CN115583340A - Variable-configuration multi-rotor unmanned aerial vehicle and control method thereof - Google Patents
Variable-configuration multi-rotor unmanned aerial vehicle and control method thereof Download PDFInfo
- Publication number
- CN115583340A CN115583340A CN202211400406.XA CN202211400406A CN115583340A CN 115583340 A CN115583340 A CN 115583340A CN 202211400406 A CN202211400406 A CN 202211400406A CN 115583340 A CN115583340 A CN 115583340A
- Authority
- CN
- China
- Prior art keywords
- guide sleeve
- sleeve
- side wall
- unmanned aerial
- aerial vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000002093 peripheral effect Effects 0.000 claims 1
- 238000010276 construction Methods 0.000 description 10
- 230000008602 contraction Effects 0.000 description 6
- 238000010030 laminating Methods 0.000 description 4
- 230000006978 adaptation Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a variable-configuration multi-rotor unmanned aerial vehicle and a control method thereof, and relates to the technical field of unmanned aerial vehicles. According to the invention, the axially telescopic cylinder structure is connected between the connecting rod and the central cabin structure, and the pull rod drives the cantilever to contract, so that the unmanned aerial vehicle can smoothly pass through a narrow space during flying, and the cylinder structure can bear stress generated by uneven tension of the connecting rod, thereby ensuring the safety and stability of the unmanned aerial vehicle during flying.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a variable-configuration multi-rotor unmanned aerial vehicle and a control method thereof.
Background
The unmanned aerial vehicle is an aircraft which is small in size, unmanned and capable of achieving autonomous flight in the air and executing certain tasks. Compared with a common airplane, the unmanned aerial vehicle is simple in structure, low in cost and convenient to manufacture and maintain, due to the fact that the unmanned aerial vehicle is unmanned, the effective load is larger, more devices or weapons can be installed, the efficiency and the reliability of completing tasks are higher, and the life safety of a pilot cannot be endangered even if accidents occur, so that the unmanned aerial vehicle is widely applied to various high-risk tasks.
At present, when an unmanned aerial vehicle needs to pass through a narrow area during disaster relief, roadway crossing and the like, the unmanned aerial vehicle is low in adaptability to complex flight environments, most of unmanned aerial vehicles adopt obstacle avoidance behaviors to solve the problem of flight obstacle, and the obstacle avoidance detour work efficiency of the unmanned aerial vehicle is greatly reduced.
Chinese patent No. CN 212423442U discloses an unmanned aerial vehicle structure capable of automatically folding a wing, a chassis is fixedly connected to the right middle of the top surface of the fuselage, a motor is fixedly connected to the inside of the chassis, an output shaft of the motor is fixedly connected to a lead screw through a coupler, one end of the lead screw, which penetrates through the chassis and is located outside the chassis, is fixedly connected to a limiting plate through a bearing, a pair of guide rods are fixedly connected to the bottom surface of the limiting plate and located at two ends of the bearing, a sliding plate is slidably connected between the four guide rods, the sliding plate is in threaded connection with the lead screw, a pair of connecting rods are hinged to two ends of the sliding plate through a pair of hinges, the other ends of the four connecting rods are hinged to a wing through hinges, one ends of the four arms are hinged to the limiting plate through hinges, and the other ends of the four arms are fixedly connected to a wing.
Chinese patent application publication No. CN111942566A discloses an aircraft horn deployment device and method based on air spring and assembly pulley, every horn includes the movable pulley, the locating part, the power adjustment pulley, shrink pulley and wire rope, the horn is provided with the support arm with the below of frame articulated department, the movable pulley is installed in the horn root through the round pin axle, the power adjustment pulley is installed in the end department of support arm through the round pin axle, make the movable pulley, the axial direction parallel of power adjustment pulley and horn axis of rotation, the shrink pulley is installed on the shrink frame through the round pin axle, the axial is with the movable pulley, the power adjustment pulley is parallel and the position is relative, wire rope one end is fixed in the end department of air spring telescopic link, the other end walks around the shrink pulley in proper order, the movable pulley, then be fixed in the frame, through the flexible drive wire rope of air spring, further drive the horn motion, thereby realize the deployment of many rotor unmanned aerial vehicle horn. However, only one unfolding mode of the horn is disclosed in the scheme, and the technical problem that the unmanned aerial vehicle passes through a narrow space cannot be effectively solved.
Disclosure of Invention
The invention aims to provide a variable-configuration multi-rotor unmanned aerial vehicle and a control method thereof, and aims to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a variable-configuration multi-rotor unmanned aerial vehicle which comprises a telescopic mechanism, a central cabin structure and a cantilever which is connected to the periphery of the central cabin structure and provided with flight blades, wherein the end part of the cantilever is hinged with the central cabin structure, the telescopic mechanism comprises a sleeve component and a power component for driving the sleeve component to axially extend and retract, the sleeve component comprises a plurality of coaxially sleeved guide sleeves, the adjacent guide sleeves are in sliding connection, the guide sleeve at one end of the sleeve component is connected with the central cabin structure, the guide sleeve at the other end of the sleeve component is hinged with one end of a connecting rod, and the other end of the connecting rod is hinged with the cantilever.
Preferably, the power assembly comprises a motor and a screw rod axially connected to the output end of the motor, and the screw rod axially penetrates through the guide sleeve and is in threaded connection with the guide sleeve.
Preferably, the sleeve subassembly includes base and three guide sleeve, it is outer guide sleeve's bottom with the top axial connection of base, the lateral wall of base with the one end of connecting rod is articulated, the inlayer guide sleeve's top with the bottom axial connection of center cabin structure.
Preferably, the middle level the bottom of guide sleeve sets up the first ring flange, the inside wall on the first ring flange with screw rod threaded connection, the lateral wall on the first ring flange and skin the laminating of guide sleeve's inside wall, the inlayer the bottom of guide sleeve sets up the second ring flange, the lateral wall on the second ring flange and middle level the laminating of guide sleeve's inside wall, the inlayer the guide sleeve's inside wall with screw rod threaded connection.
Preferably, the diameter of the outer side wall of the guide sleeve in the middle layer is smaller than that of the inner side wall of the guide sleeve in the outer layer, a first annular baffle for limiting the upward movement of the first annular flange is arranged at the top end of the guide sleeve in the outer layer, and the inner side wall of the first annular baffle is attached to the outer side wall of the guide sleeve in the middle layer;
the diameter of the outer side wall of the inner layer of the guide sleeve is smaller than that of the inner side wall of the middle layer of the guide sleeve, a second annular baffle for limiting the upward movement of the second annular flange is arranged at the top end of the middle layer of the guide sleeve, the inner side wall of the second annular baffle is attached to the outer side wall of the inner layer of the guide sleeve, and the lower surface of the second annular baffle is in lap joint with the upper surface of the first annular baffle.
Preferably, the cantilever comprises an inclined section and a vertical end, the inclined section is inclined downwards along a direction far away from the central cabin structure, the lower end of the inclined section is connected with the side wall of the vertical end, and the top of the vertical end is provided with the flight blade and a driving assembly for driving the flight blade.
Preferably, the cantilever further comprises a horizontal section, one end of the horizontal section is connected with the inclined section, the other end of the horizontal section is vertically connected with the vertical end, and the length of the horizontal section is larger than the rotating radius of the flight blade.
The invention also provides a control method of the variable-configuration multi-rotor unmanned aerial vehicle, which comprises the following steps:
the driving component provides power to drive the flying blades to rotate, and the variable-configuration multi-rotor unmanned aerial vehicle is driven to fly through the mutual matching of the plurality of flying blades;
the power is provided by the power assembly to drive the plurality of guide sleeves in the sleeve assembly to relatively slide and stretch in the axial direction, the guide sleeve at one end of the sleeve assembly, which is far away from the central cabin structure, drives the connecting rod in the direction far away from the central cabin structure, and the connecting rod pulls the cantilever, and the cantilever relatively contracts in the direction of the central cabin structure by taking the end part of the cantilever as a rotating point;
the power assembly provides power to drive the plurality of guide sleeves in the sleeve assembly to relatively slide and contract in the axial direction, the guide sleeve far away from one end of the central cabin structure in the sleeve assembly drives the connecting rod in the direction close to the central cabin structure, the connecting rod pushes the cantilever, and the cantilever is relatively extended in the direction away from the central cabin structure by taking the end part of the cantilever as a rotating point.
Preferably, the output end of the motor drives the screw rod to rotate, and the screw rod is in threaded connection with the inside of the guide sleeve to drive the guide sleeves to relatively extend and retract along the axial direction.
Compared with the prior art, the invention has the following technical effects:
(1) According to the unmanned aerial vehicle, the plurality of guide sleeves in the sleeve assembly are coaxially sleeved, and the adjacent guide sleeves are mutually connected in a sliding manner, namely, the sleeves with the guiding function are connected in a sliding manner, so that a stably-guided and contractible cylinder structure is formed in the sleeve assembly along the axial direction of the central cabin structure, the cylinder structure is composed of the plurality of coaxially sleeved and mutually connected axially-guided guide sleeves in a sliding manner, the cylinder structure is connected between the central cabin structure and the connecting rod, and the stability of the cylinder structure during expansion and contraction enables the unmanned aerial vehicle to be relatively more stable during reconfiguration, so that the flight stability of the unmanned aerial vehicle is improved; barrel construction is for rod structure, inside cavity, and the cross section bearing capacity that shears is great relatively, and when unmanned aerial vehicle adjustment flight angle, the connecting rod of both sides is different to barrel construction's effort, can produce certain stress to barrel construction, and barrel construction is relative rod structure can undertake bigger stress to security when having guaranteed barrel construction and stretching out and drawing back, and then security when having ensured unmanned aerial vehicle flight.
(2) Based on the inclined arrangement of the cantilever and the relatively smaller included angle between the connecting rod and the vertical direction, the axial force of the sleeve assembly can be better converted into the rotating force of the cantilever, the driving force of the sleeve assembly can be reduced equivalently, the driving force for driving the sleeve assembly to relatively stretch can be reduced, and therefore a motor with lower power can be used, the equipment weight of the unmanned aerial vehicle can be further reduced, and the flying mobility and flexibility of the unmanned aerial vehicle can be improved.
(3) According to the invention, through the relative stretching among the guide sleeves, the cantilever can be pulled to contract towards the direction close to the central cabin structure through the connecting rod, through the relative contraction among the guide sleeves, the cantilever can be pushed to stretch towards the direction far away from the central cabin structure through the connecting rod, and the cruise state of the unmanned aerial vehicle can be changed into the contraction state in flight, so that the unmanned aerial vehicle can pass through a narrow space and can be recovered to the cruise state from the contraction state, thereby ensuring the maneuverability of the unmanned aerial vehicle when encountering the narrow space, and improving the working efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic overall structure diagram of a variable-configuration multi-rotor unmanned aerial vehicle according to the present invention;
FIG. 2 is a schematic view of the telescopic mechanism corresponding to the contracted state of FIG. 1;
FIG. 3 is a schematic view of the retractable mechanism shown in FIG. 1 in a cruising state;
wherein, 1, a central cabin structure; 2. a telescoping mechanism; 3. a cantilever; 301. an inclined section; 302. a horizontal segment; 303. a vertical end; 4. a connecting rod; 5. a motor; 6. a screw; 7. an outer guide sleeve; 701. a first annular baffle; 8. a middle layer guide sleeve; 801. a first annular flange; 802. a second annular baffle; 9. an inner layer guide sleeve; 901. a second annular flange; 10. a flight blade; 11. a base.
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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a variable-configuration multi-rotor unmanned aerial vehicle and a control method thereof, and aims to solve the problems in the prior art.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
Referring to fig. 1 to 3, the present invention provides a variable configuration multi-rotor unmanned aerial vehicle, including a telescopic mechanism, a central cabin structure 1 and a cantilever 3 connected to the periphery of the central cabin structure 1 and provided with a flight paddle 10, the central cabin structure 1 is arranged at the central position of the unmanned aerial vehicle and used for carrying avionics, power supply, sensing and other systems, the number of the cantilevers 3 is at least two, the cantilevers 3 are uniformly distributed at the periphery of the central cabin structure 1, one end of the cantilever 3 is hinged to the central cabin structure 1, the other end of the cantilever 3 is provided with the flight paddle 10 for flight, the telescopic mechanism includes a sleeve assembly and a power assembly driving the sleeve assembly to axially extend and retract, the sleeve assembly includes a plurality of coaxially sleeved guide sleeves, adjacent guide sleeves are slidably connected to each other, the guide sleeve at one end of the sleeve assembly is connected to the central cabin structure 1, the guide sleeve at the other end of the sleeve assembly is hinged to one end of a connecting rod 4, the other end of the connecting rod 4 is hinged to the cantilever 3, as the plurality of guide sleeves in the sleeve assembly are coaxially sleeved to each other slidably connected to each other, and the sleeve assembly is capable of forming a telescopic cylinder structure which is capable of stabilizing the cylinder structure when the telescopic mechanism is connected to the central cabin structure, and the telescopic mechanism is connected to the unmanned aerial vehicle, and the cylinder structure, and the telescopic mechanism is connected to the central cabin structure, and the telescopic mechanism is connected to the cylinder structure, and the telescopic mechanism is connected to the unmanned aerial vehicle, and the telescopic mechanism is connected to the cylinder structure, and the cylinder structure is connected to the cylinder structure, and the unmanned aerial vehicle; barrel construction is for rod structure, inside cavity, and the cross section bearing capacity that shears is great relatively, and when unmanned aerial vehicle adjustment flight angle, the connecting rod 4 of both sides is different to barrel construction's effort, can produce certain stress to barrel construction, and the relative rod body structure of barrel construction can undertake bigger stress to security when having guaranteed barrel construction is flexible, and then security when having ensured unmanned aerial vehicle flight.
Further, the power assembly comprises a motor 5 and a screw rod 6 axially connected to the output end of the motor 5, the motor 5 can be a stepping motor or other types of motors 5 capable of meeting power output in the invention, the screw rod 6 axially penetrates through the guide sleeves and is in threaded connection with the guide sleeves, the screw rod 6 is driven to rotate through rotation of the output end of the motor 5, relative stretching among the guide sleeves is realized through the screw rod 6 in threaded fit with the guide sleeves, the adjacent coaxially sleeved guide sleeves are driven to relatively stretch through threaded fit of the screw rod 6 and the guide sleeves, and certain stability is achieved when the guide sleeves are driven to axially move based on relative occlusion among threads.
Further, the sleeve component comprises a base 11 and three guide sleeves, the bottom end of the outer guide sleeve 7 is axially connected with the top end of the base 11, the side wall of the base 11 is hinged with one end of the connecting rod 4, the other end of the connecting rod 4 is hinged with a section, close to the central cabin structure 1, in the arm body of the cantilever 3, the top end of the inner guide sleeve 9 is axially connected with the bottom end of the central cabin structure 1, on one hand, the sleeve component is axially connected with the base 11, the outer guide sleeve 7, the middle guide sleeve 8 and the inner guide sleeve 9 in sequence from bottom to top, the connecting rod 4 is connected on the base 11, the sleeve component is like a tower structure from the connecting position of the connecting rod 4 to the bottom end of the central cabin structure 1, the stability between the connecting rod 4 and the central cabin structure 1 is guaranteed, on the other hand, the hinged position of the connecting rod 4 and the sleeve component is as downward as possible, the hinged position of the connecting rod 4 and the cantilever 3 is as close to the central cabin structure 1 as possible, the included angle between the connecting rod 4 and the vertical direction is reduced to the maximum extent, so that the vertical driving force generated by the axial movement of the sleeve assembly can be better converted into the rotating force to the cantilever 3 by virtue of the connecting rod 4, the cantilever 3 comprises an inclined section 301 and a vertical end 303, the inclined section 301 is inclined downwards along the direction far away from the center cabin structure 1, compared with the horizontal arrangement of the cantilever 3 in the prior art, the connecting rod needs smaller pulling force to start the cantilever 3 to rotate towards the direction of the center cabin structure, the lower end of the inclined section 301 is connected with the side wall of the vertical end 303, the top of the vertical end 303 is provided with the flight paddle 10 and a driving assembly for driving the flight paddle 10, and based on the inclined arrangement of the cantilever 3 and the relatively smaller included angle between the connecting rod 4 and the vertical direction, the axial force of the sleeve assembly can be better converted into the rotating force to the cantilever 3, can reduce sleeve assembly's drive power in other words, can reduce the relative flexible drive power of drive sleeve assembly to can use the motor 5 of less power, further reduce unmanned aerial vehicle's equipment weight, thereby improve unmanned aerial vehicle's flight mobility and flexibility.
Furthermore, a first annular flange 801 is arranged at the bottom end of the middle-layer guide sleeve 8, the inner side wall of the first annular flange 801 is in threaded connection with the screw 6, the outer side wall of the first annular flange 801 is attached to the inner side wall of the outer-layer guide sleeve 7, and sliding guide extension of the middle-layer guide sleeve 8 relative to the outer-layer guide sleeve 7 can be realized by arranging the first annular flange 801 to be matched with the screw 6 and the outer-layer guide sleeve 7; the bottom end of the inner layer guide sleeve 9 is provided with a second annular flange 901, the outer side wall of the second annular flange 901 is attached to the inner side wall of the middle layer guide sleeve 8, the inner side wall of the inner layer guide sleeve 9 is in threaded connection with the screw 6, and sliding guide expansion of the inner layer guide sleeve 9 relative to the middle layer guide sleeve 8 can be realized by arranging the second annular flange 901 to be matched with the screw 6 and the middle layer guide sleeve 8; the outside wall diameter of middle level guide sleeve 8 is less than the inside wall diameter of outer guide sleeve 7, the top of outer guide sleeve 7 sets up the first ring baffle 701 that the restriction first ring flange 801 moved up, the inside wall of first ring baffle 701 and the laminating of the outside wall of middle level guide sleeve 8, the outside wall diameter of inlayer guide sleeve 9 is less than the inside wall diameter of middle level guide sleeve 8, the top of middle level guide sleeve 8 sets up the second ring baffle 802 that the restriction second ring flange 901 moved up, the inside wall of second ring baffle 802 and the laminating of the outside wall of inlayer guide sleeve 9, the lower surface of second ring baffle 802 and the upper surface of first ring baffle 701 overlap each other, through setting up first ring baffle 701 and second ring baffle 802, realize the spacing roll-off of middle level guide sleeve 8 and roll-in outer guide sleeve 7, realize the spacing of middle level guide sleeve 8 in inlayer guide sleeve 9, thereby the enforceability of a plurality of guide sleeve relative contractions has been ensured.
Further, cantilever 3 includes slope section 301 and vertical end 303, slope section 301 is along keeping away from the downward sloping of direction of center cabin structure 1, the low side of slope section 301 is connected with the lateral wall of vertical end 303, the top of vertical end 303 is provided with flight paddle 10 and the drive assembly who drives flight paddle 10, drive assembly can be ball-type drive base, be connected with flight paddle 10 on the base, flight paddle 10 can follow the rotation of drive base and adjust rotation angle, flight paddle 10 and drive assembly all can be dismantled in vertical end 303 department and connect.
Further, the cantilever 3 further comprises a horizontal section 302, one end of the horizontal section 302 is connected with the inclined section 301, the other end of the horizontal section 302 is perpendicularly connected with the vertical end 303, and the length of the horizontal section 302 is larger than the rotating radius of the flight blade, so that relative interference between the flight blade and the cantilever can be guaranteed.
The invention also provides a control method of the variable-configuration multi-rotor unmanned aerial vehicle, which comprises the following steps:
the driving assembly provides power to drive the flight blades to rotate, and the variable-configuration multi-rotor unmanned aerial vehicle is driven to fly through mutual matching of the flight blades;
the power assembly provides power to drive a plurality of guide sleeves in the sleeve assembly to slide and stretch relatively in the axial direction, the guide sleeve at one end of the sleeve assembly, which is far away from the central cabin structure 1, drives a connecting rod 4 in the direction of being far away from the central cabin structure 1, the connecting rod 4 pulls a cantilever 3, and the cantilever 3 contracts relatively in the direction of the central cabin structure 1 by taking the end part as a rotation point;
the power is provided by the power assembly to drive the plurality of guide sleeves in the sleeve assembly to relatively slide and contract in the axial direction, the guide sleeve at one end of the sleeve assembly, which is far away from the central cabin structure 1, drives the connecting rod 4 in the direction close to the central cabin structure 1, the connecting rod 4 pushes the cantilever 3, and the cantilever 3 relatively stretches in the direction away from the central cabin structure 1 by taking the end part as a rotating point;
the screw rod 6 is driven to rotate by the output end of the motor 5, and the guide sleeves are driven to relatively extend and contract along the axial direction by the threaded connection of the screw rod 6 in the guide sleeves.
According to the invention, through the relative stretching among the guide sleeves, the cantilever 3 can be pulled to be contracted towards the direction close to the central cabin structure 1 through the connecting rod 4, and through the relative contraction among the guide sleeves, the cantilever 3 can be pushed to be stretched towards the direction far away from the central cabin structure 1 through the connecting rod 4, so that the cruise state of the unmanned aerial vehicle can be changed into the contracted state in flight, the unmanned aerial vehicle can penetrate through a narrow space and can be recovered to the cruise state from the contracted state, the maneuverability of the unmanned aerial vehicle in encountering the narrow space is ensured, and the working efficiency is improved.
The adaptation according to the actual needs is within the scope of the invention.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (9)
1. The utility model provides a many rotor unmanned aerial vehicle of variable configuration, a serial communication port, include telescopic machanism, central cabin structure and connect the peripheral cantilever that is provided with the flight paddle leaf of central cabin structure, the tip of cantilever with central cabin structure is articulated, telescopic machanism includes sleeve subassembly and drive the flexible power component of sleeve subassembly axial, sleeve subassembly includes the guide sleeve that a plurality of coaxial sleeves were established, and is adjacent sliding connection between the guide sleeve, sleeve subassembly one end the guide sleeve with central cabin structure is connected, the sleeve subassembly other end the guide sleeve is articulated with the one end of connecting rod, the other end of connecting rod with the cantilever is articulated.
2. The variable-configuration multi-rotor unmanned aerial vehicle of claim 1, wherein the power assembly comprises a motor and a screw axially connected to an output end of the motor, the screw being axially inserted into the guide sleeve and threadedly connected thereto.
3. A variable configuration multi-rotor drone according to claim 2, wherein the sleeve assembly comprises a base and three of the guide sleeves, the bottom end of the outer guide sleeve being axially connected to the top end of the base, the side wall of the base being hinged to one end of the connecting rod, and the top end of the inner guide sleeve being axially connected to the bottom end of the central pod structure.
4. The variable configuration multi-rotor unmanned aerial vehicle of claim 3, wherein a first annular flange is arranged at the bottom end of the guide sleeve in the middle layer, the inner side wall of the first annular flange is in threaded connection with the screw, the outer side wall of the first annular flange is attached to the inner side wall of the guide sleeve in the outer layer, a second annular flange is arranged at the bottom end of the guide sleeve in the inner layer, the outer side wall of the second annular flange is attached to the inner side wall of the guide sleeve in the middle layer, and the inner side wall of the guide sleeve in the inner layer is in threaded connection with the screw.
5. The variable-configuration multi-rotor unmanned aerial vehicle as claimed in claim 4, wherein the diameter of the outer side wall of the guide sleeve in the middle layer is smaller than that of the inner side wall of the guide sleeve in the outer layer, a first annular baffle plate limiting the upward movement of the first annular flange is arranged at the top end of the guide sleeve in the outer layer, and the inner side wall of the first annular baffle plate is attached to the outer side wall of the guide sleeve in the middle layer;
the diameter of the outer side wall of the inner layer of the guide sleeve is smaller than that of the inner side wall of the middle layer of the guide sleeve, a second annular baffle for limiting the upward movement of the second annular flange is arranged at the top end of the middle layer of the guide sleeve, the inner side wall of the second annular baffle is attached to the outer side wall of the inner layer of the guide sleeve, and the lower surface of the second annular baffle is in lap joint with the upper surface of the first annular baffle.
6. The variable configuration multi-rotor unmanned aerial vehicle of any one of claims 1-5, wherein the boom comprises an inclined section and a vertical end, the inclined section is inclined downwards in a direction away from the center cabin structure, the lower end of the inclined section is connected with the side wall of the vertical end, and the top of the vertical end is provided with the flight blade and a driving assembly for driving the flight blade.
7. The variable configuration multi-rotor unmanned aerial vehicle of claim 6, wherein the boom further comprises a horizontal section, one end of the horizontal section is connected to the inclined section, the other end of the horizontal section is connected perpendicular to the vertical end, and the length of the horizontal section is greater than the radius of rotation of the flight blade.
8. A control method of a variable-configuration multi-rotor unmanned aerial vehicle is characterized by comprising the following steps:
the driving assembly provides power to drive the flight blades to rotate, and the variable-configuration multi-rotor unmanned aerial vehicle is driven to fly through mutual matching of the flight blades;
the power is provided by the power assembly to drive the guide sleeves in the sleeve assembly to relatively slide and stretch in the axial direction, the end, far away from the central cabin structure, of the sleeve assembly drives the connecting rod in the direction far away from the central cabin structure towards the sleeve, the connecting rod pulls the cantilever, and the cantilever is relatively contracted in the direction towards the central cabin structure by taking the end part of the cantilever as a rotating point;
the power assembly provides power to drive the plurality of guide sleeves in the sleeve assembly to relatively slide and contract in the axial direction, the guide sleeve far away from one end of the central cabin structure in the sleeve assembly drives the connecting rod in the direction close to the central cabin structure, the connecting rod pushes the cantilever, and the cantilever is relatively extended in the direction away from the central cabin structure by taking the end part of the cantilever as a rotating point.
9. The method of claim 8, wherein the output end of the motor rotates the screw, and the screw is threaded in the guide sleeve to drive the plurality of guide sleeves to relatively extend and retract in the axial direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211400406.XA CN115583340A (en) | 2022-11-09 | 2022-11-09 | Variable-configuration multi-rotor unmanned aerial vehicle and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211400406.XA CN115583340A (en) | 2022-11-09 | 2022-11-09 | Variable-configuration multi-rotor unmanned aerial vehicle and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115583340A true CN115583340A (en) | 2023-01-10 |
Family
ID=84781443
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211400406.XA Pending CN115583340A (en) | 2022-11-09 | 2022-11-09 | Variable-configuration multi-rotor unmanned aerial vehicle and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115583340A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106904270A (en) * | 2017-04-11 | 2017-06-30 | 国网辽宁省电力有限公司辽阳供电公司 | A kind of high stability six rotorcraft |
| CN116873249A (en) * | 2023-09-06 | 2023-10-13 | 沈阳迎新网络科技有限公司 | Unmanned aerial vehicle horn |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208102337U (en) * | 2018-05-03 | 2018-11-16 | 成都云翅科技有限公司 | A kind of telescopic unmanned plane flight support frame structure |
| CN209870747U (en) * | 2019-05-22 | 2019-12-31 | 龙岩学院 | Carry thing undercarriage and many rotor unmanned aerial vehicle |
| CN210258834U (en) * | 2019-06-06 | 2020-04-07 | 水利部交通运输部国家能源局南京水利科学研究院 | Retractable folds unmanned aerial vehicle |
| CN211581318U (en) * | 2019-12-03 | 2020-09-29 | 黄静文 | Agricultural unmanned aerial vehicle spray rod |
| CN112140820A (en) * | 2020-08-27 | 2020-12-29 | 沈秋毅 | Automatic many rotors of folding water-air amphibious robot |
| CN113252294A (en) * | 2021-06-16 | 2021-08-13 | 西南交通大学 | Cross-sea bridge space wind speed and direction testing system and monitoring method |
| CN113335496A (en) * | 2021-06-19 | 2021-09-03 | 国网浙江省电力有限公司浦江县供电公司 | Be applied to unmanned aerial vehicle horn subassembly that electric power cruises |
| CN113631480A (en) * | 2020-06-30 | 2021-11-09 | 深圳市大疆创新科技有限公司 | Multi-rotor unmanned aerial vehicle frame, agricultural plant protection unmanned aerial vehicle and control method |
-
2022
- 2022-11-09 CN CN202211400406.XA patent/CN115583340A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208102337U (en) * | 2018-05-03 | 2018-11-16 | 成都云翅科技有限公司 | A kind of telescopic unmanned plane flight support frame structure |
| CN209870747U (en) * | 2019-05-22 | 2019-12-31 | 龙岩学院 | Carry thing undercarriage and many rotor unmanned aerial vehicle |
| CN210258834U (en) * | 2019-06-06 | 2020-04-07 | 水利部交通运输部国家能源局南京水利科学研究院 | Retractable folds unmanned aerial vehicle |
| CN211581318U (en) * | 2019-12-03 | 2020-09-29 | 黄静文 | Agricultural unmanned aerial vehicle spray rod |
| CN113631480A (en) * | 2020-06-30 | 2021-11-09 | 深圳市大疆创新科技有限公司 | Multi-rotor unmanned aerial vehicle frame, agricultural plant protection unmanned aerial vehicle and control method |
| CN112140820A (en) * | 2020-08-27 | 2020-12-29 | 沈秋毅 | Automatic many rotors of folding water-air amphibious robot |
| CN113252294A (en) * | 2021-06-16 | 2021-08-13 | 西南交通大学 | Cross-sea bridge space wind speed and direction testing system and monitoring method |
| CN113335496A (en) * | 2021-06-19 | 2021-09-03 | 国网浙江省电力有限公司浦江县供电公司 | Be applied to unmanned aerial vehicle horn subassembly that electric power cruises |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106904270A (en) * | 2017-04-11 | 2017-06-30 | 国网辽宁省电力有限公司辽阳供电公司 | A kind of high stability six rotorcraft |
| CN116873249A (en) * | 2023-09-06 | 2023-10-13 | 沈阳迎新网络科技有限公司 | Unmanned aerial vehicle horn |
| CN116873249B (en) * | 2023-09-06 | 2023-11-07 | 沈阳迎新网络科技有限公司 | Unmanned aerial vehicle horn |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115583340A (en) | Variable-configuration multi-rotor unmanned aerial vehicle and control method thereof | |
| EP3632793B1 (en) | Unmanned aerial vehicle and landing gear thereof | |
| CN107089107B (en) | The vehicles | |
| US6705568B2 (en) | Variable area wing aircraft and method | |
| CN108674651B (en) | Flapping wing device and flapping wing machine | |
| CN106143889A (en) | A kind of undercarriage is as the quadrotor of handgrip | |
| CN106218877A (en) | The dynamic many rotors plant protection unmanned plane during flying pose adjustment changeable device of oil | |
| CN113277062A (en) | Telescopic wing, wing interval adjusting module, aircraft and control method | |
| CN110001936B (en) | Bird-like multi-rotor unmanned aerial vehicle landing gear | |
| WO2019041126A1 (en) | Frame and multi-rotor unmanned aerial vehicle | |
| US10661897B2 (en) | Vertical takeoff and landing aircraft having telescoping boom for lateral payload deployment counterbalanced through multi-axis thrust vectoring | |
| CN112849400B (en) | Sleeve locking type four-rotor unmanned aerial vehicle for barrel type carrying | |
| CN213168519U (en) | Air-ground dual-purpose unmanned aerial vehicle | |
| CN110356552B (en) | Direct-acting double-flapping-wing unmanned aerial vehicle with rotatable blades | |
| CN110294118B (en) | Low-resistance synchronous direct-acting type double-flapping-wing aircraft | |
| CN219008166U (en) | Unmanned aerial vehicle wheeled undercarriage and unmanned aerial vehicle | |
| WO2014177589A1 (en) | Aircraft for vertical take-off and landing with hinged and bendable wings | |
| EP3276163B1 (en) | Device for generating electric power using a high wind turbine | |
| CN216611596U (en) | Unmanned aerial vehicle | |
| CN212373672U (en) | Tilting vortex-spraying fixed-wing unmanned aerial vehicle | |
| CN114901551A (en) | Multi-rotor aircraft | |
| CN210942248U (en) | Foldable bionic flapping wing aircraft | |
| CN114180041A (en) | But many rotors unmanned vehicles of barrel delivery | |
| CN206039943U (en) | Unmanned aerial vehicle training frame extending structure | |
| CN212125518U (en) | Distributed propulsion apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |