An autonomous deployable UAV and mounting system

Abstract

The present application relates to the field of quad-rotor unmanned aerial vehicles, and specifically to an autonomous deployable unmanned aerial vehicle and a mounting system, wherein the unmanned aerial vehicle comprises: a plurality of arms and a fuselage frame for mounting the arms, the plurality of arms are symmetrically arranged on the surface of the fuselage frame, the end of the arms away from the fuselage frame is used for mounting the rotor, a plurality of gears are respectively arranged at the end of each arm away from the rotor; and an I-shaped gear, the teeth at both ends of which mesh with the gears on both sides of the fuselage frame, and the mounting system comprises: an L-shaped mounting rod, one end of which is detachably connected to a drone mothership; and a hanging plate, the middle section of the bottom surface of which is connected to the end of the L-shaped mounting rod away from the drone mothership; an angle adjustment component, which is provided with a plurality of groups; wherein the ends of the angle adjustment components away from the hanging plate are respectively mounted with the fuselage frame, and the present application, through the above-mentioned structural design, can deploy the arms before the quad-rotor unmanned aerial vehicle takes off, thereby improving the utilization rate of the storage space, and multiple quad-rotor unmanned aerial vehicles can be mounted on the mothership through the mounting system.

Description

Technical Field

[0001] The present application generally relates to the technical field of quad-rotor UAVs, and specifically to autonomous deployable UAVs and mounting systems. Background Art

[0002] With the rapid development of drone technology, quad-rotor drones have been widely used in logistics, agriculture, environmental protection and other fields due to their vertical take-off and landing, flexible maneuverability and other features.

[0003] However, existing quad-rotor drones have significant problems during storage and transportation. These problems not only affect the storage and transportation efficiency of the drones, but may also damage their structure and performance. When a mother ship carries multiple drones for aerial delivery, higher storage space requirements are placed on the drones.

[0004] The arms of a quadrotor drone usually take up a large space when folded, and the limited storage space cannot be effectively utilized. When the quadrotor drone needs to be mounted on a mothership or other large vehicle, the traditional mounting device cannot adjust the take-off angle of the drone. This defect causes the drone to be unable to adapt to different environmental conditions during take-off, limiting its application scope in complex climatic conditions. Summary of the invention

[0005] In order to solve the problem that the fuselage of a quad-rotor UAV occupies a large storage space, the present application provides an autonomously deployable UAV and a mounting system, which realizes the foldable arms and the arms can be autonomously deployed during aerial delivery.

[0006] According to one aspect of the present application, an autonomous deployable UAV is provided, which includes a plurality of arms and a fuselage frame for mounting the arms, wherein the plurality of arms are symmetrically arranged on the surface of the fuselage frame, and one end of the arm away from the fuselage frame is used for mounting a rotor, and a plurality of gears are respectively arranged at one end of each arm away from the rotor, and are rotatably connected to the fuselage frame; wherein the plurality of gears located on the same side of the fuselage frame form a group, the gears of each group mesh with each other, and there is a gap between the gears on both sides of the fuselage frame; and an I-shaped tooth, wherein the teeth at both ends mesh with the gears on both sides of the fuselage frame; wherein the I-shaped tooth meshes with one of the gears in each group of gears; the rotation center of the I-shaped tooth coincides with the symmetry center of the plurality of arms; and a driving device is drivingly connected to the rotation center of the I-shaped tooth.

[0007] In some embodiments, there are four arms, which are arranged in groups of two. Each group of arms is V-shaped and arranged on one side of the fuselage frame surface. The V-shapes of the two groups of arms are symmetrical about the rotation center of the I-shaped teeth, and the gears of each group of arms are meshed with each other.

[0008] In some embodiments, the gear includes: a sleeve, which is sleeved on the circumferential outer wall of one end of the arm and connected to the arm pin; a mounting plate, which is arranged on the end face of the sleeve away from the arm; two incomplete gears, and the two incomplete gears are arranged on a side of the mounting plate away from the sleeve; wherein the two incomplete gears are provided with mounting holes at the axis center, and a rotating shaft is provided in the mounting hole for rotation, and the rotating shaft passes through the mounting hole and is connected to the fuselage frame.

[0009] In some embodiments, the I-beam gear includes: an I-block and a mounting shaft; wherein the upper flange and lower flange surfaces of the I-block are both provided with arc-shaped racks, and the arc-shaped racks are meshed with incomplete gears; wherein the rotation axis of the web of the I-block is perpendicular to the surface of the fuselage frame, and the center of the rotation axis is concentric with the symmetry center of each arm; the axis of the mounting shaft coincides with the axis of the rotation axis of the web of the I-block; one end of the mounting shaft is connected to the center of the upper wing panel of the I-block, and the other end is rotatably connected to the fuselage frame; and the output end of the drive device is connected to the center of the lower wing panel.

[0010] In some embodiments, the driving device includes: a servo motor installed on the fuselage frame, and the output shaft is provided with a first gear; wherein the first gear is meshed with a second gear, and the second gear is arranged at the center of the lower wing plate of the I-beam block.

[0011] In some embodiments, the fuselage frame includes an upper plate, a middle plate, and a lower plate; wherein each arm is arranged between the upper plate and the lower plate, and the servo motor is arranged between the middle plate and the lower plate; wherein the rotating shaft of the second gear passes through the middle plate and is connected to the center of the lower wing plate of the I-beam block; the mounting shaft is rotatably connected to the upper plate; and multiple support rods are arranged between the upper plate, the middle plate, and the lower plate.

[0012] In some embodiments, a spring pin is also provided on the surface of the sleeve, and the spring pin is arranged on a side of the sleeve close to the upper plate; and a limiting hole is provided on the surface of the upper plate, and the spring pin cooperates with the limiting hole to limit the position when each arm is opened.

[0013] According to another aspect of the present application, a mounting system is provided, including: an L-shaped mounting rod, one end of which is detachably connected to a drone mothership; and a hanging plate, the middle section of the bottom surface of which is connected to the end of the L-shaped mounting rod away from the drone mothership; an angle adjustment component, which is provided with a plurality of groups, and each group of angle adjustment components is arranged at intervals on the surface of the hanging plate; wherein the fuselage frames are respectively installed on the ends of the angle adjustment components away from the hanging plate.

[0014] In some embodiments, the angle adjustment assembly includes: a U-shaped mounting block, one end of which has an outer wall detachably connected to a hanging plate; wherein a U-shaped groove is provided on the outer wall of the U-shaped mounting block away from the hanging plate; an adjustment motor is provided in an opening of the U-shaped mounting block, and both sides are rotatably connected to the inner walls of the opening of the U-shaped groove; a screw rod, one end of which is connected to an output shaft of the adjustment motor, and the other end of which is arranged away from the hanging plate; a moving block, threadedly connected to the screw rod; a connecting rod assembly, one end of which is rotatably connected to the screw rod away from one end of the adjustment motor, and the other end of which is hinged to the moving block; wherein the fuselage frame is detachably connected to the connecting rod assembly.

[0015] In some embodiments, the connecting rod assembly includes: a first connecting rod and a second connecting rod, one end of the first connecting rod is hinged to one end of the second connecting rod; wherein the end of the first connecting rod away from the second connecting rod is hinged to a moving block, and the end of the second connecting rod away from the first connecting rod is hinged to a fixed block, and the fixed block is sleeved on the end of the screw away from the adjusting motor; a support column is provided on the side of the second connecting rod away from the screw, and a mounting frame is provided on the end of the support column away from the second connecting rod, and the mounting frame is detachably connected to the fuselage frame.

[0016] The embodiments of the present application have the following advantages.

[0017] In order to reduce the space utilization rate when the quad-rotor drone is stored, and when the drone is airdropped, the quad-rotor drone can automatically open its arms. When in use, the driving device works to drive the I-shaped gear to rotate around the output shaft of the driving device. When the I-shaped gear rotates, the gears meshing with the two ends of the I-shaped gear rotate. Since the two ends of the I-shaped gear are only meshed with one of the gears in each group, when one of the gears in each group is driven to rotate, it drives the gear meshing with the gear to rotate. The gears in the same group rotate in opposite directions due to the mutual meshing relationship. When the arms are driven to swing around the gears, the two arms on the same side approach or move away from each other, so that the arms on both sides are close together and finally arranged in a straight line, saving space. When the drone is released in the air, the driving device drives the I-shaped gear to rotate in the opposite direction, so that the arms move away from each other and finally arranged in an X shape, so that the arms of the quad-rotor drone can be automatically folded and unfolded.

[0018] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0019] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0021] In the attached picture:

[0022] Figure 1 A schematic diagram of the structure of an autonomous deployable UAV according to an embodiment of the present application is shown.

[0023] Figure 2 Show Figure 1 A magnified schematic diagram of area A in the middle.

[0024] Figure 3 A schematic diagram of a fuselage frame structure according to an embodiment of the present application is shown.

[0025] Figure 4 Show Figure 3 Enlarged schematic diagram of area B in the middle.

[0026] Figure 5 A schematic diagram of the structure of a driving device according to an embodiment of the present application is shown.

[0027] Figure 6 A schematic diagram of a gear structure according to an embodiment of the present application is shown.

[0028] Figure 7 A schematic diagram of the mounting system structure according to an embodiment of the present application is shown.

[0029] Figure 8 A schematic diagram of a U-shaped mounting block structure according to an embodiment of the present application is shown.

[0030] Fig. 9 A schematic diagram of the structure of an angle adjustment component according to an embodiment of the present application is shown.

[0031] Fig.10 A schematic diagram of the installation of a drone according to an embodiment of the present application is shown.

[0032] Fig.11 A schematic structural diagram of an adjusting rod assembly according to an embodiment of the present application is shown.

[0033] Reference numerals

[0034] 1- Machine arm;

[0035] 11-spring pin; 12-limiting hole; 13-rotor;

[0036] 2-fuselage frame;

[0037] 21-upper plate; 22-middle plate; 23-lower plate; 24-support rod;

[0038] 31-L-shaped mounting rod; 32-hanging plate;

[0039] 4- Gear;

[0040] 41-sleeve; 42-mounting plate; 43-incomplete gear; 44-mounting hole; 45-rotating shaft;

[0041] 5-I-shaped teeth;

[0042] 51-I-shaped block; 52-mounting shaft; 53-upper flange; 54-lower flange; 55-web; 56-upper wing plate; 57-lower wing plate;

[0043] 6- driving device;

[0044] 61-servo motor; 62-first gear; 63-second gear;

[0045] 7- Angle adjustment assembly;

[0046] 71- U-shaped mounting block; 72- U-shaped slot; 73- adjusting motor; 74- screw rod; 75- moving block; 76- connecting rod assembly; 77- fixing block; 78- supporting column; 79- mounting frame;

[0047] 761-first connecting rod; 762-second connecting rod;

[0048] 781-charging cable; 791-damping rod;

[0049] 8-Adjusting rod assembly;

[0050] 81-bent rod; 82-movable rod; 83-slide groove; 84-bolt. DETAILED DESCRIPTION

[0051] In order to make the purpose, scheme and advantages of the technical solution of the present application clearer, the technical solution of the embodiment of the present application will be clearly and completely described in conjunction with the drawings of the specific embodiments of the present application. Unless otherwise specified, the terms used herein have the usual meanings in the art. The same reference numerals in the drawings represent the same components.

[0052] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0053] To at least partially address one or more of the above issues and other potential problems, see Figure 1-Figure 11The example embodiment of the present application provides an autonomous deployable UAV and a mounting system, wherein the UAV comprises a plurality of arms 1 and a fuselage frame 2 for mounting the arms 1, wherein the plurality of arms 1 are symmetrically arranged on the surface of the fuselage frame 2, and the end of the arm 1 away from the fuselage frame 2 is used for mounting a rotor 13, and a plurality of gears 4 are respectively arranged at the end of each arm 1 away from the rotor 13, and are rotatably connected to the fuselage frame 2; wherein the plurality of gears 4 located on the same side of the fuselage frame 2 form a group, and the gears 4 of each group are meshed with each other, and there is a gap between the gears 4 on both sides of the fuselage frame 2; and an I-shaped gear 5, the teeth of which are at both ends mesh with the gears 4 on both sides of the fuselage frame 2; wherein the I-shaped gear 5 is meshed with one of the gears 4 in each group of gears 4; the rotation center of the I-shaped gear 5 coincides with the symmetry center of the plurality of arms 1; and a driving device 6 is drivingly connected to the rotation center of the I-shaped gear 5.

[0054] During operation, in order to reduce the space utilization rate when the quad-rotor drone is stored, and when the drone is airdropped, the quad-rotor drone can automatically open the arm 1, the driving device 6 provided in this embodiment works, driving the I-shaped gear 5 to rotate around the output shaft of the driving device 6. When the I-shaped gear 5 rotates, the gear 4 meshing with the two ends of the I-shaped gear 5 rotates. Since the two ends of the I-shaped gear 5 are only meshed with one of the gears 4 in each group, when one of the gears 4 in each group is driven to rotate, the gear 4 meshing with the gear 4 is driven to rotate. The gears 4 in the same group rotate in opposite directions due to the mutual meshing relationship. When the arm 1 is driven to swing around the gear 4, the two arms 1 on the same side approach or move away from each other, so that the arms 1 on both sides are close together, and finally can be arranged in a straight line, saving space. When the drone is released in the air, the driving device 6 drives the I-shaped gear 5 to rotate in the opposite direction, so that the arms 1 move away from each other, and finally are arranged in an X shape, so that the arms 1 of the quad-rotor drone can be automatically folded and unfolded.

[0055] See also Figure 1-Figure 11 In some embodiments, four arms 1 are provided, and the arms 1 are grouped in pairs. Each group of arms 1 is V-shaped and arranged on one side of the surface of the fuselage frame 2. The V-shapes of the two groups of arms 1 are symmetrical about the rotation center of the I-shaped teeth 5, and the gears 4 of each group of arms 1 are meshed with each other.

[0056] During operation, the axis of the gear 4 is rotationally connected to the fuselage frame 2, and some teeth are meshed with each other. The teeth of one gear 4 are meshed with the teeth of another gear 4 and the teeth of the I-shaped gear 5 on both sides.

[0057] See also Figure 1-Figure 11In some embodiments, the gear 4 includes: a sleeve 41, which is sleeved on the circumferential outer wall of one end of the arm 1 and connected to the arm 1 with a pin; a mounting plate 42, which is arranged on the end surface of the sleeve 41 away from the arm 1; two incomplete gears 43, and the two incomplete gears 43 are arranged on a side of the mounting plate 42 away from the sleeve 41; wherein the two incomplete gears 43 are each provided with a mounting hole 44 at the axis center, and a rotating shaft 45 is rotatably provided in the mounting hole 44, and the rotating shaft 45 passes through the mounting hole 44 and is connected to the fuselage frame 2.

[0058] During operation, the sleeve 41 and the mounting plate 42 are used to connect the two incomplete gears 43 and the arm 1. The arm 1 is inserted into the sleeve 41 and fixed by a latch. When the rotor 13 needs to be repaired, the arm 1 can be quickly removed for repair, thereby improving the maintenance efficiency.

[0059] See also Figure 1-Figure 11 In some embodiments, the I-shaped gear 5 includes: an I-shaped block 51 and a mounting shaft 52; wherein the upper flange 53 and the lower flange 54 of the I-shaped block 51 are both provided with arc-shaped racks, and the arc-shaped racks are meshed with the incomplete gear 43; wherein the rotation axis of the web 55 of the I-shaped block 51 is perpendicular to the surface of the fuselage frame 2, and the center of the rotation axis is concentric with the symmetry center of each arm 1; the axis of the mounting shaft 52 coincides with the axis of the rotation axis of the web 55 of the I-shaped block 51; one end of the mounting shaft 52 is connected to the center of the upper wing plate 56 of the I-shaped block 51, and the other end is rotatably connected to the fuselage frame 2; the output end of the driving device 6 is connected to the center of the lower wing plate 57.

[0060] During operation, the upper flange 53 and the lower flange 54 of the I-shaped block 51 are both provided with arc-shaped racks, and the four arc-shaped racks are respectively meshed with the four incomplete gears 43 on both sides of the I-shaped block 51. The structure of the double-layer gear 4 can improve the fault tolerance rate and avoid the situation where the arc-shaped racks are separated from the incomplete gears 43 due to the shaking of the fuselage.

[0061] See also Figure 1-Figure 11 In some embodiments, the driving device 6 includes: a servo motor 61, which is installed on the fuselage frame 2, and the output shaft is provided with a first gear 62; wherein the first gear 62 is meshed with a second gear 63, and the second gear 63 is arranged at the center of the lower wing plate 57 of the I-shaped block 51.

[0062] When working, the servo motor 61 can be selected as a steering gear, and the internal control circuit of the steering gear receives the PWM control pulse from the signal line. The control motor in the steering gear rotates and drives the 4 groups of reduction gears to work. The output is transmitted to the steering wheel through the 4 groups of reduction gears, so that the steering gear rotates a certain angle, and then the I-beam gear 5 is driven to rotate through the rotation of the steering gear, thereby achieving the purpose of driving the machine arm 1 to swing. It is worth noting that the steering gear is a conventional technology well known to technical personnel in this field, so it will not be repeated here.

[0063] See also Figure 1-Figure 11In some embodiments, the fuselage frame 2 includes an upper plate 21, a middle plate 22, and a lower plate 23; wherein each arm 1 is arranged between the upper plate 21 and the lower plate 23, and the servo motor 61 is arranged between the middle plate 22 and the lower plate 23; wherein the rotating shaft 45 of the second gear 63 passes through the middle plate 22 and is connected to the center of the lower wing plate 57 of the I-block 51; the mounting shaft 52 is rotatably connected to the upper plate 21; and a plurality of support rods 24 are arranged between the upper plate 21, the middle plate 22, and the lower plate 23.

[0064] When working, the fuselage frame 2 is composed of multiple layers, and the lower layer 23 cooperates with the mounting system to fix the quad-rotor drone on the mounting system.

[0065] See also Figure 1-Figure 11 In some embodiments, a spring pin 11 is further provided on the surface of the sleeve 41, and the spring pin 11 is arranged on a side of the sleeve 41 close to the upper plate 21; and a limiting hole 12 is provided on the surface of the upper plate 21, and the spring pin 11 cooperates with the limiting hole 12 to limit the position of each arm 1 after it is opened.

[0066] During operation, a limiting hole 12 is provided on the surface of the upper plate 21. When the sleeve 41 drives the spring pin 11 to swing to the limiting hole 12, the spring pin 11 changes from a contracted state to an extended state, so that the spring pin 11 is embedded in the limiting hole 12. When the quadrotor is flying, the spring pin 11 limits each arm 1 of the quadrotor.

[0067] See also Figure 1-Figure 11 A mounting system includes: an L-shaped mounting rod 31, one end of which is detachably connected to a drone mothership; and a hanging plate 32, the middle section of the bottom surface of which is connected to the end of the L-shaped mounting rod 31 away from the drone mothership; an angle adjustment component 7, which is provided with a plurality of groups, and each group of angle adjustment components 7 is arranged at intervals on the surface of the hanging plate 32; wherein the ends of the angle adjustment components 7 away from the hanging plate 32 are respectively installed with the fuselage frame 2.

[0068] When working, one end of the L-shaped mounting rod 31 is used to be installed on the UAV mothership. When multiple UAVs need to be carried on the mothership for standby and finally launched with the mothership as the flight platform, the hanging plate 32 can mount multiple quad-rotor UAVs. L-shaped mounting rods 31 are installed on the fuselage on both sides of the mothership to increase the number of UAVs carried by the mothership. It can be installed on fixed-wing UAV motherships and rotary-wing 13 UAV motherships. The L-shaped mounting rod 31 extends the distance between the hanging plate 32 and the mothership, reducing the impact of the UAV on the flight state of the mothership when taking off from the mothership.

[0069] See also Figure 1-Figure 11In some embodiments, the angle adjustment component 7 includes: a U-shaped mounting block 71, one end of which is detachably connected to the outer wall of the hanging plate 32; wherein the U-shaped groove 72 is arranged on the outer wall of the U-shaped mounting block 71 away from the hanging plate 32; an adjustment motor 73 is arranged in the opening of the U-shaped mounting block 71, and both sides are rotatably connected to the inner walls of the opening of the U-shaped groove 72; a screw rod 74, one end of which is connected to the output shaft of the adjustment motor 73, and the other end is arranged away from the hanging plate 32; a moving block 75, which is threadedly connected to the screw rod 74; a connecting rod assembly 76, one end of which is rotatably connected to the end of the screw rod 74 away from the adjusting motor 73, and the other end is hinged to the moving block 75; wherein the fuselage frame 2 is detachably connected to the connecting rod assembly 76.

[0070] When working, the angle adjustment device is used to adjust the inclination angle of the UAV when taking off, and the hanging plate 32 is parallel to the ground. However, when the mothership is flying, according to the take-off requirements, the mothership is flying at an angle, and the take-off angle of the UAV can be adjusted by the angle adjustment device, thereby reducing the impact of the mothership's flight state on the take-off of the UAV.

[0071] In addition, after the fuselage frame 2 of the UAV is installed on the connecting rod assembly 76, the output shaft of the adjusting motor 73 is used to drive the connecting rod assembly 76 to move on the screw 74, so that the connecting rod assembly 76 is perpendicular to the hanging plate 32 and parallel to the screw 74. At this time, the UAV is vertically arranged between the various angle adjustment assemblies 7, further reducing the occupied area of ​​the UAV. The arm 1 of the UAV is driven to close by the I-shaped gear 5, so that the arm 1 is arranged in a straight line and is parallel to the screw 74. When the UAV needs to fly, the adjusting motor 73 is used to drive the connecting rod assembly 76 to return to the center, so that the rotor 13 of the UAV is parallel to the ground. The rotor 13 of the UAV rotates to provide lift and disengages from the connecting rod assembly 76.

[0072] See also Figure 1-Figure 11 In some embodiments, the connecting rod assembly 76 includes: a first connecting rod 761 and a second connecting rod 762, wherein one end of the first connecting rod 761 is hinged to one end of the second connecting rod 762; wherein one end of the first connecting rod 761 away from the second connecting rod 762 is hinged to a moving block 75, and one end of the second connecting rod 762 away from the first connecting rod 761 is hinged to a fixed block 77, and the fixed block 77 is sleeved on one end of the screw rod 74 away from the adjusting motor 73; a support column 78 is provided on the side of the second connecting rod 762 away from the screw 74, and a mounting frame 79 is provided on the end of the support column 78 away from the second connecting rod 762, and the mounting frame 79 is detachably connected to the fuselage frame 2.

[0073] During operation, the adjusting motor 73 is started, driving the screw 74 to rotate. When the screw 74 rotates, it drives the moving block 75 to move on the screw 74. The distance between the two ends of the connecting rod assembly 76 increases or decreases, so that the angle of the second connecting rod 762 changes, thereby achieving the purpose of adjusting the tilt angle of the drone. A connecting rod can be connected between the fixed block 77 and the hanging plate 32 to limit the rotation of the fixed block 77.

[0074] See also Figure 1-Figure 11 In some embodiments, the support column 78 is a hollow structure, and the hollow structure is used to install the charging cable 781. One end of the charging cable 781 is arranged to support one end away from the second connecting rod 762, and the other end passes through the support column 78 to connect to the power supply of the mother machine.

[0075] When in use, the charging cable 781 is used to connect the power supply of the mother machine and the drone, so as to charge the drone.

[0076] See also Figure 1-Figure 11 In some embodiments, the mounting frame 79 is a cross mounting rod structure, one end of the support column 78 is connected to the center of the cross mounting rod, the plane where the cross mounting rod is located is parallel to the second connecting rod 762, and a damping rod 791 is provided on the side of the end of the cross mounting rod away from the support column 78, the fixed end of the damping rod 791 is connected to the cross mounting rod, and the other end is slidably connected to the fuselage frame 2; wherein the lower layer plate 23 of the fuselage frame 2 is provided with a sliding hole slidably connected to the damping rod 791.

[0077] When in use, the sliding hole on the lower plate 23 of the fuselage frame 2 is inserted into the surface of the damping rod 791. During the take-off of the UAV, the rotor 13 provides lift, so that the lower plate 23 slides on the surface of the damping rod 791. The damping rod 791 provides a pulling force in the opposite direction of the lift to the fuselage frame 2, which is used to connect the fuselage frame 2 through the damping rod 791, so that the fuselage frame 2 is subjected to the pulling force of the damping rod 791. After installation, it is not easy to fall off, and can provide support when the UAV takes off to avoid shaking.

[0078] See also Figure 1-Figure 11 In some embodiments, the connecting rod assembly 76 can also be replaced by an adjusting rod assembly 8, which includes a curved rod 81 and a movable rod 82; a sliding groove 83 is provided on the surface of the movable rod 82 along the length direction of the movable rod 82, one end of the movable rod 82 is connected to the fixed block 77, one end of the curved rod 81 is connected to the moving block 75, and a bolt 84 is provided at one end of the curved rod 81 close to the movable rod 82. The bolt 84 passes through the sliding groove 83, one end of which is connected to one side of the movable rod 82, and the other end is connected to the curved rod 81.

[0079] When in use, in some cases, due to the long-term use of the adjustment motor 73, the angle control accuracy decreases, which makes the distance error of the driving moving block 75 on the screw rod 74 larger, and one end of the curved rod 81 is slid in the slide groove 83, and the curved rod 81 and the movable rod 82 are locked by the bolt 84. The bolt 84 connects one end of the curved rod 81 and is rotatably connected to the curved rod 81, so that the curved rod 81 can rotate around the movable rod 82, but cannot continue to slide in the slide groove 83, so that the length of the movable rod 82 is adjustable. When the bolt 84 drives the moving block 75 to move, the total length of the movable rod 82 and the curved rod 81 changes, so that the moving range of the moving block 75 changes, so that the final inclination angle of the movable rod 82 can be fixed, and the support column 78 and the cross mounting rod are installed in the middle section of the movable rod 82, so as to limit the inclination angle of the movable rod 82 and limit the angle of the drone when taking off.

[0080] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

[0081] The terms used in this document are selected to best explain the principles of the embodiments, practical applications or technical improvements in the marketplace, or to enable other ordinary technicians in this technical field to understand the embodiments disclosed herein.

[0082] The above are only optional embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An autonomous deployable unmanned aerial vehicle and a mounting system, comprising a plurality of arms (1) and a fuselage frame (2) for mounting the arms (1), wherein the plurality of arms (1) are symmetrically arranged on the surface of the fuselage frame (2), and an end of the arms (1) away from the fuselage frame (2) is used for mounting a rotor (13), characterized in that: A plurality of gears (4) are respectively arranged at one end of each arm (1) away from the rotor (13) and are rotatably connected to the fuselage frame (2); in The plurality of gears (4) located on the same side of the fuselage frame (2) form a group, the gears (4) of each group mesh with each other, and there is a gap between the gears (4) on both sides of the fuselage frame (2); and The teeth of the I-shaped gear (5) at both ends mesh with the gears (4) on both sides of the fuselage frame (2); in The I-shaped tooth (5) meshes with one of the gears (4) of each set of gears (4); The rotation center of the I-shaped gear (5) coincides with the symmetry center of the multiple machine arms (1); A driving device (6) is drivingly connected to the rotation center of the I-shaped gear (5); The mounting system comprises: an L-shaped mounting rod (31), one end of which is detachably connected to the drone mothership; and The middle section of the bottom surface of the hanging plate (32) is connected to the end of the L-shaped mounting rod (31) away from the drone mothership; The angle adjustment components (7) are provided in a plurality of groups, and each group of angle adjustment components (7) is arranged at intervals on the surface of the hanging plate (32); wherein The fuselage frame (2) is respectively installed on one end of the angle adjustment assembly (7) away from the hanging plate (32); The U-shaped mounting block (71) has an outer wall at one end detachably connected to the hanging plate (32); A U-shaped groove (72) is provided on the outer wall of one end of the U-shaped mounting block (71) away from the hanging plate (32); An adjusting motor (73) is disposed in the opening of the U-shaped mounting block (71), and has two sides rotatably connected to the inner wall of the opening of the U-shaped groove (72); A screw rod (74), one end of which is connected to the output shaft of the adjusting motor (73) and the other end of which is arranged away from the hanging plate (32); A moving block (75) threadedly connected to the screw rod (74); A connecting rod assembly (76) has one end that is rotatably connected to the screw rod (74) away from one end of the adjusting motor (73), and the other end that is hinged to the moving block (75); The fuselage frame (2) is detachably connected to the connecting rod assembly (76); The connecting rod assembly (76) includes: A first connecting rod (761) and a second connecting rod (762), one end of the first connecting rod (761) is hinged to one end of the second connecting rod (762); wherein One end of the first connecting rod (761) away from the second connecting rod (762) is hinged to a moving block (75), and one end of the second connecting rod (762) away from the first connecting rod (761) is hinged to a fixed block (77), and the fixed block (77) is sleeved on one end of the screw rod (74) away from the adjusting motor (73); A support column (78) is provided on the side of the second connecting rod (762) away from the screw rod (74); a mounting frame (79) is provided on the end of the support column (78) away from the second connecting rod (762); the mounting frame (79) is detachably connected to the fuselage frame (2); The adjusting rod assembly (8) comprises a curved rod (81) and a movable rod (82); a sliding groove (83) is provided on the surface of the movable rod (82) along the length direction of the movable rod (82); one end of the movable rod (82) is connected to the fixed block (77); one end of the curved rod (81) is connected to the movable block (75); a bolt (84) is provided at one end of the curved rod (81) close to the movable rod (82); the bolt (84) passes through the sliding groove (83); one end of the bolt (84) is connected to one side of the movable rod (82) and the other end is connected to the curved rod (81).

2. The autonomous deployable UAV and mounting system according to claim 1, characterized in that: The machine arms (1) are provided with four, and the machine arms (1) are arranged in groups of two. Each group of machine arms (1) is arranged in a V-shape on one side of the surface of the machine body frame (2). The V-shapes of the two groups of machine arms (1) are symmetrical about the rotation center of the I-shaped gear (5), and the gears (4) of each group of machine arms (1) are meshed with each other.

3. The autonomous deployable UAV and mounting system according to claim 2, characterized in that: The gear (4) comprises: A sleeve (41) is sleeved on the circumferential outer wall of one end of the machine arm (1) and is connected to the machine arm (1) with a latch; A mounting plate (42) is disposed on an end surface of the sleeve (41) away from the machine arm (1); Two incomplete gears (43), the two incomplete gears (43) are arranged on a side of the mounting plate (42) away from the sleeve (41); wherein The two incomplete gears (43) are each provided with a mounting hole (44) at their axis centers. A rotating shaft (45) is rotatably provided in the mounting hole (44). The rotating shaft (45) passes through the mounting hole (44) and is connected to the fuselage frame (2).

4. The autonomous deployable UAV and mounting system according to claim 3, characterized in that: The I-shaped gear (5) comprises: I-shaped block (51), mounting shaft (52); wherein The upper flange (53) and the lower flange (54) of the I-shaped block (51) are both provided with arc-shaped racks, which mesh with the incomplete gear (43); The rotation axis of the web (55) of the I-shaped block (51) is perpendicular to the surface of the fuselage frame (2), and the center of the rotation axis is concentric with the symmetry center of each arm (1); The axis of the installation shaft (52) coincides with the axis of the rotation axis of the web (55) of the I-shaped block (51); One end of the mounting shaft (52) is connected to the center of the upper wing plate (56) of the I-shaped block (51), and the other end is rotatably connected to the fuselage frame (2); The output end of the driving device (6) is connected to the center of the lower wing plate (57).

5. The autonomous deployable UAV and mounting system according to claim 4, characterized in that: The driving device (6) comprises: A servo motor (61) is mounted on the fuselage frame (2), and an output shaft is provided with a first gear (62); wherein The first gear (62) is meshed with a second gear (63), and the second gear (63) is arranged at the center of the lower wing plate (57) of the I-shaped block (51).

6. The autonomous deployable UAV and mounting system according to claim 5, characterized in that: The fuselage frame (2) comprises an upper plate (21), a middle plate (22), and a lower plate (23); in Each machine arm (1) is arranged between an upper plate (21) and a lower plate (23), and a servo motor (61) is arranged between a middle plate (22) and a lower plate (23); wherein The rotating shaft (45) of the second gear (63) passes through the middle plate (22) and is connected to the center of the lower wing plate (57) of the I-shaped block (51); The mounting shaft (52) is rotatably connected to the upper plate (21); A plurality of support rods (24) are provided between the upper plate (21), the middle plate (22), and the lower plate (23).

7. The autonomous deployable UAV and mounting system according to claim 6, characterized in that: The surface of the sleeve (41) is also provided with a spring pin (11), and the spring pin (11) is arranged on a side of the sleeve (41) close to the upper plate (21); and A limiting hole (12) is provided on the surface of the upper plate (21), and the spring pin (11) cooperates with the limiting hole (12) to limit the position of each machine arm (1) when it is opened.

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