CN114476040B - Unmanned aerial vehicle for achieving posture adjustment through folding rotating paddles - Google Patents
Unmanned aerial vehicle for achieving posture adjustment through folding rotating paddles Download PDFInfo
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- CN114476040B CN114476040B CN202210138153.7A CN202210138153A CN114476040B CN 114476040 B CN114476040 B CN 114476040B CN 202210138153 A CN202210138153 A CN 202210138153A CN 114476040 B CN114476040 B CN 114476040B
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- 230000005540 biological transmission Effects 0.000 claims description 83
- 238000003825 pressing Methods 0.000 description 20
- 230000005484 gravity Effects 0.000 description 19
- 230000008859 change Effects 0.000 description 14
- 238000009434 installation Methods 0.000 description 10
- 230000009471 action Effects 0.000 description 7
- 238000005265 energy consumption Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000033228 biological regulation Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000005457 optimization Methods 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000002457 bidirectional effect Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
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- 230000000630 rising effect Effects 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C17/00—Aircraft stabilisation not otherwise provided for
- B64C17/02—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus
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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
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
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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
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
- B64C2027/8245—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft using air jets
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses an unmanned aerial vehicle capable of achieving gesture adjustment by folding a rotating paddle, which comprises a body component, a fixing device, a folding device and a guiding device, wherein the body component is fixedly connected with the fixing device, the fixing device is arranged on the lower side of the folding device and is connected with the folding device, the guiding device is connected with the body component, the body component comprises a body and a base, the base is arranged below the body, the base is fixedly connected with the body through a fixing frame, the fixing device comprises a bracket, the folding device is fixedly connected with the body through the bracket, the body is sequentially provided with four fixing devices along the circumferential direction, the fixing device further comprises a fixing seat and a rotating shaft, the bottom end of the fixing seat is fixedly connected with one side of the bracket, a fixing groove is formed in the middle of the fixing seat, a rotating motor is arranged in the fixing groove, and the lower side of the rotating motor is fixedly connected with the bottom end of a fixing groove surface.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle flight attitude adjustment, in particular to an unmanned aerial vehicle capable of achieving attitude adjustment by folding a rotating paddle.
Background
The utility model provides a many rotor unmanned aerial vehicle has the advantage that easy control, with low costs and flight gesture are diversified when flying, unmanned aerial vehicle continuation of journey mileage receives battery and load to influence greatly, many rotor unmanned aerial vehicle is when flying, all change the flight gesture through the rotational speed of adjusting each rotor, along with the plenty of applications of unmanned aerial vehicle, more and more problems are exposed, when carrying out city building data acquisition, in order to prevent unmanned aerial vehicle striking and cause the crash, always place the unmanned aerial vehicle in the high altitude, keep away from the building, civilian unmanned aerial vehicle receives the cost to influence, flight altitude is limited, four rotor unmanned aerial vehicle is when rising to maximum height, in order to guarantee the performance of hovering, unable two sets of relative rotational speeds of regulation, the flexibility is greatly limited, four rotor unmanned aerial vehicle is in order to prevent to take place from suspending, four rotor divide into two corotations, two reversals, balanced torque, when carrying out gesture adjustment, need to accelerate respectively, when flying in the city, the easy increase the energy consumption, influence duration, in addition, unmanned aerial vehicle is when carrying out the sideslip, change the relative rotational speed, in order to guarantee flight altitude, the rotational speed, the speed is poor is difficult to influence by the wind-force guiding performance.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle capable of realizing posture adjustment by folding and rotating paddles so as to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme:
The utility model provides a folding unmanned aerial vehicle who changes oar and realize gesture adjustment, fuselage subassembly, fixing device, folding device and guider, fuselage subassembly and fixing device fastening connection, fixing device arranges the folding device downside in, and fixing device and folding device connect, guider and fuselage subassembly are connected, the fuselage subassembly includes fuselage and base, the base is located the fuselage below, and base and fuselage pass through mount fastening connection, fixing device includes the support, folding device passes through support and fuselage fastening connection.
The body component is a main bearing device of the unmanned aerial vehicle, each device is sequentially installed and fixed through the body component, the fixing device is positioned on the lower side of the folding device, the folding device is conveniently installed and fixed through the fixing device, a power source is arranged in the fixing device, power is provided for automatic folding of the folding device, the main bearing device is also a main power device of the unmanned aerial vehicle, the fixing device is connected with the folding device for power transmission, normal navigation of the unmanned aerial vehicle is guaranteed, the guiding device is connected with the body component, the unmanned aerial vehicle is subjected to attitude adjustment through the guiding device, the unmanned aerial vehicle does not need to change direction through adjusting relative rotating speed, the flying height of the unmanned aerial vehicle is limited, the base is positioned below the body and is a main installation foundation of the guiding device, and the base and the body are fixedly connected through the fixing frame, so that looseness is prevented, and the unmanned aerial vehicle is more rapid and accurate when being subjected to attitude adjustment.
When the unmanned aerial vehicle starts, the rotating motor rotates to output torque, the rotating motor rotates to drive the rotating shaft to rotate along the axis of the unmanned aerial vehicle, the transmission seat moves vertically, the transmission seat guides the displacement of the transmission seat through the sliding block, the transmission seat drives the rotating blade to move upwards, the clamping groove arranged on the upper end pressing seat downwards guides the rotating blade, the rotating blade stretches out of the fixed groove and is in a horizontal state, the rotating blade is fixed through the pressing seat downwards, when the transmission seat ascends to the uppermost end, the transmission seat is driven to rotate through the rotating shaft, the transmission seat drives the sliding block to rotate, the sliding block slides in the fixed groove to support and guide the transmission seat, the rotary wing is clamped in a bidirectional mode through continuous rotation, the pretightening force is kept through the threaded connection, the rotary wing is in dynamic balance, when the posture of the unmanned aerial vehicle is adjusted, the sliding cylinder starts to drive the guide seat to slide, the guide holder extends to the lower end of the first rotor wing, when the rotation speeds of the four rotor wings are kept the same, the extending quantity is changed, the gravity center of the unmanned aerial vehicle is changed, the lift force obtained by the first rotor wing is reduced, the gravity center extends to the first rotor wing along the direction of the support, the second rotor wing, the third rotor wing and the fourth rotor wing are positioned at a high position, the first rotor wing is positioned at a low position and positioned at two sides of the gravity center, the guiding performance of the unmanned aerial vehicle is improved, the high-speed air flow is guided to the second rotor wing and the third rotor wing through the guide pipe and the reversing pipe, the lift force obtained by the second rotor wing and the third rotor wing is improved, part of the high-speed air flow is reversed through the sliding rail and led to the fourth rotor wing, the unmanned aerial vehicle is enabled to roll along the axes of the second rotor wing and the third rotor wing, when the spiral shooting is carried out, the reversing motor drives the reversing pipe to rotate through the buckle, and the reversing pipe is bent for ensuring good reversing performance, the reversing pipe sprays downwards obliquely, the unmanned aerial vehicle obtains upward oblique counter force, and because the focus is located to be close to first rotor department, under the action of gravity, drives unmanned aerial vehicle and rotates along the focus to make unmanned aerial vehicle spiral rise, when carrying out the outward appearance to objects such as building and shoot, keep that the camera points to building surface all the time, guarantee to shoot the quality.
Further, the fuselage is equipped with four fixing device in proper order along circumference, fixing device still includes fixing base and axis of rotation, the fastening connection of fixing base bottom and support one side is equipped with the fixed slot in the middle of the fixing base, be equipped with the rotation motor in the fixed slot, rotation motor downside and fixed slot groove surface bottom fastening connection, rotation motor output and axis of rotation lower extreme fastening connection, folding device includes the drive seat, drive seat and axis of rotation transmission are connected, and drive seat and rotor transmission are connected.
The invention relates to a four-rotor unmanned aerial vehicle, which is characterized in that a rotor is fixedly installed and power output is carried out through a fixing device arranged on the circumference of a machine body, the bottom end of a fixing seat is fixedly connected with one side of a support, the fixing seat is prevented from loosening, the unmanned aerial vehicle is driven by the support to fly, a rotating motor is fixedly installed and fixed through a fixing groove, the loosening of the rotating motor is prevented, the consistency of power output is influenced through fastening connection, the rotating motor is a main power source output device, the power output is carried out through a rotating shaft, the power output is more stable through fastening connection, the power output efficiency is improved, the rotating shaft is in transmission connection with a transmission seat, the rotor is driven to rotate through the transmission seat, lifting force is provided for the unmanned aerial vehicle through the rotation of the rotor, and high-altitude flying is carried out.
Further, the axis of rotation upper end is equipped with pushes down the seat, it is equipped with the gyration groove to push down the seat lower extreme, the axis of rotation upper end inserts in the gyration groove, axis of rotation and gyration groove swing joint, it is equipped with the revolving rack to push down the seat downwardly extending, revolving rack upper end and push down seat fastening connection, the drive seat is equipped with the internal thread, be equipped with the external screw thread in the axis of rotation, axis of rotation and drive seat threaded connection, drive seat one side is equipped with a plurality of mount pad, the rotor includes a plurality of rotor that sets up along drive seat upper end circumference, be equipped with the draw-in groove that corresponds with rotor quantity on the push down the seat, rotor lower extreme is equipped with the transmission shaft, rotor and transmission shaft outer disc fastening connection, be equipped with the mounting hole on the mount pad, the transmission shaft inserts in the mounting hole, transmission shaft and mounting hole swing joint, be equipped with a plurality of slides along vertical direction on the fixing base, the drive seat outer disc is equipped with the slider, slider and slide sliding connection, be equipped with the annular on the fixing base, the annular diameter is greater than drive seat diameter, revolving rack one side and sliding connection.
According to the invention, automatic storage and unfolding of the unmanned aerial vehicle rotating paddles are realized through the folding device, the unmanned aerial vehicle is convenient to transport and rapidly start, the rotating grooves are formed in the downward pressing seat, the downward pressing seat rotatably supports the rotating shaft through movable connection, the rotating shaft is rotatably supported through the output end of the rotating motor and the rotating grooves, so that power transmission is more stable, the rotating frame rotatably supports the downward pressing seat through fastening connection, the rotating shaft carries out power output through threaded connection, meanwhile, the transmission seat is driven to move through external threads and internal threads, the transmission seat drives the installation seat to slide, the installation seat drives the transmission shaft to rotate through the installation hole, the transmission paddles are driven to rotate around the axis of the transmission shaft through fastening connection, the transmission seat is guided and fixed through the clamping grooves on the downward pressing seat, the transmission seat is guided through the sliding grooves on the fixing seat, the transmission seat is provided with the sliding blocks, and when the unmanned aerial vehicle is ready to fly, the transmission seat gradually rises to the topmost from the lower end, and then slides in the annular groove through the sliding blocks, so that the rotor is driven to rotate, the transmission paddles are folded into the fixing groove to prevent damage, the transmission frame and the sliding frame and the downward pressing seat are enabled to rotate along with the transmission seat, and the transmission seat is clamped uniformly.
Further, guider is located the base upper end, and guider includes guide holder, stand pipe and switching-over pipe, be equipped with the guide way on the guide holder, guide holder bottom and base swing joint, stand pipe and switching-over pipe are located the guide holder both sides respectively, stand pipe and switching-over pipe communicate with the guide way respectively, be equipped with the slide rail on the base, the slide rail is parallel with unmanned aerial vehicle course, and the slide rail both ends are equipped with first rotor and fourth rotor respectively, first rotor is located unmanned aerial vehicle forward end, is located unmanned aerial vehicle navigates left side and is the second rotor, is located unmanned aerial vehicle navigates right side and is the third rotor, the stand pipe leads to the third rotor lower extreme, the switching-over pipe leads to the second rotor lower extreme, the slide rail leads to the fourth rotor.
The base is guider installation basis, be equipped with the guide way on the guide holder, high-speed air current to leading from first rotor through the guide way carries out the switching-over, make first rotor decline, make other three rotors rise, improve unmanned aerial vehicle's guidance quality, it is fast to turn to, four rotor rotational speeds are unanimous when unmanned aerial vehicle carries out the switching-over of turning to, improve steering stability, guide holder and base swing joint, remove the distance adjustment focus to first rotor lower extreme through the guide holder, change unmanned aerial vehicle inclination, adjust the switching-over to unmanned aerial vehicle through the focus, avoid leading to the fact the energy consumption too big through the difference of both sides rotational speed realization unmanned aerial vehicle slope, influence the duration, when avoiding unmanned aerial vehicle to rise to the highest department, because output rotational speed reaches the biggest, can't continue to adjust up, influence the performance of turning over, make unmanned aerial vehicle focus keep in the lower position, control unmanned aerial vehicle rotary diameter, can carry out rotatory taking photo to not equidimension target, guide tube and switching-over pipe are located the guide holder both sides respectively, and guide slot intercommunication, will lead to second rotor and third below from the high-speed air current in the guide holder, it is favorable to reduce power consumption to the second rotor and third rotor.
Further, the slide rail is arranged in an inclined mode, the guiding device further comprises a sliding cylinder, the bottom end of the sliding cylinder is fixedly connected with the base, and the output end of the sliding cylinder is fixedly connected with the guiding seat.
Slide rail slope is arranged, be close to fourth rotor one side and be located the high position, when carrying out the switching-over, high-speed air current direction of first rotor below is led to fourth rotor through the slide rail, change high-speed air current direction through slope arrangement, make high-speed air current blow to fourth rotor from following slide rail slope upwards, help improving the lift that fourth rotor obtained, supplementary first rotor is heeled, the base is fixed sliding cylinder through fastening connection, prevent that sliding cylinder is not hard up to influence power take off stability, sliding cylinder output and guide holder fastening connection, improve power take off efficiency, through sliding cylinder output displacement, drive the guide holder and remove, stretch out the length through the guide holder and carry out the focus regulation, change inclination and change the high-speed air current that obtains from first rotor below, supplementary change inclination size, improve the guide performance.
As the optimization, the reversing tube is given vent to anger the end and is directed to the second rotor rear side, and unmanned aerial vehicle is when carrying out the operation, and first rotor and fourth rotor rotate clockwise, and second rotor and the anticlockwise rotation of third rotor, and the reversing tube is directed to the second rotor rear side, will obtain from first rotor clockwise air current direction second rotor, because two air current flow direction are opposite, and the second rotor obtains upwards lift, helps reducing the energy consumption, in addition, because two air currents collide at the second rotor rear side, and the second rotor receives slant lift along the horizontal axis direction, supplementary unmanned aerial vehicle accomplishes the action of heeling fast.
As the optimization, guider still includes reversing motor and buckle, reversing motor bottom and base fastening connection, the cover is established the buckle on the reversing tube, reversing motor output and buckle are connected, reversing motor bottom and base fastening connection improve connectivity, and reversing motor drives the reversing tube through the buckle and rotates, changes air current blowout direction, improves the control accuracy of air current injection angle through fastening connection, and the reversing tube is the flexible tube, along with reversing motor rotation, and the reversing tube is twisted the compression, improves the end air current injection velocity of giving vent to anger, helps improving unmanned aerial vehicle steering ability.
As the optimization, the directional third rotor of stand pipe, the stand pipe is half tube structure, is equipped with half slot on the stand pipe, and the high-speed air current of leading out from first rotor passes through the stand pipe direction third rotor, because the air current of leading out of first rotor clockwise diffusion, when leading to the third rotor, air current direction corner is greater than 180, direct leading into the stand pipe with the air current and impact the pipe wall causes vibrations easily, through half tube structure, reduces the vibrations that high-speed air current impact caused, through half slot guide air current, improves unmanned aerial vehicle side tilt stability.
Compared with the prior art, the invention has the following beneficial effects: when the gesture of the unmanned aerial vehicle is adjusted, the rotation speeds of the four rotors are kept the same, the protruding amount of the guide seat is changed, the gravity center of the unmanned aerial vehicle is changed, the second rotor, the third rotor and the fourth rotor are positioned at a high position, the first rotor is positioned at two sides of the gravity center, the guiding performance of the unmanned aerial vehicle is improved, high-speed air flow is guided to the second rotor and the third rotor through the guide pipe and the reversing pipe, the lift force obtained at the second rotor and the third rotor is improved, part of the high-speed air flow is reversed through the sliding rail and led to the fourth rotor, the unmanned aerial vehicle rolls along the axes of the second rotor and the third rotor, and in order to ensure good reversing performance during spiral shooting, the reversing pipe is obliquely downwards ejected, the unmanned aerial vehicle obtains oblique upward counter force, and under the action of gravity, the unmanned aerial vehicle is spirally lifted, and when the appearance shooting objects such as a building is carried out, the camera is kept to always point to the outer surface of the building, and the shooting quality is ensured; the storage and the exhibition of rotating the oar are accomplished automatically through rotating the motor, when the preparation flies, the transmission seat rises to the top gradually from the lower extreme, drives the rotating the oar and stretches out and expand, then keeps the pretightning force through threaded connection to drive the rotor and rotate, at the time of flight, fold the rotating the oar, in the fixed slot of receipts, prevent to damage, improve transport efficiency, make and push down the seat and rotate along with the transmission seat, press from both sides tightly the rotor, make unmanned aerial vehicle rise rate more even.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic general construction of the present invention;
FIG. 2 is a cross-sectional view in the direction A of the view of FIG. 1;
FIG. 3 is a cross-sectional view of the base B of the view of FIG. 1;
FIG. 4 is an enlarged view of a portion at C of the view of FIG. 2;
FIG. 5 is an enlarged view of a portion of view D of FIG. 2;
FIG. 6 is a schematic view of the rotor of the present invention;
FIG. 7 is a schematic side air flow-guiding view of the present invention;
FIG. 8 is a schematic view of the airflow impingement of the present invention;
FIG. 9 is a spiral lifting schematic of the present invention;
In the figure: 1-fuselage subassembly, 11-fuselage, 12-mount, 13-base, 131-slide rail, 2-fixing device, 21-support, 22-fixing base, 221-fixed slot, 222-slide, 223-annular slot, 23-rotating motor, 24-push-down seat, 241-clamping slot, 242-rotating slot, 25-rotating shaft, 251-external screw thread, 26-rotating frame, 3-folding device, 31-rotor, 311-rotating paddle, 32-transmission seat, 321-internal screw thread, 33-mount, 331-mounting hole, 34-slider, 35-transmission shaft, 4-guiding device, 41-guiding seat, 411-guiding slot, 42-guiding tube, 421-half slot, 43-reversing tube, 44-reversing motor, 45-buckle, 46-sliding cylinder.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides the technical scheme that:
As shown in fig. 1 to 9, the unmanned aerial vehicle of posture adjustment is realized to folding rotating oar, fuselage subassembly 1, fixing device 2, folding device 3 and guider 4, fuselage subassembly 1 and fixing device 2 fastening connection, fixing device 2 is arranged in folding device 3 downside, and fixing device 2 and folding device 3 are connected, guider 4 and fuselage subassembly 1 are connected, fuselage subassembly 1 includes fuselage 11 and base 13, base 13 is located fuselage 11 below, and base 13 and fuselage 11 pass through mount 12 fastening connection, fixing device 2 includes support 21, folding device 3 passes through support 21 and fuselage 11 fastening connection.
The body assembly 1 is a main bearing device of the unmanned aerial vehicle, each device is sequentially installed and fixed through the body assembly 1, the fixing device 2 is positioned on the lower side of the folding device 3, the folding device 3 is conveniently installed and fixed through the fixing device 2, a power source is arranged in the fixing device 2, power is provided for automatic folding of the folding device 3, meanwhile, the main power device of the unmanned aerial vehicle is also provided, the fixing device 2 is connected with the folding device 3 for power transmission, normal navigation of the unmanned aerial vehicle is guaranteed, the guiding device 4 is connected with the body assembly 1, the unmanned aerial vehicle is subjected to gesture adjustment through the guiding device 4, the unmanned aerial vehicle does not need to change the relative rotation speed, the flying height of the unmanned aerial vehicle is limited, the base 13 is positioned below the body 11 and is a main installation foundation of the guiding device 4, the base 13 is fixedly connected with the body 11 through the fixing frame 12, and the unmanned aerial vehicle is prevented from loosening, and the unmanned aerial vehicle is more rapidly and accurately subjected to gesture adjustment.
When the unmanned aerial vehicle starts, the invention rotates and outputs torque through the rotating motor 23, the rotating motor 23 rotates and drives the rotating shaft 25 to rotate along the axis of the rotating shaft, the transmission seat 32 is enabled to move along the vertical direction through threaded engagement, the transmission seat 32 is enabled to move upwards through the guide of the sliding block 34, the transmission seat 32 drives the rotating paddle 311 to move upwards, the clamping groove 241 arranged on the upper end pressing seat 24 is enabled to guide the rotating paddle 311, the rotating paddle 311 stretches out of the fixing groove 221 and is in a unfolding state, the rotating paddle 311 is fixed through the pressing seat 24, when the transmission seat 32 rises to the uppermost end, the transmission seat 32 is enabled to rotate through the rotating shaft 25, the sliding block 34 is enabled to slide in the fixing groove 221, the transmission seat 32 is enabled to support and guide, the rotor 31 is enabled to be clamped in a bidirectional manner through continuous rotation, the pretightening force is kept through threaded connection, the rotor 31 is enabled to be in dynamic balance, when the posture of the unmanned aerial vehicle is adjusted, the sliding cylinder 46 is started to drive the guide seat 41 to slide, the guide seat 41 stretches out to the lower end of the first rotor wing, when the rotation speed of the four rotor wings 31 is kept the same, the stretching quantity is changed, the gravity center of the unmanned aerial vehicle is changed, the lift force obtained by the first rotor wing is reduced, the gravity center extends to the first rotor wing along the direction of the bracket 21, the second rotor wing, the third rotor wing and the fourth rotor wing are positioned at a high position, the first rotor wing is positioned at a low position and positioned at two sides of the gravity center, the guiding performance of the unmanned aerial vehicle is improved, high-speed air flow is guided to the second rotor wing and the third rotor wing through the guide pipe 42 and the reversing pipe 43, part of the lift force obtained by the second rotor wing and the third rotor wing is reversed through the sliding rail 131 and led to the fourth rotor wing, the unmanned aerial vehicle is tilted along the axes of the second rotor wing and the third rotor wing, and when the spiral shooting is carried out, the reversing motor 44 drives the reversing tube 43 to rotate through the buckle 45, in order to ensure good reversing performance, the reversing tube 43 is bent, the reversing tube 43 is obliquely downwards sprayed, the unmanned aerial vehicle obtains obliquely upward counter force, and the unmanned aerial vehicle is driven to rotate along the gravity center under the action of gravity due to the gravity center being located near the first rotor wing, so that the unmanned aerial vehicle is enabled to spiral ascending, and when objects such as a building are shot in appearance, the camera is kept to always point to the outer surface of the building, and shooting quality is ensured.
As shown in fig. 1 to 5, the machine body 11 is provided with four fixing devices 2 in sequence along the circumferential direction, the fixing devices 2 further comprise a fixing seat 22 and a rotating shaft 25, the bottom end of the fixing seat 22 is in fastening connection with one side of the support 21, a fixing groove 221 is formed in the middle of the fixing seat 22, a rotating motor 23 is arranged in the fixing groove 221, the lower side of the rotating motor 23 is in fastening connection with the bottom end of the groove surface of the fixing groove 221, the output end of the rotating motor 23 is in fastening connection with the lower end of the rotating shaft 25, the folding device 3 comprises a transmission seat 32, the transmission seat 32 is in transmission connection with the rotating shaft 25, and the transmission seat 32 is in transmission connection with the rotor 31.
The invention relates to a four-rotor unmanned aerial vehicle, which is characterized in that a rotor 31 is installed and fixed and power output is carried out through a fixing device 2 circumferentially arranged on a machine body 11, the bottom end of a fixed seat 22 is fixedly connected with one side of a support 21, the fixed seat 22 is prevented from loosening, the unmanned aerial vehicle is driven to fly through the support 21, the fixed seat 22 is installed and fixed on a rotating motor 23 through a fixing groove 221, the rotating motor 23 is prevented from loosening through the fastening connection, the consistency of the power output is influenced, the rotating motor 23 is a main power source output device, the power output is carried out through a rotating shaft 25, the power output is more stable through the fastening connection, the power output efficiency is improved, the rotating shaft 25 is in transmission connection with a transmission seat 32, the rotor 31 is driven to rotate through the transmission seat 32, the rotor 31 is rotated to provide lifting force for the unmanned aerial vehicle, and high-altitude flying is carried out, and in order to prevent the unmanned aerial vehicle from self-suspending, and the direction of the adjacent rotor 31 is opposite.
As shown in fig. 3-5, the upper end of the rotating shaft 25 is provided with a pressing seat 24, the lower end of the pressing seat 24 is provided with a rotating groove 242, the upper end of the rotating shaft 25 is inserted into the rotating groove 242, the rotating shaft 25 and the rotating groove 242 are movably connected, the pressing seat 24 is provided with a revolving frame 26 in a downward extending manner, the upper end of the revolving frame 26 is fixedly connected with the pressing seat 24, the driving seat 32 is provided with an internal thread 321, the rotating shaft 25 is provided with an external thread 251, the rotating shaft 25 is in threaded connection with the driving seat 32, one side of the driving seat 32 is provided with a plurality of mounting seats 33, the rotor 31 comprises a plurality of rotating paddles 311 circumferentially arranged along the upper end of the driving seat 32, clamping grooves 241 corresponding to the rotating paddles 311 are arranged on the pressing seat 24, the lower end of the rotating paddles 311 are provided with driving shafts 35, the outer circular faces of the rotating paddles 311 are fixedly connected with the driving shafts 35, the mounting seats 33 are provided with mounting holes 331, the driving shafts 35 are fixedly connected with the mounting holes 331, the fixing seats 22 are provided with a plurality of circular grooves 32, the driving seats 32 are provided with sliding grooves 222 along the vertical direction, the sliding seats 32 are provided with annular grooves 223, the sliding seats are provided with the diameters 223, and the sliding seats are provided with the diameters 223 are larger than the diameters of the sliding seats.
According to the invention, automatic storage and unfolding of the unmanned aerial vehicle rotating paddles 311 are realized through the folding device 3, the unmanned aerial vehicle is convenient to transport and rapidly start, the rotating grooves 242 are arranged on the pressing down seat 24, the pressing down seat 24 rotatably supports the rotating shaft 25 through movable connection, double-end support is carried out on the rotating shaft 25 through the output end of the rotating motor 23 and the rotating grooves 242, power transmission is enabled to be more stable, the revolving frame 26 rotatably supports the pressing down seat 24 through fastening connection, the rotating shaft 25 carries out power output through threaded connection, meanwhile, the transmission seat 32 is driven to move through the external threads 251 and the internal threads 321, the transmission seat 32 drives the installation seat 33 to slide, the installation seat 33 drives the transmission shaft 35 to rotate through the installation hole 331, the rotating paddles 311 are driven to rotate around the axis of the transmission shaft 35 through fastening connection, the rotating paddles 311 have higher toughness, the sliding of the transmission paddles 311 are guided and fixed through the clamping grooves 241 on the pressing down seat 24, the sliding of the transmission seat 32 is enabled to slide through the sliding grooves 222 on the fixing seat 22, the sliding blocks 34 are arranged on the transmission seat 32, when the transmission seat 32 is ready to fly, the transmission seat 32 is gradually ascended to the top through the lower end, and then the sliding of the transmission seat 32 is enabled to move through the sliding blocks 34 in the sliding grooves 223, the transmission seat 32 is enabled to drive the transmission seat 32 to move along with the transmission grooves 31, the transmission wings are enabled to rotate evenly, and the transmission frame is prevented to rotate along with the transmission groove 223, the transmission frame is enabled to rotate, and the transmission frame is enabled to rotate along with the transmission groove 31, and the transmission ring groove is kept to be more stable, and the transmission frame is kept down, and the transmission frame is more stable, and the transmission frame is stable, and the transmission, and the speed is stable.
As shown in fig. 1 and 3, the guiding device 4 is located at the upper end of the base 13, the guiding device 4 comprises a guiding seat 41, a guiding tube 42 and a reversing tube 43, a guiding slot 411 is formed in the guiding seat 41, the bottom end of the guiding seat 41 and the base 13 are movably connected, the guiding tube 42 and the reversing tube 43 are located at two sides of the guiding seat 41 respectively, the guiding tube 42 and the reversing tube 43 are communicated with the guiding slot 411 respectively, a sliding rail 131 is arranged on the base 13, the sliding rail 131 is parallel to the heading of the unmanned aerial vehicle, a first rotor wing and a fourth rotor wing are respectively arranged at two ends of the sliding rail 131, the first rotor wing is located at the forward end of the unmanned aerial vehicle, the second rotor wing is located at the left side of the unmanned aerial vehicle, the third rotor wing is located at the right side of the unmanned aerial vehicle, the guiding tube 42 leads to the lower end of the third rotor wing, the reversing tube 43 leads to the lower end of the second rotor wing, and the sliding rail 131 leads to the fourth rotor wing.
The base 13 is guiding device 4 installation basis, be equipped with the guide slot 411 on the guide holder 41, high-speed air current to leading from first rotor through the guide slot 411 carries out the switching-over, make first rotor decline, make other three rotors pull up, improve unmanned aerial vehicle's guidance quality, steering speed is fast, four rotor 31 rotational speeds are unanimous when unmanned aerial vehicle carries out the switching-over of turning to, improve steering stability, guide holder 41 and 13 swing joint of base, move to the distance adjustment focus of first rotor lower extreme through the guide holder 41, change unmanned aerial vehicle inclination, adjust unmanned aerial vehicle switching-over through the focus, avoid realizing through the difference of both sides rotational speed that unmanned aerial vehicle inclines and cause the energy consumption too big, influence duration, when avoiding unmanned aerial vehicle to rise to the highest department, because output rotational speed reaches the biggest, unable the continuation of adjusting, influence the performance of turning over, make unmanned aerial vehicle focus keep in the lower position, control unmanned aerial vehicle rotary diameter, can carry out rotatory taking photo to not equidimension target, stand 42 and switching-over tube 43 are located the guide holder 41 both sides respectively, and guide slot 411 intercommunication, will lead to from the high-speed air current in the guide slot to the second rotor and third rotor below, the power consumption is reduced to the third rotor, the power consumption is favorable to the third rotor.
As shown in fig. 1, the sliding rail 131 is obliquely arranged, the guiding device 4 further includes a sliding cylinder 46, the bottom end of the sliding cylinder 46 is fixedly connected with the base 13, and the output end of the sliding cylinder 46 is fixedly connected with the guiding seat 41.
Slide rail 131 slope arranges, be close to fourth rotor one side and be located the high position, when carrying out the switching-over, high-speed air current below the first rotor is directed to fourth rotor through slide rail 131, change high-speed air current direction through slope arrangement, make high-speed air current blow to fourth rotor from following slide rail 131 slope upwards, help improving the lift that fourth rotor obtained, supplementary first rotor 31 is sidesway, base 13 is fixed slip cylinder 46 through fastening connection, prevent that slip cylinder 46 is not hard up to influence power take off stability, slip cylinder 46 output and guide holder 41 fastening connection, improve power take off efficiency, output displacement through slip cylinder 46, drive guide holder 41 and remove, stretch out the length through guide holder 41 and carry out the focus regulation, change inclination change the high-speed that obtains from first rotor below, supplementary change inclination air current size, improve the guide performance.
As shown in fig. 6 to 8, the air outlet end of the reversing tube 43 is directed to the rear side of the second rotor, when the unmanned aerial vehicle works, the first rotor and the fourth rotor rotate clockwise, the second rotor and the third rotor rotate anticlockwise, the reversing tube 43 is directed to the rear side of the second rotor, the clockwise air flow obtained from the first rotor is guided to the second rotor, and the second rotor obtains upward lift force due to opposite flow directions of two air flows, so that the energy consumption is reduced.
As shown in fig. 1 and 7, the guiding device 4 further comprises a reversing motor 44 and a buckle 45, the bottom end of the reversing motor 44 is fixedly connected with the base 13, the reversing tube 43 is sleeved with the buckle 45, the output end of the reversing motor 44 is connected with the buckle 45, the bottom end of the reversing motor 44 is fixedly connected with the base, the connection performance is improved, the reversing motor 44 drives the reversing tube 43 to rotate through the buckle 45, the air flow spraying direction is changed, the control precision of the air flow spraying angle is improved through the fastening connection, the reversing tube 43 is a flexible tube, the reversing tube 43 is twisted and compressed along with the rotation of the reversing motor 44, the air flow spraying speed of the air outlet end is improved, and the unmanned aerial vehicle steering capability is improved.
As shown in fig. 1, the guiding tube 42 is directed to the third rotor wing, the guiding tube 42 is of a half-tube structure, a half groove 421 is formed in the guiding tube 42, the high-speed air flow guided out from the first rotor wing is guided to the third rotor wing through the guiding tube, and because the air flow guided out from the first rotor wing is diffused clockwise, when the air flow is guided to the third rotor wing, the air flow direction corner is larger than 180 degrees, the air flow is directly guided into the guiding tube 42 to easily vibrate due to pipe wall impact, vibration caused by the high-speed air flow impact is reduced through the half-tube structure, the air flow is guided through the half groove 421, and the side tilting stability of the unmanned aerial vehicle is improved.
The working principle of the invention is as follows: when the posture of the unmanned aerial vehicle is adjusted, the sliding cylinder 46 is started to drive the guide holder 41 to slide, the guide holder 41 stretches out to the lower end of the first rotor wing, when the rotation speed of the four rotor wings 31 is kept the same, the stretching amount is changed, the gravity center of the unmanned aerial vehicle is changed, the lift force obtained by the first rotor wing is reduced, the gravity center extends to the first rotor wing along the direction of the bracket 21, the second rotor wing, the third rotor wing and the fourth rotor wing are positioned at a high position, the first rotor wing is positioned at a low position and positioned at two sides of the gravity center, high-speed air flow is guided to the second rotor wing and the third rotor wing through the guide tube 42 and the reversing tube 43, the lift force obtained by the second rotor wing and the third rotor wing is improved, part of the high-speed air flow is reversed through the sliding rail 131 and led to the fourth rotor wing, the unmanned aerial vehicle is enabled to roll along the axes of the second rotor wing and the third rotor wing, when the spiral shooting is carried out, the reversing motor 44 drives the reversing tube 43 to rotate through the buckle 45, the reversing tube 43 is arranged in a bending way, the unmanned aerial vehicle is enabled to spray obliquely upwards, the counterforce is obtained by the unmanned aerial vehicle, the gravity center is positioned at the position near the first rotor wing, and the gravity center is driven to rotate along the gravity center, so that the unmanned aerial vehicle can lift spirally; the rotating paddles 311 are slid and fixed through the clamping grooves 241 on the pressing seat 24, the driving seat 32 is slid and guided through the slide ways 222 on the fixing seat 22, the sliding blocks 34 are arranged on the driving seat 32, when the unmanned aerial vehicle is ready to fly, the driving seat 32 gradually rises to the topmost end from the lower end, then the sliding blocks 34 slide in the annular grooves 223, so that the rotor wing is driven to rotate, the rotating paddles 311 are folded and are retracted into the fixing grooves 221 after the flying is finished, the revolving frame 26 is in sliding connection with the annular grooves 223, the pressing seat 24 rotates along with the driving seat 32, the rotating wings 31 are clamped, and the rising speed of the unmanned aerial vehicle is more uniform.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. Unmanned aerial vehicle of gesture adjustment is realized to folding commentaries on classics oar, its characterized in that: the unmanned aerial vehicle comprises a body assembly (1), a fixing device (2), a folding device (3) and a guiding device (4), wherein the body assembly (1) is in fastening connection with the fixing device (2), the fixing device (2) is arranged on the lower side of the folding device (3), the fixing device (2) is connected with the folding device (3), the guiding device (4) is connected with the body assembly (1), the body assembly (1) comprises a body (11) and a base (13), the base (13) is positioned below the body (11), the base (13) is in fastening connection with the body (11) through a fixing frame (12), the fixing device (2) comprises a support (21), and the folding device (3) is in fastening connection with the body (11) through the support (21);
Four fixing devices (2) are sequentially arranged on the machine body (11) along the circumferential direction, the fixing devices (2) further comprise a fixing seat (22) and a rotating shaft (25), the bottom end of the fixing seat (22) is in fastening connection with one side of a support (21), a fixing groove (221) is formed in the middle of the fixing seat (22), a rotating motor (23) is arranged in the fixing groove (221), the lower side of the rotating motor (23) is in fastening connection with the bottom end of a groove surface of the fixing groove (221), the output end of the rotating motor (23) is in fastening connection with the lower end of the rotating shaft (25), the folding device (3) comprises a transmission seat (32), the transmission seat (32) is in transmission connection with the rotating shaft (25), and the transmission seat (32) is in transmission connection with a rotor wing (31).
The guiding device (4) is located at the upper end of the base (13), the guiding device (4) comprises a guiding seat (41), a guiding tube (42) and a reversing tube (43), a guiding groove (411) is formed in the guiding seat (41), the bottom end of the guiding seat (41) is movably connected with the base (13), the guiding tube (42) and the reversing tube (43) are respectively located at two sides of the guiding seat (41), the guiding tube (42) and the reversing tube (43) are respectively communicated with the guiding groove (411), a sliding rail (131) is arranged on the base (13), the sliding rail (131) is parallel to the heading of the unmanned aerial vehicle, a first rotor wing and a fourth rotor wing are respectively arranged at two ends of the sliding rail (131), the first rotor wing is located at the forward end of the unmanned aerial vehicle, the first rotor wing is located at the left side of the unmanned aerial vehicle and is located at the right side of the unmanned aerial vehicle and is a third rotor wing, the guiding tube (42) is led to the lower end of the third rotor wing, the reversing tube (43) is led to the lower end of the second rotor wing, and the sliding rail (131) is led to the fourth rotor wing;
The guiding device (4) further comprises a reversing motor (44) and a buckle (45), the bottom end of the reversing motor (44) is fixedly connected with the base (13), the buckle (45) is sleeved on the reversing tube (43), and the output end of the reversing motor (44) is connected with the buckle (45); the guide pipe (42) points to the third rotor wing, the guide pipe (42) is of a half-pipe structure, and a half groove (421) is formed in the guide pipe (42).
2. The unmanned aerial vehicle for achieving attitude adjustment by folding and rotating paddles according to claim 1, wherein: the utility model discloses a rotor (31) with a plurality of rotor (311) that drive seat (32) threaded connection, including rotor (31) and rotor (311) that drive seat (32) upper end circumference set up, be equipped with rotary frame (26) down on rotor (24) extension, rotary frame (26) upper end and rotor (24) fastening connection down, drive seat (32) are equipped with internal thread (321), be equipped with external screw thread (251) on rotor (25), rotor (25) and drive seat (32) threaded connection, drive seat (32) one side is equipped with a plurality of mount pad (33), rotor (31) are equipped with on rotor (311) including a plurality of rotor (311) that set up along drive seat (32) upper end circumference with rotor (311) quantity correspondence, rotor (311) lower extreme is equipped with transmission shaft (35), rotor (311) and transmission shaft (35) external circle face fastening connection, be equipped with on mount pad (33) and mount pad (35) and a plurality of slide (35) are equipped with in the vertical slide (331), the outer circular surface of the transmission seat (32) is provided with a sliding block (34), the sliding block (34) is in sliding connection with a sliding way (222), the fixed seat (22) is provided with a ring groove (223), the diameter of the ring groove (223) is larger than that of the transmission seat (32), and one side of the revolving frame (26) is in sliding connection with the ring groove (223).
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| CN202210138153.7A CN114476040B (en) | 2021-04-26 | 2021-04-26 | Unmanned aerial vehicle for achieving posture adjustment through folding rotating paddles |
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| CN202210138153.7A CN114476040B (en) | 2021-04-26 | 2021-04-26 | Unmanned aerial vehicle for achieving posture adjustment through folding rotating paddles |
| CN202110456139.7A CN113120232B (en) | 2021-04-26 | 2021-04-26 | Unmanned aerial vehicle capable of realizing attitude adjustment by folding rotating propellers |
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| CN202110456139.7A Division CN113120232B (en) | 2021-04-26 | 2021-04-26 | Unmanned aerial vehicle capable of realizing attitude adjustment by folding rotating propellers |
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| CN202110456139.7A Active CN113120232B (en) | 2021-04-26 | 2021-04-26 | Unmanned aerial vehicle capable of realizing attitude adjustment by folding rotating propellers |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN114476040A (en) | 2022-05-13 |
| CN113120232A (en) | 2021-07-16 |
| CN113120232B (en) | 2022-02-01 |
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