CN109703735B - Automatic folding device of unmanned aerial vehicle horn - Google Patents
Automatic folding device of unmanned aerial vehicle horn Download PDFInfo
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- CN109703735B CN109703735B CN201811183770.9A CN201811183770A CN109703735B CN 109703735 B CN109703735 B CN 109703735B CN 201811183770 A CN201811183770 A CN 201811183770A CN 109703735 B CN109703735 B CN 109703735B
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Abstract
The invention discloses an automatic folding device of an unmanned aerial vehicle horn, which comprises a homing locking mechanism and a horn folding mechanism which are arranged on an unmanned aerial vehicle and a landing platform, wherein the unmanned aerial vehicle comprises a machine body and four horns, the machine body is connected with each horn through a folding joint, the horn folding mechanism is fixed under the folding joint, the unmanned aerial vehicle is fallen on the landing platform, the unmanned aerial vehicle is locked through the homing locking mechanism, the folding joint is rotated by utilizing a sliding pin, a spring, a horn joint, a rotating joint and the like, the folding joint is separated from the machine body to be bound, a square lug on the folding joint is matched with a square groove on an extending rod of the folding mechanism, the reliability of folding action is ensured, the automatic folding function of the unmanned aerial vehicle horn can be realized, and the automatic folding device has important significance for unmanned aerial vehicle automatic storage in a small space.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicles, and particularly relates to an automatic folding device for an unmanned aerial vehicle arm.
Background
At present, a horn of a multi-rotor unmanned aerial vehicle commonly adopts a manual folding mode, and the following problems exist: when accommodation space is relatively less, collapsible unmanned aerial vehicle needs the manual folding with the horn, then puts into the containing box again, if the horn can adopt folding mechanism to fold, then can improve collapsible unmanned aerial vehicle degree of automation, also have important meaning to unmanned aerial vehicle automation basic station or automation storage device's further research.
Disclosure of Invention
The invention aims to provide an automatic folding device for an unmanned aerial vehicle arm, which further improves the automation degree of an unmanned aerial vehicle system and solves the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: an automatic folding device of an unmanned aerial vehicle horn comprises a homing locking mechanism and a horn folding mechanism which are arranged on an unmanned aerial vehicle and a landing platform;
the unmanned aerial vehicle comprises a machine body and four machine arms, wherein the machine body is connected with each machine arm through a folding joint, the machine arm folding mechanism is fixed under the folding joint, the unmanned aerial vehicle falls on a landing platform, and the unmanned aerial vehicle is locked through a homing locking mechanism;
the folding joint comprises a gland, a spring, a sliding pin, a horn joint and a rotary joint, wherein the gland is connected with the horn joint through screws, the sliding pin is matched with the spring and is arranged between the gland and the horn joint, and a long convex column at the bottom end of the sliding pin passes through sliding pin holes on the machine body and the rotary joint to be exposed outside;
the horn folding mechanism comprises a rotary sliding table, a rotary table, a lifting sliding table and a stretching rod, wherein one end of the rotary table is fixed on the working surface of the rotary table, the other end of the rotary table is fixedly connected with the bottom of the lifting sliding table, the stretching rod is fixed on the lifting sliding table, and the axis of the stretching rod coincides with the rotation center of the rotary table.
Preferably, the two short convex columns of the sliding pin are clamped on the machine body, and the long convex columns of the sliding pin penetrate through the machine body and the rotary joint to be exposed.
Preferably, the rotary joint is arranged below the machine body, and the rotary joint is provided with a sliding pin hole and a square lug.
Preferably, the top of the extending rod is provided with a square groove which is matched with a square lug on the rotary joint.
Preferably, the homing lock mechanism is disposed below the landing platform.
Preferably, the square grooves on the extending rods are distributed right below the rotary joints of the folding joints.
The invention has the technical effects and advantages that:
1. the lifting sliding table is controlled by receiving the electric signal to realize movement in the vertical direction, and the rotating sliding table receives the control signal to drive the lifting sliding table and the extending rod to rotate at a certain angle.
2. And the sliding pin, the spring, the arm joint, the rotary joint and the like are utilized to enable the folding joint to be separated from the machine body to realize rotation.
3. The square protruding blocks on the folding joints are matched with the square grooves on the extending rods of the folding mechanisms, so that the reliability of folding actions is guaranteed.
4. The automatic folding device can realize the automatic folding function of the unmanned aerial vehicle arm, and has important significance for automatic storage of unmanned aerial vehicles in a small space.
Drawings
FIG. 1 is a schematic view of the overall effect of the present invention;
FIG. 2 is a schematic diagram of the connection assembly of the folding joint to the body;
FIG. 3 is an exploded view of a folding joint;
FIG. 4 is a schematic view of a rotary joint structure;
fig. 5 is a schematic structural view of the folding mechanism of the present invention.
In the figure: the unmanned aerial vehicle comprises a unmanned aerial vehicle body, a landing platform body, a homing locking mechanism, a folding mechanism of a horn 4, a folding joint of the horn 5, a machine body, a horn 7, a gland 8, a spring 9, a sliding pin 10, a horn joint 11, a rotating joint 12, a sliding pin hole 13, a square lug 14, a square concave block 15, a protruding rod 16, a lifting sliding table 17, a rotating disk 18 and a rotating sliding table 19.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making creative efforts based on the embodiments of the present invention are included in the protection scope of the present invention.
The invention provides an automatic folding device of an unmanned aerial vehicle horn, which is shown in figures 1-5, and comprises a homing locking mechanism 3 and a horn folding mechanism 4 which are arranged on an unmanned aerial vehicle 1 and a landing platform 2;
the unmanned aerial vehicle 1 comprises a machine body 6 and four machine arms 7, the machine body 6 is connected with each machine arm 7 through a folding joint 5, the machine arm folding mechanism 4 is fixed under the folding joint 5, so that the whole mechanism has the degrees of freedom in two directions, namely rotation and vertical, the unmanned aerial vehicle falls on the landing platform 2, the unmanned aerial vehicle 1 is locked in the middle position of the landing platform 2 through a homing locking mechanism 3, and a foot rest is locked; the folding joint 5 comprises a gland 8, a spring 9, a sliding pin 10, a horn joint 11 and a rotary joint 12, wherein the gland 8 is connected with the horn joint 11 through screws, the sliding pin 10 is matched with the spring 9 and is arranged between the gland 8 and the horn joint 11, a long convex column at the bottom end of the sliding pin 10 passes through a sliding pin hole 13 on the machine body 6 and the rotary joint 12 to be exposed outside, and when the sliding pin 10 in the folding joint is separated from the machine body 6, the whole folding joint 5 can rotate under the drive of the rotary joint 12, so that the folding of the horn 7 is realized;
the horn folding mechanism 4 comprises a rotary sliding table 19, a rotary disk 18, a lifting sliding table 17 and an extending rod 16, one end of the rotary disk 18 is fixed on the working surface of the rotary sliding table 19, the other end of the rotary disk is fixedly connected with the bottom of the lifting sliding table 17, the extending rod 16 is fixed on the lifting sliding table 17, the axis of the extending rod 16 coincides with the rotation center of the rotary disk 18, the lifting sliding table 17 realizes the movement in the vertical direction by receiving electric signal control, when the extending rod 16 ascends to a designated position, the sliding pin 10 is in a compressed state, the folding joint 5 is in an active state, the rotary sliding table 19 receives a control signal to drive the lifting sliding table 17 and the extending rod 16 to rotate at a certain angle, and the rotation direction is the folding direction of the horn 7.
Further, the two short protruding columns of the sliding pin 10 are clamped on the machine body 6, the long protruding column of the sliding pin 10 passes through the machine body 6 and the rotary joint 12 to be exposed, when the long protruding column of the sliding pin 10 is pressed, the spring 9 is compressed, and the short protruding column of the sliding pin 10 is separated from the machine body 6, so that the rotary joint 5 is separated from the machine body 6 to realize rotation.
Further, the rotary joint 12 is below the machine body 6, the rotary joint 12 is provided with a sliding pin hole 13 and a square protruding block 14, the extending rod 16 is driven by the lifting sliding table 17 to extend upwards, the square groove 15 at the top of the extending rod 16 is just matched with the square protruding block 14 below the rotary joint 12, the sliding pin 10 in the folding joint 5 is pressed by the groove pressure at the top of the extending rod 16, the spring 9 is compressed, two short protruding columns of the sliding pin 10 are separated from the machine body 6, the whole folding joint 5 is in a free state, the rotating sliding table 19 receives a rotating signal, and the arm 7 is folded to a certain angle towards the machine body 6 along with the folding joint 5, so that the folding action of the arm is completed.
Further, the top of the extending rod 16 is provided with a square groove 15, the square groove 15 is matched with the square protruding block 14 on the rotary joint 12, the extending rod 16 is driven by the lifting sliding table 17 to extend upwards, the square groove 15 at the top is just matched with the square protruding block 14 under the rotary joint 12, the sliding pin 10 in the folding joint 5 is pressed by the groove pressure at the top of the extending rod 16, the spring 9 is compressed, two short protruding columns of the sliding pin 10 are separated from the machine body 6, the whole folding joint 5 is in a free state, the rotary sliding table 19 receives a rotation signal, and the horn 7 is folded to a certain angle towards the machine body 6 along with the folding joint 5, so that the folding action of the horn is completed.
Further, the homing locking mechanism 3 is arranged below the landing platform 2, and the homing locking mechanism 3 can lock the unmanned aerial vehicle at the middle position of the landing platform 2 and lock the foot rest.
Further, the square grooves 15 on the extending rod 16 are distributed right below the rotary joint 12 of the folding joint 5, and the axle center of the extending rod 16 coincides with the rotation center of the rotary disk 18.
Working principle: the invention realizes two working states of lifting and rotating, in a natural unfolding state, the sliding pin 10 is inserted into the machine body and ensures the stability and reliability of the machine arm 7, when the machine arm 7 needs to be folded, the machine arm folding mechanism 4 is fixed under the folding joint 5, the whole mechanism has the freedom degrees of rotating and vertical directions, the lifting sliding table 17 is fixed on the rotating surface of the rotating sliding table 19, and the extension rod 16 is fixed on the lifting sliding table 17;
when the extending rod 16 ascends to a designated position, the sliding pin 19 is in a compressed state, the folding joint 5 is in a movable state, the rotating sliding table 19 receives a control signal to drive the lifting sliding table 17 and the extending rod 16 to rotate at a certain angle, the rotating direction is the folding direction of the arm 7, the lifting sliding table 17 realizes the movement in the vertical direction by receiving an electric signal control, the extending rod 16 moves upwards to support the sliding pin 10 so as to separate the folding joint 5 from the machine body 6, and then the extending rod 16 is rotated to drive the arm 7 to be folded;
before the folding arm is operated, the unmanned aerial vehicle 1 is first ensured to be at the center of the landing platform 2.
Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present invention, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present invention.
Claims (6)
1. The utility model provides an automatic folding device of unmanned aerial vehicle horn, includes homing locking mechanism (3) and horn folding mechanism (4) that set up on unmanned aerial vehicle (1) and landing platform (2), its characterized in that:
the unmanned aerial vehicle (1) comprises a machine body (6) and four machine arms (7), the machine body (6) is connected with each machine arm (7) through a folding joint (5), and the machine arm folding mechanism (4) is fixed under the folding joint (5) to enable the whole mechanism to have the degree of freedom in two directions of rotation and verticality, the unmanned aerial vehicle falls on the landing platform (2), and the unmanned aerial vehicle (1) is locked at the middle position of the landing platform (2) through the homing locking mechanism (3) and simultaneously locks a foot rest; the folding joint (5) comprises a gland (8), a spring (9), a sliding pin (10), a horn joint (11) and a rotary joint (12), wherein the gland (8) is connected with the horn joint (11) through screws, the sliding pin (10) is matched with the spring (9) and is arranged between the gland (8) and the horn joint (11), a long boss at the bottom end of the sliding pin (10) passes through sliding pin holes (13) on a machine body (6) and the rotary joint (12) to be exposed outside, and after the sliding pin (10) in the sliding pin is separated from the machine body (6), the whole folding joint (5) can rotate under the driving of the rotary joint (12), so that the folding of the horn (7) is realized; the folding mechanism of the horn (4) comprises a rotary sliding table (19), a rotary table (18), a lifting sliding table (17) and an extension rod (16), one end of the rotary table (18) is fixed on the working surface of the rotary sliding table (19), the other end of the rotary table is fixedly connected with the bottom of the lifting sliding table (17), the extension rod (16) is fixed on the lifting sliding table (17), the axis of the extension rod (16) coincides with the rotation center of the rotary table (18), the lifting sliding table (17) realizes the movement in the vertical direction by receiving an electric signal, when the extension rod (16) ascends to a designated position, the sliding pin (10) is in a compressed state, the folding joint (5) is in an active state, the rotary sliding table (19) receives a control signal to drive the lifting sliding table (17) and the extension rod (16) to rotate at a certain angle, and the rotation direction is the folding direction of the horn (7); two short convex columns of the sliding pin (10) are clamped on the machine body (6), long convex columns of the sliding pin (10) penetrate through the machine body (6) and the rotary joint (12) to be exposed, when the long convex columns of the sliding pin (10) are stressed, the springs (9) are compressed, the short convex columns of the sliding pin (10) are separated from the machine body (6), and therefore the folding joint (5) is separated from the machine body (6) to be bound for rotation; the rotary joint (12) is arranged below the machine body (6), the rotary joint (12) is provided with a sliding pin hole (13) and a square lug (14), the extending rod (16) is driven by the lifting sliding table (17) to extend upwards, the square groove (15) at the top of the extending rod (16) is just matched with the square lug (14) below the rotary joint (12), the sliding pin (10) in the folding joint (5) is pressed by the groove at the top of the extending rod (16), the spring (9) is compressed, two short convex columns of the sliding pin (10) are separated from the machine body (6), the whole folding joint (5) is in a free state, the rotating sliding table (19) receives a rotating signal, and the horn (7) is folded to a certain angle towards the machine body (6) along with the folding joint (5), so that the folding action of the horn is completed; the top of stretching out pole (16) is opened there is square recess (15), with square lug (14) assorted on rotary joint (12), stretch out pole (16) upwards stretch out under the drive of lift slip table (17), square recess (15) at top just cooperates with square lug (14) under rotary joint (12), inside slide pin (10) of folding joint (5) receive stretching out pole (16) top recess pressure, spring (9) compression, two short projection and organism (6) separation of slide pin (10), whole folding joint (5) are in the free state consequently, rotary slip table (19) receive the rotation signal, horn (7) are drawn together certain angle along with folding joint (5) towards organism (6) thereby accomplish the horn folding action.
2. The automatic folding device of an unmanned aerial vehicle horn according to claim 1, wherein: two short convex columns of the sliding pin (10) are clamped on the machine body (6), and long convex columns of the sliding pin (10) penetrate through the machine body (6) and the rotary joint (12) to be exposed.
3. The automatic folding device of an unmanned aerial vehicle horn according to claim 2, wherein: the rotary joint (12) is arranged below the machine body (6), and the rotary joint (12) is provided with a sliding pin hole (13) and a square lug (14).
4. The automatic folding device of an unmanned aerial vehicle horn according to claim 1, wherein: the top of the extending rod (16) is provided with a square groove (15) which is matched with a square lug (14) on the rotary joint (12).
5. The automatic folding device of an unmanned aerial vehicle horn according to claim 1, wherein: the homing locking mechanism (3) is arranged below the landing platform (2).
6. The automatic folding device of an unmanned aerial vehicle horn according to claim 4, wherein: the square grooves (15) on the extending rods (16) are distributed under the rotary joints (12) of the folding joints (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811183770.9A CN109703735B (en) | 2018-10-11 | 2018-10-11 | Automatic folding device of unmanned aerial vehicle horn |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811183770.9A CN109703735B (en) | 2018-10-11 | 2018-10-11 | Automatic folding device of unmanned aerial vehicle horn |
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| CN109703735A CN109703735A (en) | 2019-05-03 |
| CN109703735B true CN109703735B (en) | 2024-04-09 |
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| CN201811183770.9A Active CN109703735B (en) | 2018-10-11 | 2018-10-11 | Automatic folding device of unmanned aerial vehicle horn |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110104200B (en) * | 2019-05-29 | 2020-11-13 | 北京北方车辆集团有限公司 | Rotor type vehicle-mounted unmanned aerial vehicle locking device |
| CN110294112B (en) * | 2019-05-30 | 2021-02-19 | 温州大学 | Foldable storage type ring-shooting four-axis aircraft, control method and fire extinguisher cluster |
| CN113602515B (en) * | 2021-08-04 | 2023-06-30 | 陈铭根 | Outdoor small-size patrol unmanned aerial vehicle puts in and retrieves storage device |
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| CN107454882A (en) * | 2016-02-22 | 2017-12-08 | 深圳市大疆创新科技有限公司 | Frame and the unmanned plane using the frame |
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