CN106081057A - A kind of stable multiaxis unmanned plane - Google Patents
A kind of stable multiaxis unmanned plane Download PDFInfo
- Publication number
- CN106081057A CN106081057A CN201610465674.8A CN201610465674A CN106081057A CN 106081057 A CN106081057 A CN 106081057A CN 201610465674 A CN201610465674 A CN 201610465674A CN 106081057 A CN106081057 A CN 106081057A
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- China
- Prior art keywords
- horn
- seat
- undercarriage
- support arm
- hole
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The invention discloses a kind of stable multiaxis unmanned plane, including fuselage, described fuselage is provided with some horns；Described horn is provided with driving motor away from one end of fuselage, and the rotary shaft of described driving motor is provided with paddle；Described horn is connected with described fuselage by bindiny mechanism；Described bindiny mechanism includes that horn connects seat, horn foldable base, and one end of described horn foldable base is articulated with described horn and connects on seat；It is provided with fold mechanism on described horn connection seat；Described fold mechanism is flexibly connected with the other end of described horn foldable base；Described fold mechanism includes outer handle and Internal handle；Described Internal handle one end is articulated with described horn and connects seat, and its other end is movably set with outer handle rotary shaft；One end of described outer handle is articulated with in described outer handle rotary shaft；Its other end is provided with the movable part being flexibly connected with described horn foldable base；It is additionally provided with on described Internal handle for locking described inner handle retaining mechanism.
Description
Technical field
The invention belongs to unmanned air vehicle technique field, be specifically related to a kind of stable multiaxis unmanned plane.
Background technology
Unmanned plane (UAV), its have maneuverability, reaction quickly, unmanned flight, operation require low etc. excellent
Point, loads multiclass sensor people, such as photographic head, it is possible to achieve image real-time Transmission, high tomahawk area detection etc. on unmanned plane
Function, is widely used in the fields such as fire-fighting, military affairs, friendship energy, police service, exploration and meteorology, to realize the cruise to designated area
Shooting and supervision.
At present, unmanned plane is multiaxis unmanned plane mostly, such as four axles, six axles etc., owing to horn is relative to fuselage shape radially outward
Arranging, volume is big, and transport inconvenience, meanwhile, the structure of horn may be collided in transportation, causes the balance of complete machine
Property, stability produce deviation, affect normally using of unmanned plane.
Summary of the invention
The invention aims to solve that unmanned plane volume is big, pack and transport inconvenience, technology that transport is easily damaged
Problem, it is provided that a kind of collapsible, the stable multiaxis unmanned plane that reliability is high.
In order to solve the problems referred to above, the present invention is achieved by techniques below scheme:
Stable multiaxis unmanned plane of the present invention, including fuselage, described fuselage is provided with some horns；Described horn
One end away from fuselage is provided with driving motor, and the rotary shaft of described driving motor is provided with paddle；Described horn is by even
Connection mechanism is connected with described fuselage；
Described bindiny mechanism includes the horn foldable base that the horn being arranged on fuselage connects seat, is arranged on horn, institute
The one end stating horn foldable base is articulated with on described horn connection seat；It is provided with fold mechanism on described horn connection seat；Described
Fold mechanism is flexibly connected with the other end of described horn foldable base；
Described fold mechanism includes outer handle and Internal handle；Described Internal handle one end is articulated with described horn and connects seat, its
The other end is movably set with outer handle rotary shaft；
One end of described outer handle is articulated with in described outer handle rotary shaft；Its other end is provided with and folds with described horn
The movable part that seat is flexibly connected；It is additionally provided with on described Internal handle for locking described inner handle retaining mechanism.
Further, described activity is the hook being arranged on described outer handle, described horn foldable base is provided with
The barb that described hook coordinates.
Further, described retaining mechanism includes being set in the safety handle of described outer handle rotary shaft and for insuring handle
The back-moving spring that hands resets；Described horn connects seat and is extended with a location division to the direction of described outer handle rotary shaft；
Being provided with on described safety handle and the open slot of described location division clamping, described open slot cross section is U-shaped, described
The opening direction in open slot cross section is parallel with described outer handle rotary shaft, and described back-moving spring is set in described outer handle rotary shaft
On, described back-moving spring is arranged in described outer handle rotary shaft and is in the side away from described open slot opening；Described
Safety handle has protruded upward a Handheld Division, and described Internal handle is provided with the groove run through for described Handheld Division.
Further, described horn connects to be on the end face relative with described horn foldable base on seat and is provided for installing
First installing hole of the first elastic parts；The cooperation coordinated with described first elastic parts it is provided with in described horn foldable base
Hole；
Described first elastic parts includes spring, the tight lock part being arranged in described first installing hole, described tight lock part with
One side corresponding to described horn foldable base is spheroform surface；It is provided with in described horn foldable base and to coordinate with described spheroform surface
First groove.
Further, described fuselage is circular, and it includes spaced centre frame upper plate, centre frame lower plate, described in
Being provided with circuit board between heart frame upper plate and centre frame lower plate, described circuit board is parallel with described centre frame upper plate, described center
Being provided with some first locating dowels between frame upper plate, centre frame lower plate, described first locating dowel two ends are provided with screwed hole, described
Centre frame upper plate, centre frame lower plate are connected fixing by screw with described first locating dowel；
Described circuit board is arranged in described centre frame lower plate by the second locating dowel, and the two ends of described second locating dowel set
Being equipped with screwed hole, described circuit board is arranged in described centre frame lower plate by screw and the second locating dowel.
Further, described unmanned plane is six axle unmanned planes, and described fuselage is circular, and described horn is evenly distributed on described
On the same level circumference of fuselage.
Further, also including the undercarriage support arm that undercarriage, described undercarriage include more than three, described undercarriage props up
Arm is arranged on one end of close described driving motor of described horn, and described undercarriage support arm is evenly distributed on corresponding horn
On.
Further, it is provided with support arm fold mechanism between described undercarriage support arm and described horn；
Described support arm fold mechanism includes that the undercarriage that is set on described horn connects seat, is set in described undercarriage and props up
Undercarriage support arm pipe clamp on arm, described undercarriage connection seat is provided with connection otic placode, described connection otic placode is provided with ear
Plate connecting hole, the axis of described otic placode connecting hole is vertical with described horn；Described support arm pipe clamp is articulated with described connection otic placode；
It is provided with the fixed structure for fixing described support arm between described undercarriage connection seat and described undercarriage support arm.
Further, described fixed structure includes mounting groove, slippage slot, slip shaft, card-tight part；
Described mounting groove is arranged on described support arm pipe clamp for being connected what otic placode matched with described, the length of described mounting groove
Degree direction is vertical with the described axis being connected otic placode；Described connection otic placode is connected by installing bolt with described mounting groove；
Described slippage slot is arranged on described support arm pipe clamp along described horn axis direction, is provided with cunning in described slip hole
Move axle；
The part that described slip shaft is in described slip hole is provided with the through hole making described installation bolt pass through；
Described card-tight part one end is articulated with described mounting seat；Its other end is flexibly connected with described slip shaft；Described sliding
Axle one end extend out to outside described slip hole, and described slip shaft stretches out and is provided with draw-in groove on the one end outside described slip hole；
Described card-tight part is for buckling；The described one end that buckles is articulated with on the end face of described mounting seat, and its other end is crotch,
Described crotch and described card slot fit clamping.
Further, described undercarriage connects to be on the end face relative with described undercarriage support arm pipe clamp on seat and arranges use
In the second installing hole installing the second elastic parts；It is provided with on described undercarriage pipe clamp and coordinates with described second elastic parts
Mating holes；
Described second elastic parts includes spring, the tight lock part being arranged in described second installing hole, described tight lock part with
One side corresponding to described horn foldable base is spheroform surface；It is provided with in described horn foldable base and to coordinate with described spheroform surface
Second groove.
Further, described fuselage is provided with GPS mounting seat；Described GPS mounting seat includes being fixed on described Main subrack
The base of frame upper plate, it is arranged on GPS and is connected seat with the GPS of described base engagement；
Be provided with on described base for install the 3rd elastic parts hole, some location, hole, described location be two groups with
On, often hole, group location includes that four are evenly distributed on the circumference concentric with described base axis；
Described 3rd elastic parts includes hoodle, hoodle mounting seat, is provided with elastomeric element in described hoodle mounting seat；Institute
State to be in hoodle mounting seat and connect the relative surface of seat with described GPS and offer the diameter opening less than hoodle sphere diameter；
It is provided with, on described GPS connection seat, the locating slot coordinated with described hoodle.
Further, described central frame upper plate is provided with trousers；It is provided with on described trousers and described horn
Corresponding through slot.
Compared with prior art, the invention has the beneficial effects as follows:
The present invention connects seat by arranging horn at fuselage, arranges horn foldable base, horn foldable base one end on horn
Being articulated with horn and connect seat, horn connects the outer handle that on seat, setting is flexibly connected with the horn foldable base other end, then by interior
Handle, safety handle coordinate, by outer handle double locking so that horn folding convenient, fixing firm, double insurance, even if
Under dither, being also not easy to loosen, stability is high.
Connect at horn and between seat and horn foldable base, elastomeric element is set, due to the motor high-speed rotation on horn, turn
Speed up to 8000n/min, produces dither, and elastomeric element effectively eliminates the space between two metalworks, avoids simultaneously
The rigid collision of two metalworks, thus damage two parts, affect the service life of parts.
Horn arranges undercarriage and connects seat, undercarriage support arm arranges undercarriage support arm pipe clamp, undercarriage support arm
It is hinged that pipe clamp is connected seat with undercarriage, by arranging fixed structure on undercarriage support arm pipe clamp so that undercarriage support arm is opened
Time, fixing firm, limit undercarriage boom position by positioning convex so that it rotates around installing bolt, by along sliding axle
Sliding gear support arm so that after detent departs from positioning convex, folds undercarriage support arm, folding convenient, and location is reliable, increases
Add stability.
And connect at undercarriage and between seat and support arm pipe clamp, elastomeric element is set, effectively eliminate between two metalworks
Space, avoid the rigid collision of two metalworks simultaneously, thus damage two parts, affect the service life of parts.
The base plate of GPS mounting seat is flexibly connected with being connected seat, is convenient to mount and dismount, it is not necessary to by any aid, and
And registration, stability is high, and the elastic parts often organized limits six-freedom degree, and uses two groups of elastic partss to coordinate,
Further increase stability.
The present invention folds and opens conveniently, and fixing firm, stability is high, has saved space, instant packed, transport, it is to avoid
The damage of transport.
Accompanying drawing explanation
Below in conjunction with the accompanying drawings the detailed description of the invention of the present invention is described in further detail, wherein:
Fig. 1 is the structural representation of stable multiaxis unmanned plane of the present invention；
Fig. 2 is the folded state diagram of stable multiaxis unmanned plane of the present invention；
Fig. 3 is the top view of stable multiaxis unmanned plane of the present invention；
Fig. 4 is the cross sectional view of the A-A of Fig. 3；
Fig. 5 is the fuselage sectional view of stable multiaxis unmanned plane of the present invention；
Fig. 6 is the partial enlarged drawing of A in Fig. 1；
Fig. 7 is the partial enlarged drawing of B in Fig. 4；
Fig. 8 is the decomposing schematic representation of the horn bindiny mechanism of stable multiaxis unmanned plane of the present invention；
Fig. 9 is the partial enlarged drawing of C in Fig. 4；
Figure 10 is the decomposing schematic representation of the support arm fold mechanism of stable multiaxis unmanned plane of the present invention；
Figure 11 is the decomposing schematic representation of the GPS mounting seat of stable multiaxis unmanned plane of the present invention；
Figure 12 is the sectional view of the GPS mounting seat of stable multiaxis unmanned plane of the present invention.
In figure: 1-horn, 11-motor mount, 12-horn foldable base, 121-barb, the outer handle of 13-, the outer handle of 131-
Installing hole, 132-groove, 133-links up with, 14-Internal handle, 141-Internal handle rotary shaft, 142-handle groove, 143-connecting hole,
144-Internal handle installing hole, 15-safety handle, 150-back-moving spring, the outer handle rotary shaft of 151-, 152-Handheld Division, 153-turns
Axle installing hole, 154-open slot, 16-helps opened handle, 161-hand grip portion, 162-handle installing hole, 163-fulcrum, and 17-horn is even
Joint chair, 171-location division, 172-fuselage installs otic placode, 173-horn installation otic placode, 174-fold mechanism installing hole, 18-first
Elastic parts, 181-the first hoodle, 182-the first hoodle mounting seat, 19-the first lining；
2-undercarriage support arm, 21-undercarriage connects seat, 211-positioning convex, and 212-connects otic placode, and 213-otic placode connects
Hole, 214-elastic installing hole, 22-fixes bolt, 23-undercarriage support arm pipe clamp, 231-bearing pin, 232-back-moving spring, 234-
Slip groove, 235-bearing pin installing hole, 236-detent, 237-support arm installing hole, 24-chucking hook, 241-installs screw,
242-chucking hook, 243-screwed hole, 25-the second elastomeric element, 251-the second hoodle mounting seat, 252-the second hoodle, 3-rectification
Cover, 4-GPS mounting seat, 41-base, 411-base installing hole, 412-is protruding, 413-the 3rd installing hole, and 42-GPS connects seat,
421-clamping slot, 422-locating slot, 43-the 3rd hoodle mounting seat, 431-the 3rd hoodle, 5-centre frame lower plate, under 51-centre frame
Plate mounting post, 6-circuit board, 61-mounting post, 7-centre frame upper plate, 8-Quick-mounting board, 81-Quick-mounting board mounting post.
Detailed description of the invention
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are illustrated, it will be appreciated that preferred reality described herein
Execute example be merely to illustrate and explain the present invention, be not intended to limit the present invention.
As shown in Fig. 1～Figure 12, stable multiaxis unmanned plane of the present invention, including fuselage, described fuselage is provided with
Six horns 1, six horns 1 are symmetrical arranged about fuselage, and in the present embodiment, fuselage is circular, and six horns 1 are evenly distributed on
On described fuselage circumference, but the fuselage in the present invention is not limited to circle, it is also possible to be other polygon.Described horn 1 is remote
Disembark one end of body is provided with driving motor by motor mount 11, and the rotary shaft of described driving motor is provided with paddle.
As it is shown in figure 5, described fuselage includes spaced centre frame lower plate 5, centre frame upper plate 7, under described centre frame
Plate 5 and centre frame upper plate 7 are separately positioned on the two ends of some centre frame lower plate mounting posts 51, described centre frame lower plate by screw
The two ends of mounting post 51 are provided with installing hole, between described centre frame lower plate 5 and described centre frame upper plate 7, are provided with circuit board
6, described circuit board 6 is connected with described centre frame lower plate 5 by mounting post 61.Also set up in described centre frame lower plate 5
Having trousers 3, described trousers 3 is connected with centre frame lower plate 5 by connecting seat, closed fuselage.Described trousers outer surface is adopted
Make with glass fibre, its internal employing honeycomb texture.Owing to trousers is not loaded, it is only necessary to guarantee the rigidity of self i.e.
Can, this structure meets the rigidity of trousers self simultaneously, alleviates quality so that the entirety of unmanned plane is lighter, and flight is more
Stable.
As shown in Figure 6 to 8, described horn 1 is arranged on described centre frame lower plate 5 and centre frame by horn bindiny mechanism
Upper plate 7 connects, and described bindiny mechanism includes being arranged on the horn foldable base 12 of horn 1, centrally disposed frame lower plate 5 and centre frame
Horn on upper plate 7 connects seat 17, described horn connect seat 17 side relative with fuselage be extended with centre frame lower plate 5 and in
The fuselage that heart frame upper plate 7 connects installs otic placode 172, and its side relative with described horn 1 is also in centre frame lower plate 5 position and stretches
Going out to have horn mounting ear plate 173, described horn connects seat 17 upper surface and has protruded upward a projection, described projection is provided with logical
Hole 174, described horn connection seat 17, near one end of described through hole 174, is extended with a location division 171 to fuselage direction.
Described horn foldable base 12 one end is articulated with horn and installs otic placode 173, and its other end is the cylinder of hollow, described
Horn 1 is sheathed in described cylinder, is also arranged with neck bush 19, described horn between described horn foldable base 12 and horn 1
1, horn foldable base 12, neck bush 19 connect by screw is fixing.Barb 121, institute it is additionally provided with in described horn foldable base 12
State barb 121 and be arranged on horn foldable base 12 one end away from hinged end.
It is provided with the fold mechanism for locking described horn foldable base 12, described folding machine on described horn connection seat 12
Structure includes outer handle 13, Internal handle 14, safety handle 15, helps opened handle 16.
Described outer handle 13 is U-shape, and the aperture position of its outer handle is provided with outer handle installing hole 131, described outer
Hands 13 is in bottom U-shaped and is provided with the hook 133 coordinated with described barb 121.
It is provided through on described Internal handle 14 that the connecting hole 143 of described Internal handle 14 is parallel with described connecting hole 143 to be set
Putting the Internal handle installing hole 144 of the other end at described Internal handle 14, described Internal handle 14 is additionally provided with handle groove 142, institute
The axis stating handle groove 142 is vertical with the axis of described Internal handle installing hole 144.Described Internal handle 14 is arranged on outer handle 13
Groove 132 in, described Internal handle installing hole 144 is arranged on horn by Internal handle rotary shaft 141 and connects the through hole 174 of seat 17
In.Described Internal handle 14 and outer handle 13 run through described connecting hole 143 and outer handle installing hole by outer handle rotary shaft 151
131 connect.
Being provided with the inverted U-shaped open slot 154 of rotating shaft installing hole 153, on described safety handle 15, its upper surface protrudes upward
Handheld Division 152, described safety handle 15 is had to be arranged in described outer handle rotary shaft 151 by rotating shaft installing hole 153, described hands
Hold portion 152 to protrude upward through described groove 142, the opening direction of described U-shaped open slot 154 and outer handle rotary shaft 151
Axis direction is parallel, and it coordinates clamping along the one end open of axis, described open slot with described location division 171.Described external rotation
Axle 151 is located remotely from one end of described opening and is arranged with back-moving spring 150.
The most sheathed on described outer rotary shaft 151 help opened handle 16, described in help and be provided with for external rotation on opened handle 16
The handle installing hole 162 that axle 151 runs through, described in help opened handle 16 for L-shaped, it includes bottom and sidepiece, described handle installing hole
162 are arranged on bottom outermost end, and described sidepiece is hand grip portion 161, and described bottom and sidepiece link position are circular arc, this connection
Position is fulcrum 163, is pressed downward against in assurance portion 161, and due to the effect of fulcrum 163, outer rotary shaft 151 moves upward so that outer
Handle 13 upwards and moves towards described horn 1 direction, unclamps the hook 133 of outer handle 13 and the barb 121 of horn foldable base 12
Connection.
Described horn connection seat 17 is on the surface contacted with horn foldable base 12 and is additionally provided with the first elastic parts 18,
Described first elastic parts 18 includes first hoodle the 181, first hoodle mounting seat 182, and described first hoodle mounting seat 182 is arranged
In the first installing hole that described horn connects on seat 17, in described first installing hole, it is provided with the first elastomeric element, such as spring
Deng, in described first hoodle mounting seat 182, the surface configuration corresponding with horn foldable base 12 has a diameter less than described first bullet
The opening of pearl sphere diameter, described horn foldable base 12 is provided with the first groove coordinated with described first hoodle 181.
Described horn 1 is carbon fibre pipe fitting, and its two ends connect driving motor mount and horn foldable base 12 respectively, described
The two ends of horn 1 arrange two groups of installing holes the most in the axial direction, and often group installing hole includes two, and two installing holes are uniformly distributed
On the circumference of described horn 1, described horn 1 is connected by stainless steel self-plugging rivet with motor mount or horn foldable base 12
Connecing, this setting belongs to redundant structure design, and its redundant degree of freedom limits avoids motor high-frequency vibration and transport to touch to greatest extent
Hit the airframe structure caused uneven.
As shown in Fig. 9～Figure 10, also include that undercarriage, described undercarriage include three undercarriage support arms 2, described undercarriage
Support arm 2 is uniformly arranged on described horn 1 one end away from described fuselage, at interval of a horn 1, arranges a undercarriage support arm 2,
Described undercarriage support arm 2 is connected with horn 1 by support arm fold mechanism.
Described support arm fold mechanism include the undercarriage that is set on described horn 1 connect seat 21, be set in described in rise and fall
Undercarriage support arm pipe clamp 23 on frame support arm 2.
Described undercarriage connects seat 21 and has extended downwardly from connecting otic placode 212, described connection otic placode 212 is provided with otic placode even
Connecing hole 213, the axis of described otic placode connecting hole 213 is vertical with the axis of described horn 1.Described undercarriage connects of seat 21
Chucking hook installing hole it is provided with on end face.Described undercarriage connect seat 21 be radially arranged one make that fixing bolt 22 runs through logical
Hole so that undercarriage connects seat 21 can not be along horn 1 axially-movable.
It is provided with the slip groove 234 coordinated with described otic placode connecting hole 213, its edge on described undercarriage support arm pipe clamp 23
The axis direction of horn 1 is provided with a through bearing pin installing hole 235.Described undercarriage support arm pipe clamp 23 is by connecting shaft 233
Run through described slip groove 234 hinged with otic placode connecting hole 213, described bearing pin installing hole 235 is provided with bearing pin 231, described
It is provided with the through hole making described connecting shaft 233 pass on bearing pin 231, described lock shaft 231 is arranged with back-moving spring 232, described
Described undercarriage support arm pipe clamp 23 is stretched out in one end of bearing pin 231, and its external part is provided with draw-in groove, described draw-in groove is provided with clamping
Hook 24, described chucking hook 24 is hinged on by installing screw 241 on the chucking hook installing hole of undercarriage connection seat 21, its other end
For being provided with the hook of opening, with the card slot fit of bearing pin 231.
Described undercarriage connects on seat 21 and is provided with positioning convex 211, described undercarriage support arm pipe clamp 23 is provided with
The detent 236 that positioning convex 211 coordinates.
It is on the surface contacted with undercarriage support arm pipe clamp 23 on described undercarriage connection seat 21 and is additionally provided with the second bullet
Property assembly 25, described second elastic parts includes second hoodle the 252, second hoodle mounting seat 251, described second hoodle mounting seat
251 are arranged in the second installing hole that described undercarriage connects on seat 21, are provided with elastomeric element in described second installing hole, as
Springs etc., in described second hoodle mounting seat 251, the surface configuration corresponding with undercarriage support arm pipe clamp 23 has a diameter less than institute
State the opening of hoodle sphere diameter, described undercarriage support arm pipe clamp 23 is provided with the second groove coordinated with described hoodle 252.
When folding undercarriage support arm, chucking hook 24 is rotated up, unclamps the connection of itself and bearing pin, by undercarriage support arm 2
Slide along chucking hook 24 direction so that detent 236 departs from positioning convex 211, rotate undercarriage support arm 2, it is achieved undercarriage
Support arm 2 folds.
As shown in Figure 11～Figure 12, described centre frame upper plate 7 being additionally provided with GPS mounting seat 4, described GPS mounting seat 4 is wrapped
Include the base 41 being fixed by screws in described GPS mounting seat 4, the GPS being arranged on GPS connects seat 42, described base 41
Including base plate, being arranged on base plate and the positioning seat vertical with base plate, in the present embodiment, described positioning seat is cylinder, but this
The positioning seat of invention is not limited to cylinder, and described positioning seat is provided with some 3rd installing holes 413, described 3rd installing hole
413 is two groups, and often group includes that four the 3rd installing holes 413, four the 3rd installing holes 413 are arranged on same plane and adjacent bullet
The opening direction of property portion installing hole becomes 90 degree.Some protruding 412 it are provided with on described base plate.Set in described 3rd installing hole 413
Being equipped with the 3rd elastic parts, described 3rd elastic parts includes the 3rd hoodle mounting seat 43, is arranged on described 3rd hoodle installation
The 3rd elastomeric element in seat 43 and the 3rd hoodle 431, described 3rd elastomeric element is spring etc., described 3rd hoodle mounting seat
43 one end being in mounting hole direction are provided with opening, and the diameter of described opening is less than the sphere diameter of hoodle 431, described elastic
Part makes the part ball surface of hoodle 431 stretch out the opening of described hoodle mounting seat 43 all the time.
It is provided with the cavity coordinated with positioning seat in described GPS mounting seat 42, the inwall of described GPS mounting seat 42 is arranged
There is the 3rd groove that some and described hoodle 431 coordinates, described GPS mounting seat 42 be provided with some and described protruding 412 join
The locating slot 422 closed.
GPS mounting seat in the present invention, by hoodle and clamping groove fit, facilitate mounting or dismounting, it is to avoid screwing needs
Employing instrument, and the elastic parts of two groups is set, positioning stablity, owing to the motor of unmanned plane quickly rotates, produce high frequency vibrating
Dynamic, GPS installs and easily loosens, and easily produces gap, cause and rock between installed part, causes GPS to position inaccurate problem.
Other structure of multiaxis unmanned plane stable described in the present embodiment sees prior art.
The above, be only presently preferred embodiments of the present invention, and the present invention not makees any pro forma restriction, therefore
Every without departing from technical solution of the present invention content, any amendment of above example being made according to the technical spirit of the present invention,
Equivalent variations and modification, all still fall within the range of technical solution of the present invention.
Claims (10)
1. a stable multiaxis unmanned plane, including fuselage, described fuselage is provided with some horns；Described horn is away from fuselage
One end be provided with driving motor, the rotary shaft of described driving motor is provided with paddle；It is characterized in that:
Described horn is connected with described fuselage by bindiny mechanism；
Described bindiny mechanism includes the horn foldable base that the horn being arranged on fuselage connects seat, is arranged on horn, described machine
One end of arm foldable base is articulated with described horn and connects on seat；It is provided with fold mechanism on described horn connection seat；Described folding
Mechanism is flexibly connected with the other end of described horn foldable base；
Described fold mechanism includes outer handle and Internal handle；Described Internal handle one end is articulated with described horn and connects seat, its another
End is movably set with outer handle rotary shaft；
One end of described outer handle is articulated with in described outer handle rotary shaft；Its other end is provided with lives with described horn foldable base
The movable part being dynamically connected；
It is additionally provided with on described Internal handle for locking described inner handle retaining mechanism.
The most stable multiaxis unmanned plane, it is characterised in that: described activity is for being arranged on described outer handle
On hook, described horn foldable base is provided with and the described barb that coordinates of hook.
The most stable multiaxis unmanned plane, it is characterised in that: described retaining mechanism includes being set in described
The safety handle of outer handle rotary shaft and the back-moving spring resetted for safety handle；
Described horn connects seat and is extended with a location division to the direction of described outer handle rotary shaft；
Being provided with on described safety handle and the open slot of described location division clamping, described open slot cross section is U-shaped, described opening
The opening direction of slot cross-section is parallel with described outer handle rotary shaft, and described back-moving spring is set in described outer handle rotary shaft,
Described back-moving spring is arranged in described outer handle rotary shaft and is in the side away from described open slot opening；
Described safety handle has protruded upward a Handheld Division, and described Internal handle is provided with run through for described Handheld Division logical
Groove.
The most stable multiaxis unmanned plane, it is characterised in that: described fuselage is circular, and it includes interval
The centre frame upper plate of setting, centre frame lower plate, be provided with circuit board, described electricity between described centre frame upper plate and centre frame lower plate
Road plate is parallel with described centre frame upper plate, is provided with some first locating dowels, institute between described centre frame upper plate, centre frame lower plate
Stating the first locating dowel two ends and be provided with screwed hole, described centre frame upper plate, centre frame lower plate are by screw and described first location
Post connects fixing；
Described circuit board is arranged in described centre frame lower plate by the second locating dowel, and the two ends of described second locating dowel are provided with
Screwed hole, described circuit board is arranged in described centre frame lower plate by screw and the second locating dowel.
The most stable multiaxis unmanned plane, it is characterised in that: described unmanned plane is six axle unmanned planes, institute
Stating fuselage is circle, and described horn is evenly distributed on the same level circumference of described fuselage.
Also include that the undercarriage support arm that undercarriage, described undercarriage include more than three, described undercarriage support arm are arranged on described
On one end of the close described driving motor of horn, described undercarriage support arm is evenly distributed on corresponding horn.
The most stable multiaxis unmanned plane, it is characterised in that: described undercarriage support arm and described horn it
Between be provided with support arm fold mechanism；
Described support arm fold mechanism includes that the undercarriage being set on described horn connects seat, is set on described undercarriage support arm
Undercarriage support arm pipe clamp, described undercarriage connects on seat and is provided with connection otic placode, described connection otic placode is provided with otic placode even
Connecing hole, the axis of described otic placode connecting hole is vertical with described horn；Described support arm pipe clamp is articulated with described connection otic placode；
It is provided with the fixed structure for fixing described support arm between described undercarriage connection seat and described undercarriage support arm.
The most stable multiaxis unmanned plane, it is characterised in that: described fixed structure includes mounting groove, cunning
Move groove, slip shaft, card-tight part；
Described mounting groove is arranged on described support arm pipe clamp for being connected what otic placode matched with described, the length side of described mounting groove
To vertical with the described axis being connected otic placode；Described connection otic placode is connected by installing bolt with described mounting groove；
Described slippage slot is arranged on described support arm pipe clamp along described horn axis direction, is provided with sliding in described slip hole
Axle；
The part that described slip shaft is in described slip hole is provided with the through hole making described installation bolt pass through；
Described card-tight part one end is articulated with described mounting seat；Its other end is flexibly connected with described slip shaft；Described slip shaft one
End extend out to outside described slip hole, and described slip shaft stretches out and is provided with draw-in groove on the one end outside described slip hole；
Described card-tight part is for buckling；The described one end that buckles is articulated with on the end face of described mounting seat, and its other end is crotch, described
Crotch and described card slot fit clamping.
The most stable multiaxis unmanned plane, it is characterised in that: it is in described on described horn connection seat
It is provided for installing the first installing hole of the first elastic parts on the end face that horn foldable base is relative；Set in described horn foldable base
It is equipped with the mating holes coordinated with described first elastic parts；
Described first elastic parts includes the first spring, the first tight lock part being arranged in described first installing hole, described first
The one side that tight lock part is corresponding with described horn foldable base is spheroform surface；It is provided with in described horn foldable base and described spherical song
The first groove that face coordinates；
It is on the end face relative with described undercarriage support arm pipe clamp on described undercarriage connection seat and is provided for the second bullet is installed
Second installing hole of property assembly；The mating holes coordinated with described second elastic parts it is provided with on described undercarriage pipe clamp；
Described second elastic parts includes the second spring, the second tight lock part being arranged in described second installing hole, described second
The one side that tight lock part is corresponding with described horn foldable base is spheroform surface；It is provided with in described horn foldable base and described spherical song
The second groove that face coordinates.
The most stable multiaxis unmanned plane, it is characterised in that: it is provided with GPS mounting seat on described fuselage；
Described GPS mounting seat includes being fixed on the base of described central frame upper plate, being arranged on GPS and join with described base
The GPS closed connects seat；
Being provided with the hole, some location for installing the 3rd elastic parts on described base, hole, described location is more than two, often
Hole, group location includes that four are evenly distributed on the circumference concentric with described base axis；
Described 3rd elastic parts includes the 3rd hoodle, the 3rd hoodle mounting seat, is provided with in described 3rd hoodle mounting seat
Three elastomeric elements；It is in described 3rd hoodle mounting seat and connects the relative surface of seat with described GPS and offer diameter less than the
The opening of three hoodle sphere diameters；
It is provided with, on described GPS connection seat, the locating slot coordinated with described 3rd hoodle.
The most stable multiaxis unmanned plane, it is characterised in that: it is provided with on described central frame upper plate
Trousers.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610465674.8A CN106081057B (en) | 2016-06-21 | 2016-06-21 | A kind of multiaxis unmanned plane of stabilization |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610465674.8A CN106081057B (en) | 2016-06-21 | 2016-06-21 | A kind of multiaxis unmanned plane of stabilization |
Publications (2)
| Publication Number | Publication Date |
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| CN106081057A true CN106081057A (en) | 2016-11-09 |
| CN106081057B CN106081057B (en) | 2018-05-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610465674.8A Active CN106081057B (en) | 2016-06-21 | 2016-06-21 | A kind of multiaxis unmanned plane of stabilization |
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| CN106927018A (en) * | 2017-04-07 | 2017-07-07 | 厦门南羽科技有限公司 | A kind of foldable unmanned plane |
| CN107336826A (en) * | 2017-06-30 | 2017-11-10 | 浙江大学 | A kind of collapsible unmanned plane of more rotors |
| CN107352018A (en) * | 2017-06-30 | 2017-11-17 | 浙江大学 | A kind of folding unmanned plane undercarriage |
| CN107600385A (en) * | 2017-10-18 | 2018-01-19 | 沈阳旋飞航空技术有限公司 | The cantilever fold mechanism of electronic unmanned plane |
| CN107914877A (en) * | 2017-12-20 | 2018-04-17 | 聊城揽悦创新科技有限公司 | Three axis connecting rod unmanned planes |
| CN108860576A (en) * | 2018-07-24 | 2018-11-23 | 西安航远数字技术有限公司 | A kind of collapsible unmanned plane undercarriage and its locking system |
| CN108928470A (en) * | 2018-06-28 | 2018-12-04 | 中国直升机设计研究所 | One kind having cable multi-rotor aerocraft |
| CN109606621A (en) * | 2018-11-12 | 2019-04-12 | 南京先飞机器人技术有限公司 | Unmanned plane horn equipped with foldable structure and the unmanned plane with foldable structure horn |
| WO2019104724A1 (en) * | 2017-12-01 | 2019-06-06 | 深圳市大疆灵眸科技有限公司 | Connecting assembly and photographing apparatus |
| WO2020015239A1 (en) * | 2018-07-19 | 2020-01-23 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and engine arm connecting structure thereof |
| CN110244264B (en) * | 2019-06-26 | 2021-04-13 | 北京航天控制仪器研究所 | Acoustic sensor array structure |
| CN112960110A (en) * | 2021-04-09 | 2021-06-15 | 广州亿航智能技术有限公司 | Quick assembly disassembly connects and has undercarriage that this connects |
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| CN108860576A (en) * | 2018-07-24 | 2018-11-23 | 西安航远数字技术有限公司 | A kind of collapsible unmanned plane undercarriage and its locking system |
| CN109606621A (en) * | 2018-11-12 | 2019-04-12 | 南京先飞机器人技术有限公司 | Unmanned plane horn equipped with foldable structure and the unmanned plane with foldable structure horn |
| CN110244264B (en) * | 2019-06-26 | 2021-04-13 | 北京航天控制仪器研究所 | Acoustic sensor array structure |
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