc., falls within the scope of this utility model.

Claims

1. A rotor adsorption aircraft based on dynamic bonding technology, comprising a drone body (1) and a first rotor (15) disposed on the drone body (1), characterized in that, The side of the UAV body (1) is provided with a flexible support mechanism (3) that can deform, and the flexible support mechanism (3) is provided with a number of adsorption elements (4) that can adsorb.

2. The rotor adsorption aircraft based on dynamic bonding technology according to claim 1, characterized in that, The UAV body (1) includes a first annular support (11), a drive support frame (12), a first motor housing (13), a first drive motor (14), a first rotor (15), and aileron elements (2). The first annular support (11) has several drive support frames (12) inside. The end of the drive support frame (12) is connected to the first motor housing (13). The first motor housing (13) has a first drive motor (14) inside. The end of the first drive motor (14) has a first rotor (15). The outer side of the first annular support (11) has several aileron elements (2).

3. The rotor adsorption aircraft based on dynamic bonding technology according to claim 2, characterized in that, The aileron element (2) includes a rotor support shell (21) disposed outside the first annular support (11) and a second drive motor (22) disposed inside the rotor support shell (21), the end of the second drive motor (22) being connected to a second rotor (23).

4. The rotor adsorption aircraft based on dynamic bonding technology according to claim 1, characterized in that, The bottom of the UAV body (1) is provided with a ring support component (5) extending downward. The flexible support mechanism (3) can deform relative to the surface of the ring support component (5). The middle part of the UAV body (1) is provided with an electrical support shaft (16) for storing electrical components extending downward.

5. The rotor adsorption aircraft based on dynamic bonding technology according to claim 4, characterized in that, The ring support assembly (5) includes a first ring (51), a second ring support (52) and a second ring (53). The first ring (51) is disposed at the bottom of the UAV body (1), and the second ring support (52) and the second ring (53) are disposed at the bottom of the first ring (51) in sequence.

6. The rotor adsorption aircraft based on dynamic bonding technology according to claim 5, characterized in that, The flexible support mechanism (3) includes a second motor housing (31), a third drive motor (32), a rotating support base (33), a flexible support plate (34), and a suction cup support (35). The second motor housing (31) is equipped with a third drive motor (32). The shaft of the third drive motor (32) passes through the rotating support base (33) inside the second annular support (52). The rotating support base (33) is connected to several flexible support plates (34) and several suction cup support (35) in sequence at its end. Each suction cup support (35) is equipped with an adsorption element (4) on one side. The shape formed by the several flexible support plates (34) and suction cup support (35) is deformed by the drive assembly (6).

7. The rotor adsorption aircraft based on dynamic bonding technology according to claim 6, characterized in that, The adsorption element (4) is a suction cup, and the flexible support plate (34) and the suction cup support (35) are hinged together by means of a pin.

8. The rotor adsorption aircraft based on dynamic bonding technology according to claim 6, characterized in that, The drive assembly (6) includes a rope drive support shell (61), a wheel (62), a fourth drive motor (63), and a drive rope (64). The side of the electrical support shaft (16) is provided with several locking support columns (161). The ends of the locking support columns (161) are connected to the rope drive support shell (61). The wheel (62) is rotatably provided inside the rope drive support shell (61). The wheel (62) is driven by the fourth drive motor (63) outside the rope drive support shell (61). Each suction cup support (35) is provided with a drive rope (64) fixedly connected to its other side.

9. The rotor adsorption aircraft based on dynamic bonding technology according to claim 4, characterized in that, The bottom of the electrical support shaft (16) is provided with a docking bracket (7), and the middle part of the docking bracket (7) is provided with a robotic arm connecting plate (71) for installing the robotic arm.

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