阅读说明：本技术 一种无人机机臂折叠结构及无人机 (Unmanned aerial vehicle horn beta structure and unmanned aerial vehicle ) 是由 杜子涛 邹少峰 范亚凝 张诗浩 郭睿 王嘉杰 孙杜鹏 李育佐 于 2021-09-07 设计创作，主要内容包括：本申请公开了一种无人机机臂折叠结构,包括：设于机臂的一端的机臂连接件；与机臂连接件铰接的主体连接件；设于机臂连接件和主体连接件之间的回弹部件；当机臂另一端承受施加于其上的第一外力,使得机臂连接件相对于主体连接件围绕两者铰接处旋转至折叠状态；折叠状态时,机臂连接件和主体连接件之间形成第一设定角度；当第一外力消失时,机臂连接件受回弹部件的拉力,使得机臂连接件和主体连接件之间自折叠状态恢复至第一初始状态。以上结构使得无人机机臂具有折叠后的自动展开功能,方便了无人机的拿取和放置。由于整体结构较为简单,因此有利于减小无人机的整体尺寸,快速投入生产,并应用于无人机密集群场景。(The application discloses unmanned aerial vehicle horn beta structure includes: the machine arm connecting piece is arranged at one end of the machine arm; a main body connecting piece hinged with the machine arm connecting piece; the rebound component is arranged between the machine arm connecting piece and the main body connecting piece; when the other end of the machine arm bears a first external force applied to the other end of the machine arm, the machine arm connecting piece rotates to a folded state relative to the main body connecting piece around the hinged position of the machine arm connecting piece and the main body connecting piece; when the folding state is carried out, a first set angle is formed between the machine arm connecting piece and the main body connecting piece; when the first external force disappears, the mechanical arm connecting piece is pulled by the rebounding component, so that the mechanical arm connecting piece and the main body connecting piece are restored to the first initial state from the folded state. Above structure makes the unmanned aerial vehicle horn have the automatic function of expanding after folding, has made things convenient for taking and placing of unmanned aerial vehicle. Because overall structure is comparatively simple, consequently be favorable to reducing unmanned aerial vehicle's overall dimension, put into production fast to be applied to unmanned secret cluster scene.)

1. An unmanned aerial vehicle horn beta structure, its characterized in that includes:

the mechanical arm connecting piece (1), wherein the mechanical arm connecting piece (1) is arranged at one end of the mechanical arm;

the main body connecting piece (2), the main body connecting piece (2) is hinged with the machine arm connecting piece (1);

the rebound component (3) is arranged between the machine arm connecting piece (1) and the main body connecting piece (2);

when the other end of the machine arm bears a first external force applied to the other end of the machine arm, the machine arm connecting piece (1) rotates to a folding state relative to the main body connecting piece (2) around the hinged position of the machine arm connecting piece and the main body connecting piece; when the folding state is carried out, a first set angle is formed between the machine arm connecting piece (1) and the main body connecting piece (2);

when the first external force disappears, the horn connecting piece (1) is pulled by the rebounding component (3), so that the horn connecting piece (1) and the main body connecting piece (2) are restored to the first initial state from the folded state.

2. The unmanned aerial vehicle horn beta structure of claim 1, further comprising:

the locking structure is arranged at the joint of the machine arm connecting piece (1) and the main body connecting piece (2);

when the horn connecting piece (1) and the main body connecting piece (2) are in a first initial state, the locking structure locks the relative position between the horn connecting piece (1) and the main body connecting piece (2).

3. The unmanned aerial vehicle horn beta structure of claim 2, wherein, be equipped with regulation hole (21) on main part connecting piece (2), locking structure includes:

the limiting part (41), the limiting part (41) is arranged on the machine arm connecting piece (1) and is positioned at one side close to the main body connecting piece (2);

the limiting pin (42) is arranged in the adjusting hole (21), and the limiting pin (42) can be adjusted in the adjusting hole (21);

the elastic component (43) is arranged between the limiting pin (42) and the machine arm connecting piece (1);

when the limiting pin (42) bears a second external force applied to the limiting pin, the limiting pin (42) is far away from the limiting part (41);

when the second external force disappears, the limiting pin (42) is pulled by the elastic component (43), so that the limiting pin (42) is contacted with the limiting part (41).

4. The unmanned aerial vehicle horn-folding structure of claim 3, wherein a portion of the stopper portion (41) contactable with the stopper pin (42) includes:

when the limiting pin (42) is in contact with the limiting part (41) on the limiting surface (411), the limiting pin (42) is matched and locked with the limiting part (41), and the limiting pin (42) is in a second initial state;

and a sliding surface (412), wherein when the limit pin (42) is in contact with the limit part (41) on the sliding surface (412), the limit pin (42) can relatively slide on the sliding surface (412), and the limit pin (42) is in a sliding state.

5. The unmanned aerial vehicle horn beta structure of claim 4, characterized in that, the spacing face (411) is at a second set angle with the elastic component (43) direction of stretching, so that when the spacing pin (42) receives the pulling force of the elastic component (43) and recovers to a second initial state, the spacing pin (42) applies a pressure to the spacing face (411), and the pressure has a component in the vertical direction.

6. The unmanned aerial vehicle horn beta structure of claim 4, wherein the sliding surface (412) is a smooth curved surface.

7. The unmanned aerial vehicle horn-folding structure of claim 4, wherein the resilient member (3) is detachably connected between the horn connection member (1) and the body connection member (2);

the elastic part (43) is detachably connected to the main body connecting piece (2).

8. An unmanned aerial vehicle, its characterized in that: the unmanned aerial vehicle horn folding structure comprises an unmanned aerial vehicle main body, a plurality of horns and the unmanned aerial vehicle horn folding structure matched with the horns and arranged along the circumference of the unmanned aerial vehicle main body according to any one of claims 1 to 7.

9. An unmanned aerial vehicle according to claim 8, wherein the horn is provided with a plurality of motor mounting seats (5), and the motor mounting seats (5) are adjustable in size.

10. An unmanned aerial vehicle according to claim 9, wherein the horn is provided with a telescopic structure, and the telescopic structure is arranged between the folding structure of the unmanned aerial vehicle horn and the motor mounting base (5).

Technical Field

The present disclosure generally relates to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle horn folding structure and an unmanned aerial vehicle.

Background

Along with the progress of science and technology and the continuous promotion of user's demand, unmanned aerial vehicle application scene is more and more abundant, for example take photo by plane, security protection, water conservancy, patrol and examine, pesticide sprays etc.. The beta structure on the current unmanned aerial vehicle horn adopts manual regulation mode more, when placing unmanned aerial vehicle or before using unmanned aerial vehicle, all needs the manual adjustment that carries out the horn, and unmanned aerial vehicle uses comparatively inconveniently.

Disclosure of Invention

In view of the above-mentioned drawbacks and deficiencies of the prior art, it is desirable to provide a folding structure of a horn having an automatic rebounding function after the horn is folded. The specific scheme is as follows:

the application of first aspect discloses an unmanned aerial vehicle horn beta structure, includes:

the machine arm connecting piece is arranged at one end of the machine arm;

the main body connecting piece is hinged with the machine arm connecting piece;

the rebound component is arranged between the machine arm connecting piece and the main body connecting piece;

when the other end of the machine arm bears a first external force applied to the other end of the machine arm, the machine arm connecting piece rotates to a folding state relative to the main body connecting piece around the hinged part of the machine arm connecting piece and the main body connecting piece; when the folding state is carried out, a first set angle is formed between the machine arm connecting piece and the main body connecting piece;

when the first external force disappears, the horn connecting piece is pulled by the rebounding component, so that the horn connecting piece and the main body connecting piece are restored to the first initial state from the folded state.

Further, still include: the locking structure is arranged at the joint of the machine arm connecting piece and the main body connecting piece;

when the horn connecting piece and the main body connecting piece are in a first initial state, the locking structure locks the relative position between the horn connecting piece and the main body connecting piece.

Further, be equipped with the regulation hole on the main part connecting piece, the locking structure includes:

the limiting part is arranged on the machine arm connecting piece and is positioned on one side close to the main body connecting piece;

the limiting pin is arranged in the adjusting hole and can be adjusted in the adjusting hole;

the elastic component is arranged between the limiting pin and the machine arm connecting piece;

when the limiting pin bears a second external force applied to the limiting pin, the limiting pin is far away from the limiting part;

when the second external force disappears, the limiting pin is pulled by the elastic component, so that the limiting pin is contacted with the limiting part.

Further, the portion of the stopper portion that can contact the stopper pin includes:

when the limiting pin and the limiting part are in contact with each other on the limiting surface, the limiting pin and the limiting part are matched and locked, and the limiting pin is in a second initial state;

and when the limiting pin and the limiting part are in contact with each other on the sliding surface, the limiting pin can slide relatively on the sliding surface, and the limiting pin is in a sliding state.

Furthermore, the limit surface and the elastic component form a second set angle in the stretching direction, so that when the limit pin is restored to a second initial state by the tensile force of the elastic component, the limit pin applies pressure to the limit surface, and the pressure has a component in the vertical direction.

Further, the sliding surface is a smooth curved surface.

Further, the rebound component is detachably connected between the horn connecting piece and the main body connecting piece;

the elastic part is detachably connected to the main body connecting piece.

In a second aspect, the present application provides an unmanned aerial vehicle comprising an unmanned aerial vehicle body, a plurality of booms, and the unmanned aerial vehicle boom fold away structure of any of claims 1-7 cooperating with the booms, the unmanned aerial vehicle boom fold away structure being circumferentially disposed along the unmanned aerial vehicle body.

Further, be equipped with the motor mount pad on the horn, the motor mount pad is a plurality of, just the motor mount pad size is adjustable.

Further, be equipped with extending structure on the horn, extending structure locates unmanned aerial vehicle horn beta structure with between the motor mount pad.

The beneficial effect of this application lies in:

the horn connecting piece with set up between the main part connecting piece resilience part for when needs place unmanned aerial vehicle, can to the horn other end applys first external force, the horn together with the horn connecting piece for the main part connecting piece is rotatory to fold condition around both articulated departments, and unmanned aerial vehicle can place less space and accomodate, has made things convenient for unmanned aerial vehicle's carrying. During fold condition, the horn connecting piece with form between the main part connecting piece first set angle, first set angle by the unmanned aerial vehicle horn is in the folding condition decision of accomodating space inner wall. At the moment, due to the tensile force of the elastic component, the horn keeps the trend of recovering to the first initial state, and then the unmanned aerial vehicle main body is suspended in the containing space through the horn;

after unmanned aerial vehicle was taken out, first external force disappears, the horn connecting piece receives resilience part's pulling force, makes the horn connecting piece with restore to first initial condition from fold condition between the main part connecting piece. At this moment, the unmanned aerial vehicle can be rapidly put into use. Above-mentioned unmanned aerial vehicle horn beta structure makes the unmanned aerial vehicle horn have the automatic function of expanding after folding, has made things convenient for taking and placing of unmanned aerial vehicle.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

fig. 1 is a schematic view of an overall structure of an unmanned aerial vehicle after a folding structure of a horn and the horn are connected;

fig. 2 is a schematic structural view of a limiting part in the folding structure of the arm of the unmanned aerial vehicle shown in fig. 1;

fig. 3 is an exploded view of the folding structure of the unmanned aerial vehicle arm shown in fig. 1.

Reference numbers in the figures: 1. a horn link; 2. a main body connector; 10. hinging a shaft; 11. a first fixed point; 12. a second fixed point; 3. a resilient member; 21. an adjustment hole; 41. a limiting part; 42. a spacing pin; 43. an elastic member; 44. a first abutting portion; 45. a second abutting portion; 411. a limiting surface; 412. a sliding surface; 5. a motor mounting seat.

Detailed Description

The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant application and are not limiting of the application. It should be noted that, for the convenience of description, only the portions relevant to the application are shown in the drawings.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

Example 1

Referring to fig. 1, the present embodiment provides an unmanned aerial vehicle arm folding structure, which includes:

the mechanical arm connecting piece 1 is arranged at one end of the mechanical arm;

the main body connecting piece 2 is hinged with the machine arm connecting piece 1;

the rebound component 3 is arranged between the machine arm connecting piece 1 and the main body connecting piece 2;

when the other end of the machine arm bears a first external force applied to the other end of the machine arm, the machine arm connecting piece 1 rotates to a folding state relative to the main body connecting piece 2 around the hinged part of the machine arm connecting piece and the main body connecting piece; when the folding state is carried out, a first set angle is formed between the machine arm connecting piece 1 and the main body connecting piece 2;

when the first external force disappears, the horn link 1 is pulled by the resilient member 3, so that the horn link 1 and the main body link 2 are restored from the folded state to the first initial state.

Set up between horn connecting piece 1 with main part connecting piece 2 resilience part 3 for when needs place unmanned aerial vehicle, can to the horn other end applys first external force, the horn together with horn connecting piece 1 for main part connecting piece 2 is around both articulated departments, and articulated shaft 10 rotates to fold condition promptly, and unmanned aerial vehicle can place less space and accomodate, has made things convenient for unmanned aerial vehicle's carrying. During folding, the resilient member 3 is stretched as the distance between the first fixing point 11 and the second fixing point 12 increases, since the distance between the hinge axis 10 and the second fixing point 12 is constant. During fold condition, horn connecting piece 1 with form between the main part connecting piece 2 first set angle, first set angle by the folding condition decision of unmanned aerial vehicle horn in the accommodation space. When the whole unmanned aerial vehicle is placed into the accommodating space, the first external force is applied by the inner wall of the accommodating space, at the moment, due to the tensile force of the elastic component 3, the arm keeps the trend of recovering to the first initial state, and then the main body of the unmanned aerial vehicle is suspended in the accommodating space through the arm;

after unmanned aerial vehicle was taken out, accomodate the space inner wall and exert the horn first external force on the horn disappears, the horn connecting piece receives resilience part's pulling force makes the horn connecting piece with restore to first initial condition from fold condition between the main part connecting piece. At this moment, the unmanned aerial vehicle can be rapidly put into use. Above-mentioned unmanned aerial vehicle horn beta structure makes the unmanned aerial vehicle horn have the automatic function of expanding after folding, has made things convenient for taking and placing of unmanned aerial vehicle. Optionally, the horn connecting piece and the horn may be arranged separately or integrally; the main part connecting piece with the unmanned aerial vehicle main part can set up for the components of a whole that can function independently, also can make as an organic whole.

In a preferred embodiment, wherein the horn link and the body link maintain a first initial state, the robot further comprises:

the locking structure is arranged at the joint of the machine arm connecting piece 1 and the main body connecting piece 2;

when the space between the horn link 1 and the main body link 2 is in a first initial state, the locking structure locks the relative position between the horn link 1 and the main body link 2.

The locking structure will horn connecting piece 1 with the relative position locking between the main part connecting piece 2 for the horn can support the unmanned aerial vehicle main part, and unmanned aerial vehicle can put into use.

In a preferred embodiment of the locking structure, an adjusting hole 21 is formed on the main body connector 2, and the locking structure includes:

the limiting part 41 is arranged on the machine arm connecting piece 1 and is positioned on one side close to the main body connecting piece 2;

the limiting pin 42 is arranged in the adjusting hole 21, and can be adjusted in the adjusting hole 21;

the elastic component 43 is arranged between the limiting pin 42 and the machine arm connecting piece 1;

when the stopper pin 42 bears a second external force applied thereto, the stopper pin 42 is away from the stopper portion 41;

when the second external force disappears, the stopper pin 42 is pulled by the elastic member 43, so that the stopper pin 42 contacts the stopper portion 41.

When the horn needs to be folded, the second external force needs to be applied to the limit pin 42, so that the limit pin 42 is far away from the limit part 41, the elastic part 43 is in a stretched state, at this time, after the first external force is applied to the other end of the horn, the horn connecting piece 1 can rotate to a folded state around the hinged part of the horn connecting piece 1 and the main body connecting piece 2 relative to the main body connecting piece 2, and the second external force is used for releasing the position locking between the horn connecting piece 1 and the main body connecting piece 2;

when the second external force disappears, the stopper pin 42 will contact the stopper portion under the tensile force of the elastic member 43. When first external force also disappears, the horn connecting piece 1 with the position between the main part connecting piece 2 is locked again, has made things convenient for unmanned aerial vehicle to take out the back and has come into use fast.

Preferably, a second abutting portion 45 is provided on the main body connector 2 below the abutting portion of the limit pin 42 and the limit portion 41, and a first abutting portion 44 is provided on the horn connector 1, and when the first initial state is restored between the horn connector 1 and the main body connector 2, the second abutting portion 45 abuts against the first abutting portion 44, so that the horn connector 1 cannot continue to rotate in the opposite direction of the folded state.

In a preferred embodiment of the process of contacting the position-limiting pin 42 with the position-limiting portion 41, a portion of the position-limiting portion 41 that can contact the position-limiting pin 42 includes:

when the limit pin 42 contacts the limit part 41 on the limit surface 411, the limit pin 42 is matched and locked with the limit part 41, and the limit pin 42 is in a second initial state;

when the stopper pin 42 contacts the stopper portion 41 on the sliding surface 412, the stopper pin 42 can slide relative to the sliding surface 412, and the stopper pin 42 is in a sliding state.

As shown in fig. 2, when the first external force applied to the horn is not removed, the stopper pin 42 is pulled by the elastic member 43 and contacts the stopper portion 41, and the stopper pin 42 slidably contacts the sliding surface 412 of the stopper portion 41; when the first external force applied to the horn disappears, the horn connecting piece 1 and the main body connecting piece 2 recover to the first initial state, the limit pin 42 is pulled by the elastic component 43 and recovers to the second initial state, at this time, the limit pin 42 contacts with the limit surface 411 on the limit part 41, and the limit pin 42 and the limit part 41 together lock the relative position between the horn connecting piece 1 and the main body connecting piece 2. In conclusion, when the arm connector 1 and the main body connector 2 are restored to the first initial state from the folded state, the limit pin 42 is automatically restored to the second initial state, and the relative position between the arm connector 1 and the main body connector 2 is locked, so that the unmanned aerial vehicle can be conveniently taken out and then quickly put into use.

In a preferred embodiment of the position-limiting surface 411, the position-limiting surface 411 and the elastic component 43 form a second set angle, so that when the position-limiting pin 42 is restored to the second initial state by the pulling force of the elastic component 43, the position-limiting pin 42 applies a pressure to the position-limiting surface 411, and the pressure has a component in the vertical direction.

In actual manufacturing, the opening of the arm link 1 at the hinge shaft 10 is likely to be slightly larger than the hinge shaft, resulting in the arm link 1 shaking after being connected to the body link 2; on the other hand, due to manufacturing errors, when an included angle exists between the contact surfaces of the first abutting portion 44 and the second abutting portion 45, the contact area between the first abutting portion 44 and the second abutting portion 45 is small, and the horn connector 1 may shake after being connected to the main body connector 2. The limiting surface 411 is set to form a second set angle with the stretching direction of the elastic component 43, at this time, after the limiting pin 42 is subjected to the pulling force of the elastic component 43 and returns to the second initial state, the limiting pin 42 abuts against the limiting surface 411 and applies pressure to the limiting surface 411, and because the pressure has a component in the vertical direction, and further after the arm connecting piece 1 is subjected to the vertical component of the pressure, the arm connecting piece contacts with the hinge shaft 10 at the bottom of the opening at the hinge shaft 10, and meanwhile, if the contact surface between the first abutting point 44 and the second abutting point 45 has an included angle and the contact area between the first abutting portion 44 and the second abutting portion 45 is small, the included angle between the first abutting portion 44 and the second abutting portion 45 is eliminated under the action of the vertical component of the pressure. In summary, the limiting surface 411 is set to form the second setting angle with the elastic component 43, so that the connection between the arm connector 1 and the main body connector 2 is firmer in the first initial state, the unmanned aerial vehicle is controlled more accurately, and the flight is more stable.

In a preferred embodiment of the sliding surface 412, the sliding surface 412 is a smooth curved surface.

When the first external force applied to the horn is not eliminated, the stopper pin 42 is pulled by the elastic member 43 and contacts with the stopper portion 41, and at this time, the stopper pin 42 slidably contacts with the sliding surface 412 on the stopper portion 41; the sliding surface 412 is a smooth curved surface, so that when the second external force disappears and the arm link 1 and the main link 2 are folded and the angle is changed in different directions, the relative sliding between the limit pin 42 and the limit portion 41 is more stable. Make things convenient for unmanned aerial vehicle's placing fast and taking out.

Wherein in a preferred embodiment of the mounting of said resilient member 3 and said elastic member 43, said resilient member 3 is detachably connected between said horn link 1 and said body link 2;

the elastic member 43 is detachably attached to the body connector 2.

The rebound component 3 is detachably connected with the horn connecting piece 1 and the rebound component 3 is detachably connected with the main body connecting piece 2, so that the rebound component 3 is convenient to replace;

similarly, the elastic component 43 is detachably connected with the main body connecting piece 2, so that the elastic component 43 can be conveniently replaced.

As shown in fig. 3, preferably, the folding structure of the unmanned aerial vehicle arm includes two main body connectors 2, the two main body connectors 2 are symmetrically disposed on two sides of the arm connector 1 through the hinge shaft 10, the limit pin 42 penetrates through the adjusting holes 21 on the two main body connectors 2, two elastic members 43 are provided, one end of each elastic member is connected to each of the two main body connectors 2, and the other end of each elastic member is connected to each of two ends of the limit pin 42; the springback components 3 are two in number, one ends of the two springback components are respectively connected with the two main body connecting pieces 2, and the other ends of the two springback components are connected to two sides of the machine arm connecting piece 1. Through setting up two main part connecting piece 2, it is right horn connecting piece 1 forms the centre gripping, makes horn connecting piece 1 with be connected more compactly between main part connecting piece 2. Unmanned aerial vehicle is more stable under each state.

Example 2

This embodiment provides an unmanned aerial vehicle, its characterized in that: the unmanned aerial vehicle horn folding structure comprises an unmanned aerial vehicle main body, a plurality of horns and the unmanned aerial vehicle horn folding structure matched with the horns and arranged along the circumference of the unmanned aerial vehicle main body according to any one of claims 1 to 7.

With a plurality of unmanned aerial vehicle horn beta structure with rather than the complex the horn is followed unmanned aerial vehicle main part circumference sets up, can make unmanned aerial vehicle circumference atress more even when flying, and the flight is more stable.

In the preferred embodiment of installing the motor on the horn, the horn is provided with a plurality of motor installation seats 5, and the size of the motor installation seats 5 is adjustable.

The motor mounting seat 5 arranged on the machine arm is used for mounting a motor; set up a plurality ofly on an horn motor mount pad 5 can install a plurality of motors simultaneously to increase the speed and the controllability of unmanned aerial vehicle flight. Preferably, the motor mounting seat 5 is disposed at upper and lower sides of the horn. The motor mounting seat 5 is adjustable in size, is used for being matched with motors of different sizes, and is convenient to replace the motors.

In the preferred embodiment of the arm length adjustment, a telescopic structure is arranged on the arm, and the telescopic structure is arranged between the arm folding structure of the unmanned aerial vehicle and the motor mounting base 5.

Unmanned aerial vehicle horn beta structure with set up extending structure between the motor mount pad 5, can adjust according to concrete needs the length of horn.

The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the application referred to in the present application is not limited to the embodiments with a particular combination of the above-mentioned features, but also encompasses other embodiments with any combination of the above-mentioned features or their equivalents without departing from the scope of the application. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.