[0044] Example 1
[0045] like Figure 1 to Figure 3 As shown, the UAV includes a fuselage 41 and a plurality of motors 42 distributed along the circumference of the fuselage 41 and connected to the fuselage 41 through paddle arms, and the output shaft of each motor 42 is connected with a Rotating or fixed paddles 43 . As for the structure for selectively rotating or fixing the paddle 43 relative to the output shaft of the motor 42, it is a prior art, and will not be repeated here. In order to avoid taking up a lot of space for UAV storage, the blades 43 are usually folded. The current automatic paddle retracting device has a complex structure, and the manual retraction of the paddles interferes with the automatic use of the UAV. Therefore, this embodiment provides an automatic propeller retracting device for unmanned aerial vehicles to solve the above technical problems.
[0046] The UAV automatic paddle retracting device provided in this embodiment includes a centering assembly and a paddle slanting block 21, wherein the centering assembly can drive the UAV to move horizontally from a parking position to a designated position; the top of the paddle slanting block 21 is There is a paddle wedge surface 22, and the paddle slanting block 21 can be raised and lowered so that the paddle wedge surface 22 contacts the blades 43 to promote the rotation of the blades 43 relative to the output shaft of the corresponding motor 42, so that each blade 43 is folded up to In the area surrounded by the fuselage 41 and two adjacent motors 42 .
[0047] The UAV automatic paddle retracting device provided in this embodiment first uses the centering component to drive the UAV to move horizontally from the parking position to the designated position, and then uses the propeller slanting block 21 to lift and lower, so that the propeller wedge surface 22 contacts the blade 43 To push the blades 43 to rotate relative to the output shafts of the corresponding motors 42, so as to draw each blade 43 into the area surrounded by the fuselage 41 and two adjacent motors 42, so as to realize the rotation of the blades 43 of the drone. Automatic folding; after the blades 43 of the drone are folded, the blades 43 are folded into the area surrounded by all the circumferentially arranged motors 42, which greatly reduces the occupied space of the drone.
[0048] like figure 1As shown, for example, the drone includes four motors 42 circumferentially arranged around the fuselage 41 , and each motor 42 is provided with two blades 43 . It should be noted that, among the two paddles 43 provided with each motor 42, the two paddles 43 may be relatively rotated or relatively fixed. When the shaft rotates and the other blade 43 is not subject to an external force, the blade 43 that is not subject to the external force can rotate synchronously with the blade 43 that is subject to the external force; when the external force acts on the two blades 43 at the same time, the two blades 43 are relatively When the output shaft of the motor 42 rotates, there is relative rotation between the two paddles 43 .
[0049] Further, the centering assembly includes two parallel and spaced first centering arms 11 and two parallel and spaced apart second centering arms 12 . The first centering arm 11 and the second centering arm 12 are circumferentially arranged. The placement area is alternately arranged and surrounded, and the drone is placed in the placement area; each first centering arm 11 can move horizontally to another first centering arm 11, and each second centering arm 12 can move to another A second centering arm 12 moves horizontally to push the fuselage 41 to a designated position.
[0050] Specifically, the centering component further includes a centering drive 13, the first centering arm 11 and the second centering arm 12 are both equipped with a centering drive 13, and the centering drive 13 can adopt a motor lead screw slider structure, or can A structure capable of realizing linear motion in the prior art, such as a motor rack and pinion structure, is adopted, which will not be described in detail here.
[0051] When centering the drone, first move the two first centering arms 11 horizontally for a first preset distance, and then move the two second centering arms 12 horizontally for a second preset distance. After the drone is centered, the two first centering arms 11 and the two second centering arms 12 both return to their original positions.
[0052] It should be noted that the fuselage 41 includes a main body and a landing gear. When centering the drone, the first centering arm 11 and the second centering arm 12 mainly act on the landing gear. In other embodiments, the first centering arm 11 and the second centering arm 12 may also act on the body.
[0053] In this embodiment, the first centering arm 11 and the second centering arm 12 are vertically arranged. It should be noted that, in other embodiments, only two oppositely disposed first centering arms 11 may be provided, or only two oppositely disposed second centering arms 12 , and in this case, the centering is performed in one direction first. , rotate the drone at a certain angle and then center it in another direction, or add a rotatable rack, and set the oppositely arranged first centering arm 11 or second centering arm 12 on the rack, Rotate the rack by a certain angle and then center it in the other direction. It is also possible to set a first centering arm 11 and a second centering arm 12 arranged at an angle with it, and correspondingly add a positioning table, and use the first centering arm 11 to drive the body 41 to move horizontally to abut against a positioning table. , to achieve centering in one direction, and then use the second centering arm 12 to drive the fuselage 41 to move horizontally to abut against another positioning platform to achieve centering in another direction.
[0054] Further, there are four paddle paddle oblique blocks 21, and each paddle paddle oblique block 21 is equipped with a first lift drive unit. Preferably, the paddle paddle oblique block 21 is a vertically arranged L-shaped structure, which includes two Vertically arranged and L-shaped paddle receiving plates are provided with paddle wedge-shaped surfaces 22 on the top surface of each paddle receiving plate.
[0055] The first lift driving unit is used to drive the paddle inclined block 21 to lift and lower, so that the paddle wedge surface 22 contacts the paddle 43 and drives the paddle 43 to rotate relative to the output shaft of the corresponding motor 42 . Specifically, the first lift drive unit includes a fixed bracket 6 , a lift bracket 231 , a drive motor 233 , a first pulley 234 , a second pulley 235 and a belt 236 , wherein the four paddle tilting blocks 21 are all connected to the lift bracket 231, the drive motor 233 is fixed on the fixed bracket 6, the output shaft of the drive motor 233 is connected with the first pulley 234, the second pulley 235 is rotatably connected to the fixed bracket 6, the first pulley 234 and the second pulley 235 Connected by the belt 236, the lifting bracket 231 and the fixing bracket 6 are connected up and down through the cooperation of the slide rail and the chute. During this time, the connecting frame 232 is connected to the belt 236 . It should be noted that, the first lift driving unit is not limited to the above-mentioned structure, and may also use a rack and pinion structure, etc., which will not be exemplified one by one here.
[0056] The driving motor 233 works to drive the first pulley 234 to rotate, and the first pulley 234 drives the second pulley 235 to rotate through the belt 236 . During the movement of the belt 236 , the connecting frame 232 will rise and fall, and then the connecting frame 232 will be connected to the connecting frame 232 . The adjacent lifting brackets 231 drive each paddle inclined block 21 to rise and fall, so that the two paddle wedge surfaces 22 of each paddle inclined block 21 act on the two blades 43 of the same motor 42 respectively, so that the two The paddles 43 are rotated relative to the output shaft of the motor 42 in opposite directions, so that each paddle 43 is folded into the corresponding folding area.
[0057] Further, when adopting the above-mentioned unmanned aerial vehicle automatic paddle retracting device to automatically retract the paddle 43, the paddle 43 may stop just above the sharp angle position formed by the two paddle wedge surfaces 22 of the paddle sloping block 21, So that the oar failed. To this end, the above-mentioned automatic propeller retracting device for the unmanned aerial vehicle further includes a pre-set paddle assembly, and the pre-set paddle assembly can drive the paddle 43 to rotate relative to the output shaft of the corresponding motor 42, so that the paddle 43 rotates to the preset paddle position , the paddle 43 is in the preset paddle position, and the paddle 43 is located just above the paddle wedge surface 22 .
[0058] Specifically, the above-mentioned pre-set paddle assembly includes a pre-set paddle arm 31 , and the pre-set paddle arm 31 is provided on the second centering arm 12 and is fixed relative to the second centering arm 12 . Preferably, each of the second centering arms 12 is provided with one or two pre-set paddle arms 31 , and the pre-set paddle arms 31 are in one-to-one correspondence with the motors 42 .
[0059] The second centering arm 12 is used to drive the two pre-set paddle arms 31 thereon, so that each pre-set paddle arm 31 pushes one paddle 43 on the corresponding motor 42 to rotate, and the other on each motor 42 rotates. The paddle 43 will rotate synchronously, so as to rotate the paddle 43 to the preset paddle position, so as to prevent the paddle 43 from stopping at the position where the two paddle wedge surfaces 22 of the paddle paddle 21 form a sharp angle and cause the failure of the paddle to be retracted. .
[0060] It should be noted that, in other embodiments, the pre-set paddle arm 31 may be set on only one second centering arm 12, and the paddles 43 on the two motors 42 may be pre-set paddles first, so that there is no The man-machine is rotated by a certain angle or the second centering arm 12 is rotated by a certain angle, and then the paddles 43 on the other two motors 42 are pre-set.
[0061] In other embodiments, the pre-dial paddle assembly and the second centering arm 12 may be disposed separately. In this case, the pre-dial paddle assembly needs to have its own power structure.
[0062] Further, the above-mentioned UAV automatic propeller-receiving device also includes a machine table and a second lift drive unit 23, wherein the machine table is used to place the drone; the second lift drive unit 23 is used to drive the machine table to be able to rise and fall to make it At the paddle height or the neutralization height, when the machine is at the neutralization height, the top surface of the pre-set paddle arm 31 and the paddle slant block 21 are both located below the paddle 43, so as to avoid the pre-set paddle assembly during the neutralization process. Contact the paddle 43 with the paddle inclined block 21; when the machine is at the paddle height, the top surface of the pre-set paddle arm 31 is higher than the lower surface of the paddle 43 to ensure that the pre-set paddle arm 31 can push the paddle 43 to rotate.
[0063] The top of the above-mentioned paddle tilting block 21 is disposed through the machine table, so that when the paddle tilting block 21 rises, it can act on the paddle 43 to push the paddle 43 to rotate relative to the motor 42 .
[0064] Preferably, when the machine platform is at the paddle height, the top surface of the pre-set paddle arm 31 is higher than the upper surface of the paddle 43 to improve the stability when the paddle arm 31 pushes the paddle 43 to rotate.
[0065] The machine table is driven up and down by the second lift driving unit 23, so that the machine table is at the paddle-setting height or the centering height, so as to avoid interference between the paddle-setting process and the centering process.
[0066] Specifically, the above-mentioned second lift driving unit 23 may adopt a linear motor, a motor lead screw structure, a rack and pinion structure, an electric push rod or an oil cylinder and other structures capable of linear driving, which will not be repeated here.
[0067] Further, in order to increase the space for placing the drone as much as possible on the premise of reducing the space occupied by the entire device, in this embodiment, each first centering arm 11 faces another first centering arm 11 . A groove 111 vertically penetrated is provided on one side.
[0068] Further, the above-mentioned automatic propeller retracting device for the unmanned aerial vehicle further includes a horizontally arranged roller 52 , and the roller 52 is rotatably connected to the top of the paddle inclined block 21 . During the operation of the pre-set paddle assembly, the roller 52 is in rolling contact with the paddle 43 to avoid damage to the paddle 43 caused by the sharp angle where the two paddle wedge surfaces 22 of each paddle sloping block 21 meet, and at the same time reduce damage to the paddle 43. Friction on paddle 43 .
[0069] The present embodiment also provides a method for automatic propeller retraction of an unmanned aerial vehicle, which adopts the above-mentioned automatic propeller retraction device for an unmanned aerial vehicle, and includes the following steps:
[0070] S1. The drone is parked on the machine table.
[0071] S2. Drive the machine table up and down through the second lift drive unit 23, so that the machine table is at the centering height.
[0072] S3. The centering component moves horizontally, so that the drone moves horizontally from the parking position to the designated position.
[0073] S4. Drive the machine table to rise and fall through the second lift drive unit 23, so that the machine table is at the paddle height.
[0074] S5. The pre-set paddle assembly moves horizontally to drive the paddle 43 to rotate relative to the output shaft of the corresponding motor 42, so that the paddle 43 rotates to the preset paddle position.
[0075] S6, the paddle inclined block 21 is lifted and lowered, so that the paddle wedge surface 22 contacts the paddle 43, so as to push the paddle 43 to rotate relative to the output shaft of the corresponding motor 42, so that each paddle 43 is retracted to the fuselage 41 and the relative In the area enclosed by the two adjacent motors 42 .
[0076] Further, in order to use the machine lift to send the UAV that has completed the oar into the hangar where the UAV is stored, it is required that the second lift drive unit 23 will not interfere with the lift and horizontal movement of the machine. Therefore, in Before sending the drone into the hangar of the drone, use the second lift drive unit 23 to lower the lift bracket 231 and the paddle block 21 to the first preset height, and then use the second lift drive unit 23 to drive the drone. The platform descends to the second preset height, and the second preset height is higher than the first preset height. At this time, the platform is located above the paddle inclined block 21, and the UAV can be transported to the hangar through the translation of the platform.
[0077] It should be noted that, for an unmanned aerial vehicle in which one fuselage 41 is equipped with more motors 42, or one motor 42 is equipped with more blades 43, the automatic propeller retracting device and propeller retracting method of the UAV provided in this embodiment The same applies.
