CN110254698B

CN110254698B - Unmanned aerial vehicle

Info

Publication number: CN110254698B
Application number: CN201910545838.1A
Authority: CN
Inventors: 邢义军
Original assignee: Xi'an Zhicaiquan Technology Transfer Center Co ltd
Current assignee: Beijing Hydrogen Source Intelligent Technology Co ltd
Priority date: 2019-06-23
Filing date: 2019-06-23
Publication date: 2020-07-03
Anticipated expiration: 2039-06-23
Also published as: CN110254698A

Abstract

The invention provides an unmanned aerial vehicle. The invention comprises a machine body, wherein a plurality of machine arms are uniformly distributed on the periphery of the machine body, the end part of each machine arm, which is far away from the machine body, is provided with a rotor wing, the bottom surface of the machine body is provided with supporting legs with the same number as the machine arms and driving parts which are in one-to-one correspondence with the supporting legs, the end part of each supporting leg is hinged on the side wall of the machine body, the driving parts are used for driving the supporting legs to rotate around a hinged point, the supporting legs can swing to be tightly attached to the side wall of the machine arms or supported on the bottom surface. When unmanned aerial vehicle was about to land, the tip that the supporting legs deviates from the organism can contact with ground earlier, has avoided traditional unmanned aerial vehicle, when truning into the stasis state from the flight state, organism and horn both can take place the drawback of striking with ground, and whole unmanned aerial vehicle's actual life has obtained promoting by a wide margin.

Description

Unmanned aerial vehicle

Technical Field

The invention relates to the technical field of unmanned aerial vehicle design, in particular to an unmanned aerial vehicle.

Background

An unmanned aircraft, abbreviated as "drone", and abbreviated in english as "UAV", is an unmanned aircraft that is operated by a radio remote control device and a self-contained program control device, or is operated autonomously, either completely or intermittently, by an onboard computer.

Comparatively common unmanned aerial vehicle structure on the market at present, including the organism, can be provided with a plurality of horn around the organism, a plurality of horns along organism evenly distributed all around, the rotor is all installed to the tip that every horn deviates from the organism.

Based on the structure, the state of the unmanned aerial vehicle is divided into a flight state and a stagnation state; in a flying state, all the rotor wings rotate, the rotor wings push air downwards, and the whole machine body flies in the air; when the flying state is converted into the stagnation state, the body and the horn can inevitably collide with the ground, and the actual service life of the whole unmanned aerial vehicle can be further influenced.

Disclosure of Invention

In view of this, the invention aims to provide an unmanned aerial vehicle, which can effectively prolong the actual service life of the unmanned aerial vehicle.

In order to solve the technical problems, the technical scheme of the invention is as follows: the utility model provides an unmanned aerial vehicle, includes the organism, evenly distributed has a plurality of horn all around the organism, and the rotor is all installed to the tip that every horn deviates from the organism, install supporting legs unanimous with horn quantity on the bottom surface of organism, with the drive division of supporting legs one-to-one, the tip of every supporting legs articulates on the organism lateral wall, the drive division is used for driving the supporting legs round the pin joint and rotates, the supporting legs can swing to pasting tightly on the horn lateral wall or prop up in the organism bottom surface, the tip that the supporting legs deviates from the pin joint is used for contacting with ground.

Through the technical scheme, when the unmanned aerial vehicle is in a flying state, the driving part can drive the supporting legs to rotate around the hinged point, the supporting legs can swing to be tightly attached to the side wall of the horn, at the moment, the whole structural strength of the corresponding horn is improved, and the flying stability is higher;

when unmanned aerial vehicle is about to trun into the stasis from the flight condition, the drive division can drive the supporting legs and rotate around the pin joint, and all supporting legs all can be followed the body ground and propped up, when unmanned aerial vehicle is about to land, the tip that the supporting legs deviates from the organism can contact with ground earlier, has avoided traditional unmanned aerial vehicle in, trun into the stasis from the flight condition, organism and horn both can take place the drawback of striking with ground, whole unmanned aerial vehicle's actual life has obtained promoting by a wide margin.

Preferably, each horn is provided with a buckle, and the buckles are used for buckling with the supporting legs.

Through above-mentioned technical scheme, unmanned aerial vehicle is when flight state, and the drive division can drive the supporting legs and rotate around the pin joint, and the supporting legs can swing to pasting tightly on the horn lateral wall, and at this moment, the supporting legs can with correspond buckle looks block on the horn, be favorable to further promoting the structural strength size that corresponds the wing.

Preferably, the end part of each supporting leg departing from the hinge point is provided with a clamping claw, and when the supporting legs are supported on the bottom surface of the machine body, the supporting claws on all the supporting legs face one side of the middle part of the machine body.

Through above-mentioned technical scheme, when needing to snatch the object, whole unmanned aerial vehicle can stop in waiting to snatch article top, and the drive division drive supporting legs is rotatory and prop up in the organism bottom surface, and the supporting claw on the supporting legs can contradict in article surface and produce the extrusion force to article simultaneously, when this unmanned aerial vehicle flies, alright take corresponding object, play the effect of snatching and carrying article.

Preferably, the winding motor, the water collecting pump and the water collecting tank are installed on the machine body, the winding roller is installed on a motor shaft of the winding motor, the winding roller is wound with a winding pipe, one end of the winding pipe is in butt joint with a water inlet of the water collecting pump, a water outlet of the water collecting pump is in butt joint with the water collecting tank, and the end, away from the winding roller, of the winding pipe vertically droops.

Through the technical scheme, this unmanned aerial vehicle also can apply to waters quality of water sampling work, unmanned aerial vehicle can stop in appointed waters surface of water top, the rolling motor wind-up roll is transferred the rolling pipe perpendicularly, the tip that the rolling pipe deviates from the organism can progressively enter into the waters, the rolling action of accessible control rolling motor and then the tip below height of control rolling pipe, when the tip of rolling pipe is transferred to ideal height, the rolling motor stops the action, the sump pump can be through the water suction of rolling pipe with appointed waters degree of depth to the sump tank, collect water and sample.

Preferably, elastic waterproof cloth is arranged between every two adjacent supporting legs, a moving part is arranged on each supporting leg, one end of each elastic waterproof cloth is fixedly connected to the end part of the supporting leg close to the machine body, and the moving part is used for driving the end part, deviating from the machine body, of each elastic waterproof cloth to move back and forth along the length direction of the supporting leg;

all the supporting legs are distributed at the periphery of the coiling pipe.

According to the technical scheme, the winding pipe is adopted and is made of soft materials, so that when the water enters a water area where water flows relatively, drag force is generated on the winding pipe by the water flow, the water taking depth cannot be fully controlled, and the water quality sampling precision is poor;

when the winding pipe is applied to a water area with larger water flow, the driving part can drive all the supporting legs to be supported on the bottom surface of the machine body, the moving part drives the end part of the elastic waterproof cloth departing from the machine body to move towards the direction departing from the machine body, so that the elastic waterproof cloth is stretched between two adjacent supporting legs, and the winding pipe can be surrounded inside after all the elastic waterproof cloth is stretched;

when actual water intaking, elasticity tarpaulin and rolling pipe can dip in the middle of the waters rivers simultaneously, and elasticity tarpaulin can block and be located rolling pipe rivers all around, and the at utmost reduces the rivers and transfers the influence of the degree of depth to the rolling pipe, is favorable to promoting by a wide margin the reliability of waters quality of water sampling.

Preferably, all be equipped with the shifting chute on every supporting legs, the trough length of shifting chute is unanimous with the length direction of supporting legs, the removal portion is including installing gasbag body and the spring in the shifting chute, the elasticity tarpaulin is connected with the movable block on deviating from the tip of organism, the movable block corresponds to slide and connects in the shifting chute, the gasbag body is located one side that the movable block is close to the organism, the spring is located one side that the movable block deviates from the organism, the spring offsets in the movable block and is used for applying in the movable block towards the elasticity of organism one side, still install on the organism and fill the gas release device, fill the gas release device and fill the gas operation to the gasbag body.

Through the technical scheme, during normal flight, the air bag body is deflated by the inflation and deflation device, the elastic force of the spring is applied to the moving block, the moving block moves towards the direction of the machine body, the elastic waterproof cloth can be tightly attached to and folded on the bottom surface of the machine body, the driving part drives all the supporting legs to rotate, and the supporting legs are attached to the machine body and the side walls of the machine arms;

when the elastic waterproof cloth is needed to be used, the driving part drives all the supporting legs to prop up towards the side departing from the machine body, the air inflation and deflation device inflates the air bag body, the air bag body extrudes the moving block, the moving block overcomes the elastic force of the spring, and the elastic waterproof cloth can be stretched between the two adjacent supporting legs.

In summary, compared with the prior art, the beneficial effects of the invention are as follows:

(1) the supporting leg structure is ingeniously designed, so that the unmanned aerial vehicle flies, and the effect of strengthening the aircraft arm is achieved; when the unmanned aerial vehicle lands, the supporting legs can be directly contacted with the ground, so that the overall service life of the unmanned aerial vehicle is prolonged;

(2) when the unmanned aerial vehicle is applied to a material grabbing working condition, the unmanned aerial vehicle has two material grabbing modes, wherein one mode is that a clamping claw at the end part of a supporting leg directly collides with a material to grab the material, and the unmanned aerial vehicle is suitable for grabbing objects with regular shapes; secondly, the supporting feet, the elastic waterproof cloth and the bottom surface of the machine body are enclosed into a closed accommodating space which can accommodate a plurality of small objects, and materials to be grabbed can be placed in the accommodating space and are more suitable for grabbing small objects with irregular shapes;

(3) when this unmanned aerial vehicle was applied to water sampling operating mode, the manger plate ring structure that the elasticity waterproof cloth enclosed can reduce the rivers motion by a wide margin and transfer the influence of the degree of depth to the rolling pipe, and water sampling is more accurate.

Drawings

FIG. 1 is a schematic structural view of an embodiment when a water collection tank is not installed;

FIG. 2 is a schematic front view of the embodiment;

FIG. 3 is a schematic bottom view of the embodiment;

FIG. 4 is a first structural schematic diagram of the supporting legs for showing the overall structural condition of the four supporting legs and four pieces of elastic waterproof cloth;

fig. 5 is a second schematic structural diagram of the support leg in the supporting process, which is used for showing the position of the movable block when the support leg is supported and the elastic waterproof cloth is opened.

Reference numerals: 1. a body; 2. a horn; 3. a rotor; 4. supporting legs; 5. a moving groove; 6. a drive section; 7. buckling; 8. a gripper jaw; 9. a winding motor; 10. a water collection pump; 11. a water collection tank; 12. a wind-up roll; 13. reeling the pipe; 14. elastic waterproof cloth; 15. a moving part; 151. a balloon body; 152. a spring; 153. a moving block; 16. and an inflation and deflation device.

Detailed Description

The following detailed description of the present invention is provided in conjunction with the accompanying drawings 1-5 to make the technical solution of the present invention easier to understand and grasp.

The utility model provides an unmanned aerial vehicle, includes organism 1, and 1 evenly distributed all around has a plurality of horn 2, and 2 quantity of horn in this embodiment are four, and rotor 3 is all installed to the tip that every horn 2 deviates from organism 1, and rotor 3 is rotatory, can drive the flight of whole organism 1.

Supporting legs 4 with the same quantity of horn 2, drive division 6 with supporting legs 4 one-to-one are installed to the bottom surface of organism 1, and the quantity of supporting legs 4 is also four equally, and the tip of every supporting legs 4 all articulates on organism 1 lateral wall, and the pin joint of supporting legs 4 is close to the middle part position of organism 1.

Each horn 2 is provided with a buckle 7, and the buckle 7 is used for being fastened with the supporting leg 4. The end of each supporting foot 4 departing from the hinge point is provided with a clamping claw 8.

The driving parts 6 can select stepping motors, the number of the driving parts 6 is four, driving shafts of the driving parts 6 are butted on hinge shafts of corresponding supporting legs 4 and used for driving the supporting legs 4 to rotate around hinge points, the supporting legs 4 can swing to be tightly attached to the side walls of the machine arm 2, and buckles 7 on the machine arm 2 can be fastened with the corresponding supporting legs 4; the supporting foot 4 can also be supported on the bottom surface of the machine body 1, and the end part of the supporting foot 4 departing from the hinge point is used for contacting with the ground; certainly, when the supporting legs 4 are erected on the bottom surface of the machine body 1, the supporting claws on all the supporting legs 4 face one side of the middle part of the machine body 1, and when the objects to be carried exist in the middle parts of the four supporting legs 4, the supporting claws of the supporting legs 4 can be abutted against the surfaces of the objects to be carried, so that the objects are carried to move in a flying manner.

In addition, the winding motor 9, the water collecting pump 10 and the water collecting tank 11 are installed on the machine body 1, the winding roller 12 is installed on a motor shaft of the winding motor 9, the winding pipe 13 is wound on the winding roller 12, the water collecting tank 11 is located on the upper surface of the machine body 1, a notch of the water collecting tank 11 is arranged upwards, one end of the winding pipe 13 is butted with a water inlet of the water collecting pump 10, a water outlet of the water collecting pump 10 is butted with the water collecting tank 11, and the end portion, deviating from the winding roller 12, of the winding pipe 13 vertically sags. All the supporting feet 4 are distributed at the periphery of the vertically drooping rolling pipe 13.

All be equipped with elasticity tarpaulin 14 between two adjacent supporting legss 4, all be equipped with removal portion 15 on every supporting legss 4, elasticity tarpaulin 14 one end fixed connection is in 4 tip of supporting legss that are close to organism 1, and removal portion 15 is used for driving the tip that elasticity tarpaulin 14 deviates from organism 1 and carries out round trip movement along the length direction of supporting legss 4.

All be equipped with the shifting chute 5 on every supporting legs 4, the trough length of shifting chute 5 is unanimous with the length direction of supporting legs 4, wherein, removal portion 15 is including installing gasbag body 151 and spring 152 in shifting chute 5, elastic tarp 14 is connected with the movable block 153 on deviating from the tip of organism 1, the movable block 153 corresponds to slide and connects in shifting chute 5, gasbag body 151 is located one side that the movable block 153 is close to organism 1, spring 152 is located one side that the movable block 153 deviates from organism 1, spring 152 offsets the movable block 153 and is used for applying in the elasticity of movable block 153 towards organism 1 one side, still install inflation and deflation device 16 on the organism 1, inflation and deflation device 16 can adopt the inflation and deflation pump, inflation and deflation device 16 carries out the inflation and deflation operation to gasbag body 151.

The first use mode is as follows: in the normal flight in-process, fill in and fill gas device 16 and take out gas to the gasbag body 151, spring 152 elasticity can promote movable block 153 and move toward supporting legs 4 hinge point position, and elasticity waterproof cloth 14 can fold the extrusion and paste tightly in organism 1 bottom surface position, and here simultaneously, drive division 6 drive supporting legs 4 rotate around the hinge point, and supporting legs 4 paste tightly in organism 1 bottom surface, and supporting legs 4 joint is on buckle 7.

The second use mode: when needs snatch the article regularly, square hard thing for example, unmanned aerial vehicle is located directly over the article, and 6 back drive supporting legs 4 of drive division rotate around the pin joint, and buckle 7 is deviate from to supporting legs 4, and the gripper jaw 8 on four supporting legs 4 can offset with the article lateral wall to the realization snatchs the purpose of article.

The use method is as follows: when irregular small articles are needed, the unmanned aerial vehicle is positioned right above the articles, the driving part 6 drives the supporting feet 4 to rotate around the hinge point, the supporting feet 4 are separated from the buckles 7, the supporting feet 4 are supported on the bottom surface of the machine body 1, meanwhile, the air inflation and deflation device 16 inflates air into the air bag body 151, the air bag body 151 expands, the air bag body 151 pushes the moving block 153 to move towards the position departing from the hinge point of the supporting feet 4, the elastic waterproof cloth 14 can be opened between the two supporting feet 4, the four elastic waterproof cloths 14 form an annular sleeve-shaped structure which is up and down communicated, the driving part 6 continues to drive the supporting feet 4 to rotate until the clamping claws 8 at the end parts of the four supporting feet 4 are close to and abut against each other, the driving part 6 stops driving, at the moment, the four supporting feet 4, the four elastic waterproof cloths 14 and the bottom surface of the machine body 1 form a, the transportation effect is good.

The use method is as follows: when the water quality of a designated water area needs to be extracted, the unmanned aerial vehicle stays above the water surface of the water area at a designated position, the driving part 6 reversely drives the supporting legs 4 to rotate around the hinge point, the supporting legs 4 are separated from the buckles 7, the supporting legs 4 are supported on the bottom surface of the machine body 1, the air inflation and deflation device 16 inflates air into the air bag body 151, the air bag body 151 expands, the air bag body 151 pushes the moving block 153 to move towards the position departing from the hinge point of the supporting legs 4, the elastic waterproof cloth 14 can be opened between the two supporting legs 4, the four elastic waterproof cloths 14 form an annular sleeve-shaped structure which is communicated up and down, the annular sleeve-shaped structure can extend into the water body of the water area, the winding motor 9 drives the winding roller 12 to rotate, the winding roller 12 can gradually vertically lower the winding pipe 13, the winding pipe 13 is always positioned between the four elastic waterproof cloths 14, when the winding pipe 13 is lowered to an ideal depth, the water enters the water collecting tank 11 from the winding pipe 13 and the water collecting pipe in sequence.

The above are only typical examples of the present invention, and besides, the present invention may have other embodiments, and all the technical solutions formed by equivalent substitutions or equivalent changes are within the scope of the present invention as claimed.

Claims

1. The utility model provides an unmanned aerial vehicle, includes organism (1), organism (1) evenly distributed all around has a plurality of horn (2), and rotor (3), characterized by are all installed to the tip that every horn (2) deviate from organism (1): the bottom surface of the machine body (1) is provided with supporting legs (4) with the same number as the machine arms (2) and driving parts (6) corresponding to the supporting legs (4) one by one, the end part of each supporting leg (4) is hinged to the side wall of the machine body (1), the driving parts (6) are used for driving the supporting legs (4) to rotate around a hinged point, the supporting legs (4) can swing to be tightly attached to the side wall of the machine arms (2) or be supported on the bottom surface of the machine body (1), and the end parts, deviating from the hinged point, of the supporting legs (4) are used for being in contact with the ground;

a winding motor (9), a water collecting pump (10) and a water collecting tank (11) are mounted on the machine body (1), a winding roller (12) is mounted on a motor shaft of the winding motor (9), a winding pipe (13) is wound on the winding roller (12), one end of the winding pipe (13) is butted with a water inlet of the water collecting pump (10), a water outlet of the water collecting pump (10) is butted with the water collecting tank (11), and the end part of the winding pipe (13) departing from the winding roller (12) vertically droops;

elastic waterproof cloth (14) is arranged between every two adjacent supporting legs (4), a moving part (15) is arranged on each supporting leg (4), one end of each elastic waterproof cloth (14) is fixedly connected to the end part of the corresponding supporting leg (4) close to the machine body (1), and the moving part (15) is used for driving the end part, departing from the machine body (1), of each elastic waterproof cloth (14) to move back and forth along the length direction of the corresponding supporting leg (4);

all the supporting legs (4) are distributed at the periphery of the coiling pipe (13).

2. The drone of claim 1, wherein: each horn (2) is provided with a buckle (7), and the buckles (7) are used for being fastened with the supporting legs (4).

3. The drone of claim 1, wherein: the end part of each supporting leg (4) departing from the hinged point is provided with a clamping claw (8), and when the supporting legs (4) are supported on the bottom surface of the machine body (1), the supporting claws on all the supporting legs (4) face one side of the middle part of the machine body (1).

4. The drone of claim 1, wherein: each supporting foot (4) is provided with a moving groove (5), the length of the moving groove (5) is consistent with the length direction of the supporting foot (4), the moving part (15) comprises an air bag body (151) and a spring (152) which are arranged in the moving groove (5), the end part of the elastic waterproof cloth (14) departing from the machine body (1) is connected with a moving block (153), the moving block (153) is correspondingly connected in the moving groove (5) in a sliding way, the air bag body (151) is positioned on one side of the moving block (153) close to the machine body (1), the spring (152) is positioned on one side of the moving block (153) departing from the machine body (1), the spring (152) is pressed against the moving block (153) and is used for applying elastic force to the moving block (153) towards one side of the machine body (1), the machine body (1) is also provided with an inflation and deflation device (16), and the inflation and deflation device (16) performs inflation and deflation operation on the air bag body (151).