CN112027054B - Arm mechanism and unmanned aerial vehicle comprising same - Google Patents
Arm mechanism and unmanned aerial vehicle comprising same Download PDFInfo
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- CN112027054B CN112027054B CN202011067603.5A CN202011067603A CN112027054B CN 112027054 B CN112027054 B CN 112027054B CN 202011067603 A CN202011067603 A CN 202011067603A CN 112027054 B CN112027054 B CN 112027054B
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- machine arm
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- arm
- horn
- arc
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- 230000007246 mechanism Effects 0.000 title claims abstract description 25
- 230000035939 shock Effects 0.000 claims abstract description 26
- 238000009413 insulation Methods 0.000 claims abstract description 24
- 241000237983 Trochidae Species 0.000 claims abstract description 9
- 239000012634 fragment Substances 0.000 claims description 18
- 230000003014 reinforcing effect Effects 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 238000005192 partition Methods 0.000 abstract description 4
- 230000007547 defect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 5
- 238000002788 crimping Methods 0.000 description 4
- 230000003139 buffering effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/40—Arrangements for mounting power plants in aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention discloses an arm mechanism which comprises an upper arm and a lower arm, wherein first slots are arranged on two sides of the lower arm, inserting plates which are in inserting fit with the first slots are arranged on two sides of the upper arm, a top shell is fixed on the outer side end of the upper arm, a first through hole is formed in the center of the top shell, a plurality of pressing blocks are annularly distributed on the inner side of the top shell by taking the first through hole as the center, a bottom shell is fixed on the outer side end of the lower arm, a plurality of second through holes are formed in the bottom surface of the bottom shell, two arc-shaped bases are fixed on the inner side of the bottom shell, the arc-shaped bases are symmetrically arranged by taking the center line of the lower arm as a symmetry axis, corresponding partition plates are fixed on the inner side surfaces of the upper arm and the lower arm one by one to one, rubber shock insulation blocks are inserted between adjacent partition plates, Z-shaped elastic pieces are connected between adjacent rubber shock. The invention can improve the defects of the prior art and reduce the vibration probability of the horn.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a horn mechanism and an unmanned aerial vehicle comprising the horn mechanism.
Background
The unmanned aerial vehicle is an aviation technology developed in recent years and is widely applied to various fields such as low-altitude remote sensing, agriculture and forestry maintenance and the like. Unmanned aerial vehicle comprises fuselage, horn and motor and screw, and the horn mechanism is the important component that is used for installing the motor and is connected with the fuselage, because the horn mechanism is great usually length, so generally all be detachable structure with the design of horn mechanism, the transportation of the unmanned aerial vehicle of being convenient for. However, the arm mechanism is easy to vibrate during the flight process due to inevitable errors and uncertainties in installation every time, and the flight safety of the unmanned aerial vehicle is seriously affected.
Disclosure of Invention
The invention aims to provide an arm mechanism and an unmanned aerial vehicle comprising the same, which can overcome the defects of the prior art and reduce the vibration probability of the arm.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows.
The utility model provides an arm mechanism, including last horn and lower horn, the both sides of lower horn are provided with first slot, the both sides of going up the horn are provided with the picture peg of pegging graft complex with first slot, the outside end of going up the horn is fixed with a shell, the center of top shell is provided with first through-hole, a plurality of briquetting that has arranged as central annular with first through-hole in the top shell inboard, the outside end of lower horn is fixed with the drain pan, the bottom surface of drain pan is provided with a plurality of second through-hole, the inboard of drain pan is fixed with two arc-shaped base, the central line of horn below the arc-shaped base sets up for symmetry axis symmetry, the medial surface of going up horn and lower horn is fixed with the baffle of one-to-one, it has rubber shock insulation piece to peg graft between the adjacent baffle, be connected with Z type shell fragment between the adjacent rubber shock insulation piece, the rubber shock insulation piece that.
Preferably, the arc-shaped base comprises a plurality of rubber step portions, a first cavity is formed in the rubber step portions, a transverse hard plate and a longitudinal elastic piece which correspond to the rubber step portions are installed in the first cavity, the transverse hard plate and the longitudinal elastic piece are connected end to end, two connecting rods are fixed on each longitudinal elastic piece of the arc-shaped base close to one side of the rubber shock insulation block, elastic diaphragms are arranged on contact surfaces of the rubber step portions and the rubber shock insulation block, sliding sleeves which correspond to the longitudinal elastic pieces one to one are arranged on the inner sides of the elastic diaphragms, the tops of the two connecting rods on the same longitudinal elastic piece are connected through hinged pieces, and the hinged pieces are slidably clamped in the sliding sleeves.
Preferably, a longitudinal reinforcing rib is arranged in the elastic diaphragm, and the sliding sleeve is fixedly connected with the longitudinal reinforcing rib.
Preferably, the side wall of the rubber shock insulation block is provided with a limiting groove for fixing the Z-shaped elastic sheet, the bottom surface of the limiting groove is provided with a plurality of steel threaded sleeves, two ends of the Z-shaped elastic sheet are respectively provided with a third through hole, and after the third through hole is matched with the steel threaded sleeves in an alternative mode, the Z-shaped elastic sheet is fixed in the limiting groove through a locking bolt.
Preferably, the Z-shaped elastic sheet is provided with a vibration stopping sheet.
Preferably, the lower surface of the pressing block is uniformly provided with a plurality of pressing sheets which incline outwards.
As preferred, go up the horn and take fixed grafting through the locking, slidable mounting has two stoppers on the locking area, the both ends of stopper are connected with the spring, the stopper is located the space between first slot and the picture peg when the locking area is fixed to be gone up the horn and is taken the horn down, the spring respectively with last horn and lower horn crimping cooperation, first adjusting bolt is installed to the one end in locking area, the other end in locking area is provided with the draw-in groove with first adjusting bolt joint complex, the one end that the locking area was provided with the draw-in groove is pegged graft in first adjusting bolt below, first adjusting bolt and the different draw-in groove interlock when rotatory first adjusting bolt, realize the change of locking area ligature internal diameter.
An unmanned aerial vehicle contains two at least foretell horn mechanisms.
Adopt the beneficial effect that above-mentioned technical scheme brought to lie in: the invention adopts the mode that the upper machine arm and the lower machine arm are buckled with each other to install, so that the motor is fixed between the top shell and the bottom shell. The output shaft of the motor extends out through the first through hole, and the bolt penetrates through the second through hole to connect and fix the bottom of the motor. The motor carries out fore-and-aft centre gripping through the briquetting at top and the arc base of bottom, utilizes the rubber shock insulation piece and the Z type shell fragment that set up in turn simultaneously to carry out horizontal buffering to the vibration that the motor operation in-process produced to reach the purpose that reduces the vibration. The arc base is designed into a step shape and is used for adapting to motors with different sizes. After the motor is fixed by the crimping, the vertical shell fragment of motor below is extruded and takes place deformation, and then makes elastic diaphragm take place deformation through the connecting rod, and extrude the rubber shock insulation piece of contact with it through elastic diaphragm, thereby make rubber shock insulation piece and Z type shell fragment and the mounting structure of motor form a whole that inside has certain elastic force, this vibration that can make the motor produce is quick, even dispersion is in whole horn mechanism, and attenuate rapidly, thereby reduce the possibility of taking place the vibration. The sliding sleeves are connected with each other through the longitudinal reinforcing ribs, the stress deformation consistency of the elastic diaphragm can be improved, and therefore the torsion force inside the machine arm generated by unbalanced stress is reduced. The fixed position of Z type shell fragment at the spacing inslot can be selected according to the atress condition of reality is nimble to make the horizontal buffer structure of horn can carry out nimble adjustment, with the different operating modes of adaptation motor operation and unmanned aerial vehicle flight process. The natural frequency of the whole machine arm mechanism can be changed by fixing the vibration stopping sheets at different positions of the Z-shaped elastic sheet, so that the occurrence of resonance is avoided. The slope preforming of design on the briquetting can improve its and the frictional force of motor when carrying out the crimping to the motor to improve the fixed stability of motor crimping, avoid because the vibration that the motor external fixation unstability leads to. The locking belt is specially designed for the inserting structure of the upper machine arm and the lower machine arm, and the inserting position is reversely pushed by the limiting block and the spring, so that the anti-loosening treatment of the engaging part of the first adjusting bolt and the clamping groove is formed, and the failure of the damping buffer structure of the whole machine arm caused by the loosening of the locking belt is avoided.
Drawings
FIG. 1 is a block diagram of one embodiment of the present invention.
Fig. 2 is a bottom view of the top case in one embodiment of the present invention.
Fig. 3 is a top view of a bottom case according to an embodiment of the present invention.
FIG. 4 is a structural diagram of the end of the arc-shaped base, which is in contact with the rubber seismic isolation block, according to an embodiment of the invention.
Fig. 5 is a structural diagram of a connection portion between a rubber seismic isolation block and a Z-shaped elastic sheet according to an embodiment of the present invention (the Z-shaped elastic sheets on both sides are not shown in the figure).
Fig. 6 is a structural view of a locking belt in an embodiment of the present invention.
Detailed Description
Referring to fig. 1-6, a specific embodiment of the present invention includes an upper arm 1 and a lower arm 2, first slots 3 are disposed on two sides of the lower arm 2, insertion plates 4 are disposed on two sides of the upper arm 1 and are in insertion fit with the first slots 3, a top case 5 is fixed on an outer side end of the upper arm 1, a first through hole 6 is disposed in a center of the top case 5, a plurality of press blocks 7 are annularly arranged on an inner side of the top case 5 with the first through hole 6 as a center, a bottom case 8 is fixed on an outer side end of the lower arm 2, a plurality of second through holes 13 are disposed on a bottom surface of the bottom case 8, two arc-shaped bases 9 are fixed on an inner side of the bottom case 8, the arc-shaped bases 9 are symmetrically disposed with a center line of the lower arm 2 as a symmetry axis, partition plates 10 corresponding to one another are fixed on inner side surfaces of the upper arm 1 and the lower arm 2, rubber blocks 11 are inserted between adjacent partition plates 10, and Z, the rubber shock insulation block 11 connected with the bottom shell 8 is pressed with the two arc-shaped bases 9. Arc base 9 includes a plurality of rubber step portion 14, rubber step portion 14 inside is provided with first cavity 15, install horizontal hard board 16 and vertical shell fragment 17 corresponding with rubber step portion 14 in the first cavity 15, horizontal hard board 16 and vertical shell fragment 17 end to end connection, be fixed with two connecting rods 19 on every vertical shell fragment 17 of one side arc base 9 near rubber shock insulation piece 11, be provided with elastic diaphragm 18 on rubber step portion 14 and the contact surface of rubber shock insulation piece 11, elastic diaphragm 18's inboard is provided with the sliding sleeve 20 with vertical shell fragment 17 one-to-one, the top that is located two connecting rods 19 on same vertical shell fragment 17 passes through articulated elements 21 and connects, articulated elements 21 slip joint is in sliding sleeve 20. The elastic diaphragm 18 is internally provided with a longitudinal reinforcing rib 22, and the sliding sleeve 20 is fixedly connected with the longitudinal reinforcing rib 22. The side wall of the rubber shock insulation block 11 is provided with a limiting groove 23 for fixing the Z-shaped elastic sheet 12, the bottom surface of the limiting groove 23 is provided with a plurality of steel thread sleeves 24, two ends of the Z-shaped elastic sheet 12 are respectively provided with a third through hole 25, and the Z-shaped elastic sheet 12 is fixed in the limiting groove 23 through a locking bolt 26 after the third through hole 25 is matched with one steel thread sleeve 24. The Z-shaped elastic sheet 12 is provided with a vibration stopping sheet 27. The lower surface of the pressing block 7 is uniformly provided with a plurality of pressing sheets 28 which incline outwards. The upper machine arm 1 and the lower machine arm 2 are fixedly inserted through the locking belt 29, two limiting blocks 30 are slidably mounted on the locking belt 29, two ends of each limiting block 30 are connected with springs 31, the limiting blocks 30 are located in a gap between the first slot 3 and the inserting plate 4 when the locking belt 29 fixes the upper machine arm 1 and the lower machine arm 2, the springs 31 are respectively in press fit with the upper machine arm 1 and the lower machine arm 2, a first adjusting bolt 32 is mounted at one end of the locking belt 29, a clamping groove 33 in clamping fit with the first adjusting bolt 32 is formed in the other end of the locking belt 29, one end of the locking belt 29 provided with the clamping groove 33 is inserted below the first adjusting bolt 32, the first adjusting bolt 32 is meshed with different clamping grooves 33 when the first adjusting bolt 32 is rotated, and the binding inner diameter of the locking belt 29 is changed.
In addition, a second cavity 34 is arranged in the rubber shock-isolating block 11, threaded holes 35 which are in one-to-one correspondence with the rubber shock-isolating block 11 are arranged on the surface of the upper arm 1, a fourth through hole 36 which is matched with the threaded holes 35 is arranged at the top of the second cavity 34, supporting elastic pieces 37 are symmetrically fixed on the side walls of the second cavity 34, a bending part 38 is arranged at the top of each supporting elastic piece 37, and the bending part 38 is located under the fourth through hole 36. Second adjusting bolt 39 and screw hole 35 threaded connection, the mutual extrusion contact of end and kink 38 of second adjusting bolt 39 can realize changing the support effort of support shell fragment 37 to second cavity 34 through the grafting degree of depth that changes second adjusting bolt 39 to make the holistic support intensity of rubber shock insulation piece 11 change. If the unmanned aerial vehicle equipment finishes appearing resonating when flying, it is too complicated to carry out the dismouting again with horn mechanism, and waste time can finely tune the second adjusting bolt 39 of different positions at this moment, makes unmanned aerial vehicle's natural frequency change to avoid resonating's emergence, the operation of being convenient for, save time.
A second slot 40 is formed in the lower arm 2, an elastic bottom plate 41 is movably inserted in the second slot 40, bottom supports 42 corresponding to the rubber shock insulation blocks 11 one by one are arranged at the tops of the elastic bottom plates 41, and the rubber shock insulation blocks 11 are installed in the bottom supports 42. Elastic bottom plate 41 and the cooperation of Z type shell fragment 12 form two sets of mutually independent elastic connection mechanism, and Z type shell fragment 12 mainly is used for transmitting and buffering the inside transverse force of elastic bottom plate 41, and elastic bottom plate 41 mainly is used for buffering the inside longitudinal force of elastic bottom plate 41 to form a complete three-dimensional shock attenuation system, the vibration that the effectual reduction unmanned aerial vehicle flight in-process produced.
The assembly process of the horn mechanism of the invention is: the lower machine arm 2 is connected with the machine body, the motor is placed on the bottom shell 8, the arc-shaped base 9 is in stable contact with the motor, the bolt penetrates through the second through hole 13 to fix the motor, then a proper rubber shock insulation block 11 is selected according to the size of the motor to be placed on the bottom support 42, the Z-shaped elastic sheet 12 is used to connect different rubber shock insulation blocks 11, the upper machine arm 1 is inserted into the lower machine arm 2, and the upper machine arm 1 and the lower machine arm 2 are locked and fixed through the locking belt 29.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Claims (8)
1. An arm mechanism, its characterized in that: comprises an upper machine arm (1) and a lower machine arm (2), wherein two sides of the lower machine arm (2) are provided with first slots (3), two sides of the upper machine arm (1) are provided with inserting plates (4) which are matched with the first slots (3) in an inserting way, the outer side end of the upper machine arm (1) is fixed with a top shell (5), the center of the top shell (5) is provided with a first through hole (6), the inner side of the top shell (5) is annularly distributed with a plurality of pressing blocks (7) by taking the first through hole (6) as a center, the outer side end of the lower machine arm (2) is fixed with a bottom shell (8), the bottom surface of the bottom shell (8) is provided with a plurality of second through holes (13), the inner side of the bottom shell (8) is fixed with two arc-shaped bases (9), the center lines of the lower machine arm (2) below the arc-shaped bases (9) are symmetrically arranged by taking the center line as a symmetry axis, the inner side surfaces of the upper machine arm (1) and the lower machine arm (, a Z-shaped elastic sheet (12) is connected between adjacent rubber shock insulation blocks (11), and the rubber shock insulation blocks (11) connected with the bottom shell (8) are in mutual compression joint with the two arc-shaped bases (9).
2. The horn mechanism of claim 1, wherein: arc base (9) include a plurality of rubber step portion (14), rubber step portion (14) inside is provided with first cavity (15), install horizontal hard board (16) and vertical shell fragment (17) corresponding with rubber step portion (14) in first cavity (15), horizontal hard board (16) and vertical shell fragment (17) end to end connection, be close to every vertical shell fragment (17) of one side arc base (9) of rubber shock insulation piece (11) and be fixed with two connecting rods (19), be provided with elastic diaphragm (18) on the contact surface of rubber step portion (14) and rubber shock insulation piece (11), the inboard of elastic diaphragm (18) is provided with sliding sleeve (20) with vertical shell fragment (17) one-to-one, the top of two connecting rods (19) that are located same vertical shell fragment (17) is passed through articulated elements (21) and is connected, articulated elements (21) slip joint is in sliding sleeve (20).
3. The horn mechanism of claim 2, wherein: a longitudinal reinforcing rib (22) is arranged in the elastic diaphragm (18), and the sliding sleeve (20) is fixedly connected with the longitudinal reinforcing rib (22).
4. The horn mechanism of claim 3, wherein: the rubber shock insulation block (11) side wall is provided with a limiting groove (23) used for fixing the Z-shaped elastic sheet (12), the bottom surface of the limiting groove (23) is provided with a plurality of steel thread sleeves (24), two ends of the Z-shaped elastic sheet (12) are respectively provided with a third through hole (25), and after the third through hole (25) is matched with one of the steel thread sleeves (24), the Z-shaped elastic sheet (12) is fixed in the limiting groove (23) through a locking bolt (26).
5. The horn mechanism of claim 4, wherein: and the Z-shaped elastic sheet (12) is provided with a vibration stopping sheet (27).
6. The horn mechanism of claim 3, wherein: the lower surface of the pressing block (7) is uniformly provided with a plurality of pressing sheets (28) which incline outwards.
7. The horn mechanism of claim 1, wherein: the upper machine arm (1) and the lower machine arm (2) are fixedly spliced through a locking belt (29), two limiting blocks (30) are slidably mounted on the locking belt (29), two ends of each limiting block (30) are connected with springs (31), the limiting blocks (30) are positioned in a gap between the first slot (3) and the inserting plate (4) when the upper machine arm (1) and the lower machine arm (2) are fixed through the locking belt (29), the springs (31) are respectively in press fit with the upper machine arm (1) and the lower machine arm (2), a first adjusting bolt (32) is mounted at one end of the locking belt (29), a clamping groove (33) in press fit with the first adjusting bolt (32) is formed in the other end of the locking belt (29), one end, provided with the clamping groove (33), of the locking belt (29) is spliced below the first adjusting bolt (32), and the first adjusting bolt (32) is meshed with different clamping grooves (33) when the first adjusting bolt (32) is rotated, the change of the binding inner diameter of the locking belt (29) is realized.
8. An unmanned aerial vehicle, its characterized in that: comprising at least two horn mechanisms according to any one of claims 1 to 7.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011067603.5A CN112027054B (en) | 2020-10-06 | 2020-10-06 | Arm mechanism and unmanned aerial vehicle comprising same |
| CN202110330290.6A CN112977849B (en) | 2020-10-06 | 2020-10-06 | Fastening type horn mechanism and application thereof in unmanned aerial vehicle |
| PCT/CN2021/122503 WO2022073465A1 (en) | 2020-10-06 | 2021-10-03 | Unmanned aerial vehicle arm mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011067603.5A CN112027054B (en) | 2020-10-06 | 2020-10-06 | Arm mechanism and unmanned aerial vehicle comprising same |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110330290.6A Division CN112977849B (en) | 2020-10-06 | 2020-10-06 | Fastening type horn mechanism and application thereof in unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112027054A CN112027054A (en) | 2020-12-04 |
| CN112027054B true CN112027054B (en) | 2021-02-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110330290.6A Active CN112977849B (en) | 2020-10-06 | 2020-10-06 | Fastening type horn mechanism and application thereof in unmanned aerial vehicle |
| CN202011067603.5A Active CN112027054B (en) | 2020-10-06 | 2020-10-06 | Arm mechanism and unmanned aerial vehicle comprising same |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110330290.6A Active CN112977849B (en) | 2020-10-06 | 2020-10-06 | Fastening type horn mechanism and application thereof in unmanned aerial vehicle |
Country Status (2)
| Country | Link |
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| CN (2) | CN112977849B (en) |
| WO (1) | WO2022073465A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112977849A (en) * | 2020-10-06 | 2021-06-18 | 许昌学院 | Fastening type horn mechanism and application thereof in unmanned aerial vehicle |
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2020
- 2020-10-06 CN CN202110330290.6A patent/CN112977849B/en active Active
- 2020-10-06 CN CN202011067603.5A patent/CN112027054B/en active Active
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2021
- 2021-10-03 WO PCT/CN2021/122503 patent/WO2022073465A1/en active Application Filing
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112977849A (en) * | 2020-10-06 | 2021-06-18 | 许昌学院 | Fastening type horn mechanism and application thereof in unmanned aerial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112027054A (en) | 2020-12-04 |
| CN112977849A (en) | 2021-06-18 |
| CN112977849B (en) | 2023-03-28 |
| WO2022073465A1 (en) | 2022-04-14 |
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Effective date of registration: 20231017 Address after: 230000 b-1018, Woye Garden commercial office building, 81 Ganquan Road, Shushan District, Hefei City, Anhui Province Patentee after: HEFEI WISDOM DRAGON MACHINERY DESIGN Co.,Ltd. Address before: Weidu District Bayi Road Xuchang city Henan province 461000 No. 88 Patentee before: XUCHANG University |