CN213677137U

CN213677137U - Multi-rotor unmanned aerial vehicle

Info

Publication number: CN213677137U
Application number: CN202021654179.XU
Authority: CN
Inventors: 黄春
Original assignee: Chongqing Fengniao Uav Technology Co Ltd
Current assignee: Chongqing Fengniao Uav Technology Co Ltd
Priority date: 2020-08-11
Filing date: 2020-08-11
Publication date: 2021-07-13
Anticipated expiration: 2030-08-11

Abstract

The utility model relates to a many rotor unmanned aerial vehicle. The multi-rotor unmanned aerial vehicle comprises an unmanned aerial vehicle body and a protection mechanism, wherein the protection mechanism comprises a plurality of first connecting rods, a plurality of second connecting rods and a plurality of third connecting rods; the one end that the frame was kept away from to each spiral arm links to each other with the one end of an at least first connecting rod, the other end of each first connecting rod links to each other with corresponding a second connecting rod, each second connecting rod links to each other with corresponding a third connecting rod, and first connecting rod sets up with the third connecting rod interval along the lengthwise direction of second connecting rod, and a plurality of first connecting rods, a plurality of second connecting rods and a plurality of third connecting rod enclose to establish and form a protection space, and the unmanned aerial vehicle body is located the protection space. The utility model provides a many rotor unmanned aerial vehicle when taking place to turn on one's side or fall and when colliding with other objects, because blocking of protection mechanism, under the reaction force, unmanned aerial vehicle rotates to the opposite of collision face, can avoid high-speed rotatory rotor direct and object contact on every side to produce the harm, also can protect the unmanned aerial vehicle body, avoids it impaired.

Description

Multi-rotor unmanned aerial vehicle

Technical Field

The utility model relates to an unmanned air vehicle technique field especially relates to a many rotor unmanned aerial vehicle.

Background

The unmanned plane is called unmanned plane for short, and is an unmanned plane operated by radio remote control equipment and a self-contained program control device.

At present, many rotor unmanned aerial vehicle is because flight control software is unstable, hardware machining error, external equipment fixing causes central skew and uses ground station or remote controller operation management and control unmanned aerial vehicle error scheduling problem for many rotor unmanned aerial vehicle turns on one's side and loses the antithetical couplet easily to appear at the flight in-process, makes high-speed rotatory rotor bump with object on every side or unmanned aerial vehicle crash and collide, leads to many rotor unmanned aerial vehicle self impaired or object on every side is impaired, causes personnel's injury even.

SUMMERY OF THE UTILITY MODEL

Based on this, it is necessary to turn on one's side and lose the antithetical couplet easily at the flight in-process to current many rotor unmanned aerial vehicle, and makes high-speed rotatory rotor and object on every side bump or unmanned aerial vehicle crash collision, leads to self impaired or object on every side is impaired, leads to the fact personnel injured's problem even, provides one kind and can reduce to self, object damage and the many rotor unmanned aerial vehicle of personnel's injury on every side.

The utility model provides a multi-rotor unmanned aerial vehicle, which comprises an unmanned aerial vehicle body, wherein the unmanned aerial vehicle body comprises a frame, a plurality of spiral arms and a plurality of rotors;

the multi-rotor unmanned aerial vehicle further comprises a protection mechanism, wherein the protection mechanism comprises a plurality of first connecting rods, a plurality of second connecting rods and a plurality of third connecting rods;

one end, far away from the rack, of each rotating arm is connected with one end of at least one first connecting rod, the other end of each first connecting rod is connected with one corresponding second connecting rod, each second connecting rod is connected with one corresponding third connecting rod, the first connecting rods and the third connecting rods are arranged at intervals along the lengthwise direction of the second connecting rods, a protection space is formed by the plurality of first connecting rods, the plurality of second connecting rods and the plurality of third connecting rods in a surrounding mode, and the unmanned aerial vehicle body is located in the protection space;

wherein the first connecting rod, the second connecting rod and the third connecting rod are intersected pairwise.

In one embodiment, the plurality of third links are connected end to end.

In one embodiment, the first link is arranged perpendicular to the second link, and/or the second link is arranged perpendicular to the third link.

In one embodiment, many rotor unmanned aerial vehicle still includes the parachuting device, the parachuting device install in on the unmanned aerial vehicle body, the parachuting device be used for to the unmanned aerial vehicle body provides buoyancy.

In one embodiment, the parachute device comprises a parachute container, a parachute opening driving piece, a parachute and a plurality of parachute opening pull wires;

the parachute container reaches the parachute drop is opened the driving piece and all install in the frame, the parachute accomodate in the parachute container, many parachutes open the one end edge of acting as go-between parachute circumference with the parachute links to each other, many parachutes open the other end edge of acting as go-between the second connecting rod with the parachute drop is opened the driving piece and is linked to each other, the parachute drop is opened the driving piece and is used for providing the messenger many parachutes open the power of acting as go-between the shrink, so that the parachute breaks away from the parachute container and opens.

In one embodiment, the other ends of the plurality of parachute opening pull lines are connected with the parachute opening driving member along the third connecting rod and the second connecting rod.

In one embodiment, the third connecting rod is provided with a first wire pulling port, and the second connecting rod is provided with a second wire pulling port;

each parachute opening stay wire is far away from one end of the parachute, penetrates through the first stay wire port and the second stay wire port and is connected with the parachute opening driving piece.

In one embodiment, the second wire drawing openings of each second connecting rod comprise at least two, and the at least two second wire drawing openings are arranged at intervals along the lengthwise direction of the second connecting rod;

each parachute drop is opened and is acted as go-between and keep away from the one end of parachute passes in proper order first acting as go-between mouth and from being close to first acting as go-between mouth to keeping away from the direction of first acting as go-between mouth arrange in proper order at least two second acting as go-between mouths with the parachute drop is opened the driving piece and is linked to each other.

In one embodiment, the parachute device further comprises a parachute recovery pull line and a parachute recovery driving element;

the actuating piece is retrieved in to the parachuting install in the frame, the parachuting retrieve the one end of acting as go-between with the center of parachute links to each other, the other end that the acting as go-between was retrieved to the parachuting stretches into the inside of parachuting container, and with the actuating piece is retrieved to the parachuting links to each other, the actuating piece is retrieved to the parachuting is used for providing the power that the parachute retrieved the shrink of acting as go-between, so that the parachute draws in extremely in the parachuting container.

In one embodiment, the parachute container is vertically above the protection mechanism.

In one embodiment, the parachute device further comprises a parachute stay cord clamp, wherein the parachute stay cord clamp comprises an annular fixing piece, a plurality of stay cord clamp locking arms and a plurality of perforated parachute stay balls;

one end of each rope clip locking arm is sleeved and fixed on the outer peripheral wall of the parachute container through the annular fixing piece, the other end of each rope clip locking arm extends out of the parachute container in the axial direction of the parachute container in a protruding mode, the other end of each rope clip locking arm is provided with a hemispherical parachute pull groove, each perforated parachute pull ball is matched with one hemispherical parachute pull groove, and one end of each parachute opening pull line penetrates through the corresponding perforated parachute pull ball to be connected with the parachute;

the parachute opening driving member is used for providing force for enabling the plurality of parachute opening pull wires to contract, so that the perforated parachute drop pull balls are provided with separation force for overcoming the friction force of the plurality of hemispherical parachute pull grooves and separating from the plurality of hemispherical parachute pull grooves, and the parachute is separated from the parachute container and is opened.

In one embodiment, the parts of the rope clamp locking arms protruding out of the parachute container are radially arranged on the center line of the parachute container.

In one embodiment, the parachute stay cord clip further comprises an auxiliary clamping member disposed at a distance from the annular fixing member in an axial direction of the parachute container;

the auxiliary clamping piece surrounds the rope clamp locking arms along the circumferential direction of the parachute container so as to clamp the rope clamp locking arms between the parachute container and the auxiliary clamping piece.

In one embodiment, the number of the parachute opening pulling lines is multiple of the number of the radial arms.

In one embodiment, the protection mechanism further comprises a plurality of L-shaped connecting members, at least one of the L-shaped connecting members being supported between the first link and the second link.

Above-mentioned many rotor unmanned aerial vehicle, through a plurality of first connecting rods, a plurality of second connecting rods and a plurality of third connecting rod enclose in the outside of unmanned aerial vehicle body and establish formation a protection space, take place to turn on one's side or fall when many rotor unmanned aerial vehicle, and when colliding with other object or people, because first connecting rod, the blockking of second connecting rod and third connecting rod, under reaction force, many rotor unmanned aerial vehicle rotates to the opposite of collision face, can avoid high-speed rotatory rotor direct and peripheral object or people contact to produce the harm, and because first connecting rod, second connecting rod and third connecting rod enclose the protection space of establishing the formation, also can protect the unmanned aerial vehicle body, avoid it impaired.

Drawings

Fig. 1 is a schematic structural view of a portion of a multi-rotor drone according to an embodiment of the present invention;

fig. 2 is a schematic top view of a multi-rotor drone according to an embodiment of the present invention;

fig. 3 is a schematic structural view illustrating a connection between a first link and a second link of a multi-rotor drone according to an embodiment of the present invention;

fig. 4 is a schematic structural view of another part of the multi-rotor drone according to an embodiment of the present invention;

fig. 5 is a schematic structural view of the connection between the second link and the third link of the multi-rotor drone according to an embodiment of the present invention;

fig. 6 is a schematic structural view of a parachute pull rope clamp of a multi-rotor unmanned aerial vehicle according to an embodiment of the present invention;

fig. 7 is the utility model discloses an embodiment of a structural schematic that overlooks of many rotor unmanned aerial vehicle's parachuting stay cord clamp.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "above," and "over" a second feature may mean that the first feature is directly above or obliquely above the second feature, or that only the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Furthermore, the drawings are not 1: 1, and the relative dimensions of the various elements in the figures are drawn for illustration only and not necessarily to true scale.

In order to facilitate understanding the technical scheme of the utility model, before the explanation is expanded in detail, at first explain current many rotor unmanned aerial vehicle.

At present, use many rotor unmanned aerial vehicle to test the stability of flight control software or use the stability of flight control software control many rotor unmanned aerial vehicle gesture usually, because many rotor unmanned aerial vehicle's hardware has machining error, flight control software is unstable, many rotor equipment part have installation error, many reasons such as many rotor unmanned aerial vehicle external equipment fixing cause many rotor unmanned aerial vehicle central deviation, and use ground satellite station or remote controller operation management and control unmanned aerial vehicle error scheduling problem, it brings the degree of difficulty to the many rotor unmanned aerial vehicle test flight verification.

Center skew can lead to many rotor unmanned aerial vehicle to try to fly the in-process and appear turning on one's side easily, and many rotor unmanned aerial vehicle's rotor rotates speed in flight process very high, in case when the bumping takes place to turn on one's side, gives the injury that relevant thing or man made bigger to unmanned aerial vehicle turns on one's side the collision and also bigger to many rotor unmanned aerial vehicle equipment self injury, for example unmanned aerial vehicle rotor and cantilever part damage.

To unsteady flight control procedure or human misoperation, many rotor unmanned aerial vehicle keep away from remote controller remote control scope for example, can cause many rotor unmanned to lose to ally oneself with, in case many rotor unmanned aerial vehicle lose to ally oneself with, many rotor unmanned aerial vehicle are because of having certain weight, fall fast under the effect of gravity, if just someone is in many rotor unmanned aerial vehicle descending regional process, can bring the injury for relevant personnel, if collide other objects, also can bring relevant object and bring the damage problem.

Therefore, it is desirable to provide a multi-rotor unmanned aerial vehicle which can reduce the damage to the multi-rotor unmanned aerial vehicle itself and surrounding objects and the injury to personnel after the collision of the high-speed rotating rotor with the surrounding objects or the falling collision of the unmanned aerial vehicle.

Fig. 1 shows a partial schematic structural view of a multi-rotor unmanned aerial vehicle in an embodiment of the present invention, and fig. 2 shows a schematic structural view of a multi-rotor unmanned aerial vehicle in an embodiment of the present invention. For the purpose of illustration, the drawings show only the structures associated with embodiments of the invention.

Referring to the drawings, an embodiment of the present invention provides a multi-rotor drone 100, including a drone body 10 and a protection mechanism 20.

The unmanned aerial vehicle body 10 includes frame 11, a plurality of radial arms 12 and a plurality of rotor 13. Specifically, a plurality of radial arms 12 are mounted to the frame 11 in a radial pattern about the center of the frame 11, and each radial arm 12 has at least one rotor 13 mounted thereon. In some embodiments, the rotor 13 is vertically above the radial arm 12, and in other embodiments, the rotor 13 may also be vertically below the radial arm 12, which is not limited herein. Further, unmanned aerial vehicle body 10 still includes a plurality of rotor motors 14, and rotor motor 14 installs on radial arm 12 to provide the rotatory drive power of drive rotor 13.

The protection mechanism 20 includes a plurality of first connecting rods 21, a plurality of second connecting rods 22 and a plurality of third connecting rods 23, one end of each swing arm 12 far from the rack 11 is connected with at least one first connecting rod 21, the other end of each first connecting rod 21 is connected with a corresponding second connecting rod 22, each second connecting rod 22 is connected with a corresponding third connecting rod 23, the first connecting rods 21 are arranged at intervals with the third connecting rods 23 along the longitudinal direction of the second connecting rods 22, the first connecting rods 21, the second connecting rods 22 and the third connecting rods 23 enclose to form a protection space, the unmanned aerial vehicle body 10 is located in the protection space, wherein the first connecting rods 21, the second connecting rods 22 and the third connecting rods 23 intersect with each other in pairs.

So, enclose in the outside of unmanned aerial vehicle body 10 through a plurality of first connecting rods 21, a plurality of second connecting rods 22 and a plurality of third connecting rod 23 and establish and form a protection space, when many rotor unmanned aerial vehicle 100 takes place to turn on one's side or fall, and when colliding with other object or people, because the blocking of first connecting rod 21, second connecting rod 22 and third connecting rod 23, under reaction force, many rotor unmanned aerial vehicle rotate to the opposite of collision face, can avoid high-speed rotatory rotor 13 direct and peripheral object or people to contact and produce the harm, and because first connecting rod 21, second connecting rod 22 and third connecting rod 23 enclose the protection space who establishes formation, also can protect unmanned aerial vehicle body 10, avoid it impaired.

In a preferred embodiment, the end of each arm 12 remote from the frame 11 is connected to only one end of a first link 21, so that the multi-rotor drone 100 can be further reduced in weight while forming a protected space. Specifically, the first link 21 extends in a direction away from the radial arm 12 in the longitudinal direction of the radial arm 12. Thus, the protection space can be effectively enlarged, and the support of the protection mechanism 20 by the radial arm 12 can be more stable.

In other embodiments, an end of each radial arm 12 away from the frame 11 may be connected to an end of a plurality of first links 21, the plurality of first links 21 may be radially disposed from the radial arm 12, or the plurality of first links 21 may be spaced apart along a longitudinal direction of the radial arm 12. Thus, the stability of the protection space can be improved.

In some embodiments, a plurality of third links 23 are connected end-to-end. The plurality of third connecting rods 23 connected end to end can form a closed-loop protection ring, so that the relationship between each first connecting rod 21 and each second connecting rod 22 is tighter, and the protection strength of the protection space is higher.

In some embodiments, the first link 21 is perpendicular to the second link 22, in another embodiment, the second link 22 is perpendicular to the third link 23, and in other embodiments, a combination of the two manners may be adopted, which is not limited herein. Therefore, a relatively square protection space can be formed, and the stress between the first connecting rod 21 and the second connecting rod 22 and between the second connecting rod 22 and the third connecting rod 33 is uniform, so that the unmanned aerial vehicle body 10 is further reliably protected.

In some embodiments, the first link 21 is connected to a middle portion of the second link 22, and the third link 23 is connected to an end of the second link 22 facing the rotor 13. In this way, the third link 23 can reliably protect the rotor 13 from contact with other objects.

In some embodiments, one end of each second link 22 may be connected to a middle portion of the third link 23, in another embodiment, both ends of each third link 23 are connected to two adjacent second links 22, and in other embodiments, a combination of the two manners may be used, which is not limited herein.

In some embodiments, the first link 21, the second link 22, and the third link 23 are made of a light-weight and high-hardness material to reduce the influence of the weight of the protection mechanism 20 on the flight control of the multi-rotor drone 100, such as the control of the flight control software.

In some embodiments, the connection between the first link 21 and the radial arm 12 is made by at least two bolts to prevent the first link from moving or rotating relative to the radial arm 12.

As shown in fig. 3, in some embodiments, the protection mechanism 20 further includes a plurality of L-shaped links 24, at least one L-shaped link 24 being supported between the first link 21 and the second link 22. Specifically, the L-shaped connecting member 24 includes two legs, which are respectively attached to the first connecting rod 21 and the second connecting rod 22. Thus, the second link 22 is prevented from relatively rotating about the first link 21.

Further, the protection mechanism 20 further includes a plurality of first connecting members 25, and the legs of the L-shaped connecting member 24 are connected to the first link 21 or the second link 22 through the first connecting members 25. Specifically, the plurality of first connecting members 25 include a plurality of bolts and a plurality of nuts engaged with the bolts, and the legs of the L-shaped connecting member 24 are connected to the first connecting rod 21 or the second connecting rod 22 through the bolts and the nuts. Preferably, two nuts are fitted on each bolt to strengthen the connection of the legs of the L-shaped connector 24 to the first link 21 or the second link 22.

In some embodiments, a soft adhesive layer is attached to the first connecting member 25. The vibration at the joint after collision can be slowed down by arranging the soft adhesive layer, and the connection reliability of the first connecting piece 25 is improved. Specifically, the soft glue layer is attached to the thread of the bolt. More specifically, the soft rubber layer is a rubber sleeve.

Referring again to fig. 1, 2 and 4, in some embodiments, the multi-rotor drone 100 further includes a parachuting device 30, the parachuting device 30 is mounted on the drone body 10, and the parachuting device 30 is used for providing buoyancy to the drone body 10. Through setting up parachuting device 30, can lose when alliing oneself with and falling at many rotor unmanned aerial vehicle 100, reduce many rotor unmanned aerial vehicle 100's falling speed, reduce the injury to self, relevant article and people on every side.

Further, the parachute device 30 includes a parachute container 31, a parachute opening driving member 32, a parachute 33 and a plurality of parachute opening cords 34, the parachute container 31 and the parachute opening driving member 32 are both installed on the frame 11, the parachute 33 is accommodated in the parachute container 31, one ends of the plurality of parachute opening cords 34 are connected to the parachute 33 along a circumferential direction of the parachute 33, the other ends of the plurality of parachute opening cords 34 are connected to the parachute opening driving member 32 along the second connection rod 22, and the parachute opening driving member 32 is configured to provide a force for contracting the plurality of parachute opening cords 34, so that the parachute 33 is separated from the parachute container 31 and opened. On one hand, the parachute 33 is simply opened, and on the other hand, the plurality of parachute opening pulling lines 34 are connected with the parachute opening driving member 32 along the second connecting rod 22, so that the parachute twisting phenomenon of the parachute 33 can be effectively controlled. In addition, the protection mechanism 20 and the parachute container 31 have a certain supporting function for the opened parachute 33, so that a certain height is maintained between the parachute 33 and the rotor 13, and the parachute is reliably descended.

It should be noted that the size of parachute 33 can be designed and selected according to the relevant characteristics of the size and weight of multi-rotor drone 100, and will not be described in detail herein.

Further, in order to make the force applied to the periphery of the parachute 33 large or uniform in the case of the parachute 33, a plurality of parachute opening wires 34 are provided, and the other ends thereof are connected to the parachute opening driving member 32 along the third link 23 and the second link 22. So, because third connecting rod 22 encircles the setting of unmanned aerial vehicle body 11, consequently, can set up more parachute drop and open act as go-between 34 to make the parachute drop open act as go-between 34 interval certain distance atress.

As shown in fig. 5, specifically, the third link 23 is provided with a first wire opening 231, the second link 22 is provided with a second wire opening 221, and one end of each parachute opening wire 34 far away from the parachute 33 passes through the first wire opening 231 and the second wire opening 221 to be connected to the parachute opening driving member 32. Thus, the parachute opening pulling line 34 can be connected with the parachute opening driving member 32 along the third connecting rod 23 to the second connecting rod 22, and the structure is simple and reliable.

More specifically, the second wire opening 221 of each second link 22 includes at least two, the at least two second wire openings 221 are arranged at intervals along the longitudinal direction of the second link 22, and one end of each parachute opening wire 34 away from the parachute 33 sequentially passes through the first wire opening 231 and the at least two second wire openings 221 sequentially arranged from the direction close to the first wire opening 231 to the direction away from the first wire opening 231 are connected to the parachute opening driving member 32. Thus, the interference between the parachute opening stay 34 from the parachute 33 to the first stay opening 231 and the parachute opening stay 34 from the second stay opening 231 to the parachute opening driving member 32 can be avoided, and the problem of winding and the like which affects the contraction of the parachute opening stay 34 can be avoided. In some embodiments, the end of each parachute opening pulling wire 34 far away from the parachute 33 can also directly pass through at least two second pulling wire openings 221 arranged in sequence from the first pulling wire opening 231 to the direction far away from the first pulling wire opening 231 in sequence to be connected with the parachute opening driving member 32.

Preferably, the second wire drawing opening 221 of each second connecting rod 22 includes two, and the two second wire drawing openings 221 are respectively located at two ends of the second connecting rod 22 along the longitudinal direction of the second connecting rod 22.

In some embodiments, the number of parachute opening pull lines 34 is a multiple of the number of radial arms 12. Thus, the opening of the parachute 33 is more stable, and the force applied to the parachute 33 is more uniform.

Referring again to fig. 2, in one embodiment, the main body 10 of the drone includes 6 radial arms 12, and the number of the parachute opening cables 34 is 2 times the number of the radial arms 12. Furthermore, each third link 23 is provided with two first wire drawing openings 231, and the two first wire drawing openings 231 are respectively located at 1/3 and 2/3 of the third link 23 along the length thereof. In other embodiments, the number of parachute opening lines 34 is 1 times the number of radial arms 12, and is not limited herein.

In some embodiments, the drone body 10 includes 4 radial arms 12, and in order to ensure the stability of the parachute 33, the number of parachute opening pull lines 34 may be set to be more than 2 times the number of the radial arms 12.

Referring to fig. 4 again, in some embodiments, the parachute opening driving member 32 includes a driving member body 321 and a parachute winder 322, the driving member body 321 has a rotating output shaft 3211, the parachute winder 322 is connected to the parachute opening pulling wire 34, and the parachute winder 322 is fixed to the rotating output shaft 3211 to rotate and retract the parachute opening pulling wire 34 along with the rotating output shaft 3211. Further, in order to avoid interference between the parachute opening stay 34 led out to the parachute opening driving member 32 from the second connecting rod 22 and the unmanned aerial vehicle body 11, the parachute opening driving member 32 is further provided to include an extension shaft 323, one end of the extension shaft 323 is connected with the rotary output shaft 3211, and the other end of the extension shaft 323 is connected with the parachute winder 322. Specifically, the extension shaft 323 and the rotation output shaft 3211 are connected by a nut. As such, the distance between the parachute opening stay 34 led out from the second link 22 to the parachute opening driving piece 32 and the unmanned aerial vehicle body 11 can be increased, thereby avoiding mutual interference. Further, the second link 22 is disposed flush with the parachute winder 322 in a direction perpendicular to the rotation output shaft 3211.

Referring again to fig. 1, in some embodiments, the parachute container 31 is vertically positioned above the protection mechanism 20. Therefore, after the parachute 33 is separated from the parachute container 31 and opened, the parachute 33 can float above the parachute container 31, and the protection mechanism 20 is located below the parachute container 31 in the vertical direction, so that the parachute 33 is prevented from being interfered by the protection mechanism 20 after being opened, and the unmanned aerial vehicle body 10 and the protection mechanism 20 can be reliably protected.

Referring again to fig. 4, in some embodiments, the parachute container 31 is cylindrical. In some embodiments, the parachute container 31 comprises a parachute container body 311 and a parachute container base 312, the parachute container base 312 is mounted on the frame 11, the parachute container 31 further comprises a second connecting member, and the parachute container body 311 and the parachute container base 312 are connected through the second connecting member. Specifically, the second connecting member includes a first external thread portion and a second internal thread portion matching with the first external thread portion, one of the first external thread portion and the second internal thread portion is disposed at one end of the parachute container body 311, and the other of the first external thread portion and the second internal thread portion is disposed at the parachute container base 312. In other embodiments, the second connector includes a first buckle and a second buckle matched with the first buckle, one of the first buckle and the second buckle is disposed at one end of the parachute container body 311, and the other of the first buckle and the second buckle is disposed at the parachute container base 312.

As shown in fig. 6 and 7, in some embodiments, the parachute device 100 further includes a parachute pull cord clip 40, the parachute pull cord clip 10 includes a ring-shaped fixing member 41, a plurality of pull cord clip locking arms 42 and a plurality of perforated parachute pull balls 43, one end of each of the plurality of pull cord clip locking arms 42 is sleeved and fixed to the outer circumferential wall of the parachute container 31 through the ring-shaped fixing member 41, the other end of each of the pull cord clip locking arms 42 protrudes from the parachute container 31 in the axial direction of the parachute container 31, the other end of each of the pull cord clip locking arms 42 has a hemispherical parachute pull groove 421, each of the perforated parachute pull balls 43 is fitted into the hemispherical parachute pull groove 421, and one end of each of the parachute opening pull cords 34 passes through a corresponding one of the perforated parachute pull balls 43 to be connected to the parachute 33.

The parachute opening driving member 32 serves to provide a force for contracting the plurality of parachute opening pulling wires 34, thereby providing a disengaging force for disengaging the plurality of perforated parachute-pulling balls 43 from the plurality of hemispherical parachute-pulling grooves 421 against a frictional force of the plurality of hemispherical parachute-pulling grooves 421 to disengage the parachute 33 from the parachute container 31 and open.

By providing the parachute stay clips 40, the parachute 31 can be guided to open during the opening process of the parachute 33 out of the parachute container 31, the parachute is prevented from twisting between the parachute opening stays 34, and reliable support is provided for the parachute 33 after opening.

Specifically, the parachute opening pull line 34 is provided with a node, the radial dimension of the node is larger than the aperture of the perforated parachute opening pull ball 43, and when the parachute opening driving member 32 drives the parachute opening pull line 34 to contract to a preset length, the node abuts against the perforated parachute opening pull ball 43 to promote the perforated parachute opening pull ball 43 to overcome the friction force of the hemispherical parachute pull groove 421 and separate from the hemispherical parachute pull groove 421. Preferably, the nub may be formed by wrapping the parachute opening pull line 34.

In some embodiments, the portions of the plurality of cord gripper locking arms 42 that protrude out of the parachute container 31 are radially disposed from a centerline of the parachute container 31. Thus, when the parachute 33 is separated from the parachute container 31, the support by the plurality of rope clamp locking arms 42 after the parachute is opened can be made smoother and more stable.

In some embodiments, the peripheral wall of the parachute container 31 is provided with a plurality of guide grooves along the axial direction of the parachute container 31. The arrangement of the inverted guide groove is beneficial to the sleeving of the parachute stay cord clamp 40.

In some embodiments, the peripheral wall of the parachute container 31 is provided with an annular groove 313, the annular groove 313 and the annular fixing member 41 are arranged such that the annular fixing member 41 is limited to the parachute container 31 along the axial direction of the parachute container 31.

In some embodiments, the parachute stay cord clamp 40 further includes an auxiliary clamp 44, the auxiliary clamp 44 being spaced apart from the annular fixing member 41 in an axial direction of the parachute container 31, the auxiliary clamp 44 surrounding the plurality of stay cord clamp locking arms 42 in a circumferential direction of the parachute container 31 to clamp the plurality of stay cord clamp locking arms 42 between the parachute container 31 and the auxiliary clamp 44. The parachute stay cord clamp 40 can be more securely fixed by the auxiliary clamp 44. Specifically, the auxiliary clamp 44 includes a resilient auxiliary clamp, or the auxiliary clamp 44 includes a tie wrap.

In some embodiments, the first wire drawing port 231, the second wire drawing port 221 and the hole of the perforated parachute pull ball 43 are lubricated. Thus, the damage of the physical corner to the parachute opening stay 34 can be reduced.

Referring to fig. 4 again, in some embodiments, the parachute assembly 40 further includes a parachute recovery pulling line 45 and a parachute recovery driving member 46, the parachute recovery driving member 46 is mounted on the frame 11, one end of the parachute recovery pulling line 45 is connected to the center of the parachute 33, the other end of the parachute recovery pulling line 45 extends into the interior of the parachute container 31 and is connected to the parachute recovery driving member 46, and the parachute recovery driving member 46 is configured to provide a force for contracting the parachute recovery pulling line 45, so that the parachute 33 is folded into the parachute container 31. Thus, after the multi-rotor unmanned aerial vehicle 100 lands safely, the parachute 33 can be collected into the parachute container 31 again by driving the parachute recovery pulling line 45 through the parachute recovery driving part 46, so as to be reused.

Further, the parachute retraction driving member 46 has a rotation shaft 461, a cord pulling port 4611 is provided on the rotation shaft 461, and the other end of the parachute retraction cord 45 is inserted into the interior of the parachute container 31 and fixed to the cord pulling port 4611. Thus, the pulling wire port 4611 has a guiding function on the contraction of the parachute-retracting pulling wire 45, so that the parachute 33 can be rapidly folded into the parachute container 31, and a guarantee is provided for the subsequent successful opening of the parachute 33. Specifically, the center of the wire pulling port 4611 coincides with the center line of the parachute container 31.

In some embodiments, the parachute retraction drive 46 can be a retraction rocker. The recovery rocking handle has simple and reliable structure.

In some embodiments, the multi-rotor drone 100 further includes a controller electrically connected to the parachuting opening drive 32 to control the operation of the parachuting opening drive 32.

Further, many rotor unmanned aerial vehicle 100 still includes the remote controller, and remote controller and controller communication connection, the remote controller is also remote control operation parachuting to open driving piece 32 work. Specifically, the controller can control the operation of the driving member 32 for opening the parachute according to the feedback signal from the ground station and the input data from the remote controller.

The utility model discloses a many rotor unmanned aerial vehicle 100, through a plurality of first connecting rods 21, a plurality of second connecting rods 22 and a plurality of third connecting rod 23 enclose in the outside of unmanned aerial vehicle body 10 and establish a formation protection space, take place to turn on one's side or fall when many rotor unmanned aerial vehicle 100, and when colliding with other object or people, because first connecting rod 21, the blockking of second connecting rod 22 and third connecting rod 23, under the reaction force, many rotor unmanned aerial vehicle rotate to the opposite of collision face, can avoid high-speed rotatory rotor 13 direct with around object or people contact to produce the harm, and because first connecting rod 21, second connecting rod 22 and third connecting rod 23 enclose the protection space of establishing the formation, also can protect unmanned aerial vehicle body 10, avoid it impaired.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. The multi-rotor unmanned aerial vehicle is characterized by comprising an unmanned aerial vehicle body, wherein the unmanned aerial vehicle body comprises a rack, a plurality of spiral arms and a plurality of rotors;

2. The multi-rotor drone of claim 1, wherein the third plurality of links are end-to-end.

3. A multi-rotor drone according to claim 1, wherein the first link is arranged perpendicular to the second link and/or the second link is arranged perpendicular to the third link.

4. The multi-rotor unmanned aerial vehicle of claim 1, further comprising a parachuting device mounted on the unmanned aerial vehicle body, the parachuting device for providing buoyancy to the unmanned aerial vehicle body.

5. The multi-rotor unmanned aerial vehicle of claim 4, wherein the parachuting device comprises a parachuting container, a parachuting opening drive, a parachute, and a plurality of parachuting opening pull lines;

6. The multi-rotor drone of claim 5, wherein the other ends of the plurality of parachute opening lines are connected to the parachute opening drive along the third and second links.

7. The multi-rotor unmanned aerial vehicle of claim 6, wherein the third link defines a first cable port and the second link defines a second cable port;

8. The multi-rotor drone of claim 7, wherein the second wire ports of each of the second links include at least two, the at least two second wire ports being spaced apart along a lengthwise direction of the second link;

9. The multi-rotor unmanned aerial vehicle of claim 5, wherein the parachuting device further comprises a parachuting recovery pull line and a parachuting recovery drive;

10. A multi-rotor drone according to claim 5, wherein the parachuting container is vertically above the protection mechanism.

11. The multi-rotor unmanned aerial vehicle of claim 5, wherein the parachuting device further comprises a parachute pull cord clip comprising an annular retainer, a plurality of pull cord clip locking arms, and a plurality of perforated parachute pull balls;

the parachute opening driving piece is used for providing a separation force for enabling the perforated parachute drop pull balls to overcome the friction force of the hemispherical parachute pull grooves and to be separated from the hemispherical parachute pull grooves.

12. The multi-rotor drone of claim 11, wherein the portions of the plurality of bridle clamp locking arms that protrude out of the parachuting container are radially disposed from a centerline of the parachuting container.

13. The multi-rotor drone of claim 11, wherein the parachuting bridle grip further includes an auxiliary clamp spaced from the annular stationary member in an axial direction of the parachuting receptacle;

14. The multi-rotor drone of claim 5, wherein the number of parachute opening pull lines is a multiple of the number of booms.

15. A multi-rotor drone according to claim 1, wherein the protection mechanism further includes a plurality of L-shaped links, at least one of the L-shaped links being supported between the first and second links.