阅读说明：本技术 一种筒式运载的四旋翼无人飞行器 (Four rotor unmanned vehicles of cylinder delivery ) 是由 刘青 张紫龙 李盛 许凯通 李钟谷 周子鸣 黄晓龙 张达 于 2020-12-19 设计创作，主要内容包括：本发明公开了一种筒式运载的四旋翼无人飞行器。采用纵向结构布局方式,由上至下分为控制舱、四个动力臂、电源及载荷舱,折叠状态下,四个动力臂向下折叠收拢,紧靠尾部电源及载荷舱,使得无人飞行器呈“细长型”纵向分布,减小了筒式运载器的径向尺寸；同时,设计了一种折叠展开机构,以大扭簧驱动动力臂展开,以双连杆随动绷直拉紧动力臂实现限位,以小扭簧提供双连杆折叠反向扭矩实现锁紧,折叠展开机构的主要结构件采用U型薄壁中空结构,成本低且重量轻,能在不增加折叠机构结构强度的同时有效减小动力臂展开时的冲击变形,且折叠状态下可以相互嵌套,减小折叠机构占用尺寸空间,提升空间利用率,能满足筒式运载的要求。(The invention discloses a barrel type carrying four-rotor unmanned aerial vehicle. The unmanned aerial vehicle is longitudinally distributed in a long and thin type by adopting a longitudinal structural layout mode and is divided into a control cabin, four power arms, a power supply and a load cabin from top to bottom, and in a folded state, the four power arms are folded downwards and are close to a tail power supply and the load cabin, so that the unmanned aerial vehicle is longitudinally distributed in a long and thin type, and the radial size of a barrel type carrier is reduced; simultaneously, a folding deployment mechanism has been designed, expand with big torsional spring drive power arm, it is spacing to stretch out the power arm with the two-link follow-up is stretched straightly and is realized, realize locking with the folding reverse moment of torsion of little torsional spring provides two-link, folding deployment mechanism's major structure adopts U type thin wall hollow structure, with low costs and light in weight, can effectively reduce the impact deformation when the power arm expandes when not increasing folding mechanism structural strength, and can be nested each other under the fold condition, reduce folding mechanism occupation size space, promote space utilization, can satisfy the requirement of cylinder delivery.)

1. A drum-type carried four-rotor unmanned aerial vehicle comprises a control cabin, a power arm, a folding and unfolding mechanism, a power supply and a load cabin, and is characterized in that the unmanned aerial vehicle is longitudinally distributed in a long and thin shape in a folded state by adopting a longitudinal structural layout; the folding and unfolding mechanism comprises a control cabin, a power arm, a power supply and load cabin, a large torsion spring, a small torsion spring, a power arm rotating shaft, an upper connecting rod, a lower connecting rod, a double-connecting-rod rotating shaft and a lower connecting rod rotating shaft; the control cabin, the power supply and the load cabin are fixedly connected through bolts to form a machine body together, the power arm and the large torsion spring are arranged on the machine body through the power arm rotating shaft, and the power arm can rotate around the power arm rotating shaft on the machine body under the driving of the large torsion spring; one end of the upper connecting rod is hinged with the end part of the power arm through an upper connecting rod rotating shaft, and the other end of the upper connecting rod is hinged with the lower connecting rod through a double-connecting-rod rotating shaft; one end of the lower connecting rod is hinged with the upper connecting rod through a double-connecting-rod rotating shaft, and the other end of the lower connecting rod is hinged with the tail part of the power supply and the load cabin through a lower connecting-rod rotating shaft; the small torsion spring is coaxially arranged on the double-connecting-rod rotating shaft.

2. A barrel-type carry-on quad-rotor unmanned aerial vehicle as claimed in claim 1, wherein the power arm, the upper and lower links, and the airframe form a triangle when the power arm is deployed; when the power arm is unfolded, the large torsion spring drives the power arm to unfold, the upper connecting rod and the lower connecting rod also unfold synchronously, and the upper connecting rod and the lower connecting rod stretch and tighten the power arm to realize limiting along with the following.

3. A barrel-type carried quadrotor unmanned aerial vehicle according to claim 1, wherein the power arm is of a thin-walled hollow structure, and the upper link and the lower link are of a U-shaped thin-walled structure.

4. A barrel-type carried quad-rotor unmanned aerial vehicle according to claim 2 or 3, wherein the lower link is hinged at one end to the tail of the vehicle and at the other end to the upper link; one end of the upper connecting rod is hinged and fixed at the end part of the power arm, and the other end of the upper connecting rod is hinged and supported with the lower connecting rod and extends for a certain distance along the direction of the connecting rod; when the upper connecting rod and the lower connecting rod are stretched and straightened, the extending section of the upper connecting rod is attached to the back surface of the lower connecting rod.

5. A barrel-type carried quad-rotor unmanned aerial vehicle according to claim 4, wherein the upper link, the lower link, and the power arms of the thin-walled hollow structure nest with one another when folded.

6. A spar-type carrying quad-rotor unmanned aerial vehicle according to claim 1, wherein the powered arm comprises a boom, a motor, and a folding paddle.

7. A quad-rotor unmanned aerial vehicle for carriage as claimed in claim 1, wherein flight controls, motor electronic governors and data links are disposed in the control bay; and a battery, a power management module and a load are arranged in the power and load cabin.

Technical Field

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a four-rotor unmanned aerial vehicle capable of being carried in a cylinder mode.

Background

The rotor unmanned aerial vehicle is widely applied due to the characteristic of free hovering, and can be divided into two aspects of military use and civil use according to the field. In the military aspect, the rotor unmanned aerial vehicle can be divided into a target drone, a reconnaissance plane and a scouting and hitting integrated machine according to different carrying loads; in the civil aspect, the rotor unmanned aerial vehicle occupies more and more important positions in the fields of aerial photography, surveying and mapping, agriculture, plant protection, express transportation, disaster relief, electric inspection, film and television shooting and the like, and the application brings a new economic growth point to the market and gradually changes the production and life modes.

However, the rotor unmanned aerial vehicle has a slow flying speed and a short flying distance, and is difficult to meet the requirement of remote operation. For application scenes with remote operation requirements such as remote reconnaissance and remote attack in the military aspect, remote rescue and remote fire extinguishing in the civil aspect and the like, the unmanned aerial vehicle is required to be folded and placed in a cylinder type carrier and to be remotely delivered by carrying platforms such as ballistic missiles or transport planes, and after the carrying platforms approach an operation place, the unmanned aerial vehicle is released or launched from the cylinder type carrier to perform floating operation.

For an application scenario that a carrying platform is adopted for remote delivery, in order to improve the working efficiency and reduce the delivery cost, the number of unmanned aerial vehicles delivered in one time needs to be as large as possible, so that the unmanned aerial vehicles carried in a barrel type are required to be as small as possible while meeting the load requirement. The existing rotor wing type unmanned aerial vehicle in the market is in a transverse structural layout mode, a folding unfolding mechanism is too large, and the occupied space is large in a folding state, so that the radial size is too large when the unmanned aerial vehicle is folded, the load size space is small, the space utilization rate is not high, and the requirements of barrel type carrying are difficult to meet.

Disclosure of Invention

The problem to the horizontal structure overall arrangement mode of current rotor-type unmanned vehicles and the folding deployment mechanism of bloated is difficult to satisfy cylinder delivery demand, this patent provides a four rotor unmanned vehicles of cylinder delivery, this unmanned vehicles adopts longitudinal structure overall arrangement mode, and light and handy folding deployment mechanism, can reduce the radial dimension under the aircraft fold condition, the space that folding mechanism took has been reduced simultaneously, the size space of load has been increased, space utilization has been promoted, the requirement of cylinder delivery has been satisfied.

The cylinder type carrying four-rotor unmanned aerial vehicle adopts a longitudinal structural layout and is divided into a control cabin, four power arms, a power supply and a load cabin from top to bottom, a flight controller, a motor electronic speed regulator and a data chain are arranged in the head control cabin, four sets of motors and folding paddles are arranged on the four power arms in the middle, and a battery, a power supply management module and a load are arranged in the tail power supply and load cabin. The unmanned aerial vehicle is longitudinally distributed in a slender shape, so that the radial size of the unmanned aerial vehicle is reduced, namely the radial size of a barrel type carrier is reduced; after the aircraft is released or launched from the carrier, the four power arms in the middle of the aircraft are rapidly unfolded and locked under the action of the folding and unfolding mechanism, the folding paddles are thrown away under the centrifugal force generated by the rotation of the motor, and the aircraft stably floats for operation.

The folding and unfolding mechanism comprises a control cabin, a power arm, a power supply and load cabin, a large torsion spring, a small torsion spring, a power arm rotating shaft, an upper connecting rod, a lower connecting rod, a double-connecting-rod rotating shaft, a lower connecting rod rotating shaft and the like. The control cabin and the power supply and the load cabin form a machine body together after being fixedly connected through bolts, the power arm and the large torsion spring are arranged on the machine body through the power arm rotating shaft, and the power arm can rotate around the power arm rotating shaft on the machine body under the driving of the large torsion spring to realize folding and unfolding. One end of the upper connecting rod is hinged with the end part of the power arm through an upper connecting rod rotating shaft, and the other end of the upper connecting rod is hinged with the lower connecting rod through a double-connecting-rod rotating shaft. One end of the lower connecting rod is hinged with the upper connecting rod through a rotating shaft, and the other end of the lower connecting rod is hinged with the tail part of the power supply and the load cabin through a rotating shaft of the lower connecting rod. The small torsion spring is coaxially arranged on the double-connecting-rod rotating shaft and provides an upper connecting rod folding reverse moment and a lower connecting rod folding reverse moment.

The power arm adopts a thin-wall hollow structure, and the upper connecting rod and the lower connecting rod also adopt U-shaped thin-wall structures. When the connecting rod with the U-shaped structure is folded, the U-shaped upper connecting rod, the U-shaped lower connecting rod and the power arm with the thin-wall hollow structure can be mutually nested, so that the size space occupied by the folding mechanism is reduced, and the mechanical strength and the bending resistance of the folding mechanism are improved; when the power arm is stretched straightly, the power arm stops rotating to realize limiting. Simultaneously, the extension section of the U-shaped upper connecting rod is attached to the back of the U-shaped lower connecting rod, so that the double connecting rods are prevented from being reversely folded. The small torsion spring provides a U-shaped folding reverse moment of the upper connecting rod and the lower connecting rod, and locking is achieved.

The folding and unfolding mechanism takes a large torsion spring as power, the power arm, the upper connecting rod, the lower connecting rod and the machine body form a triangular shape after the power arm is unfolded, the double-connecting-rod follow-up straightening tensioning is taken as limiting, and the small torsion spring provides double-connecting-rod folding reverse moment to realize locking. The large torsion spring is arranged at the machine body and the root part of the arm support to provide unfolding power. The double connecting rods are divided into an upper connecting rod and a lower connecting rod, one end of the lower connecting rod is hinged and fixed at the tail part of the aircraft, and the other end of the lower connecting rod is hinged and supported with the upper connecting rod; one end of the upper connecting rod is hinged and fixed at the end part of the power arm, and the other end of the upper connecting rod is hinged and supported with the lower connecting rod and extends for a certain distance along the direction of the connecting rods so as to prevent the double connecting rods from being folded reversely. The small torsion spring is arranged at the hinged part of the double connecting rods, provides a double connecting rod folding reverse moment, prevents the double connecting rods from being folded accidentally, and realizes auxiliary locking.

The power arm is of a thin-wall hollow structure, and the double connecting rods are of U-shaped thin-wall structures, so that on one hand, the structures can be formed by punching, the cost is low, and the weight is light; on the other hand, the power arm and the double connecting rods can be mutually nested in a folded state by utilizing a hollow structure, so that the size and the space occupied by the folding mechanism are reduced, and enough available space is reserved for a power supply and a load cabin. In addition, the end part of the power arm is pulled by one end of the double-connecting rod, the tail part of the aircraft is pulled by one end of the double-connecting rod, and the double-connecting rod stretching and tightening mode is adopted for limiting, so that the structural strength of the folding mechanism is not increased, the impact deformation of the power arm when the power arm is unfolded is effectively reduced, the plastic deformation of the power arm under impact overload is avoided, and the damage of the blade tip of the folding paddle and the power arm under the impact deformation of the power arm is also avoided.

The technical scheme adopted by the invention is as follows: a scheme of a barrel-type carrying four-rotor unmanned aerial vehicle comprises a control cabin, a power arm, a power supply and load cabin and a folding and unfolding mechanism.

The four-rotor unmanned aerial vehicle comprises a control cabin, four power arms, a power supply and a load cabin, and the overall structure layout is longitudinally distributed in a slender shape under a folding state so as to reduce the radial size of the barrel type carrier.

The control cabin comprises a flight controller, an electronic speed regulator of a motor and a data chain, wherein the flight controller realizes task planning, flight path and attitude control, the electronic speed regulator realizes motor rotating speed control, and the data chain realizes communication between the aircraft and the ground station.

The power arm comprises an arm support, a motor and a folding paddle.

The folding and unfolding mechanism comprises a machine body, a power arm, a large torsion spring, a small torsion spring, an upper connecting rod, a lower connecting rod, a rotating shaft and the like, and mainly realizes folding, unfolding, limiting and locking of the power arm.

The power arm is unfolded by taking a large torsion spring as a power source, and the power arm is driven by the large torsion spring to rotate along the rotating shaft of the upper connecting rod to realize unfolding.

And the power arm is limited by straightening and tensioning the power arm through the double connecting rods. One end of the lower connecting rod is hinged and fixed at the tail part of the aircraft, and the other end of the lower connecting rod is hinged and supported with the upper connecting rod; one end of the upper connecting rod is hinged and fixed at the end part of the power arm, and the other end of the upper connecting rod is hinged and supported with the lower connecting rod and extends for a certain distance along the direction of the connecting rod. The upper connecting rod and the lower connecting rod are synchronously unfolded in the rotating process of the power arm, when the double-connecting-rod is stretched and straightened, the extending section of the upper connecting rod is attached to the back surface of the lower connecting rod, the double-connecting-rod can be prevented from being reversely folded under the inertia effect, and meanwhile, the double-connecting-rod tensions the power arm to stop rotating, so that the limiting is realized.

Furthermore, the limit mode can effectively reduce the impact deformation of the power arm when the power arm is unfolded without increasing the structural strength of the folding mechanism, so that the plastic deformation of the power arm under impact overload is avoided, and the damage of the blade tip of the folding paddle caused by collision with the power arm under the impact deformation of the power arm is also avoided.

The power arm is locked by mainly providing a double-connecting-rod folding reverse moment through a small torsion spring, the small torsion spring is installed at a hinged part of the double connecting rods, the double connecting rods are prevented from being folded accidentally through the reverse moment, and auxiliary locking is realized.

The power arm is folded mainly by nesting the thin-wall hollow structure of the power arm and the U-shaped thin-wall structure of the double connecting rods, so that the size and space occupied by the folding mechanism are reduced, enough available space is reserved for a power supply and a load cabin, and the space utilization rate is improved.

Furthermore, the power arm with the thin-wall hollow structure and the double connecting rods with the U-shaped thin-wall structures can be both formed by punching, so that the cost is low and the weight is light.

Drawings

FIG. 1 is a schematic view of a four-rotor unmanned aerial vehicle in a deployed state;

FIG. 2 is a schematic view of a four-rotor unmanned aerial vehicle in a folded state;

FIG. 3 is a schematic structural diagram of a folding and unfolding mechanism of the aircraft;

fig. 4 is a schematic structural view of the U-shaped lower connecting rod, the U-shaped upper connecting rod and the power arm.

In the figure, 1 is a control cabin, 2 is a power arm, 3 is a power supply and load cabin, 4 is a large torsion spring, 5 is a power arm rotating shaft, 6 is an upper connecting rod rotating shaft, 7 is an upper connecting rod, 8 is a double-connecting-rod rotating shaft, 9 is a small torsion spring, 10 is a lower connecting rod, 11 is a lower connecting rod rotating shaft, and 12 is an upper connecting rod extension section.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Embodiments of the present invention are shown in figures 1, 2, 3 and 4. In order to adapt to the environment of a drum-type carrier, the structural layout of the unmanned aerial vehicle adopts a long and thin longitudinal distribution scheme, and the unmanned aerial vehicle is divided into a control cabin 1, four power arms 2 and a power supply and load cabin 3 from top to bottom (see the unfolding state in fig. 1). A flight controller, a motor electronic speed regulator and a data chain are arranged in the head control cabin 1, four sets of motors and folding paddles are arranged on the four power arms 2 in the middle, and a battery, a power supply management module and a load are arranged in the tail power supply and load cabin 3. In the carrier, the aircraft is in a folded state (see the folded state in fig. 2), the four power arms 2 in the middle are folded downwards and are close to the tail power supply and the load compartment 3, so that the unmanned aircraft is longitudinally distributed in a slender shape, the radial size of the unmanned aircraft is reduced, and the requirements of a barrel type carrier are met. In order to further increase the size and space of the load, the space utilization rate is improved.

The invention designs a light folding and unfolding mechanism (see figure 3), which comprises a control cabin 1, a power arm 2, a power supply and load cabin 3, a large torsion spring 4, a power arm rotating shaft 5, a small torsion spring 9, an upper connecting rod 7, a lower connecting rod 10, an upper connecting rod rotating shaft 6, a double-connecting-rod rotating shaft 8, a lower connecting rod rotating shaft 11 and the like. The control cabin 1 and the power supply and load cabin 3 are fixedly connected through bolts to form a machine body together; the power arm 2 rotates around a power arm rotating shaft 5 on the machine body under the driving of a large torsion spring 4, so that folding and unfolding are realized. One end of the upper connecting rod 7 is hinged with the end part of the power arm 2 through an upper connecting rod rotating shaft 6, and the other end is hinged with the lower connecting rod 10 through a double-connecting-rod rotating shaft 8. The other end of the lower connecting rod 10 is hinged with the tail part of the power supply and load cabin 11 through a lower connecting rod rotating shaft 11. The small torsion spring 9 is coaxially arranged on the double-connecting-rod rotating shaft 8 and provides folding reverse moment of the upper connecting rod and the lower connecting rod. The power arm 2 adopts a thin-wall hollow structure (see figure 4), and the upper connecting rod 7 and the lower connecting rod 10 also adopt U-shaped thin-wall structures. When the folding mechanism is folded, the U-shaped upper connecting rod 7, the U-shaped lower connecting rod 10 and the power arm 2 are mutually nested, so that the size space occupied by the folding mechanism is reduced; when the power arm 2 is unfolded rapidly under the driving of the large torsion spring 4, the U-shaped upper connecting rod 7 and the U-shaped lower connecting rod 10 are also unfolded synchronously, and when the power arm 2 is tensioned by straightening the upper connecting rod 7 and the lower connecting rod 10, the power arm 2 stops rotating to realize limiting. Meanwhile, the extension section 12 of the U-shaped upper connecting rod is attached to the back of the U-shaped lower connecting rod 10, so that the U-shaped upper connecting rod and the U-shaped lower connecting rod are prevented from being folded reversely. The small torsion spring 9 provides an upper connecting rod and a lower connecting rod with folding reverse moment to realize locking.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.