CN117902079A

CN117902079A - Unmanned aerial vehicle horn of variable wheelbase

Info

Publication number: CN117902079A
Application number: CN202410104238.2A
Authority: CN
Inventors: 鹿迎; 朱效洲; 姚雯; 郄志鹏; 周颉鑫
Original assignee: National Defense Technology Innovation Institute PLA Academy of Military Science
Current assignee: National Defense Technology Innovation Institute PLA Academy of Military Science
Priority date: 2023-12-25
Filing date: 2024-01-25
Publication date: 2024-04-19

Abstract

The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle arm with a variable wheelbase. When the unmanned aerial vehicle needs to be switched into a long wheelbase state, the locking piece is controlled to enable the plug connector to be inserted into the first cavity of the first horn and the second cavity of the second horn, and therefore the first horn and the second horn can be fixed on the same straight line through the locking piece. When the unmanned aerial vehicle needs to be switched into a short wheelbase state, the locking piece is controlled to enable the plug connector to be separated from the second cavity of the second horn, and the second horn is rotated to the upper portion of the first horn, so that the first horn and the second horn are in a folding state. Adopt above-mentioned structural design, can make unmanned aerial vehicle's horn can freely switch the length of horn under the weather environment of difference to can adapt to different weather environment, with the anti-wind ability and the flexibility of improvement unmanned aerial vehicle in the flight, and then be convenient for control unmanned aerial vehicle.

Description

Unmanned aerial vehicle horn of variable wheelbase

Technical Field

The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle arm with a variable wheelbase.

Background

Along with the continuous development of modern control, artificial intelligence and other technologies, unmanned aerial vehicles are increasingly widely applied to various fields of industrial production, military, agriculture and the like, and the types and styles of unmanned aerial vehicles also show diversified trends. The rotor unmanned aerial vehicle is used as an important component in an unmanned aerial vehicle system, and has the characteristics of flexibility, hoverability and the like.

In the actual use process, the rotor unmanned aerial vehicle needs to operate in various severe weather environments, such as windy weather. However, due to structural limitation of the horn of the rotor unmanned aerial vehicle in the related art, the rotor unmanned aerial vehicle has poor adaptability to weather environment, so that when the rotor unmanned aerial vehicle works in windy weather, the problem that the wind resistance and the flexibility cannot be considered exists, and the rotor unmanned aerial vehicle is not easy to control.

Disclosure of Invention

In order to solve part or all of the technical problems in the prior art, the invention provides an unmanned aerial vehicle arm with a variable wheelbase.

The technical scheme of the embodiment of the application is as follows:

an unmanned aerial vehicle horn of variable wheelbase, comprising:

The first horn, the first end of first horn links to each other with unmanned aerial vehicle, the second end of first horn is provided with first articulated joint, two lateral walls of first articulated joint all are provided with first square connecting piece, be provided with first cavity in the first square connecting piece, the both ends of length direction of first square piece all are provided with first opening that is linked together of first cavity; the bottom surface of the first hinge joint is provided with a connecting lug at a position close to the end head;

The first end of the second horn is provided with a second hinge joint, two side walls of the second hinge joint are respectively provided with a second square connecting piece, a second cavity is arranged in the second square connecting piece, and two ends of the second square connecting piece in the length direction are respectively provided with a second opening communicated with the second cavity; the outer diameters of the second cavity, the first cavity, the second opening and the first opening are equal and are on the same straight line; the bottom surface of the second hinge joint is provided with a hinge plate close to the end head, and the hinge plate is positioned between the connecting lugs and is hinged with the connecting lugs; a rotor wing is arranged at the second end of the second horn;

The locking piece, the locking piece includes the connecting rod and sets up the plug connector at connecting rod both ends, the length of connecting rod with the length of first square connecting piece and the square connecting piece of second equals, the plug connector slide set up in first cavity and in the second cavity.

In some possible implementations, the plug is further provided with a positioning bolt;

The positioning bolt is vertically arranged on the plug connector;

The side wall of the first square connecting piece is provided with a waist hole communicated with the first cavity, the length of the waist hole is smaller than that of the first square connecting piece, and the width of the waist hole is smaller than that of the first square connecting piece;

The screw rod section of positioning bolt is located in the waist hole, the external diameter of screw rod section with the width looks adaptation in waist hole, positioning bolt's nut head with the lateral wall of first square connecting piece contacts.

In some possible implementations, the connecting rod is further provided with a drive bolt;

the driving bolt is arranged in the middle of the connecting rod, and the driving bolt is mutually perpendicular to the connecting rod;

the bottom surface of the first hinge joint is provided with a connecting protrusion at a position far away from the end head, the connecting protrusion is provided with a shaft hole along the thickness direction, and the axis of the shaft hole is parallel to the axis of the first horn;

The screw rod section of the driving bolt is arranged in the shaft hole in a sliding mode, and a spring is arranged between the nut head of the driving bolt and the connecting protrusion.

In some possible implementations, the connecting lugs are hingedly connected to the hinge plates by detachably connected locking pins.

In some possible implementations, the second joint is of equal outer diameter and of uniform shape to the first joint.

In some possible implementations, the plug is a 匚 type;

the length of a first transverse strip of the plug connector is longer than that of a second transverse strip, wherein the first transverse strip is positioned above the second transverse strip;

the length of the first transverse bar is equal to the sum of the lengths of the first cavity and the second cavity;

the first transverse strip is inserted into the first cavity and the second cavity through the first opening and the second opening, so that the first horn and the second horn are fixed on the same straight line.

In some possible implementations, the 匚 type member is detachably connected with the connecting rod through bolts.

In some possible implementations, two ends of the first hinge joint in the length direction are respectively provided with a first inserting hole and a first side plate, the first hinge joint is inserted on the first horn through the first inserting holes, and the second end face of the first horn is abutted against the inner wall face of the first side plate;

The two ends of the second hinge joint in the length direction are respectively provided with a second inserting hole and a second side plate, the second hinge joint is inserted on the second arm through the second inserting holes, and the first end face of the second arm is abutted against the inner wall face of the second side plate; wherein,

The first hinge joint is in interference fit with the first arm, and the second hinge joint is in interference fit with the second arm.

In some possible implementations, the longitudinal sections of the first hinge joint and the second hinge joint are in a convex shape;

the middle parts of the first hinge joint and the second hinge joint are respectively provided with a first inserting hole and a second inserting hole;

The two sides of the first hinge joint and the second hinge joint are respectively provided with the first opening and a first cavity communicated with the first opening, and the second opening and a second cavity communicated with the second opening.

In some possible implementations, a folding mount is also included;

The folding fixing piece is inserted into the first cavity through the first opening and inserted into the second cavity through the second opening, and is used for keeping the first arm and the second arm in a folding state.

The unmanned aerial vehicle arm with the variable wheelbase provided by the embodiment of the application has at least the following beneficial effects:

In the unmanned aerial vehicle arm with the variable wheelbase provided by the embodiment of the application, the connecting lug is arranged on the first hinge joint of the first arm, and the hinge plate is arranged on the second hinge joint of the second arm, so that the first arm and the second arm can rotate relatively. When the unmanned aerial vehicle needs to be switched into a long wheelbase state, the locking piece is controlled to enable the plug connector to be inserted into the first cavity of the first horn and the second cavity of the second horn, and therefore the first horn and the second horn can be fixed on the same straight line through the locking piece. When the unmanned aerial vehicle needs to be switched into a short wheelbase state, the locking piece is controlled to enable the plug connector to be separated from the second cavity of the second horn, and the second horn is rotated to the upper portion of the first horn, so that the first horn and the second horn are in a folding state. Adopt above-mentioned structural design, can make unmanned aerial vehicle's horn can freely switch the length of horn under the weather environment of difference to can adapt to different weather environment, with the anti-wind ability and the flexibility of improvement unmanned aerial vehicle in the flight, and then be convenient for control unmanned aerial vehicle.

Drawings

The accompanying drawings, which are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application.

In the drawings:

Fig. 1 is a schematic structural diagram of a variable-wheelbase unmanned aerial vehicle arm in a long-wheelbase state according to an embodiment of the present application;

Fig. 2 is a schematic structural diagram of a first horn of a variable wheelbase unmanned aerial vehicle horn according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a second horn of the variable wheelbase unmanned aerial vehicle horn according to an embodiment of the present application;

fig. 4 is a schematic structural view of a wheelbase-variable unmanned aerial vehicle arm in a bent state according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a variable wheelbase unmanned aerial vehicle arm in a short wheelbase state according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a locking member of a wheelbase-variable unmanned aerial vehicle arm according to an embodiment of the present application.

Reference numerals illustrate:

100. a first horn; 110. a first joint; 120. a first square connector; 130. a first cavity; 140. a first opening; 150. a connecting lug; 160. waist holes; 170. a connection protrusion; 180. a shaft hole;

200. a second horn; 210. a second joint; 220. a second square connector; 230. a second cavity; 240. a second opening; 150. a hinged plate; 160. a rotor; 170. a locking pin;

300. A locking member; 310. a connecting rod; 320. a plug-in component; 330. a first transverse bar; 340. a second transverse bar; 350. positioning bolts; 360. driving a bolt; 370. a spring;

400. Folding the fixing piece.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments of the present invention and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. 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.

In the actual use process, the rotor unmanned aerial vehicle needs to operate in various severe weather environments, such as windy weather. However, the inventors found that the horn of the rotary-wing unmanned aerial vehicle in the related art is a fixed structure, that is, a certain wheelbase of the horn. This makes rotor unmanned aerial vehicle to weather environment's adaptability relatively poor, leads to its when operation under the windy weather, has the unable problem that gives attention to with the flexibility of anti-wind ability, and then is difficult to control it.

In view of this, an embodiment of the present application provides an unmanned aerial vehicle arm with a variable wheelbase, where in the unmanned aerial vehicle arm with a variable wheelbase provided in the embodiment of the present application, a connection lug is provided on a first hinge of a first arm, and a hinge plate is provided on a second hinge of a second arm, so that the first arm and the second arm can rotate relatively. When the unmanned aerial vehicle needs to be switched into a long wheelbase state, the locking piece is controlled to enable the plug connector to be inserted into the first cavity of the first horn and the second cavity of the second horn, and therefore the first horn and the second horn can be fixed on the same straight line through the locking piece. When the unmanned aerial vehicle needs to be switched into a short wheelbase state, the locking piece is controlled to enable the plug connector to be separated from the second cavity of the second horn, and the second horn is rotated to the upper portion of the first horn, so that the first horn and the second horn are in a folding state. Adopt above-mentioned structural design, can make unmanned aerial vehicle's horn can freely switch the length of horn under the weather environment of difference to can adapt to different weather environment, with the anti-wind ability and the flexibility of improvement unmanned aerial vehicle in the flight, and then be convenient for control unmanned aerial vehicle.

As shown in fig. 1 to 6, the variable-wheelbase unmanned aerial vehicle arm provided by the embodiment of the application comprises a first arm 100, a second arm 200 and a locking piece 300, wherein the first arm 100 and the second arm 200 are structures for connecting an unmanned aerial vehicle body and a rotor wing 160 together. The first arm 100 and the second arm 200 are hinged to each other, so that the first arm 100 and the second arm 200 can rotate relatively to realize the function of adjusting the wheelbase of the arms. The locking member 300 is disposed between the first horn 100 and the second horn 200, and the locking member 300 is used to fix the first horn 100 and the second horn 200 together, so that the horns of the unmanned aerial vehicle can maintain a fixed wheelbase. The first horn 100, the second horn 200 and the locking member 300 together form an unmanned aerial vehicle horn with a variable wheelbase in the embodiment of the present application.

The first horn 100 includes a first end connected with the unmanned aerial vehicle body and a second end provided with a first hinge 110, the first end of the first horn 100 is fixedly connected with the unmanned aerial vehicle body, and the second end of the first horn 100 is hinged with the second horn 200 through the first hinge 110. As shown in fig. 2, first square connectors 120 are provided on both sidewalls of the first joint 110 in the length direction, the first square connectors 120 extend in the length direction, and the length of the first square connectors 120 may be equal to the length of the first joint 110. The first square connector 120 may be a connector with a rectangular longitudinal section, a first cavity 130 is disposed in the first square connector 120, and first openings 140 communicating with the first cavity 130 are disposed at ends of two ends of the first square connector 120. In addition, a connecting lug 150 is provided on the bottom surface of the first hinge joint 110 near the second end of the first horn 100.

The second horn 200 includes a first end provided with a second joint 210 and a second end provided with a rotor wing 160, and the first end of the second horn 200 is hinged to the first joint 110 of the first horn 100 through the second joint 210, so that the second horn 200 can rotate relative to the first horn 100; a second end of the second horn 200 is provided with a rotor 160 for providing flight power. As shown in fig. 3, second square connectors 220 are provided on both sidewalls of the second joint 210 in the length direction, the second square connectors 220 extend in the length direction, and the length of the second square connectors 220 may be equal to the length of the second joint 210. The second square connector 220 may be a connector with a rectangular longitudinal section, the second square connector 220 is provided with a second cavity 230 inside, and the ends of the two ends of the second square connector 220 are provided with second openings 240 communicating with the second cavity 230. In addition, the bottom surface of the second hinge 210 is provided with a hinge plate 150 near the first end of the second arm 200.

In the present embodiment, as shown in fig. 1, the outer diameter of the first cavity 130 is equal to the outer diameter of the second cavity 230, the outer shapes of the first opening 140 and the first cavity 130 are identical to the outer shapes of the second opening 240 and the second cavity 230, and the axes of the first cavity 130 and the second cavity 230 are aligned. The connection lug 150 includes two ear plates symmetrically disposed at two sides of the first hinge 110, two outer side surfaces of the hinge plate 150 are respectively contacted with inner side surfaces of the two ear plates, and the two ear plates and the hinge plate 150 can be hinged to each other by the locking pin 170, so that the above structural design realizes the function of rotating the second arm 200 relative to the first arm 100. In some possible implementations, the hinge tab 150 and the hinge plate 150 can be hingedly connected by a removably connected locking pin 170.

The locking member 300 includes a connection rod 310 and connectors 320 disposed at both ends of the connection rod 310, as shown in fig. 5, the connection rod 310 may be a cylindrical rod structure having a certain length, and the length of the connection rod 310 is equal to the distance between the first square connectors 120 and the distance between the second square connectors 220 at both sides. The connectors 320 are disposed at the ends of the two ends of the connecting rod 310, the outer diameters of the connectors 320 are equal to the outer diameters of the first opening 140 and the first cavity 130 and the second opening 240 and the second cavity 230, and the shapes of the connectors 320 are identical to the shapes of the first opening 140 and the first cavity 130 and the second opening 240 and the second cavity 230. Accordingly, the connectors 320 may be respectively inserted into the first cavity 130 through the first openings 140 and the second cavity 230 through the second openings 240. In the present embodiment, the connectors 320 at two ends of the connecting rod 310 are respectively inserted into the first cavity 130 and the second cavity 230 at two sides of the first horn 100 and the second horn 200, so as to achieve a locking function.

In the unmanned aerial vehicle arm with the variable wheelbase provided by the embodiment of the application, the first hinge joint 110 of the first horn 100 is provided with the connecting lug 150, and the second hinge joint 210 of the second horn 200 is provided with the hinge plate 150, so that the first horn 100 and the second horn 200 can relatively rotate. When the unmanned aerial vehicle needs to be switched to the long wheelbase state, the locking piece 300 is controlled so that the plug connector 320 is inserted into the first cavity 130 of the first horn 100 and the second cavity 230 of the second horn 200, and therefore the first horn 100 and the second horn 200 can be fixed on the same straight line through the locking piece 300. When the unmanned aerial vehicle needs to be switched to the short wheelbase state, the locking piece 300 is controlled to enable the plug connector 320 to be separated from the second cavity 230 of the second horn 200, and the second horn 200 is rotated to the upper side of the first horn 100, so that the first horn 100 and the second horn 200 are in the folded state. Adopt above-mentioned structural design, can make unmanned aerial vehicle's horn can freely switch the length of horn under the weather environment of difference to can adapt to different weather environment, with the anti-wind ability and the flexibility of improvement unmanned aerial vehicle in the flight, and then be convenient for control unmanned aerial vehicle.

In some embodiments, a waist hole 160 is disposed on the sidewall of each first square connector 120 and is in communication with the first cavity 130, the waist hole 160 is located at the center of the sidewall, the length of the waist hole 160 is smaller than the length of the first square connector 120, and the width of the waist hole is smaller than the width of the sidewall of the first square connector 120. In contrast, a positioning bolt 350 is provided on the plug 320, the positioning bolt 350 comprising a screw section and a nut head. As shown in fig. 1, the shank portion of the positioning bolt 350 is positioned in the waist hole 160, and the nut head of the positioning bolt 350 is in contact with the side wall of the first square connector 120.

In a specific implementation, when the unmanned aerial vehicle needs to be switched to the long wheelbase state, the plug connector 320 of the locking member 300 can be inserted into the first cavity 130 and the second cavity 230, and the positioning bolt 350 penetrates through the waist hole 160 to be connected with the plug connector 320, so that the nut head of the positioning bolt 350 can be in contact with the side wall of the first square connecting member 120, and the locking member 300 can be ensured to be fixed in the first cavity 130 and the second cavity 230, and then the first horn 100 and the second horn 200 are fixed on the same straight line through the locking member 300. In the case where it is required to switch the unmanned aerial vehicle to the short wheelbase state, as shown in fig. 4, the positioning bolt 350 is unscrewed from the side wall of the first square connector 120, and then the locking member 300 is controlled so that the socket connector 320 is separated from the second cavity 230. By adopting the structural design, the stability of the unmanned aerial vehicle arm in the long wheelbase state can be ensured.

In some embodiments, a driving bolt 360 is further disposed on the connection rod 310 of the socket connector 320, and as shown in fig. 6, the driving bolt 360 is vertically disposed at the middle of the connection rod 310. In contrast, a connection protrusion 170 is provided at a position of the bottom surface of the first hinge joint 110 away from the second end, the connection protrusion 170 is provided with a shaft hole 180 in the thickness direction, and the axis of the driving bolt 360 is on the same line as the axis of the shaft hole 180. In this embodiment, the shank segment of the drive bolt 360 is located within the shaft bore 180 of the coupling boss 170, and a spring 370 is also provided between the coupling boss 170 and the nut head of the drive bolt 360. By adopting the above structural design, the locking piece 300 can have the function of automatic rebound, so that the wheelbase of the horn of the unmanned aerial vehicle can be conveniently switched.

In some embodiments, the first hinge 110 has a hollow structure, and two ends of the first hinge 110 in the length direction are respectively provided with a first plugging hole and a first side plate, which are communicated with the interior of the first hinge. The second end of the first arm 100 is inserted into the first hinge 110 through the first insertion hole and abuts against the first side board. Similarly, the second hinge 210 has a hollow structure, and two ends of the second hinge 210 in the length direction are respectively provided with a second plugging hole and a second side plate which are communicated with the inside of the second hinge. The first end of the second arm 200 is inserted into the second hinge 210 through the second insertion hole, and abuts against the second side plate.

In a specific implementation, the first hinge joint 110 and the second hinge joint 210 may be detached from the first horn 100 and the second horn 200 according to actual use conditions of the first horn 100 and the second horn 200, so as to perform regular maintenance, thereby ensuring that the unmanned aerial vehicle can be used normally. In addition, the first hinge 110 and the first horn 100 and the second hinge 210 and the second horn 200 may be in interference fit, so that the structural strength of the unmanned aerial vehicle can be ensured, and accidents occurring during the flight of the unmanned aerial vehicle can be avoided.

In some embodiments, the longitudinal sections of the first joint 110 and the second joint 210 are both convex. The first and second hinges 110 and 210 have a first and second insertion holes in the middle, and the first and second hinges 110 and 210 have a first opening 140, a first cavity 130 connected thereto, a second opening 240, and a second cavity 230 connected thereto, respectively, on both sides of the first and second hinges 110 and 210.

In some embodiments, the plug 320 may be a 匚 -type piece. As shown in fig. 6, the connector 320 includes a first lateral bar 330 and a second lateral bar 340, the first lateral bar 330 has a length greater than the second lateral bar 340, and the first lateral bar 330 is located above the second lateral bar 340. In the present embodiment, the length of the first transverse bar 330 is equal to the sum of the lengths of the first cavity 130 and the second cavity 230. This allows the connector 320 to be fully inserted into the first cavity 130 and the second cavity 230 when the unmanned aerial vehicle is in a long wheelbase state, thereby further improving the structural stability of the unmanned aerial vehicle arm. In addition, 匚 can be the structure of bolt detachable connection between type spare and the connecting rod 310, can be convenient for in time change the part that damages like this.

In some embodiments, as shown in fig. 5, a folding mount 400 is also included. The folding fixing 400 is inserted into the first cavity 130 through the first opening 140 and inserted into the second cavity 230 through the second opening 240, and the folding fixing 400 is used for keeping the first horn 100 and the second horn 200 in a folded state.

It should be noted that in this document, 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. In this context, "front", "rear", "left", "right", "upper" and "lower" are referred to with respect to the placement state shown in the drawings.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting thereof; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An unmanned aerial vehicle horn of variable wheelbase, characterized by comprising:

2. The variable wheelbase unmanned aerial vehicle arm of claim 1, wherein the plug is further provided with a positioning bolt;

The positioning bolt is vertically arranged on the plug connector;

3. The variable wheelbase unmanned aerial vehicle arm of claim 1, wherein the connecting rod is further provided with a drive bolt;

4. The variable wheelbase unmanned aerial vehicle arm of claim 1, wherein the connection lugs are hingedly connected to the hinge plates by detachably connected locking pins.

5. The variable wheelbase unmanned aerial vehicle arm of claim 1, wherein the second joint is of equal outer diameter and of uniform profile to the first joint.

6. The variable wheelbase unmanned aerial vehicle arm of claim 1, wherein the connector is a 匚 -type connector;

7. The variable wheelbase unmanned aerial vehicle arm of claim 6, wherein the 匚 is configured for removable connection with the connecting rod by a bolt.

8. The unmanned aerial vehicle arm with the variable wheelbase according to claim 1, wherein a first inserting hole and a first side plate are respectively arranged at two ends of the first hinge joint in the length direction, the first hinge joint is inserted on the first arm through the first inserting hole, and the second end face of the first arm is abutted against the inner wall face of the first side plate;

9. The variable wheelbase unmanned aerial vehicle arm of claim 8, wherein the longitudinal sections of the first and second joints are convex;

10. The variable wheelbase unmanned aerial vehicle arm of claim 1, further comprising a folding mount;