CN118182887A - Anti-collision device of unmanned aerial vehicle for carrying objects - Google Patents
Anti-collision device of unmanned aerial vehicle for carrying objects Download PDFInfo
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- CN118182887A CN118182887A CN202410457030.9A CN202410457030A CN118182887A CN 118182887 A CN118182887 A CN 118182887A CN 202410457030 A CN202410457030 A CN 202410457030A CN 118182887 A CN118182887 A CN 118182887A
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- 230000007246 mechanism Effects 0.000 claims abstract description 53
- 230000008093 supporting effect Effects 0.000 claims abstract description 18
- 238000009434 installation Methods 0.000 claims description 9
- 229910001220 stainless steel Inorganic materials 0.000 claims description 9
- 239000010935 stainless steel Substances 0.000 claims description 9
- 230000002457 bidirectional effect Effects 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 14
- 238000000034 method Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 10
- 230000006378 damage Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000002195 synergetic effect Effects 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/30—Constructional aspects of UAVs for safety, e.g. with frangible components
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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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
- B64U10/13—Flying platforms
- B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/50—Foldable or collapsible UAVs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
- B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
- B64U30/299—Rotor guards
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to the technical field of unmanned aerial vehicle anticollision, and discloses an unmanned aerial vehicle collision avoidance device, which comprises a machine body and a plurality of mounting rods, wherein each mounting rod is provided with a rotor wing assembly; the device also comprises a plurality of groups of horizontal unfolding mechanisms, wherein each horizontal unfolding mechanism comprises a supporting piece, two arc-shaped rotating pieces and two driving pieces; the two driving parts are used for driving the two arc-shaped rotating parts to move respectively so that the two arc-shaped rotating parts are in a furled state or an opened state; when all the arc-shaped rotating parts are in an open state, all the arc-shaped rotating parts are enclosed to form a circular closed structure; the anti-collision mechanism comprises two anti-collision nets and two groups of lifting driving mechanisms, and the two groups of lifting driving mechanisms respectively drive the two anti-collision nets to ascend or descend so that the anti-collision nets are in an anti-collision state or a release anti-collision state; the invention can realize the comprehensive protection of the fuselage and the rotor wing, and the design not only improves the flight safety of the unmanned aerial vehicle in a complex environment, but also prolongs the service life of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle collision avoidance, in particular to an object-carrying unmanned aerial vehicle collision avoidance device.
Background
Unmanned aerial vehicle is an aerial robot that can long-range or autonomous control flight, along with development of science and technology and social demand, unmanned aerial vehicle has gradually carried and transported article's ability, and according to the difference of its model, the load also differs. The small unmanned aerial vehicle can carry hundreds of grams of load, while the large unmanned aerial vehicle can carry thousands of kilograms of goods. Because of its high mobility, it can be applied in a variety of fields and in a variety of complex environments.
Among the related art, chinese patent publication No. CN111792049B, the name is an unmanned aerial vehicle buffer stop and unmanned aerial vehicle, adopts the anticollision net to protect unmanned aerial vehicle's rotor, adopts rotary rod subassembly control anticollision net's opening and shutting, opens the anticollision net under the operating mode that needs to protect the rotor, packs up the anticollision net under the operating mode that need not protect the rotor, can realize the protection to the rotor, does not increase unmanned aerial vehicle's volume again excessively. And the structure is succinct, and simple to operate is on unmanned aerial vehicle, and is reliable to the protective effect of rotor. The safety coefficient and the anti-collision performance of the electric power overhaul device are higher, and the electric power overhaul device works more reliably when the electric power overhaul device performs tasks such as electric power overhaul in a complex environment. However, this device has the following problems: adopt crashproof net to protect unmanned aerial vehicle's rotor, adopt rotary rod subassembly control crashproof net's opening and shutting, open crashproof net under the operating mode that needs to protect the rotor, it can only protect the rotor, and because there is great interval between the rotary rod subassembly, can't protect the fuselage, in addition, crashproof net one end and rotor fixed connection, when crashproof net receives violent striking to damage, can't change crashproof net, dismantle inconveniently.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention aims to provide the collision avoidance device of the unmanned aerial vehicle, which can realize comprehensive protection of a fuselage and a rotor through the synergistic effect of the installation rod and the rotor assembly of the annular array, the horizontal unfolding mechanism, the arc-shaped rotating piece and the vertical movement of the collision avoidance net.
The invention adopts the following technical scheme:
The invention provides an anti-collision device of an unmanned aerial vehicle, which comprises a body and a plurality of mounting rods which are annularly arrayed along the circumferential direction of the body, wherein a rotor wing assembly is arranged on each mounting rod; further comprises:
The plurality of groups of horizontal unfolding mechanisms are correspondingly arranged on each mounting rod, and each horizontal unfolding mechanism comprises a supporting piece, two arc-shaped rotating pieces and two driving pieces; the first end of the supporting piece is fixedly arranged at one end, far away from the machine body, of the mounting rod or the rotor wing assembly, and the second end of the supporting piece extends outwards; the first ends of the two arc-shaped rotating pieces are respectively hinged to the second ends of the supporting pieces, the second ends of the two arc-shaped rotating pieces are respectively hinged to the output shafts of the two driving pieces, and the two driving pieces are respectively hinged to the two opposite side walls of the mounting rod; the two driving parts are used for respectively driving the two arc-shaped rotating parts to move towards the directions approaching to or separating from each other so as to enable the two arc-shaped rotating parts to be in a furled state or an opened state; when the two arc rotating parts of all the horizontal unfolding assemblies are in an open state, all the arc rotating parts are enclosed to form a circular closed structure;
The anti-collision mechanism comprises two anti-collision nets and two groups of lifting driving mechanisms, the two groups of anti-collision nets are respectively arranged on the two arc-shaped rotating pieces, and the two groups of lifting driving mechanisms are respectively arranged on the two arc-shaped rotating pieces; the two groups of lifting driving mechanisms respectively drive the two anti-collision nets to ascend or descend along the vertical direction so that the anti-collision nets are in an anti-collision state or an anti-collision state; when all the anti-collision nets are in an anti-collision state, all the anti-collision nets are enclosed to form a cylindrical anti-collision structure.
In the first aspect of the present invention, as an alternative embodiment, the two arc-shaped rotating members are a first arc-shaped rotating member and a second arc-shaped rotating member, respectively; the first connecting block is installed to second arc rotation piece one end that is close to first arc rotation piece, the second connecting block is installed to first arc rotation piece one end that is close to second arc rotation piece, first connecting block and second connecting block are overlapping setting, first connecting block and second connecting block coaxial hinge in support piece's second end.
In a first aspect of the present invention, as an alternative embodiment, the two sets of anti-collision nets are a first anti-collision net and a second anti-collision net, respectively; the bottoms of the first anti-collision net and the second anti-collision net are respectively provided with a bottom plate, one side, far away from the machine body, of the bottom plate is symmetrically clamped with a fixed block, the other side of the bottom plate is clamped with a limiting piece matched with the fixed block, and the limiting piece is rotationally connected with an adjusting screw rod; the limiting piece comprises a limiting block, a connecting plate is arranged at the bottom of the limiting block, the adjusting screw is rotatably arranged on the connecting plate, and the adjusting screw extends to the outside of one side of the mounting piece far away from the machine body; the first arc-shaped rotating piece and the second arc-shaped rotating piece are respectively provided with a sliding groove matched with the upper connecting plate.
In a first aspect of the present invention, as an optional embodiment, the lifting driving mechanism includes a lifting frame and a connecting member, and an upper end of the lifting frame is detachably connected to the anti-collision net through the connecting member.
In the first aspect of the present invention, as an optional embodiment, the lifting driving mechanism further includes a mounting block, a first slider, a second slider, a screw rod, a guide rod, a driving motor, and a moving slot; the upper end and the lower end of the lifting frame are symmetrically provided with the mounting blocks respectively, the upper end of the upper mounting block is provided with the first sliding block, and the lower end of the lower mounting block is provided with the second sliding block; the first sliding block above is arranged on the connecting piece in a sliding way, the screw rod is arranged at the bottom of the lifting frame, the second sliding block is symmetrically sleeved on the screw rod, and the screw rod is a bidirectional screw rod; the guide rod is arranged below the screw rod, penetrates through the two second sliding blocks, and a driving motor is arranged at one end of the screw rod; the first arc rotating piece and the second arc rotating piece are respectively provided with a moving groove matched with the upper screw rod of the first arc rotating piece, the two second sliding blocks on the same side are arranged in the moving groove in a sliding mode, and the guide rod is arranged in the moving groove.
In a first aspect of the present invention, as an optional embodiment, a second cross bar is respectively installed above one side, close to the machine body, of the first anti-collision net and the second anti-collision net, a first cross bar is linearly arranged below the second cross bar along the vertical direction, and the second cross bar is arranged at one side of the connecting piece; the first anti-collision net and the second anti-collision net are stainless steel nets and can be folded in the vertical direction, the first cross rod and the second cross rod on the first anti-collision net are welded and installed on one side of the first anti-collision net, which is close to the engine body, the first cross rod and the second cross rod on the second anti-collision net are welded and installed on one side of the second anti-collision net, which is close to the engine body, the first layer of anti-collision is carried out on the engine body and the rotor assembly through the stainless steel nets and the first cross rod and the second cross rod, and the second layer of anti-collision is carried out on the engine body and the rotor assembly through the lifting frame.
In a first aspect of the present invention, as an optional embodiment, the connecting piece includes a connecting rod, external threads are respectively provided at two ends of the outer portion of the connecting rod, connecting nuts are symmetrically connected to the connecting rod, a collar is provided at one side of the connecting nut close to the connecting rod, the collar is sleeved on the connecting rod, and two collars are symmetrically installed on the second cross rod; two first sliding blocks above the lifting frame are symmetrically sleeved on the connecting rod.
In a first aspect of the invention, as an alternative embodiment, the collar is designed as a one-piece structure with the second rail.
In a first aspect of the present invention, as an optional embodiment, the height of the first arc rotating member is lower than that of the second arc rotating member, the first arc rotating member and the second connecting block are in an integral structure, the second arc rotating member and the first connecting block are in an integral structure, and a space formed by a height difference between the first arc rotating member and the second arc rotating member is used for accommodating the folded first anti-collision net, so that the first arc rotating member drives the first anti-collision net to fold, and the first arc rotating member and the second arc rotating member are not collided with each other when the first arc rotating member drives the first anti-collision net to fold, thereby avoiding influence on folding of the first arc rotating member and the second arc rotating member.
In a first aspect of the invention, as an alternative embodiment, the bottom of the machine body is provided with a landing gear for supporting the machine body when the machine body is lowered.
The invention has the following beneficial effects:
according to the anti-collision device for the unmanned aerial vehicle, in practical application, when the unmanned aerial vehicle needs to take off to execute tasks, the driving parts of all the horizontal unfolding mechanisms drive the two arc-shaped rotating parts to move in the directions away from each other at the same time, so that all the arc-shaped rotating parts are in an open state and are enclosed to form a circular closed structure. Simultaneously, all crashproof nets of crashproof mechanism rise along vertical direction, make crashproof net be in crashproof state to enclose and close and form cylindric crashproof structure. Like this, unmanned aerial vehicle is at the in-process of carrying out the task, no matter meet the obstacle from which direction, can all carry out effectual buffering and protection through crashproof net to avoid unmanned aerial vehicle whole (including organism and rotor) and the damage that the obstacle direct collision caused. When unmanned aerial vehicle accomplishes the task and needs to descend, the driving piece of all horizontal expansion mechanisms drives two arc rotation pieces simultaneously and removes towards the direction that is close each other, makes all arc rotation pieces all be in the state of drawing in. Simultaneously, all anti-collision nets of anti-collision mechanisms descend along the vertical direction, so that the anti-collision nets are in an anti-collision state. Therefore, the unmanned aerial vehicle can smoothly land, and the anti-collision device can not cause any interference to the landing of the unmanned aerial vehicle.
The mounting bars of this embodiment are arranged in a circumferential array along the machine body, ensuring that there is sufficient space around each rotor assembly to mount the anti-collision mechanism. The arrangement not only provides uniform flight power, but also enables the anti-collision device to cover the fuselage and the rotor in all directions, thereby providing effective protection when approaching obstacles in any direction. When the driving part of the horizontal unfolding mechanism drives the arc-shaped rotating parts to move in the directions away from each other, the arc-shaped rotating parts can be unfolded to form a circular closed structure. The annular structure, when fully deployed, has a diameter large enough to cover the outer edges of the rotor, thereby protecting the rotor from side impacts. At the same time, since the arcuate rotor is attached to the distal end of the mounting bar or rotor assembly, they also provide a degree of protection to the sides of the fuselage. The anti-collision net can ascend or descend along the vertical direction so as to adapt to the conditions of different flying heights and obstacles. When the anti-collision net is in an anti-collision state, the cylindrical anti-collision structure formed by enclosing the anti-collision net not only covers the top and the bottom of the unmanned aerial vehicle, but also expands the protection range to the side surfaces of the fuselage and the rotor wing through the cooperation of the arc rotating piece and the horizontal unfolding mechanism. The omnibearing anti-collision structure can obviously reduce the possibility of collision between the unmanned aerial vehicle and an obstacle in flight, thereby protecting the fuselage and the rotor wing from damage. In summary, according to the embodiment, through the synergistic effect of the technical characteristics of the annular array, such as the mounting rod and the rotor assembly, the horizontal unfolding mechanism, the arc-shaped rotating piece, the vertical movement of the anti-collision net and the like, the anti-collision device for the unmanned aerial vehicle can realize comprehensive protection of the fuselage and the rotor, and the design not only improves the flight safety of the unmanned aerial vehicle in a complex environment, but also prolongs the service life of the unmanned aerial vehicle.
Drawings
The accompanying drawings, which are included to provide a further understanding 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.
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective in accordance with the present invention;
FIG. 3 is a schematic view of the first and second anti-collision nets according to the present invention after being lifted;
FIG. 4 is a schematic view of the structure of FIG. 3 from another perspective in accordance with the present invention;
FIG. 5 is a schematic structural diagram of a first connecting block and a second connecting block according to the present invention;
FIG. 6 is a schematic view of the structure of FIG. 5 from another perspective in accordance with the present invention;
FIG. 7 is a schematic view of the structure of the lifting frame after lifting;
FIG. 8 is a schematic diagram of the structure of the screw and the second slider of the present invention;
FIG. 9 is a schematic view of the structure of FIG. 8 from another perspective in accordance with the present invention;
FIG. 10 is a schematic view of the second cross bar and connecting rod of the present invention after disassembly;
fig. 11 is a schematic diagram of the structure of fig. 9 a according to the present invention.
In the figure, 1, a machine body; 2. landing gear; 3. a mounting rod; 4. a rotor assembly; 5. a first arc-shaped rotating member; 6. a second arc-shaped rotating member; 7. a first connection block; 8. a second connection block; 9. a support; 10. a first anti-collision net; 11. a second anti-collision net; 12. a bottom plate; 13. a fixed block; 14. a limiting block; 15. a connecting plate; 16. adjusting a screw; 17. a chute; 18. a driving member; 19. a first cross bar; 20. a second cross bar; 21. a collar; 22. a connecting rod; 23. a coupling nut; 24. a mounting block; 25. a first slider; 26. a second slider; 27. a lifting frame; 28. a screw rod; 29. a guide rod; 30. a driving motor; 31. and a moving groove.
Detailed Description
The present application will be further described with reference to the accompanying drawings and detailed description, wherein it is to be understood that, on the premise of no conflict, the following embodiments or technical features may be arbitrarily combined to form new embodiments. Materials and equipment used in this example are commercially available, except as specifically noted. Examples of embodiments are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements throughout or elements having like or similar functionality. The embodiments described below by referring to the drawings are exemplary only for explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present application and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. In the description of the present application, the meaning of "a plurality" is two or more, unless specifically stated otherwise.
In the description of the present application, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be fixedly connected, or may be connected through an intermediary, or may be connected between two elements or may be an interaction relationship between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
The terms first, second and the like in the description and in the claims and in the above-described figures, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1-11, an embodiment of the present invention provides an anti-collision device for an unmanned aerial vehicle, which includes a body 1 and a plurality of mounting rods 3 annularly arrayed along a circumferential direction of the body 1, wherein each mounting rod 3 is provided with a rotor wing assembly 4; further comprises: a plurality of groups of horizontal unfolding mechanisms and a plurality of groups of anti-collision mechanisms;
Specifically, each mounting rod 3 is correspondingly provided with a group of horizontal unfolding mechanisms, and each horizontal unfolding mechanism comprises a supporting piece 9, two arc-shaped rotating pieces and two driving pieces 18; the first end of the supporting piece 9 is fixedly arranged at one end of the mounting rod 3 or the rotor wing assembly 4 far away from the machine body 1, and the second end of the supporting piece extends outwards; the first ends of the two arc-shaped rotating parts are respectively hinged to the second ends of the supporting parts 9, the second ends of the two arc-shaped rotating parts are respectively hinged to the output shafts of the two driving parts, and the two driving parts are respectively hinged to the two opposite side walls of the mounting rod 3; the two driving parts are used for respectively driving the two arc-shaped rotating parts to move towards the directions approaching to or separating from each other so as to enable the two arc-shaped rotating parts to be in a furled state or an opened state; when the two arc rotating parts of all the horizontal unfolding assemblies are in an open state, all the arc rotating parts are enclosed to form a circular closed structure; specifically, the driving member 18 is an electric telescopic rod.
Specifically, the anti-collision mechanism comprises two anti-collision nets and two groups of lifting driving mechanisms, wherein the two groups of anti-collision nets are respectively arranged on the two arc-shaped rotating pieces, and the two groups of lifting driving mechanisms are respectively arranged on the two arc-shaped rotating pieces; the two groups of lifting driving mechanisms respectively drive the two anti-collision nets to ascend or descend along the vertical direction so that the anti-collision nets are in an anti-collision state or a release anti-collision state; when all the anti-collision nets are in an anti-collision state, all the anti-collision nets are enclosed to form a cylindrical anti-collision structure.
On the basis of the structure, in practical application, when the unmanned aerial vehicle needs to take off to execute tasks, the driving parts of all horizontal unfolding mechanisms simultaneously drive the two arc-shaped rotating parts to move in the directions away from each other, so that all the arc-shaped rotating parts are in an open state and enclose to form a circular closed structure. Simultaneously, all crashproof nets of crashproof mechanism rise along vertical direction, make crashproof net be in crashproof state to enclose and close and form cylindric crashproof structure. Like this, unmanned aerial vehicle is at the in-process of carrying out the task, no matter meet the obstacle from which direction, can all carry out effectual buffering and protection through crashproof net to avoid unmanned aerial vehicle whole (including organism 1 and rotor) and the damage that the obstacle direct collision caused. When unmanned aerial vehicle accomplishes the task and needs to descend, the driving piece of all horizontal expansion mechanisms drives two arc rotation pieces simultaneously and removes towards the direction that is close each other, makes all arc rotation pieces all be in the state of drawing in. Simultaneously, all anti-collision nets of anti-collision mechanisms descend along the vertical direction, so that the anti-collision nets are in an anti-collision state. Therefore, the unmanned aerial vehicle can smoothly land, and the anti-collision device can not cause any interference to the landing of the unmanned aerial vehicle.
The mounting bars 3 of this embodiment are arranged in a circumferential array along the body 1, ensuring that there is sufficient space around each rotor assembly 4 to mount the anti-collision mechanism. The arrangement not only provides uniform flight power, but also enables the anti-collision device to cover the fuselage and the rotor in all directions, thereby providing effective protection when approaching obstacles in any direction. When the driving part of the horizontal unfolding mechanism drives the arc-shaped rotating parts to move in the directions away from each other, the arc-shaped rotating parts can be unfolded to form a circular closed structure. The annular structure, when fully deployed, has a diameter large enough to cover the outer edges of the rotor, thereby protecting the rotor from side impacts. At the same time, since the arcuate rotor is attached to the distal end of the mounting bar 3 or rotor assembly 4, they also provide a degree of protection to the sides of the fuselage. The anti-collision net can ascend or descend along the vertical direction so as to adapt to the conditions of different flying heights and obstacles. When the anti-collision net is in an anti-collision state, the cylindrical anti-collision structure formed by enclosing the anti-collision net not only covers the top and the bottom of the unmanned aerial vehicle, but also expands the protection range to the side surfaces of the fuselage and the rotor wing through the cooperation of the arc rotating piece and the horizontal unfolding mechanism. The omnibearing anti-collision structure can obviously reduce the possibility of collision between the unmanned aerial vehicle and an obstacle in flight, thereby protecting the fuselage and the rotor wing from damage. In summary, according to the embodiment, through the synergistic effect of the technical characteristics of the annular array of the mounting rod 3, the rotor wing assembly 4, the horizontal unfolding mechanism, the arc-shaped rotating piece, the vertical movement of the anti-collision net and the like, the anti-collision device of the unmanned aerial vehicle can realize comprehensive protection of the fuselage and the rotor wing, and the design not only improves the flight safety of the unmanned aerial vehicle in a complex environment, but also prolongs the service life of the unmanned aerial vehicle.
In the preferred embodiment of the present invention, the two arcuate rotating members are a first arcuate rotating member 5 and a second arcuate rotating member 6, respectively; the first connecting block 7 is installed to second arc rotation piece 6 near first arc rotation piece 5 one end, and second connecting block 8 is installed to first arc rotation piece 5 near second arc rotation piece 6 one end, and first connecting block 7 is the overlapping setting with second connecting block 8, and first connecting block 7 and second connecting block 8 coaxial hinge in the second end of support piece 9.
On the basis of the above structure, in this embodiment, by installing the first connecting block 7 at the end of the second arc-shaped rotating member 6 close to the first arc-shaped rotating member 5, and installing the second connecting block 8 at the end of the first arc-shaped rotating member 5 close to the second arc-shaped rotating member 6, the first connecting block 7 and the second connecting block 8 are designed to be in an overlapping arrangement, which means that they relatively move when the device is unfolded or folded, but remain in a partially overlapping state all the time. Importantly, the first connection block 7 is hinged coaxially to the second end of the support 9 with the second connection block 8. This coaxial hinged design allows the two arcuate rotating members to be smoothly unfolded or folded about the second end of the support member 9 when driven by the driving member. The connection mode ensures the structural stability between the arc-shaped rotating parts and also provides necessary flexibility to adapt to different flight environments and anti-collision requirements. In this way, when the two arc-shaped rotating members of all the horizontal unfolding mechanisms are in an open state, the two arc-shaped rotating members can be jointly enclosed to form a circular closed structure, so that additional anti-collision protection is provided for the unmanned aerial vehicle. These arcuate rotating members are in turn capable of being quickly retracted into a compact state when the collapsing apparatus is required to reduce the volume or perform other operations.
In the preferred embodiment of the present invention, the two sets of anti-collision nets are a first anti-collision net 10 and a second anti-collision net 11, respectively; the bottoms of the first anti-collision net 10 and the second anti-collision net 11 are respectively provided with a bottom plate 12, one side, far away from the machine body 1, of the bottom plate 12 is symmetrically clamped with a fixed block 13, the other side of the bottom plate 12 is clamped with a limiting piece matched with the fixed block 13, and the limiting piece is rotationally connected with an adjusting screw 16; the limiting piece comprises a limiting block 14, a connecting plate 15 is arranged at the bottom of the limiting block 14, an adjusting screw 16 is rotatably arranged on the connecting plate 15, and the adjusting screw 16 extends to the outside of one side of the mounting piece far away from the machine body 1; the first arc-shaped rotating piece 5 and the second arc-shaped rotating piece 6 are respectively provided with a chute 17 which is matched with the upper connecting plate 15.
Based on the above structure, when the base plate 12 (and the anti-collision net thereon) needs to be detached or replaced, the following operation steps are performed:
rotating the adjusting screw 16: firstly, by rotating the adjusting screw 16, the connecting plate 15 drives the limiting block 14 to move towards the direction approaching the machine body 1 by utilizing the limiting guiding function of the sliding groove 17.
Releasing limit: when the stopper 14 moves to a certain position, the engagement relationship between the connecting plate 15 and the bottom plate 12 is released.
Disassembly of the base plate 12: subsequently, the bottom plate 12 may be moved in a direction approaching the body 1 so as to be separated from the fixed block 13.
Replacement or maintenance: at this time, the floor 12 and the impact net thereon can be easily disassembled, replaced or maintained.
The design not only simplifies the installation and disassembly processes of the anti-collision net, but also improves the convenience and safety of operation.
In this embodiment, the bottom of the first impact net 10 and the bottom of the second impact net 11 are respectively mounted with a bottom plate 12. These base plates 12 not only provide stable support for the impact net, but also serve as the primary interface for installation and removal. The bottom plate 12 is symmetrically clamped with a fixed block 13 at one side far away from the machine body 1. These fixing blocks 13 are designed to mate with the base plate 12 to ensure stability of the anti-collision net during flight. Meanwhile, the other side of the bottom plate 12 is clamped with a limiting piece matched with the fixed block 13. The primary function of the stop is to limit the movement of the base plate 12, thereby ensuring positional accuracy of the impact net when deployed or stowed. The limiting piece comprises a limiting block 14, and a connecting plate 15 is arranged at the bottom of the limiting block 14. This design allows the stopper 14 and the connecting plate 15 to move as a unit, simplifying the adjustment process. The adjusting screw 16 is rotatably mounted on the connecting plate 15 and extends to the outside of the side of the mounting remote from the machine body 1. By rotating the adjusting screw 16, the position of the stopper (including the stopper 14 and the connecting plate 15) can be precisely controlled. This design not only provides the possibility of fine tuning but also makes the operation more convenient. Furthermore, the first arc-shaped rotating member 5 and the second arc-shaped rotating member 6 are respectively provided with a chute 17 which is matched with the upper connecting plate 15. These slide grooves 17 provide a clear path of movement for the connection plate 15, ensuring the stability and accuracy of the limit piece during adjustment.
In the preferred embodiment of the present invention, the lift driving mechanism includes a lift bracket 27 and a connecting member, and the upper end of the lift bracket 27 is detachably connected to the bump protection net through the connecting member.
The connection elements are the key components for achieving the detachable connection between the lifting frame 27 and the anti-collision net. This connection not only facilitates the installation and removal of the anti-collision net, thereby facilitating maintenance or replacement, but also enables the anti-collision net to be quickly removed from the lifting frame 27 when necessary to cope with an emergency situation or to reduce the load of the unmanned aerial vehicle.
In the preferred embodiment of the present invention, the lifting driving mechanism further comprises a mounting block 24, a first sliding block 25, a second sliding block 26, a screw rod 28, a guide rod 29, a driving motor 30 and a moving groove 31; the upper end and the lower end of the lifting frame 27 are symmetrically provided with mounting blocks 24 respectively, the upper end of the upper mounting block 24 is provided with a first sliding block 25, and the lower end of the lower mounting block 24 is provided with a second sliding block 26; the first slide block 25 above is arranged on the connecting piece in a sliding way, the bottom of the lifting frame 27 is provided with a screw rod 28, the second slide block 26 is symmetrically sleeved on the screw rod 28, and the screw rod 28 is a bidirectional screw rod 28; a guide rod 29 is arranged below the screw rod 28, the guide rod 29 penetrates through the two second sliding blocks 26, and a driving motor 30 is arranged at one end of the screw rod 28; the first arc-shaped rotating piece 5 and the second arc-shaped rotating piece 6 are respectively provided with a moving groove 31 which is matched with the upper screw rod 28, two second sliding blocks 26 on the same side are arranged in the moving groove 31 in a sliding way, and the guide rod 29 is arranged in the moving groove 31.
On the basis of the structure, the driving motor 30 drives the screw rod 28 to rotate, and the lifting driving mechanism can rapidly and accurately control the lifting of the anti-collision net. The design ensures that the lifting process is efficient and smooth, greatly reduces the adjustment time and improves the operation efficiency of the unmanned aerial vehicle. The design of the guide bar 29 and the movement groove 31 ensures stability and linearity of the lifting frame 27 during lifting. This structure effectively prevents the lifting frame 27 from being deviated or swayed during the moving process, thereby ensuring the accurate position and safety of the anti-collision net. The bidirectional screw rod 28 is adopted, so that the two second sliding blocks 26 can move at symmetrical positions at the same time, and the bearing capacity and balance of the whole mechanism are enhanced. In addition, the durability and the reliability of the lifting driving mechanism are improved due to the close fit between the components and the selection of high-quality materials, and the lifting driving mechanism is compact and lightweight in design, so that the unmanned aerial vehicle can still maintain high maneuverability when carrying the anti-collision device.
In the preferred embodiment of the invention, the first anti-collision net 10 and the second anti-collision net 11 are respectively provided with a second cross rod 20 above one side of the machine body 1, a first cross rod 19 is arranged below the second cross rod 20 in a linear array along the vertical direction, and the second cross rod 20 is arranged at one side of the connecting piece; the first anti-collision net 10 and the second anti-collision net 11 are stainless steel nets and can be folded in the vertical direction, the first cross rod 19 and the second cross rod 20 on the first anti-collision net 10 are all welded and installed on one side, close to the engine body 1, of the second anti-collision net 11, the first cross rod 19 and the second cross rod 20 on the second anti-collision net 11 are all welded and installed on one side, close to the engine body 1, of the second cross rod 20, the engine body 1 and the rotor wing assembly 4 are subjected to first-layer anti-collision through the stainless steel nets, the first cross rod 19 and the second cross rod 20, and the engine body 1 and the rotor wing assembly 4 are subjected to second-layer anti-collision through the lifting frame 27.
On the basis of the above structure, the first anti-collision net 10 and the second anti-collision net 11 are made of stainless steel net. The stainless steel material has good strength and corrosion resistance, and can effectively resist external impact. The two anti-collision nets are designed to be foldable in the vertical direction. The folding design enables the anti-collision net to be folded and retracted when not needed, reduces space occupation, and can be rapidly unfolded to provide protection when needed. The first rail 19 and the second rail 20 are important support structures for the impact net. They are welded to the side of the anti-collision net close to the machine body 1, providing stable support for the anti-collision net. The first cross bars 19 are arranged in a linear array in the vertical direction, which enhances the stability and load carrying capacity of the impact net in the vertical direction. The second cross bar 20 is located above the first cross bar 19 and is arranged on one side of the connection piece. The anti-collision device not only provides a supporting point on the upper part for the anti-collision net, but also stably connects the anti-collision net to the main body structure of the unmanned aerial vehicle through the cooperation of the anti-collision net and the connecting piece. By the combination of the stainless steel mesh with the first and second cross bars 19, 20, a first layer of crash protection for the machine body 1 and rotor assembly 4 is formed. This layer of protection can directly absorb and disperse the impact force from outside, reduces the potential harm to unmanned aerial vehicle key parts. The lifting frame 27 serves as a second layer of anti-collision structure, and the anti-collision effect is further enhanced. When the external impact exceeds the bearing capacity of the first layer of anti-collision net, the lifting frame 27 can provide additional support and protection against the impact force being directly transferred to the core structure of the unmanned aerial vehicle.
In the preferred embodiment of the invention, the connecting piece comprises a connecting rod 22, external threads are respectively arranged at two ends of the outer part of the connecting rod 22, connecting nuts 23 are symmetrically connected to the connecting rod 22, lantern rings 21 are arranged on one side, close to the connecting rod 22, of the connecting nuts 23, the lantern rings 21 are sleeved on the connecting rod 22, and the two lantern rings 21 are symmetrically arranged on the second cross rod 20; two first sliding blocks 25 above the lifting frame 27 are symmetrically sleeved on the connecting rod 22.
The installation and disassembly process comprises the following steps:
and (3) disassembly: when the first anti-collision net 10 or the second anti-collision net 11 needs to be disassembled and replaced, the connecting nuts 23 at the two ends of the connecting rod 22 positioned at one side of the first anti-collision net 10 are screwed first, and are removed from the connecting rod 22. Subsequently, the connecting rod 22 is withdrawn from the two collars 21, thus releasing the fixing of the connecting rod 22 to the impact net. After the limiting piece releases the limitation of the bottom plate 12 of the bottom of the anti-collision net, the first anti-collision net 10 can be easily detached and replaced.
And (2) mounting: the installation process is the reverse of the disassembly. The connecting rod 22 is first passed through the two collars 21 and then placed in position. The coupling nuts 23 are then screwed onto the ends of the connecting rod 22 until they abut against the collar 21 and reach the desired degree of tightening. Finally, the bottom plate 12 at the bottom of the anti-collision net is ensured to be fixed by the limiting piece, so that the installation of the anti-collision net is completed.
The design not only simplifies the installation and disassembly processes of the anti-collision net, but also improves the convenience and efficiency of operation.
In the preferred embodiment of the invention, collar 21 is designed as a unitary structure with second crossbar 20. Because the lantern ring 21 and the second cross rod 20 are integrated, the whole connecting piece has stronger structural rigidity and stability, and can better protect the unmanned aerial vehicle from being influenced by external impact.
In the preferred embodiment of the present invention, the height of the first arc-shaped rotating member 5 is lower than that of the second arc-shaped rotating member 6, the first arc-shaped rotating member 5 and the second connecting block 8 are in an integral structure, the second arc-shaped rotating member 6 and the first connecting block 7 are in an integral structure, and a space formed by the height difference between the first arc-shaped rotating member 5 and the second arc-shaped rotating member 6 is used for accommodating the folded first anti-collision net 10, so that the first arc-shaped rotating member 5 drives the first anti-collision net 10 to fold, and the first arc-shaped rotating member 5 and the second arc-shaped rotating member 6 are not collided with each other, thereby avoiding the influence on folding of the first arc-shaped rotating member 5 and the second arc-shaped rotating member 6.
On the basis of the above-described structure, the first arc-shaped rotating member 5 of the present embodiment is lower in height than the second arc-shaped rotating member 6, and this difference in height forms a space in the vertical direction. This space provides the necessary receiving area for the first impact net 10 when it is to be folded up, ensuring that the first impact net 10 does not interfere with or collide with the second impact net 11 located above during the folding process. The first arc-shaped rotating piece 5 and the second connecting block 8, and the second arc-shaped rotating piece 6 and the first connecting block 7 are respectively formed into an integral structure. The design enhances the structural strength between the rotating member and the connecting block, simplifies the assembly process, and simultaneously helps to ensure the stability and reliability in folding and unfolding actions. When the folding and collapsing actions occur, the first arc-shaped rotating piece 5 drives the first anti-collision net 10 to move towards the second arc-shaped rotating piece 6. Due to the pre-designed height difference, the first anti-collision net 10 can enter the space without obstruction without any collision with the second anti-collision net 11 on the second arc-shaped rotating member 6. The design not only protects the anti-collision net from damage, but also ensures the fluency and efficiency of the folding action.
In the preferred embodiment of the invention, the bottom of the body 1 is provided with a landing gear 2 for supporting and placing the body 1 when it is lowered.
When the unmanned aerial vehicle is lowered onto the ground or other surface, the landing gear 2 provides the necessary support to prevent the body 1 from directly contacting the ground, thereby avoiding possible damage or wear. During landing, the landing gear 2 helps to maintain the balance of the unmanned aerial vehicle and reduce accidents such as tipping or sideslip caused by unstable landing. The landing gear 2 is generally designed with a certain elasticity and cushioning capacity, and can absorb part of impact energy during landing, so as to further protect the internal structure and sensitive components of the unmanned aerial vehicle. In addition to the supporting effect during landing, the landing gear 2 can also provide a stable starting point during take-off, ensuring that the unmanned aerial vehicle can take-off smoothly from the ground.
Although only certain features and embodiments of the application have been illustrated and described, many modifications and changes may occur to those skilled in the art without departing substantially from the scope and spirit of the application as defined in the appended claims, for example: variations in the size, dimensions, structure, shape and proportions of the various elements, mounting arrangements, use of materials, colors, orientations, etc.
The foregoing embodiments are merely preferred embodiments of the present invention, and are not intended to limit the scope of the embodiments of the present invention, so that any insubstantial changes and substitutions made by those skilled in the art on the basis of the embodiments of the present invention fall within the scope of the embodiments of the present invention.
Claims (10)
1. The utility model provides a carry thing unmanned aerial vehicle buffer stop, includes organism and a plurality of installation poles of following organism circumference annular array, every installation pole is last to be installed rotor subassembly; characterized by further comprising:
The plurality of groups of horizontal unfolding mechanisms are correspondingly arranged on each mounting rod, and each horizontal unfolding mechanism comprises a supporting piece, two arc-shaped rotating pieces and two driving pieces; the first end of the supporting piece is fixedly arranged at one end, far away from the machine body, of the mounting rod or the rotor wing assembly, and the second end of the supporting piece extends outwards; the first ends of the two arc-shaped rotating pieces are respectively hinged to the second ends of the supporting pieces, the second ends of the two arc-shaped rotating pieces are respectively hinged to the output shafts of the two driving pieces, and the two driving pieces are respectively hinged to the two opposite side walls of the mounting rod; the two driving parts are used for respectively driving the two arc-shaped rotating parts to move towards the directions approaching to or separating from each other so as to enable the two arc-shaped rotating parts to be in a furled state or an opened state; when the two arc rotating parts of all the horizontal unfolding assemblies are in an open state, all the arc rotating parts are enclosed to form a circular closed structure;
The anti-collision mechanism comprises two anti-collision nets and two groups of lifting driving mechanisms, the two groups of anti-collision nets are respectively arranged on the two arc-shaped rotating pieces, and the two groups of lifting driving mechanisms are respectively arranged on the two arc-shaped rotating pieces; the two groups of lifting driving mechanisms respectively drive the two anti-collision nets to ascend or descend along the vertical direction so that the anti-collision nets are in an anti-collision state or an anti-collision state; when all the anti-collision nets are in an anti-collision state, all the anti-collision nets are enclosed to form a cylindrical anti-collision structure.
2. The unmanned aerial vehicle collision avoidance system of claim 1 wherein the two arcuate rotating members are a first arcuate rotating member and a second arcuate rotating member, respectively; the first connecting block is installed to second arc rotation piece one end that is close to first arc rotation piece, the second connecting block is installed to first arc rotation piece one end that is close to second arc rotation piece, first connecting block and second connecting block are overlapping setting, first connecting block and second connecting block coaxial hinge in support piece's second end.
3. The unmanned aerial vehicle collision avoidance system of claim 2 wherein the two sets of collision avoidance nets are a first collision avoidance net and a second collision avoidance net, respectively; the bottoms of the first anti-collision net and the second anti-collision net are respectively provided with a bottom plate, one side, far away from the machine body, of the bottom plate is symmetrically clamped with a fixed block, the other side of the bottom plate is clamped with a limiting piece matched with the fixed block, and the limiting piece is rotationally connected with an adjusting screw rod; the limiting piece comprises a limiting block, a connecting plate is arranged at the bottom of the limiting block, the adjusting screw is rotatably arranged on the connecting plate, and the adjusting screw extends to the outside of one side of the mounting piece far away from the machine body; the first arc-shaped rotating piece and the second arc-shaped rotating piece are respectively provided with a sliding groove matched with the upper connecting plate.
4. The unmanned aerial vehicle collision avoidance system of claim 3 wherein the lifting drive mechanism comprises a lifting frame and a connecting piece, the upper end of the lifting frame being detachably connected with the collision avoidance net via the connecting piece.
5. The unmanned aerial vehicle collision avoidance system of claim 4 wherein the lift drive mechanism further comprises a mounting block, a first slider, a second slider, a screw, a guide bar, a drive motor, a movement slot; the upper end and the lower end of the lifting frame are symmetrically provided with the mounting blocks respectively, the upper end of the upper mounting block is provided with the first sliding block, and the lower end of the lower mounting block is provided with the second sliding block; the first sliding block above is arranged on the connecting piece in a sliding way, the screw rod is arranged at the bottom of the lifting frame, the second sliding block is symmetrically sleeved on the screw rod, and the screw rod is a bidirectional screw rod; the guide rod is arranged below the screw rod, penetrates through the two second sliding blocks, and a driving motor is arranged at one end of the screw rod; the first arc rotating piece and the second arc rotating piece are respectively provided with a moving groove matched with the upper screw rod of the first arc rotating piece, the two second sliding blocks on the same side are arranged in the moving groove in a sliding mode, and the guide rod is arranged in the moving groove.
6. The unmanned aerial vehicle collision avoidance system of claim 5 wherein the first collision avoidance system and the second collision avoidance system are respectively provided with a second cross bar above one side of the body, the first cross bar is arranged below the second cross bar in a linear array along the vertical direction, and the second cross bar is arranged at one side of the connecting piece; the first anti-collision net and the second anti-collision net are stainless steel nets and can be folded in the vertical direction, the first cross rod and the second cross rod on the first anti-collision net are welded and installed on one side of the first anti-collision net, which is close to the engine body, the first cross rod and the second cross rod on the second anti-collision net are welded and installed on one side of the second anti-collision net, which is close to the engine body, the first layer of anti-collision is carried out on the engine body and the rotor assembly through the stainless steel nets and the first cross rod and the second cross rod, and the second layer of anti-collision is carried out on the engine body and the rotor assembly through the lifting frame.
7. The anti-collision device of the unmanned aerial vehicle for carrying objects according to claim 4, wherein the connecting piece comprises a connecting rod, external threads are respectively arranged at two ends of the outer part of the connecting rod, connecting nuts are symmetrically connected to the connecting rod, a lantern ring is arranged on one side, close to the connecting rod, of the connecting nuts, the lantern ring is sleeved on the connecting rod, and two lantern rings are symmetrically arranged on the second cross rod; two first sliding blocks above the lifting frame are symmetrically sleeved on the connecting rod.
8. The unmanned aerial vehicle collision avoidance device of claim 7 wherein the collar is of unitary construction with the second rail.
9. The unmanned aerial vehicle buffer stop of carrying of claim 3, wherein, the height that highly is less than the second arc of first arc rotation piece rotates the piece, first arc rotation piece and second connecting block structure as an organic whole, second arc rotation piece and first connecting block structure as an organic whole, the space that the difference in height formed between the first arc rotation piece and the second arc rotation piece for accomodate the first anticollision net after folding for when first arc rotation piece drives first anticollision net and draws in, does not collide with the second anticollision net of second arc rotation piece, avoids influencing first arc rotation piece and second arc rotation piece and draws in.
10. The unmanned aerial vehicle collision avoidance system of claim 1 wherein the undercarriage is mounted at the bottom of the body for supporting and positioning the body as it descends.
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| CN202410457030.9A CN118182887B (en) | 2024-04-16 | 2024-04-16 | Anti-collision device of unmanned aerial vehicle for carrying objects |
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| CN202410457030.9A CN118182887B (en) | 2024-04-16 | 2024-04-16 | Anti-collision device of unmanned aerial vehicle for carrying objects |
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| US20090250549A1 (en) * | 2006-06-26 | 2009-10-08 | Burkhard Wiggerich | Aircraft |
| CN211869681U (en) * | 2020-03-02 | 2020-11-06 | 天津莱普航空科技有限公司 | Unmanned aerial vehicle flight anti-collision device |
| CN211943730U (en) * | 2020-03-24 | 2020-11-17 | 河南金羽翼无人机科技发展有限公司 | Collision-resistant structure of rotor of agricultural plant protection unmanned aerial vehicle |
| CN214930603U (en) * | 2021-04-12 | 2021-11-30 | 青海兴锐农牧科技有限公司 | Agricultural unmanned aerial vehicle anti-falling blade protection device |
| WO2022000198A1 (en) * | 2020-06-29 | 2022-01-06 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and protective device suitable for unmanned aerial vehicle |
| CN217496532U (en) * | 2022-07-19 | 2022-09-27 | 中国地质调查局廊坊自然资源综合调查中心 | A anticollision protection structure for unmanned aerial vehicle |
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2024
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090250549A1 (en) * | 2006-06-26 | 2009-10-08 | Burkhard Wiggerich | Aircraft |
| CN211869681U (en) * | 2020-03-02 | 2020-11-06 | 天津莱普航空科技有限公司 | Unmanned aerial vehicle flight anti-collision device |
| CN211943730U (en) * | 2020-03-24 | 2020-11-17 | 河南金羽翼无人机科技发展有限公司 | Collision-resistant structure of rotor of agricultural plant protection unmanned aerial vehicle |
| WO2022000198A1 (en) * | 2020-06-29 | 2022-01-06 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and protective device suitable for unmanned aerial vehicle |
| CN214930603U (en) * | 2021-04-12 | 2021-11-30 | 青海兴锐农牧科技有限公司 | Agricultural unmanned aerial vehicle anti-falling blade protection device |
| CN217496532U (en) * | 2022-07-19 | 2022-09-27 | 中国地质调查局廊坊自然资源综合调查中心 | A anticollision protection structure for unmanned aerial vehicle |
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