CN106081057B - A kind of multiaxis unmanned plane of stabilization - Google Patents
A kind of multiaxis unmanned plane of stabilization Download PDFInfo
- Publication number
- CN106081057B CN106081057B CN201610465674.8A CN201610465674A CN106081057B CN 106081057 B CN106081057 B CN 106081057B CN 201610465674 A CN201610465674 A CN 201610465674A CN 106081057 B CN106081057 B CN 106081057B
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- Prior art keywords
- horn
- undercarriage
- support arm
- hole
- connecting seat
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Classifications
-
- 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 multiaxis unmanned planes of stabilization, and including fuselage, several horns are provided on the fuselage；The one end of the horn away from fuselage is provided with driving motor, and paddle is provided in the rotation axis of the driving motor；The horn is connected by bindiny mechanism with the fuselage；The bindiny mechanism includes horn connecting seat, horn foldable base, and one end of the horn foldable base is articulated on the horn connecting seat；Fold mechanism is provided on the horn connecting seat；The fold mechanism is flexibly connected with the other end of the horn foldable base；The fold mechanism includes outer handle and Internal handle；Described Internal handle one end is articulated with the horn connecting seat, and the other end is movably set with outer handle rotary shaft；One end of the outer handle is articulated in the outer handle rotary shaft；Its other end is provided with the movable part being flexibly connected with the horn foldable base；It is additionally provided with to lock the inner handle retaining mechanism on the Internal handle.
Description
Technical field
The invention belongs to unmanned air vehicle technique fields, and in particular to a kind of multiaxis unmanned plane of stabilization.
Background technology
Unmanned plane (UAV) requires low excellent with maneuverability, rapid reaction, unmanned flight, operation
Point loads multiclass sensor people, such as camera on unmanned plane, can realize image real-time Transmission, the detection of high tomahawk area etc.
Function is widely used in fire-fighting, military affairs, hands over the fields such as energy, police service, exploration and meteorology, to realize the cruise to designated area
Shooting and monitoring.
At present, unmanned plane is multiaxis unmanned plane mostly, such as four axis, six axis, since horn is with respect to fuselage shape radially outward
It setting, volume is big, and transport is inconvenient, meanwhile, the structure of horn may collide in transportational process, cause the balance of complete machine
Property, stability generate deviation, influence the normal use of unmanned plane.
The content of the invention
The invention aims to solve big unmanned plane volume, packaging and transport are inconvenient, transport the technology being easily damaged
Problem provides a kind of foldable, multiaxis unmanned plane of the high stabilization of reliability.
To solve the above-mentioned problems, the present invention is achieved by following technical scheme：
The multiaxis unmanned plane of stabilization of the present invention including fuselage, is provided with several horns on the fuselage；The horn
One end away from fuselage is provided with driving motor, and paddle is provided in the rotation axis of the driving motor；The horn passes through company
Connection mechanism is connected with the fuselage；
The bindiny mechanism includes the horn connecting seat being arranged on fuselage, the horn foldable base being arranged on horn, institute
The one end for stating horn foldable base is articulated on the horn connecting seat；Fold mechanism is provided on the horn connecting seat；It is described
Fold mechanism is flexibly connected with the other end of the horn foldable base；
The fold mechanism includes outer handle and Internal handle；Described Internal handle one end is articulated with the horn connecting seat,
The other end is movably set with outer handle rotary shaft；
One end of the outer handle is articulated in the outer handle rotary shaft；Its other end is provided with to be folded with the horn
The movable part of seat flexible connection；It is additionally provided with to lock the inner handle retaining mechanism on the Internal handle.
Further, the activity is is arranged on the hook of the outer grip on hand, be provided in the horn foldable base with
The barb of the hook cooperation.
Further, the retaining mechanism includes being set in the safety handle of the outer handle rotary shaft and for insuring handle
The resetting spring that hand resets；The direction of the horn connecting seat to the outer handle rotary shaft is extended with a positioning region；
The open slot with positioning region clamping is provided on the safety handle, the slot cross-section that is open is described to be U-shaped
The opening direction of opening slot cross-section is parallel with the outer handle rotary shaft, and the resetting spring is set in the outer handle rotary shaft
On, the resetting spring is arranged in the outer handle rotary shaft and in the one side away from the opening channel opening；It is described
Safety handle is extended with a Handheld Division upwards, is provided on the Internal handle for the perforative straight slot in the Handheld Division.
Further, set to install on the end face opposite with the horn foldable base on the horn connecting seat
First mounting hole of the first elastic parts；The cooperation with first elastic parts cooperation is provided in the horn foldable base
Hole；
First elastic parts includes being arranged on spring, tight lock part in first mounting hole, the tight lock part with
The corresponding one side of the horn foldable base is spheroform surface；It is provided in the horn foldable base and spheroform surface cooperation
First groove.
Further, the fuselage is circle, including spaced centre frame upper plate, centre frame lower plate, in described
Circuit board is provided between heart frame upper plate and centre frame lower plate, the circuit board is parallel with the centre frame upper plate, the center
Several first positioning columns are provided between frame upper plate, centre frame lower plate, first positioning column is provided at both ends with threaded hole, described
Centre frame upper plate, centre frame lower plate are connected fixation by screw with first positioning column；
The circuit board is arranged on by the second positioning column in the centre frame lower plate, and the both ends of second positioning column are set
Threaded hole is equipped with, the circuit board is arranged on by screw and the second positioning column in the centre frame lower plate.
Further, the unmanned plane is six axis unmanned planes, and the fuselage is circle, and the horn is evenly distributed on described
On the same level circumference of fuselage.
Further, undercarriage is further included, the undercarriage includes the undercarriage support arm of three or more, the undercarriage branch
Arm is arranged on one end of the close driving motor of the horn, and the undercarriage support arm is evenly distributed on corresponding horn
On.
Further, it is provided with support arm fold mechanism between the undercarriage support arm and the horn；
The support arm fold mechanism includes the undercarriage connecting seat being set on the horn, is set in the undercarriage branch
Undercarriage support arm pipe clamp on arm is provided with connection otic placode on the undercarriage connecting seat, ear is provided in the connection otic placode
Plate connecting hole, the axis of the otic placode connecting hole are vertical with the horn；The support arm pipe clamp is articulated with the connection otic placode；
It is provided with to fix the fixed structure of the support arm between the undercarriage connecting seat and the undercarriage support arm.
Further, the fixed structure includes mounting groove, slip hole, slip shaft, card-tight part；
The mounting groove, which is arranged on, is used for what is matched with the connection otic placode on the support arm pipe clamp, the length of the mounting groove
It is vertical with the axis of the connection otic placode to spend direction；The connection otic placode is connected with the mounting groove by installation bolt；
The slip hole is arranged on along the horn axis direction on the support arm pipe clamp, and cunning is provided in the slip hole
Move axis；
The part that the slip shaft is in the slip hole be provided with make the installation bolt by through hole；
Described card-tight part one end is articulated with the mounting base；Its other end is flexibly connected with the slip shaft；The sliding
Axis one end is extend out to outside the slip hole, and card slot is provided on one end that the slip shaft is stretched out outside the slip hole；
The card-tight part is hanging buckle；Described hanging buckle one end is articulated on the end face of the mounting base, and the other end is crotch,
The crotch coordinates clamping with the card slot.
Further, set and use on the end face opposite with the undercarriage support arm pipe clamp on the undercarriage connecting seat
In the second mounting hole for installing the second elastic parts；It is provided on the undercarriage pipe clamp and second elastic parts cooperation
Matching hole；
Second elastic parts includes being arranged on spring, tight lock part in second mounting hole, the tight lock part with
The corresponding one side of the horn foldable base is spheroform surface；It is provided in the horn foldable base and spheroform surface cooperation
Second groove.
Further, GPS mounting bases are provided on the fuselage；The GPS mounting bases include being fixed on the Main subrack
The pedestal of frame upper plate, be arranged on GPS and with the GPS connecting seats of the base engagement；
Be provided on the pedestal for install the 3rd elastic parts several location holes, the location hole for two groups with
On, every group of location hole is evenly distributed on including four on the circumference concentric with the base axis；
3rd elastic parts includes hoodle, hoodle mounting base, and elastomeric element is provided in the hoodle mounting base；Institute
It states and offers opening of the diameter less than hoodle sphere diameter in the surface opposite with the GPS connecting seats in hoodle mounting base；
The locating slot with hoodle cooperation is provided on the GPS connecting seats.
Further, it is provided with radome fairing on the central frame upper plate；It is provided on the radome fairing and the horn
Corresponding through slot.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention sets horn foldable base, horn foldable base one end by setting horn connecting seat in fuselage on horn
Horn connecting seat is articulated with, the outer handle being flexibly connected with the horn foldable base other end is set on horn connecting seat, then by interior
Handle, safety handle cooperation, by outer handle double locking so that horn folding convenient, fix stably, double insurance, even if
Under high-frequency vibration, also it is not easy to loosen, stability is high.
Elastomeric element is set between horn connecting seat and horn foldable base, due to the motor high-speed rotation on horn, is turned
Speed is up to 8000n/min, generates high-frequency vibration, and elastomeric element effectively eliminates the gap between two metalworks, avoids simultaneously
The rigid collision of two metalworks, so as to damage two parts, influences the service life of component.
Undercarriage connecting seat on horn is set, undercarriage support arm pipe clamp, undercarriage support arm are set on undercarriage support arm
Pipe clamp is hinged with undercarriage connecting seat, by setting fixed structure on undercarriage support arm pipe clamp so that undercarriage support arm is opened
When, fix stably passes through positioning protrusion and limits undercarriage boom position so that it is rotated around installation bolt, by along sliding axle
Sliding gear support arm so that after positioning groove departs from positioning protrusion, fold undercarriage support arm, folding convenient, positioning is reliable, increases
Add stability.
And elastomeric element is set between undercarriage connecting seat and support arm pipe clamp, effectively between two metalworks of elimination
Gap, while avoid the rigid collision of two metalworks, so as to damage two parts, influence the service life of component.
The bottom plate of GPS mounting bases is flexibly connected with connecting seat, is convenient to mount and dismount, need not by any auxiliary tool, and
And registration, stability is high, and every group of elastic parts limits six-freedom degree, and is coordinated using two groups of elastic parts,
Further improve stability.
The present invention, which folds, opens convenient, fix stably, and stability height has saved space, and instant packed, transport avoids
The damage of transport.
Description of the drawings
The specific embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings, wherein：
Fig. 1 is the structure diagram of the multiaxis unmanned plane of stabilization of the present invention；
Fig. 2 is the folded state diagram of the multiaxis unmanned plane of stabilization of the present invention；
Fig. 3 is the top view of the multiaxis unmanned plane of stabilization of the present invention；
Fig. 4 is the section view of the A-A of Fig. 3；
Fig. 5 is the fuselage sectional view of the multiaxis unmanned plane of stabilization of the present invention；
Fig. 6 is the partial enlarged view of A in Fig. 1；
Fig. 7 is the partial enlarged view of B in Fig. 4；
Fig. 8 is the decomposition diagram of the horn bindiny mechanism of the multiaxis unmanned plane of stabilization of the present invention；
Fig. 9 is the partial enlarged view of C in Fig. 4；
Figure 10 is the decomposition diagram of the support arm fold mechanism of the multiaxis unmanned plane of stabilization of the present invention；
Figure 11 is the decomposition diagram of the GPS mounting bases of the multiaxis unmanned plane of stabilization of the present invention；
Figure 12 is the sectional view of the GPS mounting bases of the multiaxis unmanned plane of stabilization of the present invention.
In figure：1- horns, 11- motor mounts, 12- horn foldable bases, 121- barbs, the outer handles of 13-, the outer handles of 131-
Mounting hole, 632- straight slots, 133- hooks, 14- Internal handles, 141- Internal handle rotation axis, 142- handle straight slots, 143- connecting holes,
144- Internal handle mounting holes, 15- safety handles, 150- resetting springs, the outer handle rotation axis of 151-, 152- Handheld Divisions, 153- turn
Shaft mounting hole, 154- open slots, 16- help opened handle, 161- hand grip portions, 162- handle mounting holes, 163- fulcrums, 17- horns company
Joint chair, 171- positioning regions, 172- fuselages installation otic placode, 173- horns installation otic placode, 174- fold mechanism mounting holes, 18- first
Elastic parts, the first hoodles of 181-, 182- the first hoodle mounting bases, the first bushings of 19-；
2- undercarriage support arms, 21- undercarriage connecting seats, 211- positioning protrusion, 212- connection otic placodes, the connection of 213- otic placodes
Hole, 214- elastic portion mounting holes, 22- fixing bolts, 23- undercarriage support arm pipe clamps, 231- axis pins, 232- resetting springs, 234-
Sliding channel, 235- bearing pin mounting holes, 236- positioning grooves, 237- support arm mounting holes, 24- card-tight parts, 241- mounting screws,
242- chucking hooks, 243- threaded holes, the second elastomeric elements of 25-, 251- the second hoodle mounting bases, the second hoodles of 252-, 3- rectifications
Cover, 4-GPS mounting bases, 41- pedestals, 411- base installing holes, 412- protrusions, the 3rd mounting holes of 413-, 42-GPS connecting seats,
421- clamping slots, 422- locating slots, the 3rd hoodle mounting bases of 43-, the 3rd hoodles of 431-, 5- centre frame lower plates, under 51- centre frames
Plate mounting post, 6- circuit boards, 61- mounting posts, 7- centre frame upper plates, 8- Quick-mounting boards, 81- Quick-mounting board mounting posts.
Specific embodiment
The preferred embodiment of the present invention is illustrated below in conjunction with attached drawing, it should be understood that preferred reality described herein
It applies example to be merely to illustrate and explain the present invention, be not intended to limit the present invention.
As shown in Fig. 1~Figure 12, the multiaxis unmanned plane of stabilization of the present invention including fuselage, is provided on the fuselage
Six horns 1, six horns 1 are symmetrical arranged on fuselage, and the present embodiment middle fuselage is circle, and six horns 1 are evenly distributed on
On the fuselage circumference, but the fuselage in the present invention is not limited to circular or other polygons.The horn 1 is remote
Disembark one end of body is provided with driving motor by motor mount 11, and paddle is provided in the rotation axis of the driving motor.
As shown in figure 5, the fuselage includes spaced centre frame lower plate 5, centre frame upper plate 7, under the centre frame
Plate 5 and centre frame upper plate 7 are separately positioned on the both ends of several centre frame lower plate mounting posts 51, the centre frame lower plate by screw
Mounting post 51 is provided at both ends with mounting hole, between the centre frame lower plate 5 and the centre frame upper plate 7, is provided with circuit board
6, the circuit board 6 is connected by mounting post 61 with the centre frame lower plate 5.It is also set up in the centre frame lower plate 5
There is radome fairing 3, the radome fairing 3 is connected by connecting seat with centre frame lower plate 5, closed fuselage.The rectification cover outer surface is adopted
It is made of glass fibre, it is internal to use honeycomb.Since radome fairing is from load, it is only necessary to ensure the rigidity of itself i.e.
Can, which meets the rigidity of radome fairing itself simultaneously, alleviates quality so that the entirety of unmanned plane is lighter, and flight is more
Stablize.
As shown in Figure 6 to 8, the horn 1 is arranged on the centre frame lower plate 5 and centre frame by horn bindiny mechanism
Upper plate 7 connects, and the bindiny mechanism includes being arranged on the horn foldable base 12, centrally disposed frame lower plate 5 and centre frame of horn 1
Horn connecting seat 17 on upper plate 7, the horn connecting seat 17 side opposite with fuselage be extended with centre frame lower plate 5 and in
The fuselage installation otic placode 172 that heart frame upper plate 7 connects, the side opposite with the horn 1 is simultaneously stretched in 5 position of centre frame lower plate
Go out to have horn mounting ear plate 173,17 upper table of horn connecting seat is extended with upwardly a protrusion, is provided in the protrusion logical
Hole 174, the horn connecting seat 17 are extended with a positioning region 171 close to one end of the through hole 174 to fuselage direction.
Described 12 one end of horn foldable base is articulated with horn installation otic placode 173, and the other end is hollow cylinder, described
Horn 1 is sheathed in the cylinder, and neck bush 19, the horn are also arranged between the horn foldable base 12 and horn 1
1st, horn foldable base 12, neck bush 19 are fixedly connected by screw.Barb 121, institute are additionally provided in the horn foldable base 12
It states barb 121 and is arranged on the one end of horn foldable base 12 away from hinged end.
It is provided with to lock the fold mechanism of the horn foldable base 12, the folding machine on the horn connecting seat 12
Structure includes outer handle 13, Internal handle 14, safety handle 15, helps opened handle 16.
The outer handle 13 is U-shape, and the aperture position of outer handle is provided with outer handle mounting hole 131, the outer grip
Hand 13 is in U-shaped bottom and is provided with the hook 133 coordinated with the barb 121.
The connecting hole 143 of the Internal handle 14 is provided through on the Internal handle 14, parallel with the connecting hole 143 is set
The Internal handle mounting hole 144 in the other end of the Internal handle 14 is put, the Internal handle 14 is additionally provided with handle straight slot 142, institute
The axis for stating handle straight slot 142 is vertical with the axis of the Internal handle mounting hole 144.The Internal handle 14 is arranged on outer handle 13
Straight slot 132 in, the Internal handle mounting hole 144 is arranged on the through hole 174 of horn connecting seat 17 by Internal handle rotation axis 141
It is interior.The Internal handle 14 and outer handle 13 run through the connecting hole 143 and outer handle mounting hole by outer handle rotation axis 151
131 connections.
Shaft mounting hole 153, an inverted U-shaped open slot 154 are provided on the safety handle 15, upper surface is stretched out upwards
There is Handheld Division 152, the safety handle 15 is arranged on by shaft mounting hole 153 in the outer handle rotation axis 151, the hand
It holds portion 152 to stretch out upwards through the straight slot 142, the opening direction of the U-shaped opening slot 154 and outer handle rotation axis 151
Axis direction is parallel, and along the one end open of axis, the open slot coordinates clamping with the positioning region 171.The outer rotation
One end that axis 151 is located remotely from the opening is arranged with resetting spring 150.
It is also arranged on the outer rotary shaft 151 and helps opened handle 16, described help on opened handle 16 is provided with for outer rotation
151 perforative handle mounting hole 162 of axis, it is described to help opened handle 16 as L-shaped, including bottom and side, the handle mounting hole
162 are arranged on bottom outermost end, and the side is hand grip portion 161, and the bottom and side link position are arc-shaped, the connection
Position is fulcrum 163, assurance portion 161 is pressed downward, due to the effect of fulcrum 163, outer rotary shaft 151 moves upwards so that outer
Handle 13 moves upwards and towards 1 direction of horn, unclamps the hook 133 of outer handle 13 and the barb 121 of horn foldable base 12
Connection.
The horn connecting seat 17 is on the surface contacted with horn foldable base 12 and is additionally provided with the first elastic parts 18,
First elastic parts 18 includes the first hoodle 181, the first hoodle mounting base 182, and the first hoodle mounting base 182 is set
In the first mounting hole on the horn connecting seat 17, the first elastomeric element, such as spring are provided in first mounting hole
Deng being provided with 12 corresponding surface of horn foldable base a diameter in the first hoodle mounting base 182 less than first bullet
The opening of pearl sphere diameter is provided with the first groove with first hoodle 181 cooperation in the horn foldable base 12.
The horn 1 is carbon fibre pipe fitting, and both ends connect driving motor mounting base and horn foldable base 12 respectively, described
The both ends of horn 1 set two groups of mounting holes in the axial direction respectively, and every group of mounting hole includes two, and two mounting holes are uniformly distributed
On the circumference of the horn 1, the horn 1 is connected with motor mount or horn foldable base 12 by stainless steel self-plugging rivet
It connects, which belongs to redundant structure design, and redundant degree of freedom limitation avoids motor high-frequency vibration and transport from touching to greatest extent
Airframe structure is uneven caused by hitting.
As shown in Fig. 9~Figure 10, undercarriage is further included, the undercarriage includes three undercarriage support arms 2, the undercarriage
Support arm 2 is uniformly arranged on the described one end of horn 1 away from the fuselage, at interval of a horn 1, sets a undercarriage support arm 2,
The undercarriage support arm 2 is connected by support arm fold mechanism with horn 1.
The support arm fold mechanism includes the undercarriage connecting seat 21 being set on the horn 1, is set in described rise and fall
Undercarriage support arm pipe clamp 23 on frame support arm 2.
The undercarriage connecting seat 21 has extended downwardly connection otic placode 212, and otic placode company is provided in the connection otic placode 212
Hole 213 is connect, the axis of the otic placode connecting hole 213 is vertical with the axis of the horn 1.One of the undercarriage connecting seat 21
Chucking hook mounting hole is provided on end face.The radial direction of the undercarriage connecting seat 21, which is provided with one, makes fixing bolt 22 perforative logical
Hole so that undercarriage connecting seat 21 cannot be axially moved along horn 1.
The sliding channel 234 with the otic placode connecting hole 213 cooperation, edge are provided on the undercarriage support arm pipe clamp 23
The axis direction of horn 1 is provided with the bearing pin mounting hole 235 of a perforation.The undercarriage support arm pipe clamp 23 passes through connecting shaft 233
It is hinged through the sliding channel 234 and otic placode connecting hole 213, axis pin 231 is provided in the bearing pin mounting hole 235, it is described
The through hole for passing through the connecting shaft 233 is provided on axis pin 231, resetting spring 232 is arranged on the lock shaft 231, it is described
The undercarriage support arm pipe clamp 23 is stretched out in one end of axis pin 231, and external part is provided with card slot, clamping is provided on the card slot
Portion 24, the card-tight part 24 include 241/242 and chucking hook 243.The clamping 243 is hinged on by mounting screw 241 rises and falls
On the chucking hook mounting hole of frame connecting seat 21, the other end is the hook equipped with opening, is coordinated with the card slot of axis pin 231.
Positioning protrusion 211 is provided on the undercarriage connecting seat 21, be provided on the undercarriage support arm pipe clamp 23 with
The positioning groove 236 that positioning protrusion 211 coordinates.
On the undercarriage connecting seat 21 the second bullet is additionally provided on the surface contacted with undercarriage support arm pipe clamp 23
Property component 25, second elastic parts include the second hoodle 252, the second hoodle mounting base 251, the second hoodle mounting base
251 are arranged in the second mounting hole on the undercarriage connecting seat 21, are provided with elastomeric element in second mounting hole, such as
Spring etc. is provided with a diameter less than institute in the second hoodle mounting base 251 with 23 corresponding surface of undercarriage support arm pipe clamp
The opening of hoodle sphere diameter is stated, the second groove with the hoodle 252 cooperation is provided on the undercarriage support arm pipe clamp 23.
When folding undercarriage support arm, chucking hook 24 is rotated up, unclamps its connection with axis pin, by undercarriage support arm 2
It is slided along 24 direction of chucking hook so that positioning groove 236 departs from positioning protrusion 211, rotates undercarriage support arm 2, realizes undercarriage
Support arm 2 folds.
As shown in Figure 11~Figure 12, GPS mounting bases 4 are additionally provided on the centre frame upper plate 7, the GPS mounting bases 4 are wrapped
Include the pedestal 41 being fixed by screws in the GPS mounting bases 4, the GPS connecting seats 42 being arranged on GPS, the pedestal 41
Including bottom plate, it is arranged on bottom plate and the positioning seat vertical with bottom plate, in the present embodiment, the positioning seat is cylinder, but this
The positioning seat of invention is not limited to cylinder, and several 3rd mounting holes 413, the 3rd mounting hole are provided on the positioning seat
413 be two groups, and every group includes four the 3rd mounting holes 413, and four the 3rd mounting holes 413 are arranged on same plane and adjacent bullet
The opening direction of property portion mounting hole is into 90 degree.Several raised 412 are provided on the bottom plate.It is set in 3rd mounting hole 413
The 3rd elastic parts is equipped with, the 3rd elastic parts includes the 3rd hoodle mounting base 43, is arranged on the 3rd hoodle installation
The 3rd elastomeric element and the 3rd hoodle 431 in seat 43, the 3rd elastomeric element is for spring etc., the 3rd hoodle mounting base
43 one end in mounting hole direction are provided with opening, and the diameter of the opening is less than the sphere diameter of hoodle 431, the elastic portion
Part causes the part ball surface of hoodle 431 to stretch out the opening of the hoodle mounting base 43 always.
The cavity with positioning seat cooperation is provided in the GPS mounting bases 42, is set on the inner wall of the GPS mounting bases 42
There are the 3rd grooves of several cooperations with the hoodle 431, be provided with and several match somebody with somebody with described raised 412 in the GPS mounting bases 42
The locating slot 422 of conjunction.
GPS mounting bases in the present invention are coordinated by hoodle and clamping groove, facilitate assembly and disassembly, avoid screwing needs
Using instrument, and two groups of elastic parts is set, positioning stablity since the motor of unmanned plane quickly rotates, generates high frequency vibrating
Dynamic, GPS installs the problem of easily loosening, easily generating gap between installed part, cause and rock, cause GPS positioning inaccurate.
The other structures for the multiaxis unmanned plane stablized described in the present embodiment are referring to the prior art.
The above described is only a preferred embodiment of the present invention, not make limitation in any form to the present invention, therefore
Every any modification that without departing from technical solution of the present invention content, technical spirit according to the invention makees above example,
Equivalent variations and modification, in the range of still falling within technical solution of the present invention.
Claims (9)
1. a kind of multiaxis unmanned plane of stabilization including fuselage, is provided with several horns on the fuselage；The horn is away from fuselage
One end be provided with driving motor, be provided with paddle in the rotation axis of the driving motor；It is characterized in that：
The horn is connected by bindiny mechanism with the fuselage；
The bindiny mechanism includes the horn connecting seat being arranged on fuselage, the horn foldable base being arranged on horn, the machine
One end of arm foldable base is articulated on the horn connecting seat；Fold mechanism is provided on the horn connecting seat；The folding
Mechanism is flexibly connected with the other end of the horn foldable base；
The fold mechanism includes outer handle and Internal handle；Described Internal handle one end is articulated with the horn connecting seat, another
End is movably set with outer handle rotary shaft；
One end of the outer handle is articulated in the outer handle rotary shaft；Its other end is provided with lives with the horn foldable base
The movable part of dynamic connection；
It is additionally provided with to lock the inner handle retaining mechanism on the Internal handle；The retaining mechanism includes being set in institute
The resetting spring stated the safety handle of outer handle rotary shaft and resetted for safety handle；
The direction of the horn connecting seat to the outer handle rotary shaft is extended with a positioning region；
The open slot with positioning region clamping is provided on the safety handle, the opening slot cross-section is U-shaped, the opening
The opening direction of slot cross-section is parallel with the outer handle rotary shaft, and the resetting spring is set in the outer handle rotary shaft,
The resetting spring is arranged in the outer handle rotary shaft and in the one side away from the opening channel opening；
The safety handle is extended with a Handheld Division upwards, is provided on the Internal handle perforative logical for the Handheld Division
Slot.
2. the multiaxis unmanned plane stablized according to claim 1, it is characterised in that：The movable part is to be arranged on the outer grip
Hook on hand, is provided in the horn foldable base and the barb of the hook cooperation.
3. the multiaxis unmanned plane stablized according to claim 1, it is characterised in that：The fuselage is circle, including interval
The centre frame upper plate of setting, centre frame lower plate are provided with circuit board, the electricity between the centre frame upper plate and centre frame lower plate
Road plate is parallel with the centre frame upper plate, and several first positioning columns, institute are provided between the centre frame upper plate, centre frame lower plate
It states the first positioning column and is provided at both ends with threaded hole, the centre frame upper plate, centre frame lower plate pass through screw and the described first positioning
Column connection is fixed；
The circuit board is arranged on by the second positioning column in the centre frame lower plate, and second positioning column is provided at both ends with
Threaded hole, the circuit board are arranged on by screw and the second positioning column in the centre frame lower plate.
4. the multiaxis unmanned plane stablized according to claim 3, it is characterised in that：The unmanned plane be six axis unmanned planes, institute
Fuselage is stated as circle, the horn is evenly distributed on the same level circumference of the fuselage；
Undercarriage is further included, the undercarriage includes the undercarriage support arm of three or more, and the undercarriage support arm is arranged on described
On one end of the close driving motor of horn, the undercarriage support arm is evenly distributed on corresponding horn.
5. the multiaxis unmanned plane stablized according to claim 4, it is characterised in that：The undercarriage support arm and the horn it
Between be provided with support arm fold mechanism；
The support arm fold mechanism includes the undercarriage connecting seat being set on the horn, is set on the undercarriage support arm
Undercarriage support arm pipe clamp, be provided with connection otic placode on the undercarriage connecting seat, otic placode company be provided in the connection otic placode
Hole is connect, the axis of the otic placode connecting hole is vertical with the horn；The undercarriage support arm pipe clamp is articulated with the connection otic placode；
It is provided with to fix the fixed structure of the support arm between the undercarriage connecting seat and the undercarriage support arm.
6. the multiaxis unmanned plane stablized according to claim 5, it is characterised in that：The fixed structure includes mounting groove, cunning
Move hole, slip shaft, card-tight part；
The mounting groove, which is arranged on, is used for what is matched with the connection otic placode on the support arm pipe clamp, the length side of the mounting groove
To vertical with the axis of the connection otic placode；The connection otic placode is connected with the mounting groove by installation bolt；
The slip hole is arranged on along the horn axis direction on the support arm pipe clamp, and sliding is provided in the slip hole
Axis；
The part that the slip shaft is in the slip hole be provided with make the installation bolt by through hole；
Described card-tight part one end is articulated with the undercarriage connecting seat；Its other end is flexibly connected with the slip shaft；The cunning
It moves axis one end to extend out to outside the slip hole, card slot is provided on one end that the slip shaft is stretched out outside the slip hole；
The card-tight part is hanging buckle；Described hanging buckle one end is articulated on the end face of the undercarriage connecting seat, and the other end is curved
Hook, the crotch coordinate clamping with the card slot.
7. the multiaxis unmanned plane stablized according to claim 6, it is characterised in that：On the horn connecting seat be in it is described
It sets that the first mounting hole of the first elastic parts is installed on the opposite end face of horn foldable base；It is set in the horn foldable base
It is equipped with the matching hole with first elastic parts cooperation；
First elastic parts includes being arranged on the first spring, the first tight lock part in first mounting hole, and described first
Tight lock part one side corresponding with the horn foldable base is spheroform surface；It is provided in the horn foldable base and the spherical song
First groove of face cooperation；
It is set on the undercarriage connecting seat on the end face opposite with the undercarriage support arm pipe clamp for the second bullet of installation
Second mounting hole of property component；The matching hole with second elastic parts cooperation is provided on the undercarriage support arm pipe clamp；
Second elastic parts includes being arranged on second spring in second mounting hole, the second tight lock part, and described second
Tight lock part one side corresponding with the horn foldable base is spheroform surface；It is provided in the horn foldable base and the spherical song
Second groove of face cooperation.
8. the multiaxis unmanned plane stablized according to claim 4, it is characterised in that：GPS mounting bases are provided on the fuselage；
The GPS mounting bases include be fixed on central frame upper plate pedestal, be arranged on GPS and with the base engagement
GPS connecting seats；
It is provided on the pedestal for installing several location holes of the 3rd elastic parts, the location hole is more than two, often
Group location hole is evenly distributed on including four on the circumference concentric with the base axis；
3rd elastic parts includes the 3rd hoodle, the 3rd hoodle mounting base, and the is provided in the 3rd hoodle mounting base
Three elastomeric elements；Diameter is offered in the surface opposite with the GPS connecting seats be less than the in the 3rd hoodle mounting base
The opening of three hoodle sphere diameters；
The locating slot with the 3rd hoodle cooperation is provided on the GPS connecting seats.
9. the multiaxis unmanned plane stablized according to claim 4, it is characterised in that：It is provided on the central frame upper plate whole
Stream cover.
Priority Applications (1)
| 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 |
Applications Claiming Priority (1)
| 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 CN106081057A (en) | 2016-11-09 |
| CN106081057B true CN106081057B (en) | 2018-05-25 |
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| 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 |
| CN107336826B (en) * | 2017-06-30 | 2023-08-15 | 浙江大学 | Many rotor folding unmanned aerial vehicle |
| CN107352018B (en) * | 2017-06-30 | 2023-09-08 | 浙江大学 | Folding unmanned aerial vehicle undercarriage |
| CN107600385B (en) * | 2017-10-18 | 2023-11-07 | 沈阳旋飞航空技术有限公司 | Cantilever folding mechanism of electric unmanned aerial vehicle |
| 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 |
| 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 |
| 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 |
| CN208630850U (en) * | 2018-07-19 | 2019-03-22 | 深圳市大疆创新科技有限公司 | Unmanned vehicle and its horn connection structure |
| 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 |
| 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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