CN111806680B - Unmanned aerial vehicle flies away device and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle flies away device and unmanned aerial vehicle Download PDFInfo
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- CN111806680B CN111806680B CN202010567948.0A CN202010567948A CN111806680B CN 111806680 B CN111806680 B CN 111806680B CN 202010567948 A CN202010567948 A CN 202010567948A CN 111806680 B CN111806680 B CN 111806680B
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- unmanned aerial
- aerial vehicle
- chute
- connecting piece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/02—Gyroplanes
- B64C27/021—Rotor or rotor head construction
- B64C27/022—Devices for folding or adjusting the blades
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
- B64C27/46—Blades
- B64C27/473—Constructional features
- B64C27/50—Blades foldable to facilitate stowage of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
Abstract
The application relates to an unmanned aerial vehicle flying device and an unmanned aerial vehicle, when the unmanned aerial vehicle flies or/and when the unmanned aerial vehicle is in preparation for taking off and returning, if a rotor wing of the unmanned aerial vehicle is damaged, a motor arranged in a connecting piece is controlled by a telescopic device to move downwards along a cylindrical sliding groove arranged in the connecting piece, when the motor moves downwards along the sliding groove, a supporting piece arranged on a folding blade abuts against the rotor wing, so that a rotating shaft of the motor is completely separated from the rotor wing, when the motor moves downwards along the sliding groove, a triggering part with one end arranged in the sliding groove and the end in the downward moving stroke of the motor is triggered, and the folding blade connected with the other end of the triggering part and folded outside the connecting piece is unfolded and connected with the rotating shaft, at the moment, the folding blade synchronously rotates along with the rotating shaft, and the lifting force is continuously provided for the unmanned aerial vehicle, so that the unmanned aerial vehicle can fly normally or/and take off normally, the loss of a user is reduced, and the life safety of other people cannot be endangered.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle flying device and an unmanned aerial vehicle.
Background
Along with the development of unmanned aerial vehicle technology, unmanned aerial vehicles can play an increasingly important role in various fields of various industries at home and abroad, and at present, unmanned aerial vehicles often encounter the following problems, in particular:
1) When the unmanned aerial vehicle flies, if a rotor wing of the unmanned aerial vehicle is damaged, the unmanned aerial vehicle is crashed, and the life safety of people at the crashed place is endangered while the loss is caused for users;
2) When the unmanned aerial vehicle falls to a certain place to finish operation and then prepares for taking off and returning, if the rotor wing is damaged, the unmanned aerial vehicle cannot take off normally, so that the unmanned aerial vehicle cannot return normally, and loss is caused for a user.
Disclosure of Invention
The application aims to solve the technical problem of providing an unmanned aerial vehicle flying device and an unmanned aerial vehicle aiming at the defects of the prior art.
The technical scheme of the unmanned aerial vehicle flying device is as follows:
comprises a connecting piece, a motor, a rotor wing, a telescopic device, a triggering part and at least two folding paddles;
the bottom end of the connecting piece is connected with the unmanned aerial vehicle body, a cylindrical chute is arranged in the connecting piece, the motor is connected in the chute in a sliding way, a rotating shaft of the motor penetrates out of the top end of the connecting piece and is connected with the rotor wing, a telescopic device is arranged in the chute and below the motor, and the telescopic device is used for controlling the motor to move downwards along the chute when the rotor wing is damaged;
the folding blade is also provided with a support piece which is used for propping against the rotor wing when the motor moves downwards along the chute so as to completely separate the rotating shaft from the rotor wing;
one end of the trigger component is arranged in the chute and in the downward moving stroke of the motor, and the trigger component is used for: when triggered, the folding blade connected to the other end of the triggering part and folded outside the connecting piece is unfolded and connected to the rotating shaft.
The unmanned aerial vehicle flying device has the following beneficial effects:
when the unmanned aerial vehicle flies or/and when the unmanned aerial vehicle is in preparation for taking off and returning, if the rotor wing of the unmanned aerial vehicle is damaged, the motor arranged in the connecting piece is controlled by the telescopic device to move downwards along the cylindrical sliding groove arranged in the connecting piece, when the motor moves downwards along the sliding groove, the supporting piece arranged on the folding blade is propped against the rotor wing, the rotating shaft of the motor is completely separated from the rotor wing, when the motor moves downwards along the sliding groove, the triggering part with one end arranged in the sliding groove and the end in the downward moving stroke of the motor is triggered, the folding blade connected with the other end of the triggering part and folded outside the connecting piece is unfolded and connected onto the rotating shaft, at the moment, the folding blade synchronously rotates along with the rotating shaft, and the lifting force is continuously provided for the unmanned aerial vehicle, so that the unmanned aerial vehicle can fly normally or/and take off normally, the loss of a user is reduced, and the life safety of other people can not be endangered.
On the basis of the scheme, the unmanned aerial vehicle flying device can be improved as follows.
Further, the folding blade comprises a folding part and a fixing part, the supporting piece is arranged on the fixing part, and a 90-degree self-locking hinge piece is arranged between the folding part and the fixing part;
a spring piece is arranged between the folding part and the connecting piece, and the spring piece is abutted against the folding part;
the other end of the triggering component is fixedly connected with the folding part and compresses the elastic sheet, so that the folding part is folded at the outer side of the connecting piece.
The beneficial effects of adopting the further scheme are as follows: when the motor moves downwards along the chute, the fixed connection between the other end of the trigger component and the connecting piece can be damaged, so that the folding piece is unfolded into a horizontal state under the acting force of the elastic piece and through the 90-degree self-locking hinge piece, and the folding part cannot shake, so that the unmanned aerial vehicle can fly stably.
Further, the rotating shaft is also provided with bosses with circular cross sections, the bosses are provided with grooves, and the number of the grooves is the same as that of the fixing parts;
the other end of the fixing part is provided with an arc-shaped sheet matched with the boss, the arc-shaped sheet is internally provided with a convex strip matched with the groove, and the convex strips are in one-to-one correspondence with the grooves;
the grooves and the raised strips are used for being clamped when the motor moves downwards along the sliding grooves.
The beneficial effects of adopting the further scheme are as follows: through the joint of recess and sand grip, connect folding paddle in the pivot, guarantee that folding paddle can rotate along with the pivot of motor.
Further, a bearing concentric with the rotating shaft is further arranged on the connecting piece, and a connecting rod is arranged between the bearing and the fixing part.
The beneficial effects of adopting the further scheme are as follows: after the folding blade is connected to the rotating shaft, the folding blade and the rotating shaft can synchronously rotate through the bearing.
Further, still include the setting be in the motor with the joint part between the spout, the joint part is used for: the relative position between the motor and the chute is fixed before the motor moves down the chute and is destroyed when the motor moves down the chute.
The beneficial effects of adopting the further scheme are as follows: before the motor moves downwards along the chute, fixing the relative position between the motor and the chute through a clamping part arranged between the motor and the chute, so as to prevent the motor from moving downwards along the chute; when the motor moves downwards along the chute, the clamping component is damaged, so that the motor can move downwards along the chute smoothly.
Further, the unmanned aerial vehicle further comprises a controller, wherein the controller is used for acquiring the lift force of each rotor wing of the unmanned aerial vehicle, comparing the lift force of each rotor wing with a preset lift force one by one, and determining whether the rotor wing is damaged according to a comparison result; and determining whether to send an instruction for controlling the motor to move downwards along the sliding groove to the telescopic device according to the damage result.
The beneficial effects of adopting the further scheme are as follows: acquiring the lift force of each rotor wing of the unmanned aerial vehicle, comparing the lift force of each rotor wing with a preset lift force one by one, and determining whether the rotor wing is damaged according to a comparison result; and whether the instruction is sent to the telescopic device is determined according to the damage result, so that the method is simple and convenient.
Further, the telescopic device is an electromagnet device or a hydraulic telescopic rod.
The beneficial effects of adopting the further scheme are as follows: when the telescopic device is an electromagnet device, current can be input to the electromagnet device before the motor moves downwards along the chute, so that a vertical upward force can be provided for the motor to prevent the motor from moving downwards along the chute, and when the motor is required to move downwards along the chute, reverse current can be input to the electromagnet device, so that a vertical downward force can be provided for the motor, and the motor can smoothly move downwards along the chute; when the telescopic device is a hydraulic telescopic rod, and before the motor moves downwards along the sliding groove, a vertical upward force is provided for the motor through the hydraulic telescopic rod so as to prevent the motor from moving downwards along the sliding groove, and when the motor is required to move downwards along the sliding groove, a vertical downward force is provided for the motor through the hydraulic telescopic rod so that the motor can smoothly move downwards along the sliding groove.
The technical scheme of the unmanned aerial vehicle is as follows: adopt an unmanned aerial vehicle of any one of the above-mentioned
And a fly-away device.
The unmanned aerial vehicle has the beneficial effects that: when the unmanned aerial vehicle flies or/and when the unmanned aerial vehicle is in preparation for taking off and returning, if the rotor wing of the unmanned aerial vehicle is damaged, the motor arranged in the connecting piece is controlled by the telescopic device to move downwards along the cylindrical sliding groove arranged in the connecting piece, when the motor moves downwards along the sliding groove, the supporting piece arranged on the folding blade is propped against the rotor wing, the rotating shaft of the motor is completely separated from the rotor wing, when the motor moves downwards along the sliding groove, the triggering part with one end arranged in the sliding groove and the end in the downward moving stroke of the motor is triggered, the folding blade connected with the other end of the triggering part and folded outside the connecting piece is unfolded and connected onto the rotating shaft, at the moment, the folding blade synchronously rotates along with the rotating shaft, and the lifting force is continuously provided for the unmanned aerial vehicle, so that the unmanned aerial vehicle can fly normally or/and take off normally, the loss of a user is reduced, and the life safety of other people can not be endangered.
Drawings
Fig. 1 is a structural diagram of an unmanned aerial vehicle missed approach device according to an embodiment of the present application;
FIG. 2 is a block diagram of a trigger member;
fig. 3 is a block diagram of the engagement of the grooves and the ribs.
Detailed Description
As shown in fig. 1, the flying device of the unmanned aerial vehicle in the embodiment of the application comprises a connecting piece 1, a motor 2, a rotor wing 3, a telescopic device 4, a triggering part 5 and at least two folding paddles;
the bottom end of the connecting piece 1 is connected with the body of the unmanned aerial vehicle, a cylindrical chute 6 is arranged in the connecting piece 1, the motor 2 is slidably connected in the chute 6, a rotating shaft 7 of the motor 2 penetrates out of the top end of the connecting piece 1 and is connected with the rotor wing 3, a telescopic device 4 is arranged in the chute 6 and below the motor 2, and the telescopic device 4 is used for controlling the motor 2 to move downwards along the chute 6 when the rotor wing 3 is damaged;
a support 8 for abutting against the rotor 3 when the motor 2 moves downwards along the chute 6 so as to completely separate the rotary shaft 7 from the rotor 3 is also arranged on the folding blade;
one end of the triggering element 5 is arranged in the chute 6 and in the downward movement stroke of the motor 2, the triggering element 5 is used for: when triggered, the folding blade connected to the other end of the triggering member 5 and folded outside the connector 1 is unfolded and connected to the rotation shaft 7.
When the unmanned aerial vehicle flies or/and when the unmanned aerial vehicle is in preparation for taking off and returning, if the rotor 3 of the unmanned aerial vehicle is damaged, the motor 2 arranged in the connecting piece 1 is controlled by the telescopic device 4 to move downwards along the cylindrical sliding groove 6 arranged in the connecting piece 1, when the motor 2 moves downwards along the sliding groove 6, the supporting piece 8 arranged on the folding blade props against the rotor 3, the rotating shaft 7 of the motor 2 is completely separated from the rotor 3, when the motor 2 moves downwards along the sliding groove 6, the triggering part 5 with one end arranged in the sliding groove 6 and the end in the downward moving stroke of the motor 2 is triggered, the folding blade connected with the other end of the triggering part 5 and folded outside the connecting piece 1 is unfolded and connected onto the rotating shaft 7, and at the moment, the folding blade synchronously rotates along with the rotating shaft 7, and continuously provides lifting force for the unmanned aerial vehicle so as to ensure that the unmanned aerial vehicle can fly or/and take off normally, reduce the loss of users and the life safety of the unmanned aerial vehicle can not be endangered.
Wherein, the fly-away in the application can be understood as the following modes:
1) When the unmanned aerial vehicle flies, if the rotor wing 3 of the unmanned aerial vehicle is damaged, the unmanned aerial vehicle flying device keeps a normal flying state, and the unmanned aerial vehicle flying device can be understood as flying the unmanned aerial vehicle;
2) When the unmanned aerial vehicle falls on a certain place to finish operation and then is ready for take-off and return, if the rotor wing 3 is damaged, the unmanned aerial vehicle cannot take off normally, and the unmanned aerial vehicle take-off device can be used for taking off normally and can be understood as taking off the unmanned aerial vehicle.
Wherein, unmanned aerial vehicle's body indicates: the rotor 3 and the related parts connected with the rotor 3 on the unmanned aerial vehicle are removed, and the connecting piece 1 can be connected with the unmanned aerial vehicle body in a welding mode and a threaded connection mode.
The specific structure of the supporting piece 8 is as follows: the annular column concentric with the rotating shaft 7 of the motor 2 can obtain the dimensional relationship between the supporting piece 8 and the rotor wing 3 through simple calculation, so that when the motor 2 moves downwards along the sliding groove 6, the supporting piece 8 is propped against the rotor wing 3 to completely separate the rotating shaft 7 from the rotor wing 3, and a plurality of supporting pieces 8 can be arranged.
Wherein, the rotating shaft 7 of the motor 2 and the rotor 3 can be connected by the following structure, specifically:
1) A first opening matched with the rotating shaft 7 of the motor 2 is formed in the middle of the rotor 3, the diameter of the first opening is slightly smaller than that of the rotating shaft 7, and the fixation between the motor 2 and the rotating shaft 7 is realized through interference fit between the first opening and the rotating shaft 7 so as to ensure that the rotor 3 and the rotating shaft 7 synchronously rotate;
2) Be equipped with the block that the cross section is polygonal in pivot 7, be equipped with in the rotor 3 with the second opening of block adaptation, carry out the joint through interference fit's mode to second opening and block, make rotor 3 and pivot 7 rotate in step, illustrate taking the block that the cross section is hexagonal as the example, specifically:
fixing the clamping table with the hexagonal cross section and the rotating shaft 7 of the motor 2 in a welding mode, and arranging a second opening matched with the clamping table on the rotor wing 3, wherein the cross section of the second opening is hexagonal, and then clamping the second clamping table with the second opening in an interference fit mode, so that the rotor wing 3 and the rotating shaft 7 synchronously rotate before the motor 2 moves downwards along the sliding groove 6, and normal flight of the unmanned aerial vehicle is guaranteed.
Wherein, the telescoping device 4 is electromagnet device or hydraulic telescopic link, then:
1) When the telescopic device 4 is an electromagnet device, before the motor 2 moves downwards along the chute 6, a current is input to the electromagnet device, so that a vertical upward force, namely repulsive force, is provided for the motor 2 to prevent the motor 2 from moving downwards along the chute 6, and when the motor 2 is required to move downwards along the chute 6, a reverse current is input to the electromagnet device, so that a vertical downward force, namely attractive force, is provided for the motor 2, and the motor 2 can smoothly move downwards along the chute 6;
the electromagnet device comprises the following specific structures: a copper coil is wound on an iron core, an iron plate, 304 stainless steel or neodymium iron boron magnet and the like can be arranged at the bottom of the motor 2 for increasing the repulsive force and the attractive force of the motor 2, and a model is built for the electromagnet device, the iron plate, 304 stainless steel or neodymium iron boron magnet arranged on the motor 2 in finite element software such as ANSYS or MAXWELL, so that the repulsive force and the attractive force of the motor 2 can be accurately calculated, currents corresponding to the repulsive force and the attractive force are calculated, and then non-passing current is input to the electromagnet device, so that the aim that the motor 2 moves downwards along the chute 6 is fulfilled;
it will be appreciated that: because the interference fit is between the rotating shaft 7 and the rotor wing 3, a plurality of comparison experiments can be performed in advance, so that the support piece 8 is propped against the rotor wing 3 under the suction force of the electromagnet device, and the rotating shaft 7 is completely separated from the rotor wing 3.
2) When the telescopic device 4 is a hydraulic telescopic rod, and before the motor 2 moves downwards along the chute 6, a vertical upwards force is provided for the motor 2 through the hydraulic telescopic rod so as to prevent the motor 2 from moving downwards along the chute 6, and when the motor 2 is required to move downwards along the chute 6, a vertical downwards force is provided for the motor 2 through the hydraulic telescopic rod so that the motor 2 can smoothly move downwards along the chute 6;
it will be appreciated that: because the interference fit is between the rotating shaft 7 and the rotor wing 3, a plurality of comparison experiments can be performed in advance, so that the supporting piece 8 is propped against the rotor wing 3 under the acting force of the hydraulic telescopic rod, and the rotating shaft 7 is completely separated from the rotor wing 3.
Preferably, in the above technical solution, the folding blade includes a folding portion 9 and a fixing portion 10, the fixing portion 10 is provided with the supporting member 8, and a 90-degree self-locking hinge member 11 is disposed between the folding portion 9 and the fixing portion 10;
a spring piece 12 is further arranged between the folding part 9 and the connecting piece 1, and the spring piece 12 is abutted against the folding part 9;
the other end of the triggering component 5 is fixedly connected with the folding part 9 and compresses the elastic sheet 12, so that the folding part 9 is folded on the outer side of the connecting piece 1.
When the motor 2 moves downwards along the chute 6, the fixed connection between the other end of the trigger component 5 and the connecting piece 1 can be broken, so that the folding piece is unfolded into a horizontal state under the acting force of the elastic piece 12 and through the 90-degree self-locking hinge piece 11, and the folding part 9 cannot shake, so that the unmanned aerial vehicle can fly stably.
The triggering element 5 has the following structure:
as shown in fig. 2, the triggering element 5 is a straight rod 20, a first end of the straight rod 20 passes through the wall of the connecting piece 1, is arranged in the chute 6 and is positioned in the downward moving stroke of the motor 2, a second end of the straight rod 20 is provided with a hook 22, the folding part 9 is provided with a hook 21, and the connection between the triggering element 5 and the folding part 9 is realized by connecting the hook 21 with the hook 22;
when the motor 2 moves downwards along the chute 6, the bottom of the motor 2 triggers the first end, at this time, the straight rod 20 corresponds to a lever, the lever uses the wall of the connecting piece 1 as a fulcrum, the second end moves along the direction shown by the arrow in fig. 2, namely, moves anticlockwise, so that the hook 21 and the hook portion 22 are separated from each other, at this time, the acting force of the elastic piece 12 and the hinge 11 are unfolded to be in a horizontal state through 90 degrees, and the folding portion 9 cannot shake, so that stable flight of the unmanned aerial vehicle can be ensured.
The 90-degree self-locking hinge 11 can refer to a folding hinge, an acting force is applied to the folding portion 9, namely, an acting force of the elastic sheet 12, and the acting force is larger than the acting force of the elastic sheet 12, when the hinge force of the 90-degree self-locking hinge 11 is larger than the acting force, the folding portion 9 can be completely unfolded, and the folding portion 9 cannot shake, so that stable flight of an unmanned aerial vehicle can be guaranteed.
Wherein, one end of the elastic sheet 12 can be fixedly connected to the connecting piece 1 by welding, and the other end of the elastic sheet 12 is abutted against the folded portion 9, and the abutted against can be understood as: the other end of the spring 12 contacts the folded portion 9, but is not fixedly connected, and at this time, when the trigger member 5 is triggered, the spring 12 does not rotate with the folded portion 9.
Preferably, in the above technical solution, the rotating shaft 7 is further provided with a boss 13 with a circular cross section, the boss 13 is provided with grooves 14, and the number of the grooves 14 is the same as the number of the fixing portions 10;
the other end of the fixing part 10 is provided with an arc-shaped sheet 15 matched with the boss 13, the arc-shaped sheet 15 is internally provided with a raised strip 16 matched with the groove 14, and the raised strips 16 are in one-to-one correspondence with the grooves 14;
the grooves 14 and the protruding strips 16 are used for clamping when the motor 2 moves down along the chute 6, and the number of the grooves 14 and the number of the fixing portions 10 are two, as shown in fig. 3, specifically:
when the motor 2 is required to move downwards along the chute 6, the boss 13 receives vertical downward force provided by the telescopic device 4, and as the rotating shaft 7 rotates, the raised strips 16 can be automatically clamped to the chute 6, and the folding blades are connected to the rotating shaft 7 through the clamping of the grooves 14 and the raised strips 16, so that the folding blades can rotate along with the rotating shaft 7 of the motor 2. And along with the downward movement of the motor 2 along the chute 6, the contact area of the convex strip 16 and the chute 6 is larger and larger, and the folding blade can be further ensured to rotate stably along with the rotating shaft 7 of the motor 2.
Preferably, in the above technical solution, the connecting member 1 is further provided with a bearing 17 concentric with the rotating shaft 7, and a connecting rod 18 is disposed between the bearing 17 and the fixing portion 10.
After the folding blade is connected to the rotating shaft 7, the bearing 17 is used for ensuring that the folding blade and the rotating shaft 7 can synchronously rotate.
The bearing 17 can be fixed on the radial outer side of the connecting piece 1 in a welding mode, two ends of the connecting rod 18 are respectively connected with the fixing part 10 and the bearing 17 in a welding mode or a threaded connection mode, and before the motor 2 moves downwards along the chute 6, the fixing part 10 is fixed through the connecting rod 18; after the motor 2 moves down the chute 6, the fixing portion 10 is connected to the rotating shaft 7, and the rotation of the bearing 17 is used to ensure that the folding blade and the rotating shaft 7 rotate synchronously.
Preferably, in the above technical solution, the motor further includes a clamping member 19 disposed between the motor 2 and the chute 6, and the clamping member 19 is configured to: the relative position between the motor 2 and the chute 6 is fixed before the motor 2 moves down the chute 6 and is broken when the motor 2 moves down the chute 6.
Before the motor 2 moves downwards along the chute 6, fixing the relative position between the motor 2 and the chute 6 through a clamping part 19 arranged between the motor 2 and the chute 6, and preventing the motor 2 from moving downwards along the chute 6; when the motor 2 moves downwards along the chute 6, the clamping part 19 is broken to ensure that the motor 2 can smoothly move downwards along the chute 6.
The clamping member 19 may have the following structure:
1) The clamping component 19 is an acrylic rod, the diameter of the acrylic rod can be selected to be within 1mm-3mm, and the shearing stress of the acrylic rod is calculated through the knowledge of structural mechanics, so that:
when the telescopic device 4 is an electromagnet device, the shearing stress provides guidance for the design of the electromagnet device, so that the resultant force of the suction force provided by the electromagnet device and the gravity of the motor 2 is larger than the shearing stress of the acrylic rod, and the clamping part 19 is destroyed when the motor 2 moves downwards along the chute 6, so that the motor 2 can move downwards smoothly along the chute 6;
when the telescopic device 4 is a hydraulic telescopic rod, guidance is provided for the selection of the hydraulic telescopic rod through shearing stress, so that the resultant force of the force provided for the hydraulic telescopic rod and the gravity of the motor 2 is larger than the shearing stress of an acrylic rod, and the clamping part 19 is destroyed when the motor 2 moves downwards along the chute 6, so that the motor 2 can move downwards smoothly along the chute 6;
2) The engaging member 19 is: a first friction belt is wound on the motor 2, a second friction belt is arranged in the chute 6 and at a position corresponding to the first friction belt, and the clamping connection of the motor 2 is realized through friction force generated between the first friction belt and the second friction belt;
when the telescopic device 4 is an electromagnet device, the magnitude of the friction force is obtained through experiments, guidance is provided for the design of the electromagnet device, and the resultant force of the attraction force provided by the electromagnet device and the gravity of the motor 2 is larger than the friction force, so that the clamping part 19 is damaged when the motor 2 moves downwards along the chute 6, and the motor 2 can move downwards smoothly along the chute 6;
when the telescopic device 4 is a hydraulic telescopic rod, the magnitude of the friction force is obtained through experiments, guidance is provided for the selection of the hydraulic telescopic rod, and the resultant force of the force provided for the hydraulic telescopic rod and the gravity of the motor 2 is larger than the friction force, so that the clamping component 19 is damaged when the motor 2 moves downwards along the sliding chute 6, and the motor 2 can move downwards smoothly along the sliding chute 6.
Preferably, in the above technical solution, the device further includes a controller, where the controller is configured to obtain a lift force of each rotor wing 3 of the unmanned plane, compare the lift force of each rotor wing 3 with a preset lift force one by one, and determine whether the rotor wing 3 is damaged according to a comparison result; it is determined whether an instruction for controlling the motor 2 to move down the chute 6 is issued to the telescopic device 4 according to the damage result.
Acquiring the lift force of each rotor wing 3 of the unmanned aerial vehicle, comparing the lift force of each rotor wing 3 with a preset lift force one by one, and determining whether the rotor wing 3 is damaged according to a comparison result; whether the instruction is sent to the telescopic device 4 is determined according to the damage result, and the method is simple and convenient, and specifically:
1) When the lift force of at least one rotor wing 3 of the unmanned aerial vehicle is smaller than the preset lift force, determining that the at least one rotor wing 3 is damaged, and sending an instruction for controlling the motor 2 to move downwards along the chute 6 to the telescopic device 4 corresponding to the at least one rotor wing 3;
2) When the lift force of each rotor wing 3 of the unmanned plane is larger than the preset lift force, it is determined that no damage occurs to the rotor wings 3, and at the moment, an instruction for controlling the motor 2 to move downwards along the chute 6 is not sent to the telescopic device 4;
it is known that when the resultant force of the lifting forces of the 4 rotors 3 is greater than the gravity of the unmanned aerial vehicle, the unmanned aerial vehicle can take off, so that the lifting force of each rotor 3 is G/4, wherein G represents the gravity of the unmanned aerial vehicle, and the preset lifting force can be set to G/4;
wherein the lift force of each rotor 3 can be obtained by providing a pressure sensor on each connection 1, in particular:
1) The piezoelectric sensor can be arranged on the folding blade, particularly the fixing part 10 of the folding blade, when the rotor wing 3 rotates, downward acting force can be generated, at the moment, the acting force can enable the piezoelectric sensor to generate an electric signal, the lifting force of each rotor wing 3 can be obtained by analyzing the electric signal, and before the piezoelectric sensor is applied, the functional relation between the electric signal returned by the pressure sensor and the lifting force can be accurately obtained through multiple comparison experiments, and when the piezoelectric sensor is used, the lifting force of each rotor wing 3 can be accurately obtained through the functional relation, so that more accurate comparison results can be obtained;
2) A high-precision pressure sensor, such as accuracy of + -0.05%fs, + -0.025%fs, etc., can be arranged on the folding blade, specifically the fixing portion 10 of the folding blade, and when the rotor 3 rotates, a downward acting force can be generated, and the lift force of each rotor 3 can be accurately obtained through the high-precision pressure sensor;
3) The lift of each rotor 3 can be calculated by monitoring the airflow through the rotor 3 of the unmanned aerial vehicle using a lightweight pressure sensor developed by AERS-Midwest corporation.
It should be noted that, in the present application, all directions of "up" and "down" are referred to with reference to fig. 1 of the specification.
The unmanned aerial vehicle adopts any one of the unmanned aerial vehicle flying devices,
when the unmanned aerial vehicle flies or/and when the unmanned aerial vehicle is in preparation for taking off and returning, if the rotor 3 of the unmanned aerial vehicle is damaged, the motor 2 arranged in the connecting piece 1 is controlled by the telescopic device 4 to move downwards along the cylindrical sliding groove 6 arranged in the connecting piece 1, when the motor 2 moves downwards along the sliding groove 6, the supporting piece 8 arranged on the folding blade props against the rotor 3, the rotating shaft 7 of the motor 2 is completely separated from the rotor 3, when the motor 2 moves downwards along the sliding groove 6, the triggering part 5 with one end arranged in the sliding groove 6 and the end in the downward moving stroke of the motor 2 is triggered, the folding blade connected with the other end of the triggering part 5 and folded outside the connecting piece 1 is unfolded and connected onto the rotating shaft 7, and at the moment, the folding blade synchronously rotates along with the rotating shaft 7, and continuously provides lifting force for the unmanned aerial vehicle so as to ensure that the unmanned aerial vehicle can fly or/and take off normally, reduce the loss of users and the life safety of the unmanned aerial vehicle can not be endangered.
In the present disclosure, the terms "first," "second," and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying a number of technical features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (8)
1. The unmanned aerial vehicle flying device is characterized by comprising a connecting piece (1), a motor (2), a rotor wing (3), a telescopic device (4), a triggering component (5) and at least two folding paddles;
the unmanned aerial vehicle is characterized in that the bottom end of the connecting piece (1) is connected with the unmanned aerial vehicle body, a cylindrical chute (6) is formed in the connecting piece (1), the motor (2) is connected in the chute (6) in a sliding mode, a rotating shaft (7) of the motor (2) penetrates out of the top end of the connecting piece (1) and is connected with the rotor wing (3), a telescopic device (4) is arranged in the chute (6) and below the motor (2), and the telescopic device (4) is used for controlling the motor (2) to move downwards along the chute (6) when the rotor wing (3) is damaged;
the folding blade is also provided with a support (8) which is used for propping against the rotor (3) when the motor (2) moves downwards along the chute (6) so as to completely separate the rotating shaft (7) from the rotor (3);
one end of the triggering part (5) is arranged in the chute (6) and in the downward moving stroke of the motor (2), and the triggering part (5) is used for: when triggered, the folding blade which is connected with the other end of the triggering part (5) and is folded outside the connecting piece (1) is unfolded and connected with the rotating shaft (7);
the triggering part (5) is a straight rod (20), a first end of the straight rod (20) penetrates through the wall of the connecting piece (1), is arranged in the sliding groove (6) and is positioned in the downward moving stroke of the motor (2), a hook part (22) is arranged at a second end of the straight rod (20), a hook (21) is arranged on the folding part (9), and the triggering part (5) is connected with the folding part (9) by connecting the hook (21) with the hook part (22); when the motor (2) moves downwards along the chute (6), the bottom of the motor (2) triggers the first end, at this time, the straight rod (20) is equivalent to a lever, and the lever takes the wall of the connecting piece (1) as a fulcrum, and the second end moves in the anticlockwise direction, so that the hook (21) and the hook part (22) are separated from each other.
2. The unmanned aerial vehicle flying device according to claim 1, wherein the folding blade comprises a folding part (9) and a fixing part (10), the fixing part (10) is provided with the supporting piece (8), and a 90-degree self-locking hinge piece (11) is arranged between the folding part (9) and the fixing part (10);
a spring piece (12) is further arranged between the folding part (9) and the connecting piece (1), and the spring piece (12) is abutted against the folding part (9);
the other end of the triggering component (5) is fixedly connected with the folding part (9) and compresses the elastic sheet (12), so that the folding part (9) is folded on the outer side of the connecting piece (1).
3. The unmanned aerial vehicle flying device according to claim 2, wherein the rotating shaft (7) is further provided with bosses (13) with circular cross sections, the bosses (13) are provided with grooves (14), and the number of the grooves (14) is the same as the number of the fixing parts (10);
the other end of the fixing part (10) is provided with an arc-shaped sheet (15) matched with the boss (13), the arc-shaped sheet (15) is internally provided with a raised strip (16) matched with the groove (14), and the raised strips (16) are in one-to-one correspondence with the grooves (14);
the grooves (14) and the raised strips (16) are used for being clamped when the motor (2) moves downwards along the sliding groove (6).
4. A flying-around device for unmanned aerial vehicle according to claim 2 or 3, wherein the connecting piece (1) is further provided with a bearing (17) concentric with the rotating shaft (7), and a connecting rod (18) is provided between the bearing (17) and the fixing portion (10).
5. The unmanned aerial vehicle missed approach device according to claim 4, further comprising a clamping member (19) arranged between the motor (2) and the chute (6), the clamping member (19) being adapted to: the relative position between the motor (2) and the chute (6) is fixed before the motor (2) moves down the chute (6) and is destroyed when the motor (2) moves down the chute (6).
6. The unmanned aerial vehicle flying device according to any one of claims 1 to 3 or 5, further comprising a controller for acquiring the lift force of each rotor (3) of the unmanned aerial vehicle, comparing the lift force of each rotor (3) with a preset lift force one by one, and determining whether the rotor (3) is damaged according to the comparison result; according to the damage result, whether an instruction for controlling the motor (2) to move downwards along the sliding groove (6) is sent to the telescopic device (4) is determined.
7. The unmanned aerial vehicle flying apparatus according to any of claims 1 to 3 or 5, wherein the telescopic device (4) is an electromagnet device or a hydraulic telescopic rod.
8. A drone employing the drone missed approach device of any one of claims 1 to 7.
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| CN202010567948.0A CN111806680B (en) | 2020-06-19 | 2020-06-19 | Unmanned aerial vehicle flies away device and unmanned aerial vehicle |
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| CN202010567948.0A CN111806680B (en) | 2020-06-19 | 2020-06-19 | Unmanned aerial vehicle flies away device and unmanned aerial vehicle |
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