The invention discloses an anti-collision four-rotor unmanned aerial vehicle based on a twelve-rod tensegrity structure. The unmanned aerial vehicle is composed of a twelve-rod tensegrity frame and rotor assemblies. The frame has good space symmetry, structural stability and impact resistance, and is light in weight, so that the influence on the cruising ability of the unmanned aerial vehicle can be reduced while the quadrotor unmanned aerial vehicle is protected. The unmanned aerial vehicle is provided with three groups of tension springs with different rigidities; when the unmanned aerial vehicle collides with an obstacle, the rigidity of the uppermost layer, the rigidity of the middle layer and the rigidity of the lowermost layer of the unmanned aerial vehicle are sequentially increased, so that the deformation quantity of the elastic inhaul cables is sequentially reduced from top to bottom under the action of collision force, and the equilateral triangle frame colliding with the obstacle drives the rotor wing assemblies to incline in the opposite collision direction; a driving component force is generated in the direction, so that the unmanned aerial vehicle is far away from the obstacle, and the anti-collision function of the unmanned aerial vehicle is realized. Therefore, the quad-rotor unmanned aerial vehicle has great engineering application value in the field of exploration of complex unknown environments.

本发明公开了一种基于十二杆张拉整体结构的防碰撞四旋翼无人机，该无人机由十二杆张拉整体框架和旋翼组件组成。该框架具有良好的空间对称性、结构稳定性与抗冲击能力，并且其质量较轻在保护四旋翼无人机的同时能够减少对无人机续航能力的影响。该无人机具备三组刚度不同的拉力弹簧；无人机与障碍物发生碰撞时，由于无人机最上层、中间层、最下层刚度依次增大，因此在碰撞力的作用下弹性拉索的形变量由上到下依次减少，导致与障碍物发生碰撞的等边三角形框架带动旋翼组件一同沿碰撞反方向倾斜，在该方向上产生驱动分力，致使无人机远离障碍物，实现了该无人机的防碰撞功能。因此，该四旋翼无人机在探索复杂未知环境领域具有极大的工程应用价值。