CN107117286B - Folding unmanned aerial vehicle and folding method thereof - Google Patents

Folding unmanned aerial vehicle and folding method thereof Download PDF

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Publication number
CN107117286B
CN107117286B CN201710301432.XA CN201710301432A CN107117286B CN 107117286 B CN107117286 B CN 107117286B CN 201710301432 A CN201710301432 A CN 201710301432A CN 107117286 B CN107117286 B CN 107117286B
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connecting piece
pull rod
folding
fixed box
rod
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CN107117286A (en
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赵刚
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Zhuhai Sv Tech Co ltd
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Zhuhai Sv Tech Co ltd
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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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/40—Weight reduction

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Agricultural Machines (AREA)
  • Toys (AREA)

Abstract

The invention provides a folding unmanned aerial vehicle and a folding method thereof, wherein the folding unmanned aerial vehicle comprises a machine body, two sides of the machine body are connected with rotating shafts, a paddle arm assembly is rotatably arranged on the rotating shafts, and the paddle arm assembly comprises a fixed box and a paddle arm arranged in the fixed box; be equipped with folding mechanism on the fuselage, folding mechanism includes the pull rod, the first end of connecting piece is connected to the first end of pull rod, the second end setting of connecting piece is on fixed box, the connecting piece includes articulated part, articulated part sets up between the first end of connecting piece and the second end of connecting piece, articulated part revolute the rotation of axis, the first end of connecting piece can rotate around the first end of pull rod, adopt above structure, drive folding mechanism makes the connecting piece drive fixed box and rotates, fold the angle to the difference with the oar arm on the fixed box, make things convenient for unmanned aerial vehicle operation, convenient for operation, rotate the folding of all oar arms that the fixed box can realize installing on fixed box, accomplish the folding of oar arm fast, effectively improve work efficiency.

Description

Folding unmanned aerial vehicle and folding method thereof
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a folding unmanned aerial vehicle and a folding method thereof.
Background
Unmanned aerial vehicles are a collective term for unmanned aerial vehicles, and are provided with equipment such as an autopilot, a program control device and the like. Ground personnel track, locate, remotely control, telemeter and digitally transmit the same through radar and other devices. Compared with manned plane, it has the advantages of small size, low cost, convenient use, etc. The folding unmanned aerial vehicle with the wings changes the shape of the wings in a folding way under different flight demands, the wings are fully unfolded so as to be beneficial to take-off or cruising, and the wings are contracted so as to be beneficial to high-speed or maneuvering flight and storage space saving.
However, the conventional unmanned aerial vehicle has the following problems: 1. the volume is large, and the carrying is inconvenient; 2. when folding, the folding still needs to be performed manually, and the working efficiency is low; 3. in the unmanned aerial vehicle folding process, the paddle arm needs to be folded independently, so that the folding process is slow, and the working efficiency is affected.
Disclosure of Invention
The invention mainly aims to provide a folding unmanned aerial vehicle capable of rapidly folding a paddle arm and a folding method thereof.
In order to achieve the above main object, the present invention provides a folding unmanned aerial vehicle, comprising:
the machine body is connected with rotating shafts on two sides;
the paddle arm assembly comprises a fixed box and a paddle arm arranged in the fixed box; the paddle arm assembly can rotate around the rotating shaft;
the folding mechanism comprises a pull rod, the first end of the pull rod is connected with the first end of the connecting piece, the second end of the connecting piece is arranged on the fixed box, the connecting piece comprises a hinge part, the hinge part is arranged between the first end of the connecting piece and the second end of the connecting piece, the hinge part rotates around a rotating shaft, and the first end of the connecting piece can rotate around the first end of the pull rod.
According to the scheme, the folding mechanism is driven, the connecting piece is pushed by the pull rod to enable the first end of the connecting piece to rotate around the first end of the pull rod, the hinge part is driven by the rotation of the first end of the connecting piece to rotate with the second end, the fixed box is driven to rotate around the rotating shaft, and the paddle arm arranged on the fixed box moves along with the rotation of the fixed box until the included angle between the paddle arm and the machine body reaches a preset angle. Can be according to the different demands of flight, fold different angles with the oar arm, make things convenient for unmanned aerial vehicle operation, convenient operation rotates fixed box and can realize the folding of installing all oar arms on fixed box, accomplishes the folding of oar arm fast, effectively improves work efficiency.
Further scheme is, the first end of pull rod and the second end of pull rod all are equipped with the second trompil, are equipped with first trompil on the first end of connecting piece, and the second trompil on the first end of pull rod and the coaxial heart setting of first trompil all run through in trompil and the first trompil have the connecting rod.
It can be seen that the connecting rod runs through the trompil simultaneously with the second trompil, accomplishes the connection between pull rod and the connecting piece.
The radial width of the deformation part is larger than that of the first end of the pull rod, and the radial width of the deformation part is larger than that of the second end of the pull rod; one side of the pull rod is connected with a limit rod.
Therefore, the pull rod not only plays a role in pushing the connecting piece to rotate, but also can play a role in resisting the crash of the unmanned aerial vehicle through the deformation part on the pull rod and the limiting rod, the paddle arm is automatically folded in the crash process, and the pull rod overcomes the friction force to apply work and deforms to buffer the impact force under the effect of the limiting rod, so that the crash resisting effect is achieved.
The driving mechanism is connected to the second end of pull rod, driving mechanism includes lead screw and cover establishes the slider on the lead screw, the first connecting piece is connected to the slider, first connecting piece is connected the second end of pull rod, power device is connected to the lead screw.
Therefore, when the screw rod rotates, the sliding block sleeved on the screw rod moves linearly along the axial direction of the screw rod, so that the sliding block is pushed to the pull rod connected with the sliding block, and under the action of the power device, the pull rod is pushed by the screw rod connecting rod structure, so that the folding mechanism is automatically folded, the manual folding step is removed, and the working efficiency is improved.
Further scheme is, actuating mechanism still includes the mounting bracket of fixing on the fuselage, and the mounting bracket includes two mounting pieces that are parallel to each other, forms the mounting groove between two mounting pieces, is equipped with the lead screw in the mounting groove, and the axial direction of lead screw is the same with the extending direction of mounting groove, and two mounting pieces all are equipped with logical groove, and the extending direction of logical groove is parallel with the axial direction of lead screw, and the second end of pull rod is connected through the groove to first connecting piece.
Therefore, the mounting frame is composed of two mutually parallel mounting plates, the mounting frame is simple in structure, few in used parts, the load of the machine body is effectively reduced, the first connecting piece penetrates through the through groove to be connected with the pull rod, the movement range of the pull rod is limited, the movement direction of the pull rod is parallel to that of the sliding block, the two mounting plates are respectively provided with the through groove, the two sides of the sliding block, which are close to the through groove, are respectively connected with the pull rod, and the first connecting pieces at the two sides respectively penetrate through the through groove to form a double-pushing structure.
The further scheme is that bearing seats are arranged at two ends of the mounting groove, the screw rod is arranged between the bearing seats, and the bearing seats are fixed on the machine body.
The further scheme is that the screw rod penetrates through the bearing seat to be connected with the power device, and a coupler is arranged between the bearing seat and the power device.
Therefore, the shaft coupling is used for completing connection of the screw rod and the power device, so that the driving shaft in the power device is connected with the screw rod.
According to the folding method of the folding unmanned aerial vehicle, the folding unmanned aerial vehicle is adopted;
the folding method comprises the following steps:
s1, driving a folding mechanism to enable a first end of a connecting piece to rotate around one pulled end;
s2, the rotation of the first end of the connecting piece drives the second end of the connecting piece to rotate around the rotating shaft, so that the fixed box is driven to rotate until the angle between the paddle arm and the machine body reaches a preset angle.
Therefore, the unmanned aerial vehicle's oar arm is realized under folding mechanism's effect folding under the different demands of flight according to the flight in a dimension, adapts to the flight operation to a greater extent, effectively improves work efficiency.
Drawings
Fig. 1 is a block diagram of an embodiment of a folding drone of the present invention.
Fig. 2 is an enlarged view of the structure at a in fig. 1.
Fig. 3 is a perspective view of a pull rod in an embodiment of the folding drone of the present invention.
The invention is further described below with reference to the drawings and examples.
Detailed Description
The folding unmanned aerial vehicle is applied to the unmanned aerial vehicle field, can automatically adjust the folding angle of the paddle arm in the flying process according to different flying requirements, can be quickly adapted to a flying task, and effectively improves the working efficiency.
Referring to fig. 1, the folding unmanned aerial vehicle comprises a body 1, wherein two sides of the body 1 in the radial direction are connected with rotating shafts 2, the rotating shafts 2 are rotatably provided with paddle arm assemblies, each paddle arm assembly comprises a fixed box 3 and paddle arms 7, each fixed box 3 is provided with a paddle arm mounting opening 4, the paddle arms 7 are mounted in each paddle arm mounting opening 4, and the paddle arm mounting openings are consistent with the paddle arms in number.
Referring to fig. 2, the unmanned aerial vehicle includes a folding mechanism including a pull rod 5, a first end 51 of the pull rod 5 is connected to a first end 60 of a link 6, a second end 61 of the link 6 is provided on the fixed box 3, the link 6 includes a hinge portion provided between the first end 60 of the link 6 and the second end 61 of the link 6, in this embodiment, the second end 61 of the link 6 serves as a hinge portion that rotates about the rotation axis 2, and the first end 60 of the link 6 is rotatable about the first end 51 of the pull rod 5; the folding mechanism is driven, the pull rod 5 pushes the connecting piece 6 to enable the first end 60 of the connecting piece 6 to rotate around the first end 51 of the pull rod 5, the rotation of the first end 60 of the connecting piece 6 drives the second end 61 to rotate, so that the fixed box 3 is driven to rotate around the rotating shaft 2, the paddle arm 7 installed on the fixed box 3 moves along with the rotation of the fixed box 3 until the included angle between the paddle arm 7 and the machine body 1 reaches a preset angle, the folding of all the paddle arms installed on the fixed box can be realized by rotating the fixed box, the folding of the paddle arms is completed rapidly, and the working efficiency is improved effectively. The first end 51 of the pull rod 5 and the second end 52 of the pull rod 5 are both provided with a second opening 50, and the rotation axis of the first end 60 of the connecting piece 6 is the axis of the second opening 50 of the first end 51 of the pull rod 5 during the rotation of the first end 60 of the connecting piece 6. The second opening 50 on the first end 51 of the pull rod 5 is coaxially connected with the first opening on the first end 60 of the connecting piece 6, the connecting rod 8 is utilized to simultaneously penetrate through the second opening 50 on the first end 51 of the pull rod 5 and the first opening on the first end 60 of the connecting piece 6, connection between the pull rod 5 and the connecting piece 6 is completed, the number of the pull rods 5 is two, and the two pull rods 5 are respectively arranged on two sides of the connecting piece 6 to form a double-pushing folding mechanism.
The driving mechanism comprises a mounting frame fixed on the machine body 1, the mounting frame comprises two mounting plates 92 which are parallel to each other, the mounting frame is formed by the two mounting plates 92 which are parallel to each other, the structure is simple, the number of used parts is small, and the load of the machine body is effectively reduced; a mounting groove 93 is formed between the two mounting plates 10, bearing seats 96 are arranged at two ends of the mounting groove 93, and the bearing seats 96 at two ends of the mounting groove 93 are respectively fixed on the machine body 1; the lead screw 9 is arranged in the mounting groove 93, the axial direction of the lead screw 9 is the same as the extending direction of the mounting groove 93, the lead screw 9 is arranged between bearing seats 96 at two ends of the mounting groove 93, the lead screw 9 is sleeved with a sliding block 90, two mounting pieces 92 are provided with through grooves 94, the sliding block 90 is connected with first connecting pieces 95 towards two sides of the through grooves 94, and the first connecting pieces 95 at two sides respectively penetrate through the through grooves 94 to be connected with the first ends of the pull rods 5. The mounting frame is formed by two mutually parallel mounting pieces 92, the structure is simple, the number of used components is small, the load of a machine body is effectively reduced, the first connecting piece 95 penetrates through the groove 94 to be connected with the pull rod 5, the movement range of the pull rod 5 is limited, the movement direction of the pull rod 5 is parallel to the movement direction of the sliding block 90, the two mounting pieces 92 are respectively provided with the through groove 94, the two sides, close to the through groove 94, of the sliding block 90 are respectively connected with the first connecting piece 95, and the first connecting pieces 95 at the two sides respectively penetrate through the groove 94 to be connected with the pull rod 5 to form a double-pushing structure. The pull rod is connected with the driving device, so that the folding mechanism can be automatically folded, and the working efficiency is improved.
One end of the screw rod 9 is connected with the power device 91, wherein the power device 91 is a gear motor, the screw rod 9 penetrates through the bearing seat 96 to be connected with the power device 3, a coupler 97 is further arranged between the bearing seat 96 and the power device 91, and the coupler 97 is used for completing connection between the screw rod 9 and the power device 91, so that a driving shaft in the power device 91 is connected with the screw rod 9.
Referring to fig. 3, the first end 51 and the second end 52 of the pull rod 5 are provided with two first through grooves 53, and the number of the first through grooves 53 is two. One side of the pull rod 5 is provided with a limit rod 55, the axial direction of the limit rod 55 is parallel to the axial direction of the pull rod 5, two ends of the limit rod 55 are connected with fastening pieces 54, and the fastening pieces 1 connected with the two ends of the limit rod 55 penetrate through the two first through grooves 53 respectively, so that friction can be generated in the first through grooves 53 by the fastening pieces 54 under the action of the limit rod 55, the pull rod 5 can overcome friction force to do work in the impact process of the unmanned aerial vehicle, and the impact is slowed down. The deformation part is arranged between the first end 51 and the second end 52 of the pull rod 5, the radial width of the deformation part is larger than that of the first end 51, the radial width of the deformation part is larger than that of the second end 52, the deformation part comprises a first protruding block 56 and a second protruding block 57, the first protruding block 56 and the second protruding block 57 are symmetrically arranged on two sides of a symmetry axis by taking the limiting rod 55 as a symmetry axis, the deformation part further comprises a first hollow part 58, the first hollow part 58 is arranged between the first protruding block 56 and the second protruding block 57, and the arrangement of the first hollow part 58 ensures the maximum deformation range of the elastic pull rod 5. The first bump 56 and the second bump 57 are both arc-shaped, the highest points of the first bump 56 and the second bump 57 are elastic deformation points, and the two sides of the pull rod 5 start to be stretched and deformed from the highest points of the first bump 56 and the second bump 57. When unmanned aerial vehicle receives the impact and takes place to fall, folding of oar arm drives pull rod 5 tensile, leads to pull rod 5 to warp, absorbs parts such as impact energy protection oar arm when pull rod 5 warp to alleviate impact force, avoid unmanned aerial vehicle impaired seriously.
Under the drive of the power device 91, the screw rod 9 in the mounting groove 93 rotates, the sliding block 90 is driven by friction force to do linear motion, the pull rod 5 connected with the sliding block 90 is driven in the motion process of the sliding block 90, the second end of the pull rod 5 does linear motion along the through groove 94 under the limiting effect of the through groove 94, the first end of the pull rod 5 pushes the first end of the connecting piece 6 to rotate around the first end of the pull rod, the second end of the connecting piece 6 rotates along with the first end of the connecting piece 6, and accordingly the paddle arm assembly is driven to rotate around the rotating shaft 2 until the angle of the paddle arm and the machine body reaches a preset angle, and therefore folding is completed. Under the drive of power device 91, folding action is accomplished automatically to the connecting rod structure, can be according to the different demands of flight, folds different angles with oar arm 7 automatically, makes things convenient for unmanned aerial vehicle operation, need not manual folding, convenient operation effectively improves work efficiency.
The folding method of the folding unmanned aerial vehicle comprises the following steps:
s1, driving a folding mechanism to enable a first end of a connecting piece to rotate around one pulled end;
s2, the rotation of the first end of the connecting piece drives the second end of the connecting piece to rotate around the rotating shaft, so that the fixed box is driven to rotate until the angle between the paddle arm and the machine body reaches a preset angle.
Therefore, the unmanned aerial vehicle's oar arm is realized under folding mechanism's effect folding under the different demands of flight according to the flight in a dimension, adapts to the flight operation to a greater extent, effectively improves work efficiency.
Finally, it should be emphasized that the invention is not limited to the above-described embodiments, but that variations in the type of the connecting element, the way in which the first end of the tie rod is connected to the first end of the connecting element, etc. are also intended to be included in the scope of the claims.

Claims (4)

1. Folding unmanned aerial vehicle, its characterized in that includes:
the machine body is connected with rotating shafts at two sides;
the paddle arm assembly comprises a fixed box and a paddle arm arranged in the fixed box, and the paddle arm assembly can rotate around the rotating shaft;
the folding mechanism comprises a pull rod and a connecting piece, wherein the first end of the pull rod is connected with the first end of the connecting piece, the second end of the connecting piece is arranged on the fixed box, the connecting piece comprises a hinge part, the hinge part is arranged between the first end of the connecting piece and the second end of the connecting piece, the hinge part can rotate around the rotating shaft, and the first end of the connecting piece can rotate around the first end of the pull rod;
the first end of the pull rod and the second end of the pull rod are respectively provided with a second opening, the first end of the connecting piece is provided with a first opening, the second opening on the first end of the pull rod and the first opening are coaxially arranged, and connecting rods penetrate through the second opening and the first opening;
a deformation part is arranged between the first end of the pull rod and the second end of the pull rod, the radial width of the deformation part is larger than that of the first end of the pull rod, and the radial width of the deformation part is larger than that of the second end of the pull rod; one side of the pull rod is connected with a limit rod;
the second end of the pull rod is connected with a driving mechanism, the driving mechanism comprises a screw rod and a sliding block sleeved on the screw rod, the sliding block is connected with a first connecting piece, the first connecting piece is connected with the second end of the pull rod, and the screw rod is connected with a power device;
the driving mechanism further comprises a mounting frame fixed on the machine body, the mounting frame comprises two mutually parallel mounting sheets, a mounting groove is formed between the two mounting sheets, the screw rod is arranged in the mounting groove, the axial direction of the screw rod is identical to the extending direction of the mounting groove, the two mounting sheets are respectively provided with a through groove, the extending direction of the through grooves is parallel to the axial direction of the screw rod, and the first connecting piece penetrates through the through grooves to connect the second end of the pull rod.
2. The folding drone of claim 1, wherein:
bearing seats are arranged at two ends of the mounting groove, the screw rod is arranged between the bearing seats, and the bearing seats are fixed on the machine body.
3. The folding drone of claim 2, wherein:
the screw rod penetrates through the bearing seat and is connected with the power device, and a coupler is further arranged between the bearing seat and the power device.
4. A method of folding a folding drone, characterized in that the folding drone is as defined in any one of the preceding claims 1-3;
the folding method comprises the following steps:
s1, driving the folding mechanism to enable the first end of the connecting piece to rotate around the first end of the pull rod;
s2, the rotation of the first end of the connecting piece drives the second end of the connecting piece to rotate around the rotating shaft, so that the fixing box is driven to rotate until the angle of the paddle arm and the machine body reaches a preset angle.
CN201710301432.XA 2017-05-02 2017-05-02 Folding unmanned aerial vehicle and folding method thereof Active CN107117286B (en)

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CN107117286B true CN107117286B (en) 2023-07-04

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Publication number Priority date Publication date Assignee Title
CN109592025B (en) * 2018-11-15 2020-12-04 航天恒星科技有限公司 Multi-rotor unmanned aerial vehicle, kit and foldable rotor assembly thereof

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AU2251500A (en) * 1998-08-27 2000-04-03 Nicolae Bostan Gyrostabilized self propelled aircraft
CN106043704A (en) * 2016-07-25 2016-10-26 淮安市创翔农业技术推广服务有限公司 Unmanned aerial vehicle for plant protection
CN106347625A (en) * 2016-10-26 2017-01-25 成都市优艾维机器人科技有限公司 Unmanned aerial vehicle linkage folding mechanism
CN206679257U (en) * 2017-05-02 2017-11-28 珠海市双捷科技有限公司 Collapsible unmanned plane

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