CN-117022699-B - Aerial crossing robot

CN117022699BCN 117022699 BCN117022699 BCN 117022699BCN-117022699-B

Abstract

The invention discloses an aerial traversing robot which comprises a flying mechanism and a buffer mechanism, wherein the flying mechanism comprises a flying main body and a bracket connected with the flying main body, the buffer mechanism comprises an annular protection component movably connected with the bracket, the annular protection component is arranged around the flying main body, and the annular protection component can rotate around the axis of the annular protection component. According to the buffer mechanism of the air crossing robot, due to the fact that the annular protection component capable of freely rotating is added, yaw moment in the tangential direction can be effectively separated, accordingly the change range of the flying gesture of the air crossing robot is reduced, in addition, the collision duration can be prolonged by combining the specific structure of the annular protection component, substantial impact buffer is provided, and experiments show that the inclination trend of the air crossing robot after collision is greatly reduced by the buffer mechanism.

Inventors

ZHAO SHULONG
TIAN CHENXU
LV FEI
ZHENG JIAYI
WANG QIPENG
YI FENG
FENG TIANTIAN
XI YEXUN

Assignees

中国人民解放军国防科技大学

Dates

Publication Date: 20260512
Application Date: 20230703

Claims (10)

1. An aerial traversing robot, comprising: A flying mechanism comprising a flying body, a bracket connected with the flying body, and The buffering mechanism comprises an annular protection component which is movably connected with the bracket, the annular protection component is arranged around the flying body, and the annular protection component can rotate around the axis of the annular protection component; the annular protection component comprises a plurality of annular elastic buffer pieces, the annular elastic buffer pieces are coaxially arranged and sleeved from the inner layer to the outer layer, each two adjacent annular elastic buffer pieces are arranged at an angle, the concave structures and the convex structures of the annular protection component are alternately arranged along the radial direction of the annular protection component, and the angle between each two adjacent annular elastic buffer pieces can be reduced under pressure or increased due to reset; Every annular elastic buffer piece all includes a plurality of folded plates that connect gradually, in every annular elastic buffer piece, every adjacent two folded plates all are the angle setting and make concave structure and protruding structure on the annular elastic buffer piece follow annular elastic buffer piece's circumference is arranged in turn, and every adjacent two angle between the folded plate can be pressed and diminish or become because of the reduction.
2. The aerial ride-through robot of claim 1, wherein in each adjacent two of the annular elastomeric bumpers, the flap of one of the annular elastomeric bumpers is aligned with and angularly interconnected with the flap of the other annular elastomeric bumper.
3. The aerial ride-through robot of claim 1, wherein in each adjacent two of the annular elastomeric bumpers, the flap of one of the annular elastomeric bumpers is aligned with and interconnected at an acute angle to the flap of the other annular elastomeric bumper.
4. The aerial ride-through robot of claim 1, wherein in each of the annular elastomeric bumpers, each adjacent two of the flaps are disposed at an acute angle.
5. The aerial ride-through robot of claim 1, wherein each flap of the outermost annular elastic bumper is non-perpendicular to the axis of the annular protective assembly among the plurality of annular elastic bumpers.
6. The aerial penetration robot of claim 1, wherein the annular elastic cushion is a thermoplastic polyurethane elastomer rubber.
7. The aerial penetration robot of claim 1, wherein all flaps of each of the annular elastomeric bumpers are of unitary construction and all annular elastomeric bumpers in the annular protective assembly are of unitary construction.
8. The aerial crossing robot of claim 1, wherein the buffer mechanism further comprises a plurality of connecting pins, one end of each connecting pin is movably connected with the annular protection component, the other end of each connecting pin is fixedly connected with the bracket, and the plurality of connecting pins are arranged at intervals along the circumferential direction of the annular protection component; wherein each of the connection pins is located within an edge of an outer peripheral side of the annular protection component.
9. The aerial crossing robot of claim 1, wherein the buffer mechanism further comprises a plurality of connecting pins, one end of each connecting pin is fixedly connected with the annular protection component, the other end of each connecting pin is movably connected with the bracket, and the plurality of connecting pins are arranged at intervals along the circumferential direction of the annular protection component; wherein each of the connection pins is located within an edge of an outer peripheral side of the annular protection component.
10. The aerial traversing robot according to claim 1, wherein the support comprises a plurality of legs, one ends of the plurality of legs are connected with the flying body, the other ends of the plurality of legs are movably connected with the annular protection assembly, the plurality of legs are arranged at intervals along the circumferential direction of the annular protection assembly, and each leg is provided with a rotor wing.

Description

Aerial crossing robot Technical Field The invention relates to the technical field of robots, in particular to an air crossing robot. Background The application of the air crossing robots is gradually expanding into complex cities and natural environments, and most of the air crossing robots are provided with buffer mechanisms in order to reduce the risk of the air crossing robots being crashed. In the related art, some air-crossing robots are crashed by arranging crashproof fences around the air-crossing robots, however, the protection of the crashproof fences is not effective enough, and when the crashproof fences collide with obstacles, the air-crossing robots are easy to change in gesture greatly. Disclosure of Invention The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides the air crossing robot which can improve the protection capability and reduce the amplitude of posture change caused by the impact of the air crossing robot. An aerial traversing robot according to some embodiments of the present invention comprises a flying mechanism comprising a flying body and a bracket connected with the flying body, and a buffer mechanism comprising an annular protection component movably connected with the bracket, the annular protection component being arranged around the flying body and being rotatable about an axis thereof; the annular protection component comprises a plurality of annular elastic buffer pieces, the annular elastic buffer pieces are coaxially arranged and sleeved from the inner layer to the outer layer, each two adjacent annular elastic buffer pieces are arranged at an angle, the concave structures and the convex structures of the annular protection component are alternately arranged along the radial direction of the annular protection component, and the angle between each two adjacent annular elastic buffer pieces can be reduced under pressure or increased due to reset; Every annular elastic buffer piece all includes a plurality of folded plates that connect gradually, in every annular elastic buffer piece, every adjacent two folded plates all are the angle setting and make concave structure and protruding structure on the annular elastic buffer piece follow annular elastic buffer piece's circumference is arranged in turn, and every adjacent two angle between the folded plate can be pressed and diminish or become because of the reduction. The aerial traversing robot provided by the embodiment of the invention has at least the following beneficial effects: When the air crossing robot collides with an obstacle, the annular protection component collides with the obstacle first, the impact force born by the annular protection component can drive the annular protection component to rotate around the axis of the annular protection component, and the yaw moment in the tangential direction can be effectively separated when the annular protection component rotates around the axis of the annular protection component, so that the amplitude of change of the flying gesture of the air crossing robot due to collision is reduced. When the annular protection component collides with an obstacle, the normal pressure applied to the annular protection component can squeeze a plurality of annular elastic buffer pieces, so that the angle of each two adjacent annular elastic buffer pieces is reduced, the annular elastic buffer pieces are folded to buffer, the energy absorption and impact resistance are greatly improved, after the collision is finished, the annular elastic buffer pieces can reset due to the elastic effect of the annular elastic buffer pieces, the angle of each two adjacent annular elastic buffer pieces is increased, the annular protection component is unfolded, and when the annular protection component collides with the obstacle, the tangential pressure applied to the annular protection component can drive the annular protection component to rotate and be relieved by a part, the rest tangential pressure can squeeze a plurality of folded plates, the angle of each two adjacent folded plates is reduced, the annular elastic buffer pieces are folded to buffer, the energy absorption and impact resistance are greatly improved, the angle of each two adjacent folded plates is increased due to the elastic effect of the annular elastic buffer pieces, the annular elastic buffer pieces can reset, the annular elastic buffer pieces are unfolded, and the peak value can be reduced. According to some embodiments of the invention, in each adjacent two of the annular elastic buffers, the flaps of one of the annular elastic buffers are aligned with and angularly interconnected to the flaps of the other annular elastic buffer. According to some embodiments of the invention, in each adjacent two of the annular elastic buffers, the flap of one of the annular elastic buffers is aligned with and connected to the flap of the other annular elasti