CN109703736B - Unmanned aerial vehicle with retractable arm - Google Patents
Unmanned aerial vehicle with retractable arm Download PDFInfo
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- CN109703736B CN109703736B CN201910025831.7A CN201910025831A CN109703736B CN 109703736 B CN109703736 B CN 109703736B CN 201910025831 A CN201910025831 A CN 201910025831A CN 109703736 B CN109703736 B CN 109703736B
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Abstract
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle with a retractable arm, which comprises a rack, a lock mechanism and a telescopic arm, wherein a flight control system for providing power for the unmanned aerial vehicle to lift and fly is installed in a flight control system installation groove formed in the rack; this unmanned aerial vehicle is when carrying out the vanning transport to unmanned aerial vehicle, make two flexible arms that lie in a set of flexible arm of same end on the fore-and-aft direction at first mutual back-and-forth movement through four flexible arms of manual regulation, two flexible arm back-and-forth stagger completely in the same group back, the horn inner panel of the flexible arm of manual regulation makes the horn inner panel that corresponds slide towards the frame inboard under the direction that corresponds the horn overcoat, make the flexible arm that originally lies in the frame outside remove the frame inboard completely at last, prevent that unmanned aerial vehicle from breaking unmanned aerial vehicle's flexible arm at the in-process of vanning transport, the unmanned aerial vehicle occupation space of retrieving flexible arm simultaneously reduces, space has been saved in vanning and handling.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle with a retractable arm.
Background
Most of the traditional unmanned aerial vehicle arms cannot be retracted in the using process, so that the unmanned aerial vehicle needs to occupy a large part of space in the boxing and carrying process, the storage and carrying cost of the unmanned aerial vehicle is increased, and meanwhile, the arms are greatly damaged in the carrying process, so that inconvenience is brought to users and manufacturers; therefore, it is necessary to design an unmanned aerial vehicle with a horn capable of being retracted in the process of boxing and carrying and being taken out for use in normal flight.
The invention designs an unmanned aerial vehicle with a retractable arm, which solves the problems.
Disclosure of Invention
In order to solve the defects in the prior art, the invention discloses an unmanned aerial vehicle with a retractable arm, which is realized by adopting the following technical scheme.
An unmanned aerial vehicle that horn is recoverable which characterized in that: the unmanned aerial vehicle comprises a supporting rod, a rack, a lock mechanism, a telescopic arm and a power assembly, wherein a flight control system for providing power for the lifting and flying of the unmanned aerial vehicle is installed in a flight control system installation groove formed in the rack, and the flight control system is used by the conventional unmanned aerial vehicle; the flight control system provides all power for the flight and lifting of the unmanned aerial vehicle, so that the unmanned aerial vehicle can normally operate, and the energy of the flight control system is supplied by charging or directly using a battery; a lock mechanism is arranged on the frame.
The frame is provided with four supporting guide grooves in the front-back direction, the four supporting guide grooves are distributed at the front end and the back end in pairs, and the four telescopic arms are respectively arranged on the frame in a group in front-back symmetry manner through the sliding fit of the supporting guide blocks arranged on the four telescopic arms and one supporting guide groove; the two telescopic arms in the same group are symmetrical left and right by taking the frame as a center during flying, and the two telescopic arms in the same group slide back and forth in the respective supporting guide grooves and are retracted in a crossed manner during folding; the telescopic arms can horizontally slide back and forth along the machine arm sliding grooves formed in the rack by matching the supporting guide block with the supporting guide groove, the two telescopic arms in bilateral symmetry are staggered, and the telescopic arms are prevented from interfering with the adjacent symmetrical telescopic arms in the contraction process.
The four telescopic mechanisms are provided with limiting racks, two adjusting gears are arranged on the front portion and the rear portion of the rack, the limiting racks of the two telescopic arms in the same group are meshed with one adjusting gear, and the limiting racks are located on two sides of the adjusting gear.
The locking mechanism comprises a first limiting toothed plate, a return spring, an adjusting slide block, a connecting plate, a second limiting toothed plate, a guide block, a return spring, limiting blocks, gear fixing shafts and adjusting gears, wherein the two gear fixing shafts are respectively and fixedly arranged on the upper side surface of the rack, the two gear fixing shafts are respectively and correspondingly positioned between the two groups of machine arms, and the two adjusting gears are respectively arranged on the two gear fixing shafts; the two adjusting gears are respectively matched with the corresponding limiting racks; two guide blocks are symmetrically arranged on two sides of the adjusting slide block, the adjusting slide block is arranged in the adjusting guide groove formed in the rack through the sliding fit of the two guide blocks and the two sliding guide grooves formed in the rack, and a return spring is arranged between the adjusting slide block and the adjusting guide groove; one end of each of the two limiting blocks is provided with a symmetrical inclined surface, the two limiting blocks are respectively arranged in two symmetrical limiting installation grooves formed in the rack, and a return spring is arranged between the end, which is not provided with the inclined surface, of each of the two limiting blocks and the bottom surface of the corresponding limiting installation groove; the two limiting blocks play a limiting role in the adjusting slide block when the unmanned aerial vehicle is in a normal state; the first limit toothed plate and the second limit toothed plate are respectively arranged at two ends of a connecting plate, the connecting plate is arranged at the lower side of the adjusting slide block, and the connecting plate is in sliding fit with a guide sliding groove formed in the rack; first limit tooth plate and second limit tooth plate cooperate with two regulating gear respectively, and at the unblock in-process, the connecting plate removes and drives first limit tooth plate and the removal of second limit tooth plate and can make first limit tooth plate and second limit tooth plate throw off with two regulating gear completely.
The locking mechanism is used for limiting and locking the four telescopic arms in the normal flight process through an adjusting gear and a tooth self-locking principle; the locking mechanism can be spacing locking of four flexible arms at normal flight in-process, prevents that unmanned aerial vehicle from taking place the sideslip at the back in the fore-and-aft direction at four flexible arms of flight in-process, and then leads to flexible arm flexible, influences unmanned aerial vehicle's normal use.
The upper sides of the four telescopic arms far away from one end of the rack are respectively provided with a power assembly for supporting the unmanned aerial vehicle to lift and fly; the rotation that power component passes through the paddle provides the suspended power for unmanned aerial vehicle's rising and falling and flight for unmanned aerial vehicle can be normal rising and falling and flight.
Four limiting elastic strips are installed on the rack through a supporting plate respectively and are matched with the four telescopic arms respectively, and the four limiting elastic strips have outward extrusion force on inner plates of the four telescopic arms in the normal flight process. Spacing elastic strip plays limiting displacement to the horn inner panel at unmanned aerial vehicle normal flight in-process, prevents that the horn inner panel from spurting the electric wire under volute spiral spring's elasticity and making electric wire pulling horn inner panel shrink, influences unmanned aerial vehicle's normal use.
As a further improvement of the technology, the telescopic boom comprises a boom inner plate, a motor mounting groove, an electric wire guide groove, a reset inclined plane, a guide block, a square opening, a wire guide opening, a sliding guide groove, a boom outer sleeve, an electric wire guide shell, a limiting rack and a square guide groove, wherein the boom outer sleeve is a square sleeve, two square guide grooves are formed in two end surfaces of the inner side of the boom outer sleeve, one end of the boom outer sleeve is provided with the square opening which is communicated with the inside and the outside, the lower side of the boom outer sleeve is provided with the electric wire guide shell communicated with the boom outer sleeve, the lower side of the electric wire guide shell is provided with the wire guide opening, the upper side of the boom outer sleeve is provided with the limiting rack, the upper side of the boom outer sleeve is provided with the support guide block, and the boom outer sleeve is arranged on the; the limiting rack is matched with an adjusting gear in the lock mechanism; the state of the adjusting gears can be adjusted through the lock mechanism, when the unmanned aerial vehicle is in a normal flight state, the lock mechanism can ensure that the two adjusting gears are in a static state, in the state, the limiting racks are in a meshing state corresponding to the corresponding adjusting gears, and the adjusting gears are in the static state under the control of the lock mechanism, so that in the state, the limiting racks are in the static state, namely the telescopic arms are in the static state in the transverse moving direction, through a tooth self-locking principle; the motor mounting groove is formed in one end of the inner plate of the machine arm, the electric wire guide groove is formed in the inner side of the inner plate of the machine arm, one end of the electric wire guide groove is communicated with the motor mounting groove, the other end of the electric wire guide groove penetrates out of the end face of one side of the inner plate of the machine arm, two guide blocks are symmetrically mounted on two sides of the end, which penetrates out of the electric wire guide groove, of the inner plate of the machine arm, a reset inclined plane is arranged at one end, provided with the guide blocks, of the inner plate of the machine arm, the reset inclined plane has the effect that the inner plate of the machine arm can be smoothly restored to the original position in the reset process of the telescopic arm, the inner plate of the machine arm cannot interfere with; the inner horn plate is arranged on the outer horn sleeve in a sliding fit manner through two guide blocks and a square guide groove formed in the outer horn sleeve, one end, which is not provided with the guide blocks, of the inner horn plate penetrates through a horn sliding groove formed in the frame when the unmanned aerial vehicle is in a normal state, and the inner horn plate is in sliding fit with the horn sliding groove; one end of the limiting elastic strip penetrates through a square opening formed in the outer sleeve of the machine arm to be matched with the inner plate of the machine arm, and the limiting elastic strip is matched with a reset inclined plane on the inner plate of the machine arm; the power assembly is arranged on the telescopic arm through a motor mounting groove formed in the inner plate of the arm; the one end of the electric wire between power component and the unmanned aerial vehicle flight control system is connected with the power component who corresponds, and the other end of electric wire passes the electric wire guide slot on the horn inner panel and the electric wire direction shell of installing on the horn overcoat, wears out the flexible arm outside through the wire mouth that opens on the horn overcoat.
As a further improvement of the technology, the power assembly comprises a brushless motor and a blade, wherein the brushless motor is arranged on the telescopic arm through a motor mounting groove formed on an inner plate of the arm; the brushless motor is connected with a flight control system of the unmanned aerial vehicle through a wire; two blades are symmetrically arranged on an output shaft of the brushless motor.
As a further improvement of the technology, the guide wheel mechanism consists of two guide wheels which are distributed in parallel, and the two guide wheels are aligned and matched with the corresponding guide openings; the wire passes through two guide wheels.
As a further improvement of the technology, the tensioning guide mechanism is composed of two guide wheels and a spiral spring, an electric wire passes through the two guide wheels, the inner end of the spiral spring is fixedly arranged on a supporting rotating shaft on one of the two guide wheels, and the outer end of the spiral spring is fixedly arranged on a fixed support on the corresponding guide wheel.
As a further improvement of the technology, the power assembly is connected with a flight control system installed in a flight control system installation groove of the rack through an electric wire, one end of the electric wire is connected with the corresponding power assembly, the other end of the electric wire passes through an electric wire guide groove opened in the corresponding telescopic arm and an installed electric wire guide shell, and then the electric wire is guided by a guide wheel mechanism installed on the telescopic arm, the guide wheel mechanism plays a role in guiding the electric wire between the power assembly and the flight control system, when the electric wire is deviated to one of the guide wheels in the guide wheel mechanism, the guide wheel plays a role in guiding the electric wire, and the electric wire is prevented from being disordered to be wound together into a knot to influence the re-stretching of the electric wire; finally, the electric wire is connected with a flight control system of the unmanned aerial vehicle through a tensioning guide mechanism arranged on the inner side of the rack, the tensioning guide mechanism is used for tensioning and guiding the electric wire and providing driving force for the electric wire through a volute spiral spring arranged on the tensioning guide mechanism, the volute spiral spring is in a stress releasing state in the process that the telescopic arm is retracted, and the electric wire positioned between the connecting power assembly and the tensioning guide mechanism is always in a straightening state under the action of the tensioning guide mechanism; the tension guide mechanism provides a downward tension to the electric wire connected between the power assembly and the tension guide mechanism through a spiral spring on the tension guide mechanism during the retraction of the telescopic arm, so that the electric wire connected between the power assembly and the tension guide mechanism is always in a tensioned state.
As a further improvement of the present technology, the return spring is a compression spring, and the return spring is a compression spring.
As a further improvement of the present technology, the above-mentioned adjusting gear is mounted on the gear fixing shaft through a bearing.
As a further improvement of the technology, the lower sides of the four telescopic arms far away from one end of the frame are respectively provided with a support rod which supports the unmanned aerial vehicle when the unmanned aerial vehicle stops on the ground; when the unmanned aerial vehicle stops on the ground, the support rod plays a supporting role on the unmanned aerial vehicle, so that the unmanned aerial vehicle is prevented from being damaged due to the fact that a frame of the unmanned aerial vehicle is in rigid impact with the ground under the action of gravity of the unmanned aerial vehicle in the landing process; the lower side of the support rod is provided with elastic rubber.
As a further improvement of the technology, the adjusting gear is arranged on the gear fixing shaft through the matching of the annular guide block and the arc-shaped guide groove.
Compared with the traditional unmanned aerial vehicle technology, when the unmanned aerial vehicle designed by the invention carries out packing and carrying on the unmanned aerial vehicle, the four telescopic arms are manually adjusted to enable the two telescopic arms in the group of telescopic arms positioned at the same end to move back and forth mutually at first, after the two telescopic arms in the same group are staggered from front to back, the inner arm plates of the telescopic arms are manually adjusted to enable the corresponding inner arm plates to slide towards the inner side of the rack under the guidance of the corresponding outer arm sleeves, and finally, the telescopic arms originally positioned on the outer side of the rack are enabled to move to the inner side of the rack completely, so that the telescopic arms of the unmanned aerial vehicle are prevented from being broken off in the packing and carrying process, the occupied space of the unmanned aerial vehicle taking back the telescopic arms is reduced, and the space is saved in the.
Drawings
Fig. 1 is an external view of an entire part.
Fig. 2 is a schematic view of the overall component distribution.
Fig. 3 is a schematic view of a rack structure.
Fig. 4 is a schematic view of the arrangement of the support channels.
Fig. 5 is a schematic view of a guide chute arrangement.
Fig. 6 is a schematic view of the distribution of the position-limiting installation grooves.
Fig. 7 is a schematic view of a tension guide mechanism distribution.
Fig. 8 is a schematic view of the tension guide mechanism installation.
Fig. 9 is a schematic view of a lock mechanism installation.
Fig. 10 is a schematic view of a lock mechanism distribution.
Fig. 11 is a schematic view of a lock mechanism configuration.
Fig. 12 is a schematic view of the return spring installation.
Fig. 13 is a schematic view of adjustment gear installation.
FIG. 14 is a schematic view of the guide wheel mechanism installation.
Fig. 15 is a schematic view of the wire guide housing distribution.
Figure 16 is a schematic view of telescopic arm installation.
Fig. 17 is a schematic view of the wire distribution.
Fig. 18 is a schematic view of the installation of the spacing elastic strips.
Fig. 19 is a schematic view of the inner plate structure of the horn.
Fig. 20 is a schematic structural view of the limiting elastic strip.
Fig. 21 is a schematic view of the structure of the horn housing.
Number designation in the figures: 1. a support bar; 2. a frame; 3. a lock mechanism; 4. a telescopic arm; 5. a power assembly; 6. a boom chute; 7. a guide chute; 8. adjusting the guide groove; 9. a support guide groove; 10. a flight control system mounting groove; 11. a machine arm placing groove; 12. a sliding guide groove; 13. a limiting mounting groove; 14. limiting the elastic strip; 15. tensioning the guide mechanism; 16. fixing and supporting; 17. a brushless motor; 18. a paddle; 19. a horn inner plate; 20. a machine arm outer sleeve; 21. supporting the guide block; 22. a first limit toothed plate; 23. a return spring; 24. adjusting the sliding block; 25. a connecting plate; 26. a second limit toothed plate; 27. a guide block; 28. a return spring; 29. a limiting block; 30. a gear fixing shaft; 31. an adjusting gear; 32. a guide wheel mechanism; 33. a volute spiral spring; 34. a wire guide housing; 35. a limit rack; 36. a motor mounting groove; 37. a wire guide groove; 38. resetting the inclined plane; 39. a guide block; 40. a support plate; 41. a square opening; 42. a wire guide port; 43. a sliding guide groove; 44. a square guide groove; 45. supporting the rotating shaft.
Detailed Description
As shown in fig. 1 and 2, the unmanned aerial vehicle comprises a support rod 1, a rack 2, a lock mechanism 3, a telescopic arm 4 and a power assembly 5, wherein as shown in fig. 1, a flight control system for providing power for the lifting and flying of the unmanned aerial vehicle is installed in a flight control system installation groove 10 formed in the rack 2, and the flight control system is used by the conventional unmanned aerial vehicle; the flight control system provides all power for the flight and lifting of the unmanned aerial vehicle, so that the unmanned aerial vehicle can normally operate, and the energy of the flight control system is supplied by charging or directly using a battery; as shown in fig. 2, a lock mechanism 3 is mounted on the frame 2.
As shown in fig. 3 and 4, the frame 2 is provided with four front and rear supporting guide slots 9, two of the four supporting guide slots 9 are distributed at the front and rear ends, and as shown in fig. 8 and 17, four telescopic arms 4 are respectively mounted on the frame 2 in a group which is symmetrical in front and rear directions through the sliding fit between the supporting guide block 21 mounted thereon and one of the supporting guide slots 9; as shown in fig. 9, the two telescopic arms 4 in the same group are symmetrical to each other left and right around the frame 2 during flying, and the two telescopic arms 4 in the same group slide back and forth and are retracted into the respective supporting guide grooves 9 in a crossed manner during folding; through the cooperation of supporting guide block 21 and supporting guide slot 9 can make telescopic boom 4 along the horn spout 6 horizontal slip that opens on frame 2 around for bilateral symmetry's two telescopic booms 4 stagger each other, prevent that telescopic boom 4 from interfering with adjacent symmetrical telescopic boom 4 at the in-process of shrink.
As shown in fig. 13, each of the four telescopic mechanisms has a limit rack 35, as shown in fig. 10, two adjusting gears 31 are installed on the frame 2 in front and back, and the limit racks 35 of the two telescopic arms 4 in the same group are engaged with one of the adjusting gears 31 and located on both sides of the adjusting gear 31.
As shown in fig. 11, the lock mechanism 3 includes a first limit toothed plate 22, a return spring 23, an adjusting slider 24, a connecting plate 25, a second limit toothed plate 26, a guide block 27, a return spring 28, a limit block 29, a gear fixing shaft 30, and an adjusting gear 31, wherein as shown in fig. 10, the two gear fixing shafts 30 are respectively and fixedly mounted on the upper side surface of the frame 2, the two gear fixing shafts 30 are respectively and correspondingly located between the two sets of arms, and the two adjusting gears 31 are respectively mounted on the two gear fixing shafts 30; as shown in fig. 13, two adjusting gears 31 are respectively engaged with corresponding limit racks 35; as shown in fig. 12, two guide blocks 27 are symmetrically installed on both sides of the adjusting slider 24, as shown in fig. 5, the adjusting slider 24 is installed in the adjusting guide groove 8 opened on the frame 2 by the sliding fit of the two guide blocks 27 and the two sliding guide grooves 12 opened on the frame 2, and a return spring 23 is installed between the adjusting slider 24 and the adjusting guide groove 8; as shown in fig. 13, one end of each of the two limiting blocks 29 has a symmetrical inclined surface, as shown in fig. 6, the two limiting blocks 29 are respectively installed in two symmetrical limiting installation grooves 13 formed in the frame 2, and a return spring 28 is installed between one end of each of the two limiting blocks 29, which does not have an inclined surface, and the bottom surface of the corresponding limiting installation groove 13; the two limiting blocks 29 play a limiting role in the adjusting slide block 24 when the unmanned aerial vehicle is in a normal state; as shown in fig. 11, the first limit toothed plate 22 and the second limit toothed plate 26 are respectively installed at two ends of the connecting plate 25, the connecting plate 25 is installed at the lower side of the adjusting slider 24, and the connecting plate 25 is in sliding fit with the guide sliding chute 7 opened on the frame 2; first limit toothed plate 22 and second limit toothed plate 26 cooperate with two adjusting gear 31 respectively, and at the unblock in-process, connecting plate 25 removes and drives first limit toothed plate 22 and second limit toothed plate 26 and remove and to make first limit toothed plate 22 and second limit toothed plate 26 and two adjusting gear 31 throw off completely.
The locking mechanism 3 is used for limiting and locking the four telescopic arms 4 in the normal flight process through the adjusting gear 31 and the tooth self-locking principle; latch mechanism 3 can be four flexible arms 4 at the spacing locking of normal flight in-process, prevents that unmanned aerial vehicle from taking place the sideslip in the front and back direction at four flexible arms 4 of flight in-process, and then leads to flexible arm 4 to stretch out and draw back, influences unmanned aerial vehicle's normal use.
As shown in fig. 8 and 9, the upper sides of the four telescopic arms 4 far away from one end of the frame 2 are respectively provided with a power assembly 5 for supporting the unmanned aerial vehicle to ascend, descend and fly; the rotation that power component 5 passes through paddle 18 provides the suspended power for unmanned aerial vehicle's rising and falling and flight for unmanned aerial vehicle can be normal rising and falling and flight.
As shown in fig. 14 and 20, four limiting elastic strips 14 are respectively mounted on the frame 2 through a support plate 40, as shown in fig. 15 and 18, the four limiting elastic strips 14 are respectively engaged with the four telescopic arms 4, and during normal flight, the four limiting elastic strips 14 have outward pressing force on the inner horn plates 19 of the four telescopic arms 4. Spacing elastic strip 14 plays limiting displacement to horn inner panel 19 at the normal flight in-process of unmanned aerial vehicle, prevents that horn inner panel 19 from pulling the electric wire and making electric wire pulling horn inner panel 19 shrink under volute spiral spring 33's elasticity, influences unmanned aerial vehicle's normal use.
In summary, the following steps:
the beneficial effects of the design of the invention are as follows: unmanned aerial vehicle is when carrying out vanning transport to unmanned aerial vehicle, make two flexible arms 4 that lie in a set of flexible arm 4 of same end on the fore-and-aft direction at first mutual back-and-forth movement through four flexible arms 4 of manual regulation, two flexible arms 4 in same group stagger the back completely around, the flexible arm inner panel 19 of manual regulation flexible arm 4 makes the corresponding arm inner panel 19 slide towards frame 2 inboard under the direction that corresponds horn overcoat 20, make the flexible arm 4 that originally lies in the frame 2 outside completely move to frame 2 inboardly at last, prevent that unmanned aerial vehicle from breaking the flexible arm 4 of unmanned aerial vehicle in the in-process of vanning transport, the unmanned aerial vehicle occupation space of retrieving flexible arm 4 simultaneously reduces, the space has been saved in vanning and handling.
As shown in fig. 17, the telescopic arm 4 includes an inner arm plate 19, a motor mounting groove 36, a wire guide groove 37, a reset inclined surface 38, a guide block 39, a square opening 41, a wire guide opening 42, a slide guide groove 43, an arm outer cover 20, a wire guide housing 34, a limit rack 35, a square guide groove 44, as shown in fig. 21, the horn housing 20 is a square housing, two square guide grooves 44 are formed on two end surfaces of the inner side of the horn housing 20, one end of the horn housing 20 has a square opening 41 penetrating inside and outside, an electric wire guide housing communicating with the horn housing 20 is installed on the lower side of the horn housing 20, a wire guide opening 42 is formed on the lower side of the electric wire guide housing 34, a limit rack 35 is installed on the upper side of the horn housing 20, as shown in fig. 10, a support guide block 21 is installed on the upper side of the horn housing 20, and the horn housing 20 is installed on the frame 2 by the sliding fit of the support guide block 21 and the support guide groove 9 opened on the frame 2; the limit rack 35 is matched with the adjusting gear 31 in the lock mechanism 3; the state of the adjusting gears 31 can be adjusted through the lock mechanism 3, when the unmanned aerial vehicle is in a normal flight state, the lock mechanism 3 can ensure that the two adjusting gears 31 are in a static state, in the state, the limiting racks 35 are in a meshing state corresponding to the corresponding adjusting gears 31, and as the adjusting gears 31 are in the static state under the control of the lock mechanism 3, in the state, the limiting racks 35 are in the static state through a tooth self-locking principle, namely the telescopic arm 4 is in the static state in the transverse moving direction; as shown in fig. 19, a motor mounting groove 36 is formed at one end of the inner arm plate 19, an electric wire guide groove 37 is formed at the inner side of the inner arm plate 19, one end of the electric wire guide groove 37 is communicated with the motor mounting groove 36, the other end of the electric wire guide groove 37 penetrates through the end surface of one side of the inner arm plate 19, two guide blocks 39 are symmetrically arranged at two sides of the end, penetrating through the electric wire guide groove 37, of the inner arm plate 19, a reset inclined surface 38 is formed at one end, provided with the guide blocks 39, of the inner arm plate 19, the reset inclined surface 38 has the function of ensuring that the inner arm plate 19 can be smoothly restored to the original position in the reset process of the telescopic arm 4, the inner arm plate 19 cannot interfere with the limiting elastic strip 14, and the limiting elastic strip 14 can limit the inner arm plate 19 again after the telescopic; as shown in fig. 17 and 18, the inner boom plate 19 is mounted on the outer boom sleeve 20 through sliding fit of two guide blocks 39 and a square guide groove 44 formed in the outer boom sleeve 20, one end of the inner boom plate 19, which is not provided with the guide blocks 39, penetrates through the chute 6 formed in the frame 2 when the unmanned aerial vehicle is in a normal state, and the inner boom plate 19 is in sliding fit with the chute 6; one end of the limiting elastic strip 14 penetrates through a square opening 41 formed in the horn outer sleeve 20 to be matched with the horn inner plate 19, and the limiting elastic strip 14 is matched with a reset inclined surface 38 on the horn inner plate 19; the power assembly 5 is arranged on the telescopic arm 4 through a motor mounting groove 36 formed on the inner arm plate 19; one end of the electric wire between the power component 5 and the unmanned aerial vehicle flight control system is connected with the corresponding power component 5, and the other end of the electric wire passes through the electric wire guide groove 37 on the inner plate 19 of the machine arm and the electric wire guide shell 34 installed on the outer sleeve 20 of the machine arm, and penetrates out of the outer side of the telescopic arm 4 through the wire guide opening 42 formed in the outer sleeve 20 of the machine arm.
As shown in fig. 16, the power assembly 5 includes a brushless motor 17 and a blade 18, wherein the brushless motor 17 is mounted on the telescopic arm 4 through a motor mounting groove 36 formed in the inner arm plate 19; the brushless motor 17 is connected with a flight control system of the unmanned aerial vehicle through a wire; two paddles 18 are symmetrically mounted on the output shaft of the brushless motor 17.
The guide wheel mechanism 32 is composed of two guide wheels which are distributed in parallel, and the two guide wheels are aligned and matched with the corresponding guide openings; the wire passes through two guide wheels.
The tension guide mechanism 15 is composed of two guide wheels and a spiral spring 33, the electric wire passes through the two guide wheels, the inner end of the spiral spring 33 is fixedly arranged on a support rotating shaft 45 on one of the two guide wheels, and the outer end of the spiral spring 33 is fixedly arranged on a fixed support 16 on the corresponding guide wheel.
As shown in fig. 17, the power assembly 5 is connected to the flight control system installed in the flight control system installation groove 10 of the frame 2 through an electric wire, one end of the electric wire is connected to the corresponding power assembly 5, the other end of the electric wire passes through an electric wire guide groove 37 opened in the corresponding telescopic arm 4 and an installed electric wire guide shell 34, and then the electric wire is guided by a guide wheel mechanism 32 installed on the telescopic arm 4, the guide wheel mechanism 32 guides the electric wire between the power assembly 5 and the flight control system, and when the electric wire is deflected to one of the guide wheels in the guide wheel mechanism 32, the guide wheel guides the electric wire to prevent the electric wire from being disordered and winding the electric wire together into a knot, which affects the re-stretching of the electric wire; as shown in fig. 7, the unmanned aerial vehicle is finally connected to the flight control system of the unmanned aerial vehicle through the tensioning guide mechanism 15 installed inside the frame 2, the tensioning guide mechanism 15 provides driving force for the tensioning guide of the electric wire through the spiral spring 33 installed thereon, during the process that the telescopic arm 4 is retracted, the spiral spring 33 is in a releasing state, and the electric wire located between the connecting power assembly 5 and the tensioning guide mechanism 15 is always in a straightening state under the action of the tensioning guide mechanism 15; the tension guide mechanism 15 provides a downward tension to the electric wire connected between the power assembly 5 and the tension guide mechanism 15 by the scroll spring 33 of the tension guide mechanism 15 during the retraction of the telescopic arm 4, so that the electric wire connected between the power assembly 5 and the tension guide mechanism 15 is always in a tensioned state.
The return spring 23 is a compression spring, and the return spring 28 is a compression spring.
The above-mentioned adjusting gear 31 is mounted on the gear fixing shaft 30 through a bearing.
The lower sides of the four telescopic arms 4 far away from one end of the rack 2 are respectively provided with a support rod 1 which supports the unmanned aerial vehicle when the unmanned aerial vehicle stops on the ground; the support rod 1 plays a supporting role for the unmanned aerial vehicle when the unmanned aerial vehicle stops on the ground, and prevents the frame 2 of the unmanned aerial vehicle from rigidly impacting the ground under the action of the gravity of the unmanned aerial vehicle in the landing process of the unmanned aerial vehicle, so that the unmanned aerial vehicle is prevented from being damaged; the underside of the support bar 1 is provided with an elastic rubber.
The adjusting gear 31 is mounted on the gear fixing shaft 30 by the cooperation of the annular guide block 39 and the arc-shaped guide groove.
Workflow of lock mechanism 3: when people unlock, firstly, the adjusting slide block 24 is moved manually so that the adjusting slide block 24 slides forwards in the front-back direction of the unmanned aerial vehicle, the adjusting slide block 24 slides to drive the connecting plate 25 to slide in the guide sliding groove 7 formed in the rack 2, meanwhile, the adjusting slide block 24 slides to extrude the two limiting blocks 29 matched with the adjusting slide block so that the two limiting blocks 29 are extruded into the limiting installation grooves 13 formed in the rack 2, and the connecting plate 25 slides to drive the first limiting toothed plate 22 and the second limiting toothed plate 26 installed on the connecting plate to move; the first limit toothed plate 22 and the second limit toothed plate 26 move to enable the adjusting gears 31 originally meshed with the first limit toothed plate 22 and the second limit toothed plate 26 to be disengaged, the first limit toothed plate 22 and the second limit toothed plate 26 lose the limit of the two adjusting gears 31, at this time, the two adjusting gears 31 can rotate freely, namely the limit racks 35 meshed with the two adjusting gears 31 can move, when the adjusting sliders 24 sequentially and completely move to the other side from the corresponding limit blocks 29 in the moving process, the corresponding limit blocks 29 move out again to limit the adjusting sliders 24, the adjusting sliders 24 are prevented from being restored to the position meshed with the adjusting gears 31 under the action of the return springs 23 to influence the adjusting gears 31, and meanwhile, under the action of the return springs 23 and the limit blocks 29, the adjusting sliders 24 are in a static state and cannot swing back and forth; when locking is required, the adjustment slider 24 is manually moved to return the adjustment slider 24 to the original position, and the adjustment gear 31 is locked.
The working process of retracting the machine arm comprises the following steps: when people carry out boxing transportation on the unmanned aerial vehicle, firstly, the locking mechanism 3 is in an open state by adjusting the adjusting slide block 24, then, the four telescopic arms 4 are manually adjusted to enable the two telescopic arms 4 in one group of telescopic arms 4 at the same end to move back and forth, after the two telescopic arms 4 in the same group are completely staggered back and forth, the inner arm plates 19 of the telescopic arms 4 are manually adjusted to enable the corresponding inner arm plates 19 to slide towards the inner side of the rack 2 under the guidance of the corresponding outer arm sleeves 20, and finally, the telescopic arms 4 originally positioned on the outer side of the rack 2 are completely moved to the inner side of the rack 2, so that the telescopic arms 4 of the unmanned aerial vehicle are prevented from being broken in the boxing transportation process of the unmanned aerial vehicle, meanwhile, the occupied space of the unmanned aerial vehicle for withdrawing the telescopic arms 4 is reduced, and the space is saved in; during the normal flight process, the horn inner panel 19 of manual pulling telescopic boom 4 makes the horn inner panel 19 remove the frame 2 outside completely, then adjusts telescopic boom 4 from beginning to end and makes two telescopic boom 4 that are arranged in the same group resume the state of original alignment gradually, then adjusts adjusting block 24 and makes latch mechanism 3 lock.
Claims (10)
1. An unmanned aerial vehicle that horn is recoverable which characterized in that: the unmanned aerial vehicle comprises a supporting rod, a rack, a lock mechanism, a telescopic arm and a power assembly, wherein a flight control system for providing power for the lifting and flying of the unmanned aerial vehicle is installed in a flight control system installation groove formed in the rack, and the flight control system is used by the conventional unmanned aerial vehicle; a lock mechanism is arranged on the frame;
the frame is provided with four supporting guide grooves in the front-back direction, the four supporting guide grooves are distributed at the front end and the back end in pairs, and the four telescopic arms are respectively arranged on the frame in a group in front-back symmetry manner through the sliding fit of the supporting guide blocks arranged on the four telescopic arms and one supporting guide groove; the two telescopic arms in the same group are symmetrical left and right by taking the frame as a center during flying, and the two telescopic arms in the same group slide back and forth in the respective supporting guide grooves and are retracted in a crossed manner during folding;
the four telescopic mechanisms are respectively provided with a limiting rack, two adjusting gears are arranged on the front and the back of the rack, and the limiting racks of the two telescopic arms in the same group are meshed with one of the adjusting gears and are positioned on two sides of the adjusting gear;
the locking mechanism comprises a first limiting toothed plate, a return spring, an adjusting slide block, a connecting plate, a second limiting toothed plate, a guide block, a return spring, limiting blocks, gear fixing shafts and adjusting gears, wherein the two gear fixing shafts are respectively and fixedly arranged on the upper side surface of the rack, the two gear fixing shafts are respectively and correspondingly positioned between the two groups of machine arms, and the two adjusting gears are respectively arranged on the two gear fixing shafts; the two adjusting gears are respectively matched with the corresponding limiting racks; two guide blocks are symmetrically arranged on two sides of the adjusting slide block, the adjusting slide block is arranged in the adjusting guide groove formed in the rack through the sliding fit of the two guide blocks and the two sliding guide grooves formed in the rack, and a return spring is arranged between the adjusting slide block and the adjusting guide groove; one end of each of the two limiting blocks is provided with a symmetrical inclined surface, the two limiting blocks are respectively arranged in two symmetrical limiting installation grooves formed in the rack, and a return spring is arranged between the end, which is not provided with the inclined surface, of each of the two limiting blocks and the bottom surface of the corresponding limiting installation groove; the two limiting blocks play a limiting role in the adjusting slide block when the unmanned aerial vehicle is in a normal state; the first limit toothed plate and the second limit toothed plate are respectively arranged at two ends of a connecting plate, the connecting plate is arranged at the lower side of the adjusting slide block, and the connecting plate is in sliding fit with a guide sliding groove formed in the rack; the first limiting toothed plate and the second limiting toothed plate are respectively matched with the two adjusting gears, and in the unlocking process, the connecting plate moves to drive the first limiting toothed plate and the second limiting toothed plate to move, so that the first limiting toothed plate and the second limiting toothed plate are completely separated from the two adjusting gears;
the locking mechanism is used for limiting and locking the four telescopic arms in the normal flight process through an adjusting gear and a tooth self-locking principle;
the upper sides of the four telescopic arms far away from one end of the rack are respectively provided with a power assembly for supporting the unmanned aerial vehicle to lift and fly;
four limiting elastic strips are installed on the rack through a supporting plate respectively and are matched with the four telescopic arms respectively, and the four limiting elastic strips have outward extrusion force on inner plates of the four telescopic arms in the normal flight process.
2. The retractable-arm drone of claim 1, wherein: the telescopic boom comprises a boom inner plate, a motor mounting groove, an electric wire guide groove, a reset inclined plane, a guide block, a square opening, a wire guide opening, a sliding guide groove, a boom outer sleeve, an electric wire guide shell, a limiting rack and a square guide groove, wherein the boom outer sleeve is a square sleeve; the limiting rack is matched with an adjusting gear in the lock mechanism; one end of the inner arm plate is provided with a motor mounting groove, the inner side of the inner arm plate is provided with an electric wire guide groove, one end of the electric wire guide groove is communicated with the motor mounting groove, the other end of the electric wire guide groove penetrates out of the end surface of one side of the inner arm plate, two guide blocks are symmetrically arranged on two sides of the end, which penetrates out of the electric wire guide groove, of the inner arm plate, one end, provided with the guide blocks, of the inner arm plate is provided with a reset inclined surface, the inner arm plate is arranged on the outer arm sleeve in a sliding fit mode through the two guide blocks and a square guide groove formed in the outer arm sleeve, one end, not provided with the guide blocks, of the inner arm plate penetrates out of an arm sliding groove formed in the frame; one end of the limiting elastic strip penetrates through a square opening formed in the outer sleeve of the machine arm to be matched with the inner plate of the machine arm, and the limiting elastic strip is matched with a reset inclined plane on the inner plate of the machine arm; the power assembly is arranged on the telescopic arm through a motor mounting groove formed in the inner plate of the arm; the one end of the electric wire between power component and the unmanned aerial vehicle flight control system is connected with the power component who corresponds, and the other end of electric wire passes the electric wire guide slot on the horn inner panel and the electric wire direction shell of installing on the horn overcoat, wears out the flexible arm outside through the wire mouth that opens on the horn overcoat.
3. The retractable-arm drone of claim 1, wherein: the power assembly comprises a brushless motor and a blade, wherein the brushless motor is arranged on the telescopic arm through a motor mounting groove formed in the inner plate of the arm; the brushless motor is connected with a flight control system of the unmanned aerial vehicle through a wire; two blades are symmetrically arranged on an output shaft of the brushless motor.
4. The retractable-arm drone of claim 1, wherein: the power assembly is connected with the flight control system installed in a flight control system installation groove of the frame through an electric wire, one end of the electric wire is connected with the corresponding power assembly, the other end of the electric wire penetrates through an electric wire guide groove formed in the corresponding telescopic arm and an installed electric wire guide shell, then the electric wire is guided through a guide wheel mechanism installed on the telescopic arm, and finally the electric wire is connected with the flight control system of the unmanned aerial vehicle through a tensioning guide mechanism installed on the inner side of the frame.
5. The retractable-arm drone of claim 4, wherein: the tension guide mechanism consists of two guide wheels and a volute spiral spring, the electric wire passes through the two guide wheels, the inner end of the volute spiral spring is fixedly arranged on a support rotating shaft on one of the two guide wheels, and the outer end of the volute spiral spring is fixedly arranged on a fixed support on the corresponding guide wheel.
6. The retractable-arm drone of claim 4, wherein: the guide wheel mechanism consists of two guide wheels which are distributed in parallel, and the two guide wheels are aligned and matched with the corresponding guide openings; the wire passes through two guide wheels.
7. The retractable-arm drone of claim 1, wherein: the return spring is a compression spring.
8. The retractable-arm drone of claim 1, wherein: the adjusting gear is arranged on the gear fixing shaft through a bearing.
9. The retractable-arm drone of claim 1, wherein: the lower sides of the ends, far away from the rack, of the four telescopic arms are respectively provided with a supporting rod which supports the unmanned aerial vehicle when the unmanned aerial vehicle stops on the ground; the lower side of the support rod is provided with elastic rubber.
10. The retractable-arm drone of claim 6, wherein: the adjusting gear is arranged on the gear fixing shaft through the matching of the annular guide block and the arc-shaped guide groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910025831.7A CN109703736B (en) | 2019-01-11 | 2019-01-11 | Unmanned aerial vehicle with retractable arm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910025831.7A CN109703736B (en) | 2019-01-11 | 2019-01-11 | Unmanned aerial vehicle with retractable arm |
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| Publication Number | Publication Date |
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| CN109703736A CN109703736A (en) | 2019-05-03 |
| CN109703736B true CN109703736B (en) | 2020-12-18 |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102009001759B4 (en) * | 2009-03-23 | 2013-02-21 | Gregor Schnoell | locking system |
| CN106915433B (en) * | 2015-12-25 | 2020-02-04 | 北京臻迪机器人有限公司 | Aircraft arm locking driving mechanism of aircraft |
| CN205837168U (en) * | 2016-06-03 | 2016-12-28 | 上海九鹰电子科技有限公司 | Multi-rotor aerocraft |
| CN206456541U (en) * | 2016-12-21 | 2017-09-01 | 歌尔科技有限公司 | A kind of unmanned plane paddle arm and a kind of unmanned plane |
| CN206407105U (en) * | 2016-12-29 | 2017-08-15 | 昊翔电能运动科技(昆山)有限公司 | A kind of unmanned plane horn linkage fold mechanism and unmanned plane |
| CN107364570A (en) * | 2017-09-02 | 2017-11-21 | 佛山红辉科技有限公司 | One kind extension arbor throws unmanned plane |
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