Folding type aerial transformation unmanned aerial vehicle

Abstract

The invention discloses a folding type aerial transformation unmanned aerial vehicle which comprises a machine base, the periphery of the machine base is in pivot connection with the first ends of a plurality of supporting arms, the second ends of the supporting arms are connected with the first ends of two folding arms through first movable joints correspondingly, and the supporting arms and the two folding arms are all in pivot connection with the first movable joints; the second ends of the two folding arms close to each other on every two adjacent supporting arms are connected through a second movable joint, the two folding arms are in pivot connection with the second movable joints, the multiple folding arms are sequentially connected end to end through the first movable joints and the second movable joints, and horizontal rotors are arranged at the tops of the multiple second movable joints. The machine base is provided with a driving mechanism used for driving the multiple supporting arms to deflect synchronously. According to the scheme, the unmanned aerial vehicle can be folded and deformed in the flying process, the size of the unmanned aerial vehicle is reduced, the unmanned aerial vehicle can flexibly penetrate through a narrow space, and therefore the adaptability and execution efficiency of the unmanned aerial vehicle in a complex environment are improved.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicles, and in particular to a foldable aerial deformable unmanned aerial vehicle. Background Art

[0002] Unmanned aircraft, or "drones" for short, are aircraft that are controlled by radio remote control equipment and self-contained program control devices, or are operated completely or intermittently autonomously by an onboard computer. Drones are currently used in a wide range of fields, and are widely used in both military and civilian applications. In the military, drones are divided into reconnaissance aircraft and target aircraft. In the civilian field, drones are currently widely used in aerial photography, agriculture, plant protection, micro selfies, express delivery, disaster relief, wildlife observation, infectious disease monitoring, surveying and mapping, news reporting, power inspections, and film and television shooting.

[0003] Traditional quad-rotor drones are usually difficult to flexibly pass through narrow spaces due to their fixed shape and propeller layout, and need to detour or change paths, which limits their application in tasks such as emergency rescue and complex environment inspections. In order to overcome this limitation, there is an urgent need for a drone that can be folded to reduce its size so that it can flexibly pass through narrow spaces. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides a foldable aerial deformable drone, which solves the problem that the existing drones with fixed structures are difficult to flexibly pass through narrow spaces.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is: A foldable aerial deformable drone is provided, which comprises a machine base, wherein the four sides of the machine base are pivotally connected to the first ends of a plurality of support arms, the second ends of the support arms are respectively connected to the first ends of two folding arms through a first movable joint, and the support arm and the two folding arms are both pivotally connected to the first movable joint, the two folding arms are respectively located on both sides of the second end of the support arm, the second ends of two folding arms close to each other on two adjacent support arms are connected through a second movable joint, and the two folding arms are both pivotally connected to the second movable joint, the plurality of folding arms are sequentially connected end to end through the first movable joint and the second movable joint, the tops of the plurality of second movable joints are each provided with a horizontal rotor, and the machine base is provided with a driving mechanism for driving the plurality of support arms to deflect synchronously and driving the plurality of folding arms to fold or unfold synchronously.

[0006] Furthermore, the rotation surfaces of the pivotal connections between the base and the support arm, between the support arm and the first movable joint, between the first movable joint and the folding arm, and between the folding arm and the second movable joint are all vertical surfaces.

[0007] Furthermore, the driving mechanism includes a telescopic motor fixedly installed in the middle of the base, and the telescopic end of the telescopic motor is located in the vertical direction, the middle parts of several support arms are connected to the telescopic end of the telescopic motor through several ropes, and the middle parts of several support arms are connected to the fixed end of the telescopic motor through several return springs.

[0008] Furthermore, a plurality of guide ears corresponding to the number and orientation of the support arms are arranged on the machine base, and each guide ear is located between the corresponding support arm and the telescopic motor, and a plurality of ropes are respectively slidably passed through a plurality of corresponding guide ears.

[0009] Furthermore, the support arm includes two parallel vertical plates, each of which is provided with a plurality of hollow portions. The two vertical plates are connected by two connecting columns, and the two connecting columns are respectively located between the two side edges of the vertical plates, and one end of the rope and the reset spring are respectively fixed on the two connecting columns.

[0010] Furthermore, the two folding arms located on both sides of the second end of each supporting arm are on the same rotation plane, and the rotation plane of the folding arm and the rotation plane of the supporting arm are perpendicular to each other.

[0011] Furthermore, there are four support arms, and the four support arms are evenly arranged around the base.

[0012] Furthermore, there is a certain gap between two adjacent horizontal rotors when the folding arms are in the folded state.

[0013] Furthermore, the base is a flat hollow structure, and a controller, a GPS locator, a wireless communication device and / or a pan-tilt camera are integrated inside the base.

[0014] The beneficial effects of the present invention are: 1. The UAV of this solution can be folded and deformed during flight to reduce its size, so that the UAV can flexibly pass through a small space, thereby improving the adaptability and execution efficiency of the UAV in a complex environment.

[0015] 2. When the drone of this scheme needs to be unfolded, the telescopic motor is controlled to contract, and the several support arms are kept in a horizontal unfolded state under the pulling action of the rope and the return spring, and the several folding arms are horizontally unfolded, so that the overall structure of the drone is stretched, which is beneficial to the stability of the drone's flight; and when the drone needs to be folded, the telescopic motor is controlled to gradually extend, and the return spring is further stretched, and the several support arms are gradually deflected downward under the pull of the rope, and the two folding arms on the second end of the support arm are driven to deflect and fold, so that the several horizontal rotors are gradually brought closer, and then the overall structure of the drone is contracted inward.

[0016] 3. This scheme uses a rope and a return spring to pull against each other to control the deflection of the support arm, so that the rope will not loosen under any deformation state and the drone has a certain toughness; at the same time, the guide ear is used to limit and guide the rope, which is conducive to increasing the inward folding angle of the support arm, thereby increasing the contraction range of the overall structure of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of the foldable aerial transformable drone when it is folded.

[0018] Figure 2 This is a side view of the foldable aerial transformable drone when folded.

[0019] Figure 3 This is a top view of the foldable aerial transformable drone when it is unfolded.

[0020] Figure 4 This is a bottom view of the foldable aerial transforming drone when it is unfolded.

[0021] Among them, 1. base, 2. support arm, 3. first movable joint, 4. folding arm, 5. second movable joint, 6. horizontal rotor, 7. telescopic motor, 8. rope, 9. return spring, 10. guide ear, 11. vertical plate, 12. hollow part, 13. connecting column. DETAILED DESCRIPTION

[0022] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0023] like Figures 1 to 4 As shown, the foldable aerial deformable UAV of the present scheme includes a base 1, four support arms 2 are evenly arranged around the base 1, the first ends of the four support arms 2 are pivotally connected to the base 1, and the second ends of the support arms 2 are respectively connected to the first ends of two folding arms 4 through first movable joints 3, wherein the first movable joint 3 is T-shaped, and the support arm 2 and the two folding arms 4 are pivotally connected to the first movable joint 3, the second ends of the two folding arms 4 close to each other on two adjacent support arms 2 are connected through a second movable joint 5, wherein the first movable joint 3 is L-shaped, and the two folding arms 4 are pivotally connected to the second movable joint 5, the eight folding arms 4 on the four support arms 2 are connected end to end in sequence through the first movable joint 3 and the second movable joint 5, and the tops of the four second movable joints 5 are each provided with a horizontal rotor 6.

[0024] The rotating surfaces of the pivot connections between the base 1 and the support arm 2, between the support arm 2 and the first movable joint 3, between the first movable joint 3 and the folding arm 4, and between the folding arm 4 and the second movable joint 5 are all vertical surfaces; the two folding arms 4 are respectively located on both sides of the second end of the support arm 2, and the two folding arms 4 are on the same rotating plane, and the rotating surface of the folding arm 4 is perpendicular to the rotating surface of the support arm 2.

[0025] A telescopic motor 7 is fixedly installed in the middle of the base 1, and the telescopic end of the telescopic motor 7 is vertically downward. The middle parts of the four support arms 2 are connected to the telescopic end of the telescopic motor 7 through four ropes 8 respectively; the fixed end of the telescopic motor 7 protrudes from the top of the base 1, and the middle parts of the four support arms 2 are connected to the fixed end of the telescopic motor 7 through four return springs 9 respectively.

[0026] The following is a detailed description of the working principle of the drone in this scheme: The drone of the present invention can be folded and deformed during flight to reduce its size, so that the drone can flexibly pass through narrow spaces, thereby improving the adaptability and execution efficiency of the drone in complex environments; specifically, when the drone of the present invention needs to be unfolded, the telescopic motor 7 is controlled to contract, and the four support arms 2 are kept in a horizontal unfolded state under the pulling action of the rope 8 and the return spring 9, and the eight folding arms 4 are horizontally unfolded, so that the overall structure of the drone is stretched, which is beneficial to the stability of the drone flight; and when the drone needs to be folded, the telescopic motor 7 is controlled to gradually extend, and several support arms 2 are gradually deflected downward under the pulling of the rope 8, and the two folding arms 4 on the second end of the support arm 2 are driven to deflect and fold, so that the four horizontal rotors 6 are gradually brought together, and then the overall structure of the drone is contracted inward; at the same time, there is a certain gap between two adjacent horizontal rotors 6 when the folding arms 4 are in the folded state to avoid affecting the normal flight of the drone.

[0027] As an optional embodiment, four guide ears 10 corresponding to the orientation of the support arm 2 are provided on the circumference of the base 1, and each guide ear 10 is located between the corresponding support arm 2 and the telescopic motor 7, and four ropes 8 are respectively slidably passed through the four corresponding guide ears 10; this scheme uses the guide ears 10 to limit and guide the ropes 8, which is conducive to increasing the inward folding angle of the support arm 2, thereby increasing the contraction range of the overall structure of the drone.

[0028] As an optional embodiment, the support arm 2 includes two parallel vertical plates 11, and a plurality of hollow portions 12 are provided on the vertical plates 11 to reduce the weight of the vertical plates 11. The two vertical plates 11 are connected by two connecting columns 13, and the two connecting columns 13 are respectively located between the two side edges of the vertical plates 11, and one end of the rope 8 and the reset spring 9 are respectively fixed on the two connecting columns 13; such a configuration makes the structure of the support arm 2 stable, and the gap between the two vertical plates 11 can be used as a avoidance space for the rope 8 and the reset spring 9, which is beneficial for the rope 8 to drive the deflection of the support arm 2.

[0029] As an optional embodiment, the base 1 is a flat hollow structure. The base 1 can be formed in one piece and reserve a notch for pivotal connection with the first end of the support arm 2. The interior of the base 1 can be installed with electrical equipment such as a controller, GPS locator, wireless communication equipment, and a pan-tilt camera as needed.

Claims

1. A foldable aerial deformable drone, characterized in that: The invention comprises a machine base, wherein the four sides of the machine base are pivotally connected to the first ends of several support arms, the second ends of the support arms are respectively connected to the first ends of two folding arms through first movable joints, and the support arm and the two folding arms are pivotally connected to the first movable joints, the two folding arms are respectively located on both sides of the second end of the support arm, the second ends of the two folding arms close to each other on two adjacent support arms are connected through second movable joints, and the two folding arms are pivotally connected to the second movable joints, several folding arms are connected end to end in sequence through the first movable joint and the second movable joint, and the tops of several second movable joints are respectively provided with horizontal rotors, and the machine base is provided with a driving mechanism for driving several support arms to deflect synchronously and driving several folding arms to fold or unfold synchronously.

2. The foldable aerial deformable drone according to claim 1, characterized in that: The rotation surfaces of the pivotal connections between the base and the support arm, between the support arm and the first movable joint, between the first movable joint and the folding arm, and between the folding arm and the second movable joint are all vertical surfaces.

3. The foldable aerial deformable drone according to claim 2, characterized in that: The driving mechanism includes a telescopic motor fixedly installed in the middle of the base, and the telescopic end of the telescopic motor is located in the vertical direction. The middle parts of the several support arms are connected to the telescopic end of the telescopic motor through several ropes, and the middle parts of the several support arms are connected to the fixed end of the telescopic motor through several return springs.

4. The foldable aerial deformable drone according to claim 3, characterized in that: The machine base is provided with a plurality of guide ears corresponding to the number and orientation of the support arms, and each guide ear is located between the corresponding support arm and the telescopic motor, and the plurality of ropes are respectively slidably passed through the plurality of corresponding guide ears.

5. The foldable aerial deformable drone according to claim 3, characterized in that: The support arm includes two parallel vertical plates, each of which is provided with a plurality of hollow parts. The two vertical plates are connected by two connecting columns, and the two connecting columns are respectively located between the two side edges of the vertical plates. One end of the rope and the reset spring are respectively fixed on the two connecting columns.

6. The foldable aerial deformable drone according to claim 2, characterized in that: The two folding arms located on both sides of the second end of each supporting arm are on the same rotating plane, and the rotating plane of the folding arm and the rotating plane of the supporting arm are perpendicular to each other.

7. The foldable aerial deformable drone according to claim 6, characterized in that: The number of the support arms is four, and the four support arms are evenly arranged around the base.

8. The foldable aerial deformable drone according to claim 1, characterized in that: There is a certain gap between two adjacent horizontal rotors when the folding arms are in the folded state.

9. The foldable aerial deformable drone according to any one of claims 1 to 8, characterized in that: The base is a flat hollow structure, and a controller, a GPS locator, a wireless communication device and / or a pan / tilt camera are integrated inside the base.

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