CN109606611B - But horn retraction formula unmanned aerial vehicle of winding electric wire - Google Patents
But horn retraction formula unmanned aerial vehicle of winding electric wire Download PDFInfo
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- CN109606611B CN109606611B CN201811517797.7A CN201811517797A CN109606611B CN 109606611 B CN109606611 B CN 109606611B CN 201811517797 A CN201811517797 A CN 201811517797A CN 109606611 B CN109606611 B CN 109606611B
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- 238000004804 winding Methods 0.000 title claims abstract description 184
- 230000007246 mechanism Effects 0.000 claims abstract description 19
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- 238000005516 engineering process Methods 0.000 description 10
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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
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/068—Fuselage sections
- B64C1/069—Joining arrangements therefor
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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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Abstract
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a horn-retractable unmanned aerial vehicle capable of winding wires, which comprises a body provided with two horns, wherein the two horns are symmetrically distributed on the body; two power assemblies capable of providing lift force are symmetrically distributed in each horn, and the machine body is provided with required components capable of driving the power assemblies to work; the power assembly is arranged on the upper side of one end, far away from the machine body, of the corresponding telescopic arm; a winding disc is arranged in the cavity of the main arm, and an electric wire for driving the power assembly passes through the machine body, the central cavity and the middle part to bypass the winding disc to enter the telescopic cavity to be connected with the corresponding power assembly; through the winding dish of design, at flexible arm retraction flexible chamber in-process, through the rack drive winding mechanism who installs on one in two flexible arms with the host computer arm, make winding mechanism will become the electric wire winding of lax on the winding dish, guarantee that inside electric wire can not extruded.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a horn-retractable unmanned aerial vehicle capable of winding wires.
Background
At present in order to solve four rotor unmanned aerial vehicle in the transportation, the very big problem in space that four horn and screw occupy, the horn has the flexible arm that can stretch out and draw back in the design, has reduced the transportation space to a certain extent, has increased conveying efficiency. However, when the telescopic arm is extended and retracted in the telescopic cavity, the electric wire of the driving motor in the telescopic cavity may be loosened, so that spatial interference may occur with the extension and retraction of the telescopic arm in the telescopic cavity, and even the problem that the telescopic arm extrudes the electric wire may occur.
The invention designs a horn retraction type unmanned aerial vehicle capable of winding wires, which solves the problems.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention discloses an arm retraction type unmanned aerial vehicle capable of winding wires, which is realized by adopting the following technical scheme.
In the description of the present invention, it should be noted that the terms "inside", "below", "upper" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention usually place when using, and are only used for convenience of description and simplification of description, but do not indicate or imply that the devices or elements indicated must have a specific orientation, be constructed in a specific orientation or be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
The utility model provides a horn retraction type unmanned aerial vehicle of twine electric wire which characterized in that: the robot comprises a robot body provided with two arms, wherein the two arms are symmetrically distributed on the robot body; two power assemblies capable of providing lift force are symmetrically distributed in each horn, and the machine body is provided with required components capable of driving the power assemblies to work; the power assembly is arranged on the upper side of one end, far away from the machine body, of the corresponding telescopic arm; one end of the main machine arm, which is provided with a central cavity, is arranged on the machine body; the winding disc is fixedly arranged at the center in the cavity of the main arm through a fixing column fixedly arranged on the cavity wall, an electric wire for driving the power assembly passes through the machine body and the central cavity, and the middle part of the electric wire bypasses the winding disc to enter the telescopic cavity to be connected with the corresponding power assembly.
In the process that the telescopic arm retracts into the telescopic cavity, the winding mechanism is driven by the rack arranged on one of the two telescopic arms of the main machine arm, so that the winding mechanism winds the electric wire which becomes loose when the telescopic arm retracts into the telescopic cavity on the winding disc, and the telescopic arm is guaranteed to move smoothly. The winding disc is fixed and does not rotate, and the first wire and the second wire are wound on the winding disc by the rotating winding mechanism.
As a further improvement of the technology, the winding mechanism comprises a first pulley, a first pulley shaft, a second pulley shaft, a shaft sleeve, a winding shaft, a winding driving tooth and a regulating arm, wherein the shaft sleeve is mounted on the inner wall of the cavity of the main arm and is opposite to the cavity wall on which the fixed column is mounted; the rack is engaged with the winding driving teeth.
As a further improvement of the technology, the internal structures of the telescopic cavities on the two sides of the main arm are the same, for any one of the telescopic cavities, two guide grooves which do not penetrate through the side end face of the main arm are symmetrically formed in the telescopic cavity, two guide blocks are symmetrically installed at one end of the corresponding telescopic arm, and the two guide blocks are in sliding fit with the two corresponding guide grooves. The cooperation of guide block and guide slot can guarantee that flexible arm can not break away from flexible cavity simultaneously in the stable slip of flexible chamber.
As a further improvement of the technology, the guide block and the guide groove have frictional resistance, and the design ensures that the movement between the telescopic arm and the main machine arm has certain resistance, so that certain force is required for the retraction movement of the telescopic arm at the main machine arm, and the telescopic arm is prevented from automatically entering a telescopic cavity due to posture adjustment in the flight process to cause out-of-control flight.
As a further improvement of the present technology, the winding disc has a first winding groove and a second winding groove, and the second winding groove is wider than the first winding groove; two power assemblies on the telescopic arms at the two ends of the main machine arm are respectively connected with the machine body through a first electric wire and a second electric wire; a third pulley, a fourth pulley, a fifth pulley, a sixth pulley, an upper pulley and a lower pulley are arranged on the wall of the main machine arm at one side where the shaft sleeve is arranged through pulley shafts; the first wire is wound on the winding disc through the first winding groove by the guidance of the third pulley and the fourth pulley in sequence, is guided into the central cavity by the upper pulleys of the upper pulley and the lower pulley and is connected with the electric system of the machine body; a second wire is wound on the winding disc through a second winding groove by the guidance of the sixth pulley and the fifth pulley in sequence, is guided into the central cavity by the lower pulleys of the upper pulley and the lower pulley and is connected with the electrical system of the machine body; the third pulley, the fourth pulley, the fifth pulley, the sixth pulley and the upper and lower pulleys mainly play a role in guiding the first electric wire and the second electric wire, so that the first electric wire and the second electric wire are connected with the machine body through the winding disc.
When the first wire and the second wire do not interact with the first pulley and the second pulley, the first wire between the fourth pulley and the winding disc and the second wire between the fifth pulley and the winding disc are parallel to each other and the telescopic arm.
The first wire and the second wire are wound in the same direction; the design of the same winding direction ensures that the first wire and the second wire are pressed by the first pulley and the second pulley in the same direction to achieve the purpose of winding on the winding disc.
As a further improvement of the present technology, the first pulley runner is opposite to the first winding groove, and the second pulley runner is opposite to the second winding groove; the adjusting arm is driven by the rack to wind the driving gear to rotate, the first pulley applies pressure to a first electric wire between the fourth pulley and the winding disc, the second pulley applies pressure to a second electric wire between the fifth pulley and the winding disc, when the telescopic arm extends out completely, the direction of the adjusting arm is the same as the central line of the central cavity, and the second pulley is close to the central cavity. The parallel design is that the first pulley and the second pulley can cause the electric wire to be wound at a proper position of the winding disc between the fourth pulley and the winding disc or between the fifth pulley and the winding disc during the process that the first pulley and the second pulley press the corresponding electric wire; meanwhile, the position setting of the adjusting arm is combined to ensure that a first electric wire between the fourth pulley and the winding disc and a second electric wire between the fifth pulley and the winding disc are in a straightening state when the telescopic arm extends out completely, so that the design reduces the looseness of the electric wire caused by the contraction of the telescopic arm relative to the electric wire without straightening, and the length of the first electric wire and the length of the second electric wire are ensured to be minimum.
As a further improvement of the present technology, the second pulley chute is opposite to one side of the second winding groove; the second electric wire enters the winding disc from one side of the second winding groove close to the direction of the adjusting arm through the second pulley, goes out of the winding disc from one side of the second winding groove far away from the adjusting arm, and then winds around the lower pulley of the upper pulley and the lower pulley. The second wire and the second winding groove of broad design prevent to go out winding dish position department at the second wire down, and the second wire that goes out the winding dish can not be located the coplanar with the second wire that gets into the winding dish, takes place to interfere, and the second pulley twines the second wire on winding dish second winding groove and is close to regulating arm direction one side promptly.
As a further improvement of the technology, the power assembly comprises a paddle, a brushless motor and a motor mounting seat, wherein the brushless motor provided with the paddle is mounted on the telescopic arm through the motor mounting seat. The motor is connected with a flight control system of the airplane body through an electric wire.
As a further improvement of the technology, a pulley shaft provided with a third pulley and a sixth pulley is located on the central plane of the two telescopic chambers. The electric wire that the assurance was walked around from the winding dish can be connected with the motor through in the middle of following flexible chamber, has guaranteed can not interfere the extrusion with the electric wire at flexible arm retraction in-process.
The working process of the invention is as follows: when the telescopic arm extends out of the telescopic cavity completely, as shown in the figure, when the telescopic arm extends out completely, the direction of the adjusting arm is the same as the central line of the central cavity, and the second pulley is close to the central cavity. The first electric wire and the second electric wire are in a straightening state under the action of the pulleys and the winding disc, when the telescopic arm is manually retracted into the telescopic cavity, the telescopic arm is pressed towards the middle by using two hands, the first electric wire and the second electric wire are uniformly wound by the winding disc, the telescopic arm is enabled to enter the telescopic cavity at the same speed as far as possible, in the process, the distance between the motor and the corresponding winding disc is reduced, the first electric wire and the second electric wire are wound on the winding disc by the first pulley and the second pulley under the rotation of the rack driving adjusting arm, and the first electric wire and the second electric wire between the winding disc and the machine body are always in the straightening state while being wound. When the telescopic arm is pulled away from the retraction state, the rack drives the adjusting arm to swing through the winding driving gear, the first electric wire and the second electric wire on the winding disc are released, and the requirement of the motor for the side length of the electric wire along with the extension of the telescopic arm is met. The design of the invention ensures that the occupied space of the machine arm is reduced in transportation, ensures that the internal electric wire is not extruded due to retraction of the machine arm, and has the technical effects of simple structure and easy realization.
The aircraft body adopts the prior art, and the interior of the aircraft body comprises a conventional sensor and a flight control system required by flight.
Compared with the traditional unmanned aerial vehicle technology, the invention aims to solve the problem that the space occupied by the four arms and the propellers is very large in the transportation of the quad-rotor unmanned aerial vehicle, and the arms in the design are provided with telescopic arms capable of stretching, so that the transportation space is reduced to a certain extent, and the transportation efficiency is increased. Meanwhile, through the designed winding disc, in the process that the telescopic arm retracts into the telescopic cavity, the rack arranged on one of the two telescopic arms of the main machine arm drives the winding mechanism, so that the winding mechanism winds the electric wire which is loosened when the telescopic arm retracts into the telescopic cavity on the winding disc, and the telescopic arm is ensured to move smoothly. The arm occupies a small space in the transportation, and meanwhile, the inner wire is prevented from being extruded due to retraction of the arm, and the arm has the advantages of simple structure and easy technical effect.
Drawings
Fig. 1 is a schematic view of the overall component distribution.
Fig. 2 is a perspective view of the integral parts.
Fig. 3 is a schematic view of the structure of the horn.
Fig. 4 is a perspective view of the horn structure.
Fig. 5 is a top perspective view of the horn.
Fig. 6 is a sectional view of the horn structure.
Fig. 7 is a schematic diagram of the wiring of the internal wires of the horn.
Fig. 8 is a schematic view of rack and guide block installation.
Fig. 9 is a schematic view of the telescopic arm structure.
Fig. 10 is a schematic diagram of a master arm structure.
Fig. 11 is a schematic view of the winding mechanism.
Fig. 12 is a schematic view of a winding disc structure.
Fig. 13 is a schematic diagram of the first and second wire routing.
Fig. 14 is an enlarged view of the first and second electric wire wirings.
Fig. 15 is a plan view of the first and second electric wires.
Fig. 16 is a first wire routing diagram.
Fig. 17 is a schematic view of a first wire winding.
Fig. 18 is a second wire routing diagram 1.
Fig. 19 is a second wire routing diagram 2.
Fig. 20 is a second wire winding schematic.
Number designation in the figures: 1. a horn; 2. a power assembly; 3. a body; 5. a telescopic arm; 9. a rack; 10. a first electric wire; 11. an adjusting arm; 12. a guide groove; 15. a paddle; 16. a brushless motor; 17. a motor mounting seat; 18. fixing a column; 19. a winding disc; 20. a shaft sleeve; 21. a winding shaft; 22. a pulley shaft; 24. a telescoping chamber; 25. a central lumen; 26. winding the driving teeth; 27. a first pulley; 28. a first pulley shaft; 29. a second pulley; 30. a second pulley shaft; 31. a first winding groove; 32. a second winding groove; 33. a second electric wire; 34. a third pulley; 35. a fourth pulley; 36. a fifth pulley; 37. a sixth pulley; 38. an upper pulley and a lower pulley; 39. a guide block; 40. a main machine arm; 41. and (4) a winding mechanism.
Detailed Description
As shown in fig. 1 and 2, the robot comprises a machine body 3 provided with two machine arms 1, wherein the two machine arms 1 are distributed symmetrically to the machine body 3; as shown in fig. 3 and 4, two power assemblies 2 capable of providing lift force are symmetrically distributed in each horn 1, and the fuselage 3 has required components capable of driving the power assemblies 2 to work; as shown in fig. 4 and 5, the horn 1 has a main horn 40 and telescopic horns 5 whose both sides can be extended and contracted in telescopic cavities 24 symmetrically distributed on the main horn 40, and the power assembly 2 is installed on the upper side of one end of the corresponding telescopic horn 5 far from the body 3; as shown in fig. 2 and 6, one end of the main arm 40 having the central cavity 25 is mounted on the body 3; as shown in fig. 4, 7 and 10, the winding disc 19 is fixedly mounted at the center of the cavity of the main arm 40 through the fixing column 18 fixedly mounted on the cavity wall, as shown in fig. 6, the electric wire for driving the power assembly 2 passes through the machine body 3 and the central cavity 25, and bypasses the winding disc 19 in the middle to enter the telescopic cavity 24 to be connected with the corresponding power assembly 2.
In the process that the telescopic arm 5 retracts into the telescopic cavity 24, the rack 9 arranged on one of the two telescopic arms 5 of the main machine arm 40 drives the winding mechanism 41, so that the winding mechanism 41 winds the electric wire which is loosened when the telescopic arm 5 retracts into the telescopic cavity 24 on the winding disc 19, and the telescopic arm 5 is ensured to move smoothly. The winding disc 19 is fixed against rotation and the first electric wire 10 and the second electric wire 33 are wound onto the winding disc 19 by the rotating winding mechanism 41.
As shown in fig. 11, the winding mechanism 41 includes a first pulley 27, a first pulley shaft 28, a second pulley 29, a second pulley shaft 30, a shaft sleeve 20, a winding shaft 21, a winding driving tooth 26, and an adjusting arm 11, wherein the shaft sleeve 20 is mounted on the inner wall of the cavity of the main arm 40 and is opposite to the cavity wall on which the fixing column 18 is mounted, the winding shaft 21 is mounted on the shaft sleeve 20 through a bearing, the winding driving tooth 26 is fixedly mounted on the winding shaft 21, the adjusting arm 11 is mounted on the end surface of the winding driving tooth 26, one end of the two ends of the adjusting arm 11 is mounted with the first pulley 27 through the first pulley shaft 28, and the other end is mounted with the second pulley 29 through the second pulley shaft 30; as shown in fig. 8 and 9, the rack gear 9 is engaged with the winding drive teeth 26.
As shown in fig. 8, 9 and 10, the internal structures of the telescopic cavities 24 on both sides of the main arm 40 are the same, and for any one of the telescopic cavities 24, two guide grooves 12 which do not penetrate through the end face of the main arm 40 side are symmetrically formed in the telescopic cavity 24, two guide blocks 39 are symmetrically mounted on one end of the corresponding telescopic arm 5, and the two guide blocks 39 are in sliding fit with the corresponding two guide grooves 12. The cooperation of the guide block 39 with the guide groove 12 ensures that the telescopic arm 5 slides stably in the telescopic cavity 24 without being separated from the telescopic cavity 24.
The guide block 39 and the guide groove 12 have frictional resistance, and the design ensures that the movement between the telescopic arm 5 and the main machine arm 40 has certain resistance, so that certain force is required for the retraction movement of the telescopic arm 5 in the main machine arm 40, and the condition that the telescopic arm 5 automatically enters the telescopic cavity 24 due to posture adjustment in the flight process to cause flight runaway is avoided.
As shown in fig. 12, the winding disc 19 has a first winding groove 31 and a second winding groove 32, and the second winding groove 32 is wider than the first winding groove 31; the two power assemblies 2 on the telescopic arms 5 at the two ends of the main machine arm 40 are respectively connected with the machine body 3 through a first electric wire 10 and a second electric wire 33; as shown in fig. 6 and 10, the chamber wall of the main arm 40 on the side where the bushing 20 is mounted is provided with a third pulley 34, a fourth pulley 35, a fifth pulley 36, a sixth pulley 37, and an upper pulley 38 via a pulley shaft 22; as shown in fig. 13, 14, 15 and 16, the first electric wire 10 is guided by the third pulley 34 and the fourth pulley 35 in sequence, wound on the winding disc 19 through the first winding groove 31, guided into the central cavity 25 by the upper pulleys of the upper and lower pulleys 38, and connected with the electric system of the body 3; as shown in fig. 13, 14, 15, 18 and 19, the second electric wire 33 is guided by the sixth pulley 37 and the fifth pulley 36 in sequence, is wound on the winding disc 19 through the second winding groove 32, is guided into the central cavity 25 through the lower pulleys of the upper and lower pulleys 38, and is electrically connected with the fuselage 3; the third pulley 34, the fourth pulley 35, the fifth pulley 36, the sixth pulley 37, and the up-down pulley 38 mainly guide the first electric wire 10 and the second electric wire 33, so that the first electric wire 10 and the second electric wire 33 are connected to the body 3 through the winding disc 19.
As shown in fig. 15, when the first electric wire 10 and the second electric wire 33 do not interact with the first pulley 27 and the second pulley 29, the first electric wire 10 between the fourth pulley 35 and the winding disc 19 and the second electric wire 33 between the fifth pulley 36 and the winding disc 19 are parallel to each other and to the telescopic arm 5.
As shown in fig. 15, the first electric wire 10 is wound in the same direction as the second electric wire 33; the same winding direction design ensures that the first wire 10 and the second wire 33 are pressed by the first pulley 27 and the second pulley 29 in the same direction for winding on the winding disc 19.
As shown in fig. 15, 17 and 20, the sliding groove of the first pulley 27 is opposite to the first winding groove 31, and the sliding groove of the second pulley 29 is opposite to the second winding groove 32; under the rotation of the winding driving teeth 26 driven by the rack 9, the first pulley 27 presses the first wire 10 between the fourth pulley 35 and the winding disc 19, the second pulley 29 presses the second wire 33 between the fifth pulley 36 and the winding disc 19, when the telescopic arm 5 is fully extended, the adjusting arm 11 points to be the same as the central line of the central cavity 25, and the second pulley 29 is close to the central cavity 25. The parallel design makes it possible to cause the electric wire to be wound at a proper position on the winding disc 19 between the fourth pulley 35 and the winding disc 19 or between the fifth pulley 36 and the winding disc 19 during the pressing of the first pulley 27 and the second pulley 29 on the respective electric wires; meanwhile, the first wire 10 between the fourth pulley 35 and the winding disc 19 and the second wire 33 between the fifth pulley 36 and the winding disc 19 are ensured to be in a straightened state when the telescopic arm 5 is fully extended by combining with the position setting of the adjusting arm 11, so that the looseness of the wires caused by the telescopic arm 5 being retracted is reduced compared with the design that the wires are not straightened, and the length of the first wire 10 and the second wire 33 is ensured to be minimum.
As shown in fig. 18 and 19, the sliding groove of the second pulley 29 faces one side of the second winding groove 32; the second electric wire 33 enters the winding disc 19 from the side of the second winding groove 32 close to the adjusting arm 11 through the second pulley 29, goes out of the winding disc 19 from the side of the second winding groove 32 far from the adjusting arm 11, and then winds around the lower pulley of the upper and lower pulleys 38. The design of the second wire 33 and the wider second winding groove 32 prevents the second wire 33 exiting from the winding disc 19 from being in the same plane as the second wire 33 entering into the winding disc 19 at the position where the second wire 33 exits from the winding disc 19, and interference occurs, that is, the second pulley 29 winds the second wire 33 on the side of the winding disc 19 where the second winding groove 32 is close to the adjusting arm 11.
As shown in fig. 9, the power assembly 2 includes a blade 15, a brushless motor 16, and a motor mounting seat 17, and the brushless motor 16 mounted with the blade 15 is mounted on the telescopic arm 5 through the motor mounting seat 17. The motor is connected with a flight control system of the machine body 3 through an electric wire.
As shown in fig. 10, the pulley shaft 22, which houses the third pulley 34 and the sixth pulley 37, is located on the central plane of the two telescopic chambers 24. The electric wire that is passed around from winding disc 19 is guaranteed to be connected with the motor from the middle of flexible chamber 24, has guaranteed can not interfere the extrusion with the electric wire in flexible arm 5 retraction process.
The working process of the invention is as follows: when the telescopic boom 5 is fully extended out of the telescopic cavity 24, as shown in fig. 6, when the telescopic boom 5 is fully extended, the adjusting boom 11 is directed to the same center line as the central cavity 25 and the second pulley 29 is close to the central cavity 25. The first electric wire 10 and the second electric wire 33 are in a straightening state under the action of the pulleys and the winding disc 19, when the telescopic arm 5 is manually retracted into the telescopic cavity 24, the telescopic arm 5 is pressed towards the middle by using two hands, in order to uniformly wind the first electric wire and the second electric wire by the winding disc, the telescopic arm is enabled to enter the telescopic cavity at the same speed as much as possible, in the process, the distance between the motor and the corresponding winding disc 19 is reduced, the first pulley 27 and the second pulley 29 apply pressure to the redundant first electric wire 10 and the redundant second electric wire 33 to wind the first electric wire 10 and the redundant second electric wire 33 on the winding disc 19 under the condition that the rack 9 drives the adjusting arm 11 to rotate, as shown in fig. 17 and 20, and the first electric wire 10 and the second electric wire 33 between the winding disc 19 and the machine body 3 are always in the straightening state during winding. When the telescopic arm 5 is pulled away from the retracted state, the rack 9 drives the adjusting arm 11 to swing through the winding driving teeth 26, and the first electric wire 10 and the second electric wire 33 on the winding disc 19 are released, so that the requirement of the motor on the side length of the electric wires along with the extension of the telescopic arm 5 is met. The design of the invention ensures that the space occupied by the horn 1 is reduced in transportation, ensures that the internal electric wire is not extruded due to retraction of the horn 1, and has the technical effects of simple structure and easy realization.
The fuselage 3 of the invention adopts the prior art, and the interior of the fuselage comprises conventional sensors and flight control systems required by flight.
Compared with the traditional unmanned aerial vehicle technology, the invention aims to solve the problem that the space occupied by the four arms 1 and the propellers is large in the transportation of the quad-rotor unmanned aerial vehicle, and the arms 1 are provided with the telescopic arms 5 which can be telescopic in design, so that the transportation space is reduced to a certain extent, and the transportation efficiency is increased. Meanwhile, in the invention, by the designed winding disc 19, in the process that the telescopic arm 5 retracts into the telescopic cavity 24, the winding mechanism 41 is driven by the rack 9 arranged on one of the two telescopic arms 5 of the main machine arm 40, so that the winding mechanism 41 winds the electric wire which is loosened when the telescopic arm 5 retracts into the telescopic cavity 24 on the winding disc 19, and the smooth movement of the telescopic arm 5 is ensured. The occupied space of horn 1 diminishes in guaranteeing to transport promptly, guarantees that inside electric wire can not be because of the retraction of horn 1 and by the extrusion, has simple structure, realizes easy technological effect.
Claims (8)
1. The utility model provides a horn retraction type unmanned aerial vehicle of twine electric wire which characterized in that: the robot comprises a robot body provided with two arms, wherein the two arms are symmetrically distributed on the robot body; two power assemblies capable of providing lift force are symmetrically distributed in each horn, and the machine body is provided with required components capable of driving the power assemblies to work; the power assembly is arranged on the upper side of one end, far away from the machine body, of the corresponding telescopic arm; one end of the main machine arm, which is provided with a central cavity, is arranged on the machine body; a winding disc is fixedly arranged at the center in the cavity of the main arm through a fixing column fixedly arranged on the cavity wall, and an electric wire for driving the power assembly enters the telescopic cavity through the machine body, the central cavity and the middle part around the winding disc and is connected with the corresponding power assembly;
in the process that the telescopic arm retracts into the telescopic cavity, the rack arranged on one of the two telescopic arms of the main machine arm drives the winding mechanism, so that the winding mechanism winds the electric wire which becomes loose when the telescopic arm retracts into the telescopic cavity on the winding disc, and the telescopic arm is ensured to move smoothly;
the winding mechanism comprises a first pulley, a first pulley shaft, a second pulley shaft, a shaft sleeve, a winding shaft, a winding driving tooth and a regulating arm, wherein the shaft sleeve is arranged on the inner wall of a cavity of the main arm and is opposite to the cavity wall provided with the fixed column; the rack is engaged with the winding driving teeth.
2. The aerial vehicle with retractable arm capable of winding wires as claimed in claim 1, wherein: the telescopic cavities on the two sides of the main engine arm are identical in internal structure, for any one of the telescopic cavities, two guide grooves which do not penetrate through the side end face of the main engine arm are symmetrically formed in the telescopic cavity, two guide blocks are symmetrically arranged at one end of the corresponding telescopic arm, and the two guide blocks are in sliding fit with the two corresponding guide grooves.
3. The aerial vehicle with retractable arm capable of winding wires as claimed in claim 2, wherein: the guide block and the guide groove have frictional resistance.
4. The aerial vehicle with retractable arm capable of winding wires as claimed in claim 1, wherein: the winding disc is provided with a first winding groove and a second winding groove, and the second winding groove is wider than the first winding groove; two power assemblies on the telescopic arms at the two ends of the main machine arm are respectively connected with the machine body through a first electric wire and a second electric wire; a third pulley, a fourth pulley, a fifth pulley, a sixth pulley, an upper pulley and a lower pulley are arranged on the wall of the main machine arm at one side where the shaft sleeve is arranged through pulley shafts; the first wire is wound on the winding disc through the first winding groove by the guidance of the third pulley and the fourth pulley in sequence, is guided into the central cavity by the upper pulleys of the upper pulley and the lower pulley and is connected with the electric system of the machine body; a second wire is wound on the winding disc through a second winding groove by the guidance of the sixth pulley and the fifth pulley in sequence, is guided into the central cavity by the lower pulleys of the upper pulley and the lower pulley and is connected with the electrical system of the machine body;
when the first wire and the second wire do not interact with the first pulley and the second pulley, the first wire between the fourth pulley and the winding disc and the second wire between the fifth pulley and the winding disc are parallel to each other and the telescopic arm;
the first wire and the second wire are wound in the same direction.
5. The aerial vehicle with retractable arm capable of winding wires as claimed in claim 4, wherein: the first pulley sliding groove is opposite to the first winding groove, and the second pulley sliding groove is opposite to the second winding groove; under the condition that the adjusting arm drives the winding driving tooth to rotate by the rack, the first pulley applies pressure to a first electric wire between the fourth pulley and the winding disc, and the second pulley applies pressure to a second electric wire between the fifth pulley and the winding disc; when the telescopic arm is completely extended, the direction of the adjusting arm is the same as the central line of the central cavity, and the second pulley is close to the central cavity.
6. The aerial vehicle with retractable arm capable of winding wires as claimed in claim 5, wherein: the second pulley sliding groove is opposite to one side of the second winding groove; the second electric wire enters the winding disc from one side of the second winding groove close to the direction of the adjusting arm through the second pulley, goes out of the winding disc from one side of the second winding groove far away from the adjusting arm, and then winds the lower pulley of the upper pulley and the lower pulley.
7. The aerial vehicle with retractable arm capable of winding wires as claimed in claim 1, wherein: the power assembly comprises a paddle, a brushless motor and a motor mounting seat, wherein the brushless motor provided with the paddle is mounted on the telescopic arm through the motor mounting seat.
8. The aerial vehicle with retractable arm capable of winding wires as claimed in claim 4, wherein: the pulley shaft provided with the third pulley and the sixth pulley is positioned on the central plane of the two telescopic cavities.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811517797.7A CN109606611B (en) | 2018-12-12 | 2018-12-12 | But horn retraction formula unmanned aerial vehicle of winding electric wire |
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| CN201811517797.7A CN109606611B (en) | 2018-12-12 | 2018-12-12 | But horn retraction formula unmanned aerial vehicle of winding electric wire |
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| CN109606611A CN109606611A (en) | 2019-04-12 |
| CN109606611B true CN109606611B (en) | 2021-11-30 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110203370A (en) * | 2019-06-11 | 2019-09-06 | 杭州木书科技有限公司 | A kind of telescopic device of individual combat unmanned plane horn |
| CN110667819A (en) * | 2019-10-18 | 2020-01-10 | 重庆电子工程职业学院 | Folding structure and rotor unmanned aerial vehicle thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101134684B1 (en) * | 2009-08-07 | 2012-04-09 | 이문희 | Machine for pulling down air |
| CN205010472U (en) * | 2015-09-01 | 2016-02-03 | 湖南云顶智能科技有限公司 | A scalable horn for unmanned aerial vehicle |
| CN106379515B (en) * | 2016-11-14 | 2020-03-31 | 深圳市道通智能航空技术有限公司 | Scalable oar arm component and unmanned aerial vehicle |
| CN109606660A (en) * | 2018-12-11 | 2019-04-12 | 泉州齐美电子科技有限公司 | A kind of shrinkable quadrotor drone convenient for collection |
| CN109677592A (en) * | 2018-12-11 | 2019-04-26 | 泉州齐美电子科技有限公司 | A kind of contractile quadrotor drone |
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Effective date of registration: 20211116 Address after: 225500 factory buildings a and B, No. 688, Chenzhuang West Road, Sanshui street, Jiangyan District, Taizhou City, Suzhou City, Jiangsu Province Applicant after: Jiangsu Xianglong Intelligent Equipment Technology Co.,Ltd. Applicant after: Jiangsu Haiyu Navigation Engineering Co.,Ltd. Address before: No. 1306, building 1, Antai world city, Luoshan street, Jinjiang City, Quanzhou, Fujian 362200 Applicant before: QUANZHOU QIMEI ELECTRONIC TECHNOLOGY Co.,Ltd. |
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