阅读说明：本技术 一种无人机检测机器人用螺旋翼 (Spiral wing for unmanned aerial vehicle detection robot ) 是由 黄亚辉 雷道仲 赵莉 曹璐云 李宇峰 廖梦笔 袁雪琼 于 2020-06-10 设计创作，主要内容包括：本发明公开了一种无人机检测机器人用螺旋翼,包括旋翼支撑架和球形安装座,所述旋翼支撑架的一端固定在无人机主体上,且旋翼支撑架的一侧设有弧形槽,弧形槽的内侧面设有两个对称设置的滑槽,球形安装座的中部设有双轴电机,双轴电机两端的输出轴上均设有与滑槽滑动连接的滑块,滑块的一端设有电动推杆,电动推杆的固定端位于旋翼支撑架的内部。该无人机检测机器人用螺旋翼,可以对螺旋翼进行保护,并且可以对螺旋翼进行调节和定位,使四旋翼无人机检测机器人在水面、陆地和空中使用,避免低空飞行时造成无人机与地面碰撞或者落入水中,从而避免检测设备受到损坏,使用范围广,局限性小,操作简单,使用方便。(The invention discloses a spiral wing for an unmanned aerial vehicle detection robot, which comprises a rotor wing supporting frame and a spherical mounting seat, wherein one end of the rotor wing supporting frame is fixed on an unmanned aerial vehicle main body, an arc-shaped groove is formed in one side of the rotor wing supporting frame, two symmetrically arranged sliding grooves are formed in the inner side surface of the arc-shaped groove, a double-shaft motor is arranged in the middle of the spherical mounting seat, sliding blocks which are connected with the sliding grooves in a sliding mode are arranged on output shafts at two ends of the double-shaft motor, an electric push rod is arranged at one end of each sliding block, and the fixed. This spiral wing for unmanned aerial vehicle inspection robot can protect the screw to can adjust and fix a position the screw, make four rotor unmanned aerial vehicle inspection robot use in surface of water, land and air, cause unmanned aerial vehicle and ground collision or fall into the aquatic when avoiding low-altitude flight, thereby avoid check out test set to receive the damage, application range is wide, and the limitation is little, easy operation, convenient to use.)

1. The utility model provides an unmanned aerial vehicle inspection is spiral wing for robot, includes rotor support frame (1) and spherical mount pad (3), its characterized in that: one end of the rotor wing support frame (1) is fixed on the main body of the unmanned aerial vehicle, an arc-shaped groove (2) is formed in one side of the rotor wing support frame (1), two symmetrically-arranged sliding grooves (6) are formed in the inner side face of the arc-shaped groove (2), a double-shaft motor (5) is arranged in the middle of the spherical mounting seat (3), sliding blocks (61) which are connected with the sliding grooves (6) in a sliding mode are arranged on output shafts at two ends of the double-shaft motor (5), an electric push rod (62) is arranged at one end of each sliding block (61), and the fixed end of each electric push rod (62) is located inside the rotor wing;

the spherical mounting seat is characterized in that a servo motor (4) is arranged at the upper end of the spherical mounting seat (3), a spiral wing (41) is arranged on the side surface of an output shaft of the servo motor (4), an annular mounting groove (31) is arranged at the upper end of the side surface of the spherical mounting seat (3), a protecting piece (9) is arranged inside the annular mounting groove (31), the protecting piece (9) comprises an annular plate (92) which is arranged inside the annular mounting groove (31) in a vertical sliding mode, a shock absorber (91) fixedly connected with the spherical mounting seat (3) is arranged on the lower surface of the annular plate (92), a flat bearing (93) is arranged on the upper surface of the annular plate (92), supporting rods (94) are uniformly distributed on the upper surface of the flat bearing (93), and an annular protecting rod (95) is arranged at one end, far away from the flat;

the input of biax motor (5), the input of servo motor (4) and the input of electric putter (62) all are connected with the output electricity of unmanned aerial vehicle internal control ware.

2. The spiral wing for unmanned aerial vehicle inspection robot of claim 1, wherein: one side and the bottom that spherical mount pad (3) are close to rotor support frame (1) all are equipped with locating lever (8), and two sets of locating lever (8) contained angles are ninety degrees, the inside of arc wall (2) is equipped with constant head tank (7) with the setting that locating lever (8) correspond.

3. The spiral wing for unmanned aerial vehicle inspection robot of claim 1, wherein: the diameter of the annular plate (92) is larger than the width of one end, close to the spherical mounting seat (3), of the rotor wing support frame (1).

4. The spiral wing for unmanned aerial vehicle inspection robot of claim 1, wherein: the lower surface of rotor support frame (1) is equipped with plastic tubing (13), plastic tubing (13) are the lower surface at rotor support frame (1) fixed of spill mechanism.

5. The spiral wing for unmanned aerial vehicle inspection robot of claim 1, wherein: the height of the annular protection rod (95) is greater than that of the spiral wing (41).

6. The spiral wing for unmanned aerial vehicle inspection robot of claim 1, wherein: the inner diameter of the annular protection rod (95) is larger than the length of the spiral wing (41), and a plurality of elastic plastic plates (11) which are uniformly distributed are arranged on the inner side surface of the annular protection rod (95).

7. The spiral wing for unmanned aerial vehicle inspection robot of claim 1, wherein: the sum of the length of the spiral wing (41) and the length of the elastic plastic plate (11) is larger than the inner diameter of the annular protection rod (95).

8. The spiral wing for unmanned aerial vehicle inspection robot of claim 1, wherein: an annular groove (12) is formed in the annular protection rod (95).

9. The spiral wing for unmanned aerial vehicle inspection robot of claim 1, wherein: the lateral surface of annular fender rod (95) is equipped with the annular leather packing (10) that the equidistance distributes.

Technical Field

The invention relates to the technical field of robots, in particular to a spiral wing for an unmanned aerial vehicle detection robot.

Background

Robots are the common name for automatic control machines, which include all machines that simulate human behavior or thought and other creatures. The unmanned inspection robot is one of robots. The existing unmanned aerial vehicle detection robot mainly installs detection equipment on an unmanned aerial vehicle to detect, and is convenient to use due to strong unmanned aerial vehicle control performance.

The unmanned aerial vehicle inspection robot of current four rotors can not use on ground or aquatic, when the low-altitude flight, controls improper leading to unmanned aerial vehicle to collide with ground or fall into the aquatic easily to cause unmanned aerial vehicle and check out test set's damage, use the limitation great.

Disclosure of Invention

The invention aims to overcome the existing defects and provides a spiral wing for an unmanned aerial vehicle detection robot, which can protect a spiral wing and adjust and position the spiral wing, so that the four-rotor unmanned aerial vehicle detection robot can be used on the water surface, the land and in the air, and the unmanned aerial vehicle is prevented from colliding with the ground or falling into water during low-altitude flight, thereby preventing detection equipment from being damaged.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an unmanned aerial vehicle inspection is spiral wing for robot, includes rotor support frame and spherical mount pad, the one end of rotor support frame is fixed in the unmanned aerial vehicle main part, and one side of rotor support frame is equipped with the arc wall, the medial surface of arc wall is equipped with the spout that two symmetries set up, the middle part of spherical mount pad is equipped with the biax motor, all be equipped with on the output shaft at biax motor both ends with spout sliding connection's slider, the one end of slider is equipped with electric putter, electric putter's stiff end is located the inside of rotor support frame.

The upper end of spherical mount pad is equipped with servo motor, servo motor's output shaft side is equipped with the spiral wing, the side upper end of spherical mount pad is equipped with annular mounting groove, the inside of annular mounting groove is equipped with protection piece, protection piece sets up the annular plate inside annular mounting groove including sliding from top to bottom, the lower surface of annular plate be equipped with spherical mount pad fixed connection's bumper shock absorber, the upper surface of annular plate is equipped with flat bearing, flat bearing's upper surface is equipped with evenly distributed's bracing piece, the one end that flat bearing was kept away from to the bracing piece is equipped with annular guard bar.

The input of biax motor, servo motor's input and electric putter's input all are connected with the output electricity of unmanned aerial vehicle internal control ware.

As a preferred technical scheme of the invention, positioning rods are arranged on one side and the bottom of the spherical mounting seat close to the rotor wing supporting frame, the included angle between the two groups of positioning rods is ninety degrees, and positioning grooves corresponding to the positioning rods are arranged in the arc-shaped grooves.

As a preferred technical scheme, the diameter of the annular plate is larger than the width of one end, close to the spherical mounting seat, of the rotor support frame.

According to a preferable technical scheme of the invention, a plastic pipe is arranged on the lower surface of the rotor wing support frame, and the plastic pipe is fixed on the lower surface of the rotor wing support frame in a concave mechanism.

As a preferable technical solution of the present invention, the height of the ring-shaped protection bar is greater than the height of the spiral wing.

As a preferred technical scheme of the invention, the inner diameter of the annular protection rod is larger than the length of the spiral wing, and the inner side surface of the annular protection rod is provided with a plurality of elastic plastic plates which are uniformly distributed.

In a preferred embodiment of the present invention, the sum of the length of the spiral wing and the length of the elastic plastic plate is greater than the inner diameter of the annular protection rod.

As a preferable technical solution of the present invention, an annular groove is provided inside the annular protection rod.

As a preferable technical scheme of the invention, the outer side surface of the annular protection rod is provided with annular leather pads which are distributed at equal intervals.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the spiral wing for the unmanned aerial vehicle detection robot disclosed by the invention, the servo motor can drive the spiral wing to rotate, so that the whole unmanned aerial vehicle can fly, and the unmanned aerial vehicle detection robot can be conveniently and normally used.

2. According to the spiral wing for the unmanned aerial vehicle detection robot, the annular protection rod can protect the spiral wing, meanwhile, the harm to close-distance operators can be avoided when the unmanned aerial vehicle takes off or lands, and the use safety of the unmanned aerial vehicle detection robot is improved.

3. According to the spiral wing for the unmanned aerial vehicle detection robot disclosed by the invention, the spherical mounting seat can be driven by the double-shaft motor to rotate ninety degrees, and the spherical mounting seat can drive the servo motor and the protection piece to rotate ninety degrees, so that the annular protection rod can protect the unmanned aerial vehicle, and the spiral wing is prevented from being directly contacted with the ground to cause damage.

4. According to the spiral wing for the unmanned aerial vehicle detection robot, disclosed by the invention, the electric push rod can drive the sliding block to move along the sliding groove, the sliding block can drive the spherical mounting seat to move through the double-shaft motor, and the positioning rod is inserted into the positioning groove, so that the spherical mounting seat is positioned, and the stability of the spherical mounting seat is improved.

5. According to the spiral wing for the unmanned aerial vehicle detection robot, after the spiral wing rotates ninety degrees, the rotor wing supporting frame pushes the annular plate, the annular plate drives the shock absorber to extend, meanwhile, the annular plate drives the supporting rod and the annular protective rod to move through the plane bearing, the annular protective rod moves to the position same as that of the spiral wing, and the annular protective rod can protect the spiral wing.

6. According to the spiral wing for the unmanned aerial vehicle detection robot, the spiral wing which rotates ninety degrees can strike the elastic plastic plate in the rotating process, and the elastic plastic plate is stressed to drive the annular protection rod to move, so that the unmanned aerial vehicle detection robot can move on the road surface and the water surface.

7. The spiral wing for the unmanned aerial vehicle detection robot can protect the spiral wing, and can adjust and position the spiral wing, so that the four-rotor unmanned aerial vehicle detection robot can be used on the water surface, on the land and in the air, and the unmanned aerial vehicle is prevented from colliding with the ground or falling into the water during low-altitude flight, so that detection equipment is prevented from being damaged, and the spiral wing has the advantages of wide application range, small limitation, simplicity in operation and convenience in use.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of a rotor support frame according to the present invention;

FIG. 3 is a schematic bottom view of the spherical mounting seat of the present invention;

FIG. 4 is a schematic view of the protective member of the present invention.

In the figure: 1 rotor wing support frame, 2 arc walls, 3 spherical mounting seats, 31 annular mounting grooves, 4 servo motors, 41 spiral wings, 5 double-shaft motors, 6 sliding grooves, 61 sliding blocks, 62 electric push rods, 7 positioning grooves, 8 positioning rods, 9 protection pieces, 91 shock absorbers, 92 annular plates, 93 plane bearings, 94 supporting rods, 95 annular protection rods, 10 annular leather pads, 11 elastic plastic plates, 12 annular grooves and 13 plastic pipes.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides a technical solution: the utility model provides an unmanned aerial vehicle inspection is spiral wing for robot, includes rotor support frame 1 and spherical mount pad 3, and the one end of rotor support frame 1 is fixed in the unmanned aerial vehicle main part, and the lower surface of rotor support frame 1 is equipped with plastic tubing 13, and plastic tubing 13 is spill mechanism and fixes the lower surface at rotor support frame 1.

And one side of rotor support frame 1 is equipped with arc wall 2, the medial surface of arc wall 2 is equipped with spout 6 that two symmetries set up, the middle part of spherical mount pad 3 is equipped with double-shaft motor 5, all be equipped with on the output shaft at double-shaft motor 5 both ends with 6 sliding connection's of spout slider 61, the one end of slider 61 is equipped with electric putter 62, electric putter 62's stiff end is located rotor support frame 1's inside, electric putter 62 can drive slider 61 and remove along spout 6, slider 61 can drive spherical mount pad 3 through double-shaft motor 5 and remove, and make locating lever 8 insert inside constant head tank 7, thereby fix a position spherical mount pad 3, improve the stability of spherical mount pad 3.

Spherical mount pad 3 is close to one side and the bottom of rotor support frame 1 and all is equipped with locating lever 8, and 8 contained angles of two sets of locating levers are ninety degrees, and the inside of arc wall 2 is equipped with the constant head tank 7 with the setting that locating lever 8 corresponds, and spherical mount pad 3 rotates ninety degrees front and back, and two sets of locating levers 8 can be respectively with constant head tank 7 joint, the location of the spherical mount pad 3 of being convenient for.

The servo motor 4 is arranged at the upper end of the spherical mounting seat 3, the spiral wing 41 is arranged on the side face of the output shaft of the servo motor 4, and the servo motor 4 can drive the spiral wing 41 to rotate, so that the whole unmanned aerial vehicle can fly, and the unmanned aerial vehicle detection robot can be conveniently used normally; biax motor 5 can drive spherical mount pad 3 and rotate ninety degrees, and spherical mount pad 3 can drive servo motor 4 and protection piece 9 and rotate ninety degrees to annular guard bar 95 can protect unmanned aerial vehicle, avoids spiral wing 41 directly to cause the damage with ground contact.

The upper end of the side surface of the spherical mounting seat 3 is provided with an annular mounting groove 31, a protection piece 9 is arranged inside the annular mounting groove 31, the protection piece 9 comprises an annular plate 92 which is arranged inside the annular mounting groove 31 in a vertically sliding mode, the lower surface of the annular plate 92 is provided with a shock absorber 91 fixedly connected with the spherical mounting seat 3, the upper surface of the annular plate 92 is provided with a planar bearing 93, the upper surface of the planar bearing 93 is provided with uniformly distributed support rods 94, one end, away from the planar bearing 93, of each support rod 94 is provided with an annular protection rod 95, the annular protection rods 95 can protect the helical rotor 41, meanwhile, harm to close-distance control personnel during unmanned aerial vehicles or landing can be avoided, and the use safety of the unmanned aerial vehicle detection; after the spiral wing 41 rotates ninety degrees, the rotor support frame 1 pushes the annular plate 92, the annular plate 92 drives the shock absorber 91 to extend, and simultaneously the annular plate 92 drives the support rod 94 and the annular protection rod 95 to move through the plane bearing 93, and the annular protection rod 95 moves to the same position as the spiral wing 41, so that the annular protection rod 95 can protect the spiral wing 41.

The diameter of annular plate 92 is greater than the width that rotor support frame 1 is close to spherical mount pad 3 one end, makes rotor support frame 1 can promote annular plate 92 and remove to make annular plate 92 pass through plane bearing 93 and drive bracing piece 94 and the removal of annular fender rod 95, be convenient for protect screw 41.

The height of the ring-shaped protection bar 95 is greater than that of the spiral wing 41, so that the ring-shaped protection bar 95 can completely protect the spiral wing 41.

The internal diameter of annular protection pole 95 is greater than the length of spiral wing 41, and the medial surface of annular protection pole 95 is equipped with a plurality of evenly distributed's elastic plastic board 11, and the length of spiral wing 41 and the length of elastic plastic board 11 and the internal diameter that is greater than annular protection pole 95 rotate ninety degrees spiral wing 41 and can hit elastic plastic board 11 rotating the in-process, and elastic plastic board 11 atress drives annular protection pole 95 and removes to make unmanned aerial vehicle detection robot can remove on road surface and the surface of water.

The annular groove 12 is formed inside the annular protection rod 95, so that the weight of the annular protection rod 95 is reduced, and the buoyancy of water borne by the annular protection rod 95 is improved.

The outer side surface of the annular protection rod 95 is provided with the annular leather pads 10 which are distributed at equal intervals, so that the friction force between the annular protection rod 95 and the ground is improved.

The input of biax motor 5, servo motor 4's input and electric putter 62's input all are connected with the output electricity of unmanned aerial vehicle internal control ware.

The mode that the internal controller of the unmanned aerial vehicle controls the double-shaft motor 5, the servo motor 4 and the electric push rod 62 is a common method in the prior art, and the double-shaft motor 5, the servo motor 4 and the electric push rod 62 are common electrical elements in the prior art.

Unmanned aerial vehicle adopts the unmanned aerial vehicle that has two sets of parallel arrangement's rotor support frame 1, makes two spiral wings 41 parallel that can keep when making spiral wing 41 rotate ninety degrees, and the unmanned aerial vehicle of being convenient for traveles on the road surface.

The whole spiral wing for the unmanned aerial vehicle detection robot can protect the spiral wing 41, and can adjust and position the spiral wing 41, so that the four-rotor unmanned aerial vehicle detection robot can be used on the water surface, on the land and in the air, and the unmanned aerial vehicle collides with the ground or falls into the water when the low-altitude flight is avoided, so that the detection equipment is prevented from being damaged, the application range is wide, the limitation is small, the operation is simple, and the use is convenient.

When in use:

1. in an initial state, the spiral wing 41 is in a horizontal state shown in fig. 1, and the servo motor 4 drives the spiral wing 41 to rotate, so that the unmanned detection robot flies stably;

2. when the unmanned aerial vehicle is falling, or needs to travel on the water surface and the ground:

21. through the work of unmanned aerial vehicle internal control ware control electric putter 62, electric putter 62 promotes slider 61 and removes along spout 6, and slider 61 drives spherical mount pad 3 through double-shaft motor 5 and removes, and spherical mount pad 3 drives the removal of locating lever 8 to make locating lever 8 and 7 separations of constant head tank:

22. the double-shaft motor 5 is controlled to work by an internal controller of the unmanned aerial vehicle, the double-shaft motor 5 drives the spherical mounting seat 3 to rotate by ninety degrees, and a positioning rod 8 at the bottom of the spherical mounting seat 3 is parallel to a positioning groove 7;

23. the electric push rod 62 is controlled to be shortened through an internal controller of the unmanned aerial vehicle, the electric push rod 62 pushes the sliding block 61 to move reversely along the sliding groove 6, the sliding block 61 drives the spherical mounting seat 3 to move reversely through the double-shaft motor 5, the spherical mounting seat 3 drives the positioning rod 8 to move reversely, and the positioning rod 8 is inserted into the positioning groove 7;

24. when the spherical mounting seat 3 moves along the sliding chute 6, the rotor wing support frame 1 extrudes the annular plate 92, the annular plate 92 drives the shock absorber 91 to be long, meanwhile, the annular plate 92 drives the support rod 94 and the annular protection rod 95 to move through the plane bearing 93, the annular protection rod 95 moves to the same position as the spiral wing 41, and the spiral wing 41 is positioned inside the annular protection rod 95;

3. when the unmanned aerial vehicle falls off in the flying process, the hollow annular protection rod 95, the annular leather pad 10 and the plastic pipe 13 play a role in shock absorption and protection on the unmanned aerial vehicle;

4. placing the unmanned aerial vehicle on the ground, enabling the annular leather pads 10 on the side surfaces of the annular protective rods 95 to be in contact with the ground, controlling the servo motor 4 to work through an internal controller of the unmanned aerial vehicle, enabling the servo motor 4 to drive the spiral wings 41 to rotate, enabling the spiral wings 41 to continuously hit the elastic plastic plates 11 in the rotating process, enabling the elastic plastic plates 11 to drive the annular protective rods 95 to rotate, and enabling the annular protective rods 95 to move on the ground, and enabling the annular protective rods 95 to drive the unmanned aerial vehicle to move on the ground;

5. put unmanned aerial vehicle into the aquatic, plastic tubing 13 and the annular fender rod 95 that has ring channel 12 receive the buoyancy of water and support unmanned aerial vehicle, control servo motor 4 work through unmanned aerial vehicle internal control ware, servo motor 4 drives the spiral wing 41 and rotates, spiral wing 41 rotates the in-process and constantly hits the elasticity plastic slab 11 of beating, elasticity plastic slab 11 drives annular fender rod 95 and rotates, the surface of water is constantly hit to the spiral wing 41, annular fender rod 95 rotates in the aquatic simultaneously, thereby make unmanned aerial vehicle remove in the aquatic.

The four-rotor unmanned aerial vehicle detection robot can protect the screw wings 41 and adjust and position the screw wings 41, so that the four-rotor unmanned aerial vehicle detection robot can be used on the water surface, on the land and in the air, and the unmanned aerial vehicle is prevented from colliding with the ground or falling into the water during low-altitude flight, so that detection equipment is prevented from being damaged, and the four-rotor unmanned aerial vehicle detection robot is wide in application range, small in limitation, simple to operate and convenient to use.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.