CN113716014A - Four-rotor unmanned aerial vehicle capable of independently retracting and releasing horn and horn retracting and releasing method - Google Patents
Four-rotor unmanned aerial vehicle capable of independently retracting and releasing horn and horn retracting and releasing method Download PDFInfo
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- CN113716014A CN113716014A CN202110955879.5A CN202110955879A CN113716014A CN 113716014 A CN113716014 A CN 113716014A CN 202110955879 A CN202110955879 A CN 202110955879A CN 113716014 A CN113716014 A CN 113716014A
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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
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a four-rotor unmanned aerial vehicle capable of independently retracting and releasing a horn and a horn retracting and releasing method. The unmanned aerial vehicle is connected with the connecting belt, the unmanned aerial vehicle can independently receive and release the horn, the whole unmanned aerial vehicle is lighter, and the stability of the horn in a normal state is ensured by the torsion spring arrangement at the connecting part of the synchronizing wheels and the matching limit of the limiting mechanism.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a quad-rotor unmanned aerial vehicle capable of independently retracting and releasing a horn and a horn retracting and releasing method.
Background
Unmanned aerial vehicle is called unmanned aerial vehicle for short, is an unmanned aerial vehicle operated by radio remote control equipment and a self-contained program control device, has no cockpit on the aircraft, but is provided with automatic pilot, program control device and other equipment, and is tracked, positioned, remotely controlled, telemetered and digitally transmitted by the ground.
Traditional four rotor unmanned aerial vehicle is mostly fixed horn, or the horn design becomes can manually fold or dismantle so that accomodate and transport, can't realize independently receiving and releasing at the flight in-process, and along with unmanned aerial vehicle range of application is extensive gradually, it has not satisfied in actual demand to be fixed, and traditional adoption gear motor to receiving and releasing of armed lever usually, worm and gear etc. can increase unmanned aerial vehicle's organism weight undoubtedly when using unmanned aerial vehicle, be not suitable for on the nimble light small-size four rotor unmanned aerial vehicle of pursuit.
Disclosure of Invention
Based on the technical problem of the background art, the invention provides a quad-rotor unmanned aerial vehicle capable of independently retracting and releasing a horn and a horn retracting and releasing method.
The invention provides a quad-rotor unmanned aerial vehicle capable of independently retracting and releasing a horn, which comprises an unmanned aerial vehicle main body, wherein the four corners of the unmanned aerial vehicle main body are provided with the horns, and one end of each horn is fixed with an impeller mechanism.
Preferably, the four corners position at unmanned aerial vehicle main part top all is fixed with the fixing base, and rotates through the torsional spring between the top of fixing base and the bottom inner wall and be connected with the synchronizing wheel, and the horn is fixed in the outer wall of synchronizing wheel, the intermediate position of unmanned aerial vehicle main part top outer wall rotates and is connected with the drive wheel, and the bottom transmission of drive wheel is connected with driving motor, and two connecting bands have been cup jointed in the outer wall rotation of drive wheel, and the both ends of connecting band rotate between the synchronizing wheel outer wall that is in diagonal position respectively and be connected, and four horns rotate towards same circumferencial direction when the connecting band rotates, and one side that unmanned aerial vehicle main part was kept away from to four horns extends towards both ends and both sides outer wall respectively, and the connecting band adopts hold-in range or wire rope.
Preferably, the driving wheel and the synchronizing wheel are both arranged into a cylindrical structure, tooth grooves of an annular structure are formed in the top and the bottom of the circumferential outer wall of the driving wheel and the synchronizing wheel, the inner wall of each connecting belt is matched with the inner wall of each tooth groove, the two connecting belts correspond to the tooth grooves in the top and the bottom positions respectively, and the machine arm is fixed at the top position of the outer wall of the synchronizing wheel.
Preferably, stop gear is provided with two stoppers and a movable block, and stopper and movable block are located the both sides inner wall of connecting band respectively, the bottom outer wall of stopper and movable block all with the top sliding connection of unmanned aerial vehicle main part, the movable block is located the position between two stoppers, the stopper is kept away from one side outer wall of movable block and has been seted up the mounting groove, the inner wall of mounting groove is fixed with the magnetic path, magnetic adsorption between movable block and the magnetic path.
Preferably, a fixed point is set at one end of a fixed position between the moving block and the corresponding connecting band, a plurality of connecting grooves are formed in the end portion, far away from the fixed point, of the moving block, the inner wall of each connecting groove is connected with a supporting block in a sliding mode, an elastic piece is connected between the outer wall of one end of each supporting block and the inner wall of each connecting groove, one end, far away from the elastic piece, of each supporting block is set to be of an outwards arched arc-shaped structure, a supporting groove which is inwards sunken to form the arc-shaped structure is formed in the position, corresponding to the bottom block, of each connecting groove, and magnetic adsorption is carried out between each supporting block and the corresponding magnetic block.
Preferably, the outer wall of one side of the limiting block, which is close to the moving block, is provided with a notch matched with the moving block, the inner side of the inner wall of one end of the notch is provided with a contact groove matched with the corresponding corner position of the moving block, the outer side of the inner wall of one end of the notch is provided with an opening part arched to form an arc-shaped structural domain, the abutting groove is arranged between the contact groove and the opening part, and a gap is formed between the opening part and the moving block.
Preferably, the horn is set to the support body structure that both sides pierce through, and the centre of horn is provided with both sides open-ended cavity, the circuit between impeller mechanism and the unmanned aerial vehicle main part is arranged on the inner wall and the outer wall of horn casing, be provided with a plurality of buffer gear in the cavity, buffer gear is provided with the locating piece of connecting between cavity bottom and top inner wall through the bearing rotation, the circumference outer wall of locating piece is fixed with the auxiliary leaf that the annular array distributes, the top and the bottom outer wall of auxiliary leaf leave the clearance respectively with the top and the bottom inner wall of cavity between, the width of auxiliary leaf reduces towards the one side of keeping away from the locating piece gradually.
Preferably, a stop block is fixed on one side of the inner wall of the bottom of the horn, which is located between two adjacent positioning blocks, the horn retracting action is set to rotate towards one side close to the stop block, and the stop block is set to be in an arc structure with the middle position arched towards one side close to the positioning blocks.
Preferably, a shunting block is fixed on one side of the inner wall of the bottom of the horn, which is located between two adjacent positioning blocks, the horn unfolding motion is set to rotate towards one side close to the shunting block, the cross section of the shunting block is set to be a V-shaped structure, and the middle position of the shunting block is bent towards one side far away from the positioning blocks.
The method for retracting and releasing the horn of the quadrotor unmanned aerial vehicle capable of retracting and releasing the horn independently comprises the following steps:
s1: when the four-arm stretching mechanism is normally used, the driving wheel is rotated to drive the connecting belt, so that the four arms are all in an extending state, the torsion spring connected with the synchronizing wheel is in a normal state, and the limiting mechanism at the position of the connecting belt corresponding to the arms is in a limiting state;
s2: when the unmanned aerial vehicle passes through spaces with different sizes, the driving motor is remotely started to rotate the driving wheel, the four synchronizing wheels overcome the resistance of the torsion springs by using the two connecting belts, the four arms rotate towards the same circumferential direction and are close to the outer wall of the shell of the main body of the unmanned aerial vehicle, the limiting mechanism is separated from the initial state, and the distance between the arms and the main body of the unmanned aerial vehicle is adjusted so as to adjust the whole width range of the unmanned aerial vehicle to adapt to the spaces with different sizes;
s3: after the synchronous wheel passes through the space, the driving wheel is rotated reversely to reset the machine arm and the limiting mechanism, and the torsion spring at the position of the synchronous wheel is restored to a normal state.
The beneficial effects of the invention are as follows:
1. in the embodiment of the invention, the driving wheel and the two connecting belts are utilized to simultaneously rotate the four synchronizing wheels so as to simultaneously realize the retraction and release operation of the four arms, when the arms are retracted synchronously, the transverse width of the unmanned aerial vehicle can be reduced, so that the unmanned aerial vehicle can pass through narrow spaces such as doors and windows, narrow slits and the like, and stronger complex environment adaptability can be obtained, and the connecting belts are utilized to avoid prolonging the length of the arms and increasing the weight of the machine body due to the increase of too much worm connecting structures, so that the unmanned aerial vehicle capable of automatically retracting and releasing the arms is lighter and lighter as a whole, the stability of the arms in a normal state is ensured by utilizing the torsion spring arrangement at the connecting parts of the synchronizing wheels and the matching limit of the limiting mechanisms, and the stability is ensured by excessively depending on the connecting belts and the synchronizing wheels, so that the equipment is effectively used for a long time.
2. In the embodiment of the invention, when the arm is retracted to the maximum, the moving block is just attached to the two limiting blocks respectively, so that the magnetic blocks on the limiting blocks are adsorbed to the moving block, the stability between the moving block and the limiting blocks at the corresponding positions is improved, the stability of the arm at the corresponding positions is further improved by matching with a torsional spring structure, the arm is prevented from being fixed only by the connecting belt and the synchronizing wheel by using the limiting mechanism consisting of the moving block and the limiting blocks, the effective flying use of the device is prolonged, the service life of the device is prolonged, the phenomenon that the suction force is too large due to direct contact adsorption can be avoided by arranging the magnetic blocks and the moving block interlayer, and the phenomenon that the connecting belt and the driving wheel are damaged too much when the arm is retracted due to too large suction force is avoided.
3. In the embodiment of the invention, the strength of the horn is ensured and the over weight of the horn is avoided at the same time by the hollow design of the middle position of the horn, and the arrangement of a plurality of rotary positioning blocks and auxiliary blades in the cavity is utilized to buffer the peripheral impact air flow in the use process, the stability of the horn in the use process is enhanced by matching with the torsion spring and the limiting mechanism, the strength of the horn before use is enhanced, and one side of the auxiliary blade far away from the positioning blocks is in a taper shape, so that the wind pressure is broken when the horn is folded and unfolded and started, and the strength damage of the driving wheel and the connecting belt is reduced.
4. In the embodiment of the invention, when the arm is unfolded for normal flight, the V-shaped concave surface of the shunting block and the cambered surface of the shunting block are utilized to increase airflow resistance opposite to the retracting and rotating direction of the arm, and the V-shaped convex surface of the shunting block is utilized to disperse and buffer airflow along the rotating direction, so that the arm is prevented from rotating or swinging towards one side of the retracting direction due to direct wind blowing, and the integral stability of the arm and the unmanned aerial vehicle in the actual use and flight process is further enhanced.
Drawings
FIG. 1 is a schematic view of the overall structure proposed by the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a schematic structural view of a limiting mechanism according to the present invention;
FIG. 4 is a schematic structural diagram of a limiting block according to the present invention;
FIG. 5 is a schematic view of a boom structure according to the present invention;
fig. 6 is a schematic structural diagram of a buffer mechanism according to the present invention.
In the figure: the unmanned aerial vehicle comprises an unmanned aerial vehicle main body 1, a vehicle arm 2, an impeller mechanism 3, a fixing seat 4, a synchronizing wheel 5, a tooth space 501, a driving wheel 6, a connecting belt 7, a limiting block 8, a moving block 9, a magnetic block 10, a connecting groove 11, a resisting block 12, an elastic part 13, a notch 14, a contact groove 1401, a resisting groove 1402, an opening 1403, a positioning block 15, an auxiliary blade 16, a stop block 17 and a shunting block 18.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example 1
Referring to fig. 1-4, a four-rotor unmanned aerial vehicle capable of independently retracting and releasing horn, including unmanned aerial vehicle main part 1, the four corners position of unmanned aerial vehicle main part 1 all is provided with horn 2, and the one end of horn 2 is fixed with impeller mechanism 3, be provided with four synchronizing wheels 5 in the unmanned aerial vehicle main part 1, two connecting bands 7 and a drive wheel 6, and drive wheel 6 drives two connecting bands 7 and rotates, two connecting bands 7 drive four synchronizing wheels 5 and rotate towards same circumferencial direction, the position that corresponds with horn 2 between the connecting band 7 inner wall is provided with stop gear.
In the invention, four corners of the top of an unmanned aerial vehicle main body 1 are all fixed with a fixed seat 4, a synchronizing wheel 5 is rotatably connected between the top and the bottom inner walls of the fixed seat 4 through a torsion spring, a horn 2 is fixed on the outer wall of the synchronizing wheel 5, a driving wheel 6 is rotatably connected at the middle position of the top outer wall of the unmanned aerial vehicle main body 1, the bottom end of the driving wheel 6 is in transmission connection with a driving motor, two connecting belts 7 are rotatably sleeved on the outer wall of the driving wheel 6, two ends of each connecting belt 7 are respectively rotatably connected with the outer walls of the synchronizing wheel 5 at diagonal positions, the four horns 2 rotate towards the same circumferential direction when the connecting belts 7 rotate, one sides of the four horns 2 far away from the unmanned aerial vehicle main body 1 extend towards the two ends and the outer walls at the two sides respectively, and the connecting belts 7 adopt synchronous belts or steel wire ropes;
thereby utilize drive wheel 6 and two connecting bands 7 to rotate four synchronizing wheels 5 simultaneously, with the operation of receiving and releasing of realizing four horn 2 simultaneously, can reduce unmanned aerial vehicle transverse width when horn 2 is synchronous to be packed up, make unmanned aerial vehicle can pass through door and window, narrow and small spaces such as slot, obtain stronger complex environment adaptability, and utilize the connection of connecting band 7 can avoid prolonging 2 length of horn and also avoid increasing too much worm connection structure and increase the weight of organism, make the unmanned aerial vehicle that can independently receive and release horn 2 whole lighter, and utilize the torsional spring setting of 5 junctions of synchronizing wheel and stop gear's cooperation spacing to guarantee under the normal condition the stability of horn 2, and avoid too much relying on connecting band 7 and synchronizing wheel 5 to keep stable, thereby guarantee the long effectual use of equipment.
According to the invention, the driving wheel 6 and the synchronizing wheel 5 are both arranged in a cylindrical structure, the top and the bottom of the circumferential outer wall of the driving wheel 6 and the synchronizing wheel 5 are both provided with tooth sockets 501 in an annular structure, the inner wall of the connecting belt 7 is matched with the inner wall of the tooth sockets 501, the two connecting belts 7 respectively correspond to the tooth sockets 501 at the top and the bottom, the horn 2 is fixed at the top of the outer wall of the synchronizing wheel 5, and the connecting belt 7 rotates along with the driving wheel 6 by utilizing the tooth sockets matched with the inner wall of the connecting belt 7 and the driving wheel 6 and the synchronizing wheel 5, and the rotating connecting belt 7 drives the synchronizing wheel 5 to rotate.
According to the unmanned aerial vehicle, the limiting mechanism is provided with two limiting blocks 8 and a moving block 9, the limiting blocks 8 and the moving block 9 are respectively located on the inner walls of the two sides of the connecting belt 7, the outer walls of the bottoms of the limiting blocks 8 and the outer walls of the bottom of the moving block 9 are both connected with the top of the unmanned aerial vehicle main body 1 in a sliding mode, the moving block 9 is located between the two limiting blocks 8, an installation groove is formed in the outer wall of one side, away from the moving block 9, of the limiting block 8, a magnetic block 10 is fixed on the inner wall of the installation groove, and the moving block 9 and the magnetic block 10 are magnetically adsorbed;
when the horn 2 receive and releases to furthest, the movable block 9 just in time laminates respectively with between two stopper 8, thereby utilize and adsorb between magnetic path 10 on the stopper 8 and the movable block 9, thereby improve the stability between movable block 9 and the corresponding position stopper 8, the stability of corresponding position horn 2 is further improved to cooperation torsional spring structure, it only relies on connecting band 7 and synchronizing wheel 5 to fix to avoid the horn 2 with the stop gear who utilizes movable block 9 and stopper 8 to constitute, extension equipment effectively flies the use and increase of service life, and can avoid direct contact to adsorb through the setting up of magnetic path 10 and movable block 9 interlayer to lead to suction too big, avoid suction too big to connecting band 7 and drive wheel 6's damage when retrieving and releasing the start again because suction is too big.
In the invention, the end part of the moving block 9 far away from the fixed point is provided with a plurality of connecting grooves 11, the inner walls of the connecting grooves 11 are connected with a resisting block 12 in a sliding manner, an elastic part 13 is connected between the outer wall of one end of the resisting block 12 and the inner wall of the connecting grooves 11, one end of the resisting block 12 far away from the elastic part 13 is arranged into an outward arched structure, and the connecting grooves 11 and the bottom block 12 are provided with resisting grooves 1402 which are inwards sunken and are in an arched structure.
In the invention, the outer wall of one side of the limiting block 8 close to the moving block 9 is provided with a notch 14 matched with the moving block 9, the inner side position of the inner wall of one end of the notch 14 is provided with a contact groove 1401 matched with the corner position corresponding to the moving block 9, the outer side position of the inner wall of one end of the notch 14 is provided with an opening part 1403 arched to form an arc-shaped structure domain, the resisting groove 1402 is arranged between the contact groove 1401 and the opening part 1403, and a gap is arranged between the opening part 1403 and the moving block 9;
when the horn 2 is retracted to the maximum, the resisting block 12 extends into the resisting groove 1402 at the corresponding position by the elastic force of the elastic element 13, and the arching structure of the opening 1403 prevents the horn 2 from driving the connecting band 7 to rotate due to wind power to slide out the resisting block 12, so as to improve the stability of the horn 2 in the actual flying process by matching with the magnetic block 10 and the torsion spring.
Example 2
through the hollow design of intermediate position, avoid the horn 2 overweight when guaranteeing 2 intensity of horn, and utilize a plurality of pivoted locating piece 15 in the cavity and auxiliary leaf 16's setting, and bump the air current around the use and cushion, cooperation torsional spring and stop gear strengthen the stability of horn 2 in the use, and intensity before the use of reinforcing horn 2, and one side that auxiliary leaf 16 kept away from locating piece 15 is the taper shape, be convenient for break the wind pressure when horn 2 receive and releases the start, it is impaired with the intensity that reduces drive wheel 6 and connecting band 7.
In the invention, a stop block 17 is fixed on one side of the inner wall of the bottom of the machine arm 2, which is positioned between two adjacent positioning blocks 15, the retraction motion of the machine arm 2 is set to rotate towards one side close to the stop block 17, and the stop block 17 is set to be in an arc structure with the middle position arched towards one side close to the positioning blocks 15;
a shunting block 18 is fixed on one side of the inner wall of the bottom of the horn 2, which is positioned between two adjacent positioning blocks 15, the unfolding action of the horn 2 is set to rotate towards one side close to the shunting block 18, the section of the shunting block 18 is set to be a V-shaped structure, and the middle position of the shunting block 18 is bent towards one side far away from the positioning blocks 15;
when the horn 2 expandes to carry out normal flight, utilize the V type concave surface of reposition of redundant personnel piece 18 and the cambered surface of reposition of redundant personnel piece 18, increase and the horn 2 and pack up the opposite air current resistance of direction of rotation, and utilize the V type convex surface of reposition of redundant personnel piece 18 will disperse and cushion along the air current of direction of rotation to avoid the horn 2 because directly receive the wind-blown to pack up direction one side rotation or rock, further strengthen the holistic stability of horn 2 and unmanned aerial vehicle among the in-service use flight process.
Example 3
s1: when the device is normally used, the driving wheel 6 is rotated to drive the connecting belt 7, so that the four machine arms 2 are in an extended state, the torsion spring connected with the synchronizing wheel 5 is in a normal state, and the limiting mechanism at the position corresponding to the machine arms 2 of the connecting belt 7 is in a limiting state;
s2: when the unmanned aerial vehicle passes through a narrow space such as a door and a window compared with a normal flight state, the driving motor is remotely started to rotate the driving wheel 6, the four synchronizing wheels 5 overcome the resistance of the torsion spring by using the two connecting belts 7, the four arms 2 rotate towards the same circumferential direction and are close to the outer wall of the shell of the main body 1 of the unmanned aerial vehicle, the limiting mechanism is separated from the initial state, and the distance between the arms 2 and the main body 1 of the unmanned aerial vehicle is adjusted to reduce the whole width of the unmanned aerial vehicle to pass through the narrow space;
s3: after passing through a narrow space, the driving wheel 6 is rotated reversely to reset the machine arm 2 and the limiting mechanism, and the torsion spring at the position of the synchronizing wheel 5 is restored to a normal state.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. The utility model provides a can receive and release four rotor unmanned aerial vehicle of horn independently, includes the unmanned aerial vehicle main part, the four corners position of unmanned aerial vehicle main part all is provided with the horn, and the one end of horn is fixed with the impeller mechanism, a serial communication port, be provided with four synchronizing wheels in the unmanned aerial vehicle main part, two connecting bands and a drive wheel, and the drive wheel drives two connecting bands and rotates, and two connecting bands drive four synchronizing wheels and rotate towards same circumferencial direction, are provided with stop gear with the position that the horn corresponds between the connecting band inner wall.
2. The quadrotor unmanned aerial vehicle capable of independently retracting and releasing the aircraft arms as claimed in claim 1, wherein four corners of the top of the unmanned aerial vehicle main body are fixed with fixing seats, synchronizing wheels are rotatably connected between the inner walls of the top and the bottom of the fixing seats through torsion springs, the aircraft arms are fixed on the outer walls of the synchronizing wheels, the middle positions of the outer walls of the top of the unmanned aerial vehicle main body are rotatably connected with driving wheels, the bottom end of each driving wheel is connected with a driving motor in a transmission mode, two connecting belts are sleeved on the outer walls of the driving wheels in a rotating mode, the two ends of each connecting belt are respectively rotatably connected with the outer walls of the synchronizing wheels at diagonal positions, the four aircraft arms rotate towards the same circumferential direction when the connecting belts rotate, one side, far away from the unmanned aerial vehicle main body, of the four aircraft arms extends towards the outer walls of the two ends and the outer walls of the two sides respectively, and the connecting belts adopt synchronous belts or steel wire ropes.
3. The quadrotor unmanned aerial vehicle capable of independently retracting and releasing the horn of claim 2, wherein the driving wheel and the synchronizing wheel are both arranged in a cylindrical structure, tooth grooves of an annular structure are formed in the top and the bottom of the circumferential outer wall of the driving wheel and the synchronizing wheel, the inner wall of the connecting belt is matched with the inner wall of the tooth grooves, the two connecting belts correspond to the tooth grooves in the top and the bottom positions respectively, and the horn is fixed at the top position of the outer wall of the synchronizing wheel.
4. The quadrotor unmanned aerial vehicle capable of independently deploying and retracting a boom of claim 2, wherein the limiting mechanism is provided with two limiting blocks and a moving block, the limiting blocks and the moving block are respectively located on inner walls of two sides of the connecting belt, outer walls of the bottoms of the limiting blocks and the moving block are both in sliding connection with the top of the unmanned aerial vehicle main body, the moving block is located between the two limiting blocks, an installation groove is formed in an outer wall of one side, away from the moving block, of each limiting block, a magnetic block is fixed on an inner wall of the installation groove, and the moving block and the magnetic block are magnetically adsorbed.
5. The quadrotor unmanned aerial vehicle capable of independently deploying and retracting a boom is characterized in that one end of a fixed position between the moving block and the corresponding connecting belt is set to be a fixed point, the end part, far away from the fixed point, of the moving block is provided with a plurality of connecting grooves, the inner walls of the connecting grooves are connected with abutting blocks in a sliding mode, elastic pieces are connected between the outer walls of one ends of the abutting blocks and the inner walls of the connecting grooves, one ends, far away from the elastic pieces, of the abutting blocks are set to be of an outwards arched arc-shaped structure, abutting grooves which are inwards sunken and of the arc-shaped structure are formed in positions, corresponding to the bottom block, of the connecting grooves, and magnetic adsorption is performed between the abutting blocks and the magnetic blocks.
6. The quadrotor unmanned aerial vehicle capable of automatically winding and unwinding a horn according to claim 5, wherein an outer wall of one side of the limit block, which is close to the moving block, is provided with a notch matched with the moving block, an inner side position of an inner wall at one end of the notch is provided with a contact groove matched with a corresponding corner position of the moving block, an outer side position of the inner wall at one end of the notch is provided with an opening part arched to form an arc-shaped structure domain, the abutting groove is arranged between the contact groove and the opening part, and a gap is arranged between the opening part and the moving block.
7. The quadrotor unmanned aerial vehicle capable of automatically retracting and releasing the horn is characterized in that the horn is provided with a frame body structure with two penetrating sides, a cavity with two openings is formed in the middle of the horn, a circuit between the impeller mechanism and the unmanned aerial vehicle body is arranged on the inner wall and the outer wall of the horn shell, a plurality of buffer mechanisms are arranged in the cavity, each buffer mechanism is provided with a positioning block rotatably connected between the bottom and the top inner wall of the cavity through a bearing, auxiliary blades distributed in an annular array are fixed on the circumferential outer wall of the positioning block, gaps are reserved between the top and bottom outer walls of the auxiliary blades and the top and bottom inner walls of the cavity respectively, and the width of each auxiliary blade is gradually reduced towards one side away from the positioning block.
8. The quadrotor unmanned aerial vehicle with the autonomous retractable arm as claimed in claim 7, wherein a stop is fixed on one side of the inner wall of the bottom of the horn at a position between two adjacent positioning blocks, the retraction of the horn is configured to rotate towards one side close to the stop, and the stop is configured to be an arc structure with an intermediate position arched towards one side close to the positioning blocks.
9. The quad-rotor unmanned aerial vehicle with the independent retractable arm is characterized in that a shunting block is fixed on one side, located between two adjacent positioning blocks, of the inner wall of the bottom of the horn, the unfolding action of the horn is set to rotate towards one side close to the shunting block, the cross section of the shunting block is set to be in a V-shaped structure, and the middle position of the shunting block is bent towards one side far away from the positioning blocks.
10. A method for retracting and extending a boom of a quad-rotor unmanned aerial vehicle capable of retracting and extending the boom autonomously, which employs the quad-rotor unmanned aerial vehicle capable of retracting and extending the boom autonomously as claimed in any one of claims 1 to 9, comprising the steps of:
s1: when the four-arm stretching mechanism is normally used, the driving wheel is rotated to drive the connecting belt, so that the four arms are all in an extending state, the torsion spring connected with the synchronizing wheel is in a normal state, and the limiting mechanism at the position of the connecting belt corresponding to the arms is in a limiting state;
s2: when the unmanned aerial vehicle passes through spaces with different sizes, the driving motor is remotely started to rotate the driving wheel, the four synchronizing wheels overcome the resistance of the torsion springs by using the two connecting belts, the four arms rotate towards the same circumferential direction and are close to the outer wall of the shell of the main body of the unmanned aerial vehicle, the limiting mechanism is separated from the initial state, and the distance between the arms and the main body of the unmanned aerial vehicle is adjusted so as to adjust the whole width range of the unmanned aerial vehicle to adapt to the spaces with different sizes;
s3: after the synchronous wheel passes through the space, the driving wheel is rotated reversely to reset the machine arm and the limiting mechanism, and the torsion spring at the position of the synchronous wheel is restored to a normal state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110955879.5A CN113716014B (en) | 2021-08-19 | 2021-08-19 | Four-rotor unmanned aerial vehicle capable of automatically retracting and releasing horn and horn retracting and releasing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110955879.5A CN113716014B (en) | 2021-08-19 | 2021-08-19 | Four-rotor unmanned aerial vehicle capable of automatically retracting and releasing horn and horn retracting and releasing method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113716014A true CN113716014A (en) | 2021-11-30 |
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| CN113716014B (en) | 2024-06-11 |
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