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CN-122009565-A - Load unmanned aerial vehicle device based on graphene tension sensing composite rope and capable of adjusting load gravity center in real time

CN122009565ACN 122009565 ACN122009565 ACN 122009565ACN-122009565-A

Abstract

The invention discloses a load unmanned aerial vehicle device capable of adjusting the load gravity center in real time based on a graphene tension sensing composite rope, relates to the technical field of unmanned aerial vehicle load balancing, and solves the technical problems of structural redundancy, sliding clamping, limiting looseness and low detection precision of the conventional device. The device comprises an unmanned aerial vehicle main body, a plane parallel mechanism, a tension sensing mechanism, a carrying mechanism and a singlechip control circuit board, wherein the plane parallel mechanism adopts an integrated structure of hemispherical-rail groove matching and rotatable ring limiting, the integrated structure is driven and adjusted through a penetrating screw rod stepping motor, the tension sensing mechanism acquires tension signals through four graphene tension sensing composite ropes, and the tension signals are processed by the singlechip to realize closed-loop dynamic adjustment of the gravity center. The invention has the advantages of light structure, smooth operation, reliable limiting and accurate detection, and is suitable for logistics transportation and material delivery scenes of 10-50 kg-level civil and industrial loading unmanned aerial vehicles.

Inventors

  • LIU BAISHAN

Assignees

  • 桂林电子科技大学

Dates

Publication Date
20260512
Application Date
20260304

Claims (7)

  1. 1. The load unmanned aerial vehicle device capable of adjusting the load gravity center in real time based on the graphene tension sensing composite rope is characterized by comprising an unmanned aerial vehicle main body (1), a plane parallel mechanism (2), a tension sensing mechanism (3), a carrying mechanism (4) and a single chip microcomputer control circuit board (5); the unmanned aerial vehicle main body (1) adopts a multi-rotor loading configuration, the lower part of the unmanned aerial vehicle main body is provided with a horizontal installation datum plane, and a power supply module and a control circuit board installation space are reserved in the unmanned aerial vehicle main body; The plane parallel mechanism (2) is fixed on a horizontal installation reference surface at the lower end of the unmanned aerial vehicle main body (1), and comprises a horizontal fixed platform (21), two horizontal support rods (22), a horizontal moving platform (23) and four penetrating screw rod stepping motors (24), wherein a rail groove (211) and a clamping groove (212) are arranged in a rectangular groove of the horizontal fixed platform (21), two ends of the horizontal support rods (22) are provided with integrally formed cylindrical sections (222), the ends of the cylindrical sections (222) are integrally formed with hemispherical structures (221), circular rings (223) capable of freely rotating around the axes of the cylindrical sections (222) are sleeved on the cylindrical sections (222), the hemispherical structures (221) and the rail grooves (211) are in clearance fit to form sliding fit, and the circular rings (223) and the clamping grooves (212) are in clearance fit to form axial and radial limit, the horizontal support rods (22) are assembled below the horizontal fixed platform (21) and can move along the horizontal direction, and the cylindrical sections (222) at two ends of each horizontal support rod (22) are fixedly connected with the penetrating screw rod stepping motors (24), and the horizontal moving along with the horizontal support rods (231); The graphene tension sensing mechanism (3) comprises a graphene tension sensing composite rope (31) and a tension sensing plate (32), four paths of constant current sources (321) and four metal film sampling resistors (322) are integrated on the tension sensing plate (32), the number of the graphene tension sensing composite ropes (31) is four, structural parameters are consistent, the graphene tension sensing composite ropes are respectively fixed at connecting holes (232) at four corners of the lower surface of a water translation platform (23), the upper ends of the graphene tension sensing composite ropes are electrically connected with a single chip microcomputer control circuit board (5) in a one-to-one correspondence manner through signal transmission wires built in the ropes, the lower ends of the graphene tension sensing composite ropes are respectively fixed at connecting holes (323) at four corners of the upper surface of the tension sensing plate (32), and each graphene tension sensing composite rope (31) is connected with the corresponding constant current source (321) and the corresponding metal film sampling resistor (322) in series to form an independent detection loop; The carrying mechanism (4) comprises a carrying rope, the upper end of the carrying rope is fixedly connected to four corners of the lower surface of the tension sensing plate (32), and the lower end of the carrying rope is used for hanging a carrying object; the single chip microcomputer control circuit board (5) is arranged at the center of the unmanned aerial vehicle main body (1) and is respectively electrically connected with the four penetrating screw rod stepping motors (24) and the four graphene tension sensing composite ropes (31).
  2. 2. The load unmanned aerial vehicle device capable of adjusting the load center of gravity in real time based on the graphene tension sensing composite rope according to claim 1, wherein: The horizontal fixed platform (21) is a cuboid substrate, the lower surface of the horizontal fixed platform is inwards recessed to form a cuboid cavity, four vertical inner walls of the cuboid cavity are respectively provided with a rectangular groove extending along the horizontal direction, the rail grooves (211) are arranged on the lower surface of the rectangular grooves and are consistent with the extending direction of the grooves, the clamping grooves (212) are arranged at the bottoms of the rectangular grooves and are consistent with the extending direction of the grooves, the inner cambered surfaces of the rail grooves (211) adopt arc transition structures, the oppositely arranged rectangular grooves are flush along the height direction of the horizontal fixed platform (21), and the adjacent rectangular grooves are staggered up and down along the height direction of the horizontal fixed platform (21); The two horizontal support rods (22) have the same structural parameters, the rod body is cylindrical, the radius of the hemispherical structure (221) is the same as the radius of the cylindrical section (222), the end face of the circular ring (223) is perpendicular to the axis of the cylindrical section (222), the inner wall of the circular ring is cylindrical, the radius of the circular ring is 0.03-0.08 mm larger than the radius of the cross section of the cylindrical section (222), and the outer wall of the circular ring is an arc curved surface, and the radius of the circular ring is 1.5 times of the inner diameter of the circular ring; the horizontal moving platform (23) is a cuboid substrate, two horizontal cylindrical through holes (231) on the side face of the cuboid substrate are mutually perpendicular and distributed in a vertically staggered mode along the height direction of the horizontal moving platform (23), and the two through holes (231) are in one-to-one correspondence and clearance fit with the two horizontal support rods (22); The penetrating screw rod stepping motor (24) is fixed at one end of the cylindrical section (222) far away from the hemispherical structure (221), and the machine body and the cylindrical section (222) are coaxially arranged.
  3. 3. The load unmanned aerial vehicle device capable of adjusting the load center of gravity in real time based on the graphene tension sensing composite rope according to claim 2, wherein: A gap of 0.1-0.15 mm is reserved between the arc curved surface of the outer wall of the circular ring (223) and the upper surface of the inner wall of the clamping groove (212), and a limit is formed between the arc curved surface of the outer wall of the circular ring and the upper surface and the lower surface of the inner wall of the clamping groove (212), so that the horizontal support rod (22) is limited to move along the axial direction and the vertical direction of the horizontal support rod; The two ends of a screw rod (241) of the penetrating screw rod stepping motor (24) are rotationally connected with two ends of the cross section of the rectangular groove of the horizontal fixed platform (21) through deep groove ball bearings, the inner ring of each deep groove ball bearing is in interference fit with a shaft head of the screw rod (241), the outer ring of each deep groove ball bearing is in transition fit with mounting holes (213) at two ends of the cross section of the rectangular groove, the screw rod (241) can freely rotate around the axis of the screw rod and axially displace to be limited, the screw rod (241) is axially and horizontally perpendicular to the horizontal supporting rod (22), screw thread transmission adaptation is formed, rotary motion of the screw rod (241) around the axis is converted into linear displacement of the penetrating screw rod stepping motor (24) along the axis of the screw rod through screw thread engagement, and then the horizontal supporting rod (22) fixedly connected with a motor body is driven to synchronously realize horizontal direction movement, and the moving direction is consistent with the transmission direction of the screw rod (241).
  4. 4. The load unmanned aerial vehicle device capable of adjusting the load center of gravity in real time based on the graphene tension sensing composite rope according to claim 1, wherein: The upper ends of the four graphene tension sensing composite ropes (31) are electrically connected with four voltage acquisition circuits of a single chip microcomputer control circuit board (5) in one-to-one correspondence through shielding wires, and the lower ends of the four graphene tension sensing composite ropes are fixed at a connecting hole (323) of a tension sensing plate (32) through metal crimping pieces; And each independent detection loop corresponding to the graphene tension sensing composite rope (31) outputs a voltage signal in the range of 0.3-3.0V, and is matched with the 3.3V voltage acquisition range of the singlechip control circuit board (5), and the consistency error of the electrical parameters of the four detection loops is less than or equal to +/-2%.
  5. 5. The load unmanned aerial vehicle device capable of adjusting the load center of gravity in real time based on the graphene tension sensing composite rope according to claim 1, wherein: The singlechip control circuit board (5) comprises a singlechip main control circuit, two groups of stepping motor driving circuits, a four-way voltage acquisition circuit and a power supply module; the input ends of the four-way voltage acquisition circuit are electrically connected with two ends of four graphene tension sensing composite ropes (31) in one-to-one correspondence, and the acquisition frequency is more than or equal to 200Hz; the two groups of stepping motor driving circuits are electrically connected with the four penetrating screw rod stepping motors (24) in a one-to-one correspondence manner, each group of driving circuits drives two motors on the same side, PWM driving signals of the penetrating screw rod stepping motors (24) are output, driving voltage is 12-24V, and the control precision of the step angle is less than or equal to 0.9 degrees; The power supply module is respectively and electrically connected with the singlechip main control circuit, the stepping motor driving circuit and the voltage acquisition circuit, provides stable working voltage, outputs in multiple gears of 3.3V/5V/12V, and has power supply ripple less than or equal to 50 mV.
  6. 6. The load unmanned aerial vehicle device capable of adjusting the load center of gravity in real time based on the graphene tension sensing composite rope according to claim 4, wherein the load unmanned aerial vehicle device is characterized in that: The length of the graphene tension sensing composite rope (31) is 2-5 cm, the nominal internal resistance is 200-500 omega, the tension sensitivity is 0.5-2 omega/N, and the repeatability error is less than or equal to +/-1%; The resistance value of the metal film sampling resistor (322) is 1-1.5 times of the nominal internal resistance of the corresponding graphene tension sensing composite rope (31), the rated power is more than or equal to 1/4W, the precision grade is +/-0.1%, and the resistance value consistency error of the four metal film sampling resistors (322) is less than or equal to +/-0.5%; The output current range of the constant current source (321) is 0.8-1.2 mA, the output internal resistance is more than or equal to 330kΩ, the current precision is +/-1%, the output current consistency error of the four paths of constant current sources (321) is less than or equal to +/-0.5%, and the constant current source has a short-circuit protection function.
  7. 7. A method for real-time adjustment of the centre of gravity of a loading unmanned aerial vehicle based on the device of any one of claims 1 to 6, comprising the steps of: S1, collecting signals, namely collecting voltage signals corresponding to load tension in real time through independent detection loops corresponding to four graphene tension sensing composite ropes (31), and transmitting the voltage signals to a singlechip control circuit board (5); S2, calculating the gravity center, namely converting a voltage signal into a real-time tension value by a singlechip main control circuit through 24-bit analog-to-digital conversion, comparing the difference of four paths of tension values, and calculating the offset coordinate and offset of the gravity center of the load; S3, driving and adjusting, namely sending a driving instruction to a corresponding penetrating screw stepping motor (24) by a singlechip main control circuit according to the gravity center deviation parameter, driving a horizontal supporting rod (22) and a horizontal moving platform (23) to horizontally move through screw transmission, and adjusting the position of a carrying mechanism; and S4, closed loop feedback, namely continuously executing the steps S1-S3, correcting the driving instruction in real time until four paths of tension values tend to be balanced, and returning the gravity center to a preset center position to finish dynamic adjustment.

Description

Load unmanned aerial vehicle device based on graphene tension sensing composite rope and capable of adjusting load gravity center in real time Technical Field The invention relates to the technical field of unmanned aerial vehicle load balancing, in particular to a load unmanned aerial vehicle device capable of adjusting the load gravity center in real time based on a graphene tension sensing composite rope, which is suitable for 10-50 kg-level civil and industrial load unmanned aerial vehicles with the gravity center needing to be accurately controlled, and can be applied to scenes such as logistics transportation, material delivery and the like. Technical Field The flight safety and the control precision of the load unmanned aerial vehicle directly depend on the stability of the load gravity center, and along with the continuous expansion of application scenes of civil and industrial load unmanned aerial vehicles, higher requirements are provided for the accuracy, the response speed and the structure weight reduction of the load gravity center adjustment of the load unmanned aerial vehicle. At present, the Chinese patent with publication number of CN216805937U discloses an automatic gravity center adjusting device of a loading unmanned aerial vehicle, which adopts a structure that a guide rail sliding block is matched with a plurality of groups of connecting rods to realize gravity center adjustment, and is the closest prior art in the field. The scheme has the following core defects that firstly, the structure is redundant and heavy, the combined structure of a guide rail, a sliding block and a plurality of groups of connecting rods is adopted, the axial occupied space is large, the overall weight is higher, the conflict with the light design requirement of the unmanned aerial vehicle is caused, the endurance and the maneuvering performance of the unmanned aerial vehicle are seriously influenced, secondly, the motion response is delayed, the sliding block is in plane contact with the guide rail, the friction coefficient is more than or equal to 0.15, the gravity center adjustment delay is easily caused by mechanical blocking and abrasion, the real-time adjustment requirement in a dynamic load scene cannot be met, thirdly, the limiting reliability is low, the detachable limiting parts such as bolts, check rings and the like are easily loosened and fall off after long-term flying vibration, the component derailment and failure risks exist, the operation reliability of the device is influenced, fourthly, the detection accuracy is insufficient, the traditional pressure or tension sensor is adopted, the influence of the signal is obvious due to electromagnetic interference, the consistency error of the electrical parameters of four paths is more than or equal to +/-5%, the judgment deviation of gravity center deviation exceeds 1mm, and the accurate adjustment cannot be realized. In summary, the existing gravity center adjusting device of the loading unmanned aerial vehicle cannot achieve the light weight, the movement smoothness, the limiting reliability and the detection accuracy of the structure, and is difficult to meet the practical application requirements of the 10-50 kg-level loading unmanned aerial vehicle. Disclosure of Invention 1. Technical problem to be solved Aiming at the defects of structural redundancy, sliding clamping, limit easy loosening and low detection precision existing in the existing gravity center adjustment technology of the load-carrying unmanned aerial vehicle, the invention provides a load-carrying unmanned aerial vehicle device capable of adjusting the gravity center of a load in real time based on a graphene tension sensing composite rope, which aims to fundamentally solve the technical problems of unstable gravity center, adjustment lag, structural redundancy, low detection precision, poor limit reliability and the like in the load-carrying flight of the unmanned aerial vehicle by means of mechanical structure integrated optimization, high-sensitivity sensing design and closed-loop control system construction, and meets the practical demands of civil and industrial load-carrying unmanned aerial vehicles. 2. Technical proposal In order to solve the technical problems, the invention provides a load unmanned aerial vehicle device capable of adjusting the load gravity center in real time based on a graphene tension sensing composite rope, which comprises an unmanned aerial vehicle main body, a plane parallel mechanism, a tension sensing mechanism, a carrying mechanism and a single chip microcomputer control circuit board. Further, unmanned aerial vehicle main part adopts many rotor load configurations, is 10~50kg level load unmanned aerial vehicle, and the fuselage lower part is equipped with horizontal installation reference surface, and power module and control circuit board installation space are reserved to inside, provide installation basis and power support for whole device