WO2017173732A1 - Véhicule aérien sans pilote (uav) ayant un mécanisme de pliage synchrone à multiples bras - Google Patents

Véhicule aérien sans pilote (uav) ayant un mécanisme de pliage synchrone à multiples bras Download PDF

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Publication number
WO2017173732A1
WO2017173732A1 PCT/CN2016/086310 CN2016086310W WO2017173732A1 WO 2017173732 A1 WO2017173732 A1 WO 2017173732A1 CN 2016086310 W CN2016086310 W CN 2016086310W WO 2017173732 A1 WO2017173732 A1 WO 2017173732A1
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WO
WIPO (PCT)
Prior art keywords
base
arms
linkage
snap
folding mechanism
Prior art date
Application number
PCT/CN2016/086310
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English (en)
Chinese (zh)
Inventor
高鹏
王月福
钟海青
Original Assignee
高鹏
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Publication date
Application filed by 高鹏 filed Critical 高鹏
Publication of WO2017173732A1 publication Critical patent/WO2017173732A1/fr

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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
    • B64U30/293—Foldable or collapsible rotors or rotor supports

Definitions

  • the present invention relates to the field of drones; more specifically, the present invention relates to a drone (especially to a small and medium-sized drone) having a multi-arm synchronous folding mechanism.
  • the arms of small and medium-sized drones usually have both fixed and foldable configurations.
  • the size of the drone using the fixed arm is not easily changed, which affects the portability of the drone.
  • a drone using a foldable arm typically employs a single arm folding mechanism. When such a single arm folding mechanism is used, it is necessary to fold the respective arms one by one. Thus, in the case where there are many arms, there is a drawback that the operation is cumbersome and inconvenient to use.
  • the present invention has been made based on the above-described drawbacks of the prior art, and provides a drone capable of realizing simultaneous folding of multiple arms. In order to achieve the above object, the present invention adopts the following technical solutions.
  • the present invention provides a drone having a multi-arm synchronous folding mechanism, the drone including: a base having a flat plate shape and having the base mounted on the base a plurality of rotating shafts extending in parallel; a plurality of arms connected to the rotating shaft in a manner rotatable about the rotating shaft, respectively, and the plurality of arms can be in a position Pedestal flat a deployed state of the row and a folded state perpendicular to the base; a snap-fit assembly for maintaining the plurality of arms in an unfolded state; and a folding assembly for synchronizing the release
  • the latching state of the snap-fit assembly causes the plurality of arms to be synchronized from the unfolded state to the folded state, wherein the snap-fit assembly and the fold assembly constitute the multi-arm synchronous folding mechanism.
  • the folding assembly comprises: a linkage, the linkage generates an interlocking action for synchronously releasing the snap-on assembly; and a transmission assembly, the transmission assembly synchronously transmits the linkage motion to the plurality A snap-fit assembly for each of the arms.
  • the linkage is disposed on the base in a manner movable away from and proximate to the base in a direction perpendicular to the base.
  • the linkage is disposed at a geometric center of the base.
  • the transmission assembly includes: a plurality of inclined guide columns, each of which is disposed on the linkage and movable along with the linkage; and a plurality of sliders, the plurality The sliders are respectively driven by the oblique guide columns to reciprocate in a direction away from and close to the linkage, and the plurality of sliders are capable of converting the linkage action of the linkage into the release of the snap assembly The release of the card state.
  • the plurality of oblique guide columns extend toward the outer side from the linkage to the outer side, and the plurality of sliders are provided with an extending direction and an extending direction of the inclined guiding column Consistent oblique guide groove.
  • the snap-fit assembly includes: a plurality of crossbars respectively disposed on the slider and movable along with the slider; and a plurality of snap portions, the plurality of The latching portions are respectively disposed at a portion of each of the plurality of arms that is rotatably coupled to the rotating shaft, and the latching portion is configured to be engaged with the crossbar such that the plurality of latching portions The arm remains unfolded.
  • the snap-fit assembly further includes a plurality of elastic members respectively coupled to the rotating shaft and the cross bar such that the plurality of arms are maintained when in the deployed state The state of engagement of the crossbar and the snap portion is described.
  • a plurality of pairs of fixing brackets extending from the base in a direction perpendicular to the base are provided on the base, and the plurality of pairs of fixing brackets are along the base The circumference is evenly distributed.
  • each of the plurality of pairs of fixing brackets is provided with the rotating shaft, and each of the pair of fixing brackets is further provided with a sliding rail, the horizontal The rod is reciprocally movable along the sliding track in a direction away from and in proximity to the linkage.
  • the present invention provides a drone capable of simultaneous folding of multiple arms, which makes it easy to change the size of the drone and is simple to operate and easy to use in the process of folding the arm.
  • FIG. 1 is a schematic view showing a drone according to the present invention in which a multi-arm is in an unfolded state.
  • FIG. 2 is a schematic view showing a drone according to the present invention in which a plurality of arms are in a folded state.
  • FIG. 3 is a top plan view showing the drone according to the present invention in which the multiple arms are in an unfolded state.
  • Fig. 4 is an enlarged schematic view showing a region A in Fig. 1.
  • Fig. 5 is an enlarged schematic view showing a region B in Fig. 2.
  • inner and outer refer to the side of each component that is close to the geometric center of the substrate on its own and the side that is away from the geometric center of the substrate, respectively.
  • the drone according to the present invention includes a susceptor 1 for mounting other components.
  • the susceptor 1 has a substantially flat plate structure and has an octagonal shape that is bilaterally symmetrical (as shown in FIG. 3).
  • the base 1 is provided with four pairs of fixing brackets 11 extending from the base 1 and extending upright in a direction perpendicular to the base 1.
  • the four pairs of fixing brackets 11 are evenly distributed along the circumference of the base 1.
  • Each pair of fixing brackets 11 is provided with a rotating shaft 12 which extends in parallel with the base 1.
  • the drone according to the present invention further includes four arms 2 each having the same shape and being substantially rod-shaped.
  • One end of each arm 2 is a free end 21 for mounting a component such as a propeller; and each arm 2 is coupled to the rotating shaft 12 so that the other end can be rotated about the rotating shaft 12, respectively.
  • the arm 2 By rotating the four arms 2 about the rotating shaft 12, the arm 2 can be in an unfolded state parallel to the base 1 (as shown in FIGS. 1 and 3) and a folded state perpendicular to the base 1 (FIG. 2). Shown).
  • the unmanned aerial vehicle according to the present invention further includes a snap-fit assembly and a folding assembly, and the snap-fit assembly and the folding assembly constitute a multi-arm synchronous folding mechanism that realizes simultaneous folding of the four arms 2.
  • the snap-fit assembly When the snap-fit assembly is in the engaged state, the snap-fit assembly maintains the plurality of arms 2 in an unfolded state.
  • the folding component is used for synchronously releasing the snap-in state of the snap-fit component, so that the plurality of arms 2 are in the same state from the unfolded state
  • the step is shifted to the folded state, and finally the plurality of arms 2 are in a folded state.
  • the folding assembly includes a button 5 and a drive assembly.
  • the button 5 is disposed at the geometric center of the susceptor 1 and is disposed on the pedestal 1, ie, the button 5, in such a manner as to be movable away from and close to the susceptor 1 in a direction perpendicular to the susceptor 1 to enable along the FIGS. 1 and 2
  • the vertical movement in the vertical direction is set to the base 1.
  • the button 5 functions as a linkage that generates a linkage action to drive the linkage of the transmission assembly for synchronizing the snap-on assembly to the engaged state.
  • the transmission assembly includes a slanted guide post 42 and a slider 41.
  • the inclined guide columns 42 are respectively disposed below the button 5 and can move up and down along the vertical direction shown in FIGS. 1 and 2 along with the button 5, and the oblique guide column 42 is closer to the base 1 from the button 5 The extension tends to the outside.
  • the slider 41 is provided with an oblique guide groove (not shown) through which the oblique guide post 42 is inserted, and the oblique guide groove extends in a direction that coincides with the extending direction of the inclined guide post 42.
  • the inclined guide post 42 is inserted into the oblique guide groove, and the movement of the inclined guide post 42 causes the slider 41 to be driven by the inclined guide post 42 and reciprocally movable away from and in the direction of the link.
  • the slider 41 can convert the interlocking action of the button 5 into the release of the snap-on state for releasing the snap-fit assembly. Action (detailed below).
  • the number of the oblique guide post 42 and the slider 41 is four, and the oblique guide post 42, the slider 41 and the arm 2 are in one-to-one correspondence.
  • the transmission assembly synchronously transmits the interlocking motion to the latching assembly of each of the arms 2 to achieve the purpose of synchronous folding of the four arms 2.
  • the snap-fit assembly includes a snap portion 31 and a crossbar 32.
  • the catching portion 31 is provided at a portion of each of the arms 2 that is rotatably coupled to the base 1.
  • the engagement of the engaging portion 31 with the crossbar 32 ensures that the arm 2 remains in the deployed state.
  • Both the crossbar 32 and the slider 41 are substantially rod-shaped, and the extending direction of the crossbar 32 and the extending direction of the slider 41 are substantially perpendicular to each other.
  • the cross bar 32 is disposed at an end of the slider 41 away from the inclined guide post 42 and can be transported along with the slider 41 move.
  • Each pair of fixing brackets 11 is also provided with a sliding rail 13 so that the rail 32 can reciprocate along the sliding rail 13 in a direction away from and in proximity to the button 5.
  • the snap assembly further includes a spring 33, and the spring 33 is a tension spring. Both ends of the spring 33 are connected to the rotating shaft 12 and the crossbar 32, respectively, so that the latching state of the crossbar 32 and the engaging portion 31 is maintained when the plurality of arms 2 are in the unfolded state.
  • one end of the spring 33 is directly connected to the rotating shaft 12, and the other end of the spring 33 is attached to the crossbar 32 by a mounting member (not shown) such as a screw.
  • the other end of the spring 33 can also be mounted to the slider 41.
  • the button 5 When the four arms 2 of the drone are in the unfolded state, the button 5 is located at the uppermost position that can be moved in the vertical direction in FIGS. 1 and 2 due to the pulling force of the spring 33 without external force.
  • the position (the position in Fig. 1, that is, the top dead center position), the cross bar 32 is engaged with the engaging portion 31 to ensure that the arm 2 of the drone remains in the unfolded state.
  • the button 5 In order to synchronize the plurality of arms 2 to the folded state, the button 5 is moved downward along the vertical direction in FIGS. 1 and 2, and the button 5 synchronously drives the four oblique guide columns 42 to move downward;
  • the characteristic structural features of the guide post 42 cooperate with the inclined guide groove of the slider 41 such that the downward movement of the four inclined guide columns 42 is converted into the inward movement of the slider 41, and the crossbar 32 follows the slider 41 to move inward; After the crossbar 32 has moved by a predetermined distance, the state of engagement between the crossbar 32 and the catching portion 31 is released.
  • the plurality of arms 2 are rotatable about the rotational axis 12 and finally achieve a folded state.
  • the button 5 When the four arms 2 of the drone are in the folded state, the button 5 is located at the top dead center position due to the pulling force of the spring 33 without the external force, and the cross bar 32 and the engaging portion 31 are unfastened. Shape state.
  • the plurality of arms 2 can be respectively rotated about the rotating shaft 12 to a position parallel to the base 1. After each arm 2 is rotated by a predetermined angle, each arm The latching portion 31 of the 2 is engaged with the crossbar 32, so that the arms 2 are in an unfolded state.
  • the present invention is not limited thereto, and two, three or more than four arms 2 may be provided depending on the actual situation.
  • the button 5, the inclined guide post 42, and the slider 41 and the crossbar 32 may be formed integrally.
  • both ends of the spring 33 are always kept in connection with the rotating shaft 12 and the crossbar 32 (slider 41) to ensure that a tensile force is always applied to the crossbar 32 (slider 41).
  • the shape of the susceptor is not limited to the left-right symmetrical octagonal shape described above, and may be other various shapes such as a circle, a square, or the like.
  • the present invention provides a drone capable of simultaneous folding of multiple arms, which makes it easy to change the size of the drone and is simple to operate and easy to use in the process of folding the arm.
  • the present invention provides a drone capable of simultaneous folding of multiple arms, which makes it easy to change the size of the drone and is simple to operate and easy to use in the process of folding the arm.

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  • Aerials With Secondary Devices (AREA)
  • Toys (AREA)

Abstract

L'invention concerne un véhicule aérien sans pilote (UAV) ayant un mécanisme de pliage synchrone à multiples bras, comprenant : une base (1) ayant une forme de plaque plate et comportant une pluralité d'arbres rotatifs (12) qui s'étendent parallèlement à la base (1); une pluralité de bras (2), qui sont reliés aux arbres rotatifs (12) de manière à pouvoir tourner autour des arbres rotatifs (12), respectivement, et capables d'être dans un état déplié parallèle à la base (1) et dans un état plié perpendiculaire à la base (1); un ensemble de serrage (31, 32), qui est utilisé pour maintenir de multiples bras dans un état déplié; et un ensemble de pliage (5, 41, 42), qui est utilisé pour soulager de manière synchrone l'état de serrage de l'ensemble de serrage, de telle sorte que de multiples bras peuvent être convertis de l'état de dépliage à l'état de pliage, l'ensemble de serrage et l'ensemble de pliage formant un mécanisme de pliage synchrone à multiples bras. L'UAV ayant le mécanisme de pliage synchrone à multiples bras peut changer facilement la taille de l'UAV, est simple à faire fonctionner et pratique à utiliser dans le processus de pliage des bras.
PCT/CN2016/086310 2016-04-08 2016-06-17 Véhicule aérien sans pilote (uav) ayant un mécanisme de pliage synchrone à multiples bras WO2017173732A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610218998.1A CN105857571B (zh) 2016-04-08 2016-04-08 具有多机臂同步折叠机构的无人机
CN201610218998.1 2016-04-08

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WO2017173732A1 true WO2017173732A1 (fr) 2017-10-12

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CN (1) CN105857571B (fr)
WO (1) WO2017173732A1 (fr)

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CN109018297A (zh) * 2018-08-14 2018-12-18 国网辽宁省电力有限公司辽阳供电公司 一种自动收放无人机机臂折叠件
CN109625236A (zh) * 2018-12-27 2019-04-16 首航国翼（武汉）科技有限公司 一种可折叠多轴无人机
CN110053758A (zh) * 2019-06-05 2019-07-26 吉林大学 一种无人机机臂折叠机构及其无人机
US10392108B1 (en) * 2014-10-27 2019-08-27 Amazon Technologies, Inc. In-flight reconfigurable hybrid unmanned aerial vehicle
CN113490625A (zh) * 2020-10-19 2021-10-08 深圳市大疆创新科技有限公司 自锁结构、机臂组件及可移动平台
CN113716015A (zh) * 2021-08-19 2021-11-30 航天时代飞鹏有限公司 一种四旋翼无人机机臂自主收放机构
CN113716014A (zh) * 2021-08-19 2021-11-30 航天时代飞鹏有限公司 一种可自主收放机臂的四旋翼无人机及机臂收放方法
CN114475118A (zh) * 2022-03-30 2022-05-13 合肥工业大学 灾后空陆两用救援机器人
CN115837995A (zh) * 2023-02-15 2023-03-24 成都航空职业技术学院 一种机翼可伸缩式无人机
CN117125280A (zh) * 2023-10-25 2023-11-28 山西中创天达科技有限公司 一种具有收缩机臂功能的无人机

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CN114212249A (zh) 2016-12-27 2022-03-22 深圳市大疆创新科技有限公司 多旋翼无人机
CN107776868B (zh) * 2017-11-23 2020-06-05 四川建筑职业技术学院 一种折叠安装座
CN109592025B (zh) * 2018-11-15 2020-12-04 航天恒星科技有限公司 多旋翼无人飞行器、套件及其可折叠旋翼组件
CN109279017B (zh) * 2018-11-16 2022-04-19 华东理工大学 一种纳型可折叠查证无人机
JP6755596B2 (ja) * 2019-03-11 2020-09-16 株式会社プロドローン 回転翼航空機
CN110244264B (zh) * 2019-06-26 2021-04-13 北京航天控制仪器研究所 一种声传感器基阵结构
JP6872822B2 (ja) * 2020-06-04 2021-05-19 株式会社プロドローン 回転翼航空機
JP6872823B2 (ja) * 2020-06-04 2021-05-19 株式会社プロドローン 回転翼航空機
CN112591074B (zh) * 2021-01-07 2023-06-30 中航金城无人系统有限公司 一种可折叠筒式多旋翼无人机
CN114212236A (zh) * 2021-11-23 2022-03-22 北京卓翼智能科技有限公司 一种无人机机臂折叠机构

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US11639220B1 (en) 2014-10-27 2023-05-02 Amazon Technologies, Inc. In-flight reconfigurable hybrid unmanned aerial vehicle
US11390381B1 (en) 2014-10-27 2022-07-19 Amazon Technologies, Inc. In-flight reconfigurable hybrid unmanned aerial vehicle with swing arm for engaging or disengaging items
US10392108B1 (en) * 2014-10-27 2019-08-27 Amazon Technologies, Inc. In-flight reconfigurable hybrid unmanned aerial vehicle
US10661894B1 (en) 2014-10-27 2020-05-26 Amazon Technologies, Inc. In-flight reconfigurable hybrid unmanned aerial vehicle
CN109018297A (zh) * 2018-08-14 2018-12-18 国网辽宁省电力有限公司辽阳供电公司 一种自动收放无人机机臂折叠件
CN109018297B (zh) * 2018-08-14 2023-10-13 国网辽宁省电力有限公司辽阳供电公司 一种自动收放无人机机臂折叠件
CN109625236A (zh) * 2018-12-27 2019-04-16 首航国翼（武汉）科技有限公司 一种可折叠多轴无人机
CN110053758B (zh) * 2019-06-05 2023-11-17 吉林大学 一种无人机机臂折叠机构及其无人机
CN110053758A (zh) * 2019-06-05 2019-07-26 吉林大学 一种无人机机臂折叠机构及其无人机
CN113490625B (zh) * 2020-10-19 2023-06-30 深圳市大疆创新科技有限公司 自锁结构、机臂组件及可移动平台
CN113490625A (zh) * 2020-10-19 2021-10-08 深圳市大疆创新科技有限公司 自锁结构、机臂组件及可移动平台
CN113716014A (zh) * 2021-08-19 2021-11-30 航天时代飞鹏有限公司 一种可自主收放机臂的四旋翼无人机及机臂收放方法
CN113716015A (zh) * 2021-08-19 2021-11-30 航天时代飞鹏有限公司 一种四旋翼无人机机臂自主收放机构
CN114475118B (zh) * 2022-03-30 2023-09-15 合肥工业大学 灾后空陆两用救援机器人
CN114475118A (zh) * 2022-03-30 2022-05-13 合肥工业大学 灾后空陆两用救援机器人
CN115837995B (zh) * 2023-02-15 2023-04-25 成都航空职业技术学院 一种机翼可伸缩式无人机
CN115837995A (zh) * 2023-02-15 2023-03-24 成都航空职业技术学院 一种机翼可伸缩式无人机
CN117125280B (zh) * 2023-10-25 2024-01-02 山西中创天达科技有限公司 一种具有收缩机臂功能的无人机
CN117125280A (zh) * 2023-10-25 2023-11-28 山西中创天达科技有限公司 一种具有收缩机臂功能的无人机

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