Large-load multi-rotor unmanned aerial vehicle

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and relates to a heavy-load multi-rotor unmanned aerial vehicle which comprises a rectangular vehicle body, vehicle arms are detachably mounted at the four corners of the vehicle body through nuts, paddles are rotationally arranged at the tops and the bottoms of the other ends of the vehicle arms, and a driving assembly is arranged at the bottom of the vehicle body. The driving assembly drives a loading plate located below the machine body to move, a plurality of hanging holes are formed in the loading plate, supporting legs are fixedly connected to the two ends of the bottom face of the machine body, the loading plate is located between the two supporting legs, and pressure sensors are arranged at the two ends, away from the machine body, of the supporting legs. The unmanned aerial vehicle has the advantages that according to the pressure values of different pressure sensors, the pull rod is driven to rotate through the driving assembly, the loading plate is driven to move, the loading plate moves towards the pressure sensors with small pressure, the unmanned aerial vehicle loaded with goods can be rapidly adjusted to be in a balanced state, repeated mounting or dismounting is not needed, and using is convenient and fast.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicles and relates to a large-load multi-rotor unmanned aerial vehicle. Background Art

[0002] UAVs are unmanned aircraft controlled by radio remote control equipment and self-contained program control devices, or operated completely or intermittently autonomously by onboard computers. Among them, rotary-wing UAVs have the characteristics of small size, simple structure, flexible control, etc. They can take off and land vertically, hover freely, and can adapt to various natural environments. They have the advantages of autonomous flight and landing capabilities, and can operate in some complex and dangerous environments that are not suitable for human entry.

[0003] A large-load UAV disclosed in Chinese patent CN105292457B is provided with a center of gravity adjustment component, which includes one or more center of gravity adjustment rods arranged at the bottom of the UAV, and a mounting component is connected to the center of gravity adjustment rod and can adjust the horizontal position along the axial direction of the center of gravity adjustment rod, that is, the mounting component can realize mounting at multiple different positions along the axial direction of the center of gravity adjustment rod.

[0004] When the drone is in use, the operator can reasonably mount the mounting assembly on different first mounting parts according to the center of gravity of different heavy-mass mounts to flexibly adjust the horizontal position of the mounting assembly until the flight center of gravity of the drone is adjusted to the optimal state. Therefore, the operator needs to hang the heavy object on the mounting assembly and then move the heavy object and the mounting assembly together. During the adjustment process, the operator needs to install or remove the mounting assembly many times, which is not convenient to use.

[0005] In order to solve the above problems, the present invention proposes a large-load multi-rotor UAV. Summary of the invention

[0006] In order to solve the problems existing in the background technology, the present invention proposes a large-load multi-rotor UAV.

[0007] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is as follows: comprising a fuselage, the fuselage is in a rectangular configuration, four corners of the fuselage are provided with arms detachably mounted via nuts, and the top and bottom of the other end of the arm are rotatably provided with blades; A driving assembly is provided at the bottom of the fuselage, and the driving assembly drives a loading plate located below the fuselage to move, and a plurality of hanging holes are provided on the loading plate; Both ends of the bottom surface of the fuselage are fixedly connected with support legs, the loading plate is located between the two support legs, and both ends of the support legs away from the fuselage are provided with pressure sensors.

[0008] Furthermore, antennas are fixedly mounted at both ends of the top of the fuselage, and the bottom ends of the antennas extend downward into the interior of the fuselage.

[0009] Furthermore, the four corners of the side of the fuselage are fixedly connected with connecting pipes, a nut is rotatably sleeved on one end of the connecting pipe, and a thread matching the nut is provided at one end of the arm away from the blades.

[0010] Furthermore, a diamond block is fixedly connected inside the connecting pipe, the diamond block is a prism, the cross-sectional area of ​​one end of the diamond block close to the nut is smaller than the cross-sectional area of ​​the other end, and the cross-sectional shapes of both ends of the diamond block are diamond-shaped; A connecting column is fixedly connected to the inside of one end of the machine arm near the nut, and a diamond groove is provided at one end of the connecting column extending to the outside of the machine arm. Through grooves are provided at the four corners of the diamond groove, and the through grooves extend to the outer surface of the connecting column. The connecting column is made of rubber material, and the diamond block is movably arranged inside the diamond groove.

[0011] Furthermore, one end of the machine arm is fixedly connected to a mounting block, and two vertically symmetrical driving motors are fixedly connected inside the mounting block. The output shaft of the driving motor rotates and passes through the mounting block, and the blades are fixedly connected to the output shaft of the driving motor.

[0012] Furthermore, the driving assembly includes a motor, which is fixedly connected to the bottom surface of the fuselage, and the motor is located between the fuselage and the loading plate. A cross bar is fixedly connected to the output shaft of the motor, and a pull rod is fixedly connected to one end of the cross bar away from the motor. The pull rod is perpendicular to the cross bar, and the other end of the pull rod slides through the loading plate.

[0013] Furthermore, the support leg is set in an inverted U shape, the top surface of the middle part of the support leg is fixedly connected to the bottom surface of the fuselage, both ends of the support leg are set at an angle, and both ends of the support leg are fixedly provided with cushions.

[0014] Furthermore, the four corners of the top surface of the loading plate are fixedly connected with second joint seats, and the bottom surface of the middle part of the supporting leg is fixedly connected with two first joint seats, the first joint seats and the second joint seats correspond to each other one by one, and both the first joint seats and the second joint seats are barrel-shaped; A connecting rod is arranged between the first joint seat and the corresponding second joint seat, both ends of the connecting rod are spherical, one end of the connecting rod is rollingly arranged in the first joint seat, and the other end of the connecting rod is rollingly arranged in the corresponding second joint seat.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The large-load multi-rotor UAV is provided with a loading plate, on which a number of hanging holes are opened. When in use, the cargo to be transported is hung on the hanging holes. According to the pressure values ​​of different pressure sensors, the pull rod is driven to rotate through the driving assembly to drive the loading plate to move toward the pressure sensor with lower pressure. The UAV after loading the cargo can be quickly adjusted to a balanced state, and multiple installation or disassembly is not required, so it is more convenient to use.

[0016] 2. The large-load multi-rotor UAV is provided with a connecting rod, both ends of which are spherical. One end of the connecting rod is rollingly set in the first joint seat, and the other end of the connecting rod is rollingly set in the corresponding second joint seat, so that the loading plate will drive the connecting rod to move together when it rotates, thereby increasing the stability of the loading plate through the connecting rod.

[0017] 3. The large-load multi-rotor UAV is provided with a diamond block. When installing the arm, the diamond groove is pushed into the diamond block. The diamond block will push the connecting column at the diamond groove to be stretched open, so that the arm moves along the diamond block when the nut is used for installation, which can avoid the arm from tilting, thereby ensuring the angle of the blade, so that the UAV can fly normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of the three-dimensional structure of the present invention from a first viewing angle; Figure 2 is a schematic diagram of a three-dimensional structure of the present invention from a second viewing angle; Figure 3 It is a schematic structural diagram of the connecting column in the present invention; Figure 4 It is a structural schematic diagram of the nut in the present invention; Figure 5 It is a schematic diagram of the structure of the diamond block in the present invention; Figure 6 is a cross-sectional view of the connection between the nut and the machine arm in the present invention; Figure 7 The present invention Figure 2 The enlarged structural diagram of the middle A part; Figure 8 It is a structural schematic diagram of the loading plate in the present invention.

[0019] In the figure: 1. fuselage; 2. antenna; 3. support leg; 4. cushion; 5. connecting pipe; 6. nut; 7. arm; 8. blade; 9. first joint seat; 10. connecting rod; 11. second joint seat; 12. loading plate; 13. hanging hole; 14. motor; 15. cross bar; 16. pull rod; 17. connecting column; 18. diamond groove; 19. diamond block; 20. mounting block. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] like Figure 1-Figure 8 As shown, the technical solution adopted by the present invention is as follows: a large-load multi-rotor drone includes a fuselage 1, which is rectangular. Antennas 2 are fixedly installed at both ends of the top of the fuselage 1, and the bottom of the antenna 2 extends downward into the fuselage 1. The four sides of the fuselage 1 are rounded. The fuselage 1 is made of carbon fiber and is integrally formed by a mold, which is light in weight and high in structural strength.

[0022] The four corners of the fuselage 1 are all detachably mounted with arms 7 through nuts 6. The four corners of the side of the fuselage 1 are all fixedly connected with connecting pipes 5, and the nuts 6 are rotatably sleeved on one end of the connecting pipes 5.

[0023] The top and bottom of the other end of the machine arm 7 are both rotatably provided with blades 8. One end of the machine arm 7 away from the blades 8 is provided with a thread adapted to the nut 6. The nut 6 can be rotated on the machine arm 7.

[0024] A rhombus block 19 is fixedly connected inside the connecting pipe 5. The rhombus block 19 is a prism. The cross-sectional area of ​​one end of the rhombus block 19 close to the nut 6 is smaller than the cross-sectional area of ​​the other end. The cross-sectional shapes of the two ends of the rhombus block 19 are both rhombuses.

[0025] A connecting column 17 is fixedly connected to the inner part of one end of the machine arm 7 near the nut 6, and a diamond groove 18 is formed at one end of the connecting column 17 extending outside the machine arm 7. Through grooves are formed at the four corners of the diamond groove 18, and the through grooves extend to the outer surface of the connecting column 17, so that one end of the connecting column 17 is evenly divided into four petals.

[0026] The connecting column 17 is made of rubber material, and the diamond block 19 is movably arranged inside the diamond groove 18. When the diamond block 19 is inserted into the diamond groove 18, the end of the connecting column 17 provided with the diamond groove 18 will be opened.

[0027] One end of the machine arm 7 is fixedly connected to a mounting block 20, and two vertically symmetrical drive motors are fixedly connected inside the mounting block 20. The output shaft of the drive motor rotates through the mounting block 20, and the blade 8 is fixedly connected to the output shaft of the drive motor.

[0028] A driving assembly is provided at the bottom of the fuselage 1, and the driving assembly drives a loading plate 12 located below the fuselage 1 to move. A plurality of hanging holes 13 are provided on the loading plate 12. The hanging holes 13 are used to hang goods.

[0029] The driving assembly includes a motor 14, which is fixedly connected to the bottom surface of the fuselage 1, and the motor 14 is located between the fuselage 1 and the loading plate 12. A crossbar 15 is fixedly connected to the output shaft of the motor 14, and a pull rod 16 is fixedly connected to one end of the crossbar 15 away from the motor 14. The pull rod 16 is perpendicular to the crossbar 15, and the other end of the pull rod 16 slides through the loading plate 12.

[0030] Both ends of the bottom surface of the fuselage 1 are fixedly connected with support legs 3, and the loading plate 12 is located between the two support legs 3. Both ends of the support legs 3 away from the fuselage 1 are provided with pressure sensors.

[0031] The support leg 3 is in an inverted U shape, the top surface of the middle part of the support leg 3 is fixedly connected to the bottom surface of the fuselage 1, both ends of the support leg 3 are inclined, and both ends of the support leg 3 are fixedly provided with a cushion 4.

[0032] A control circuit and a battery are provided inside the body 1. The battery energizes the motor 14, the drive motor, and the pressure sensor, and the motor 14, the drive motor, and the pressure sensor are all connected to the control circuit. The control circuit can control the motor 14 according to the pressure value change of the pressure sensor. The control circuit is a prior art.

[0033] The four corners of the top surface of the loading plate 12 are fixedly connected with the second joint seats 11. The bottom surface of the middle part of the supporting leg 3 is fixedly connected with two first joint seats 9. The first joint seats 9 and the second joint seats 11 correspond one to one, and both of the first joint seats 9 and the second joint seats 11 are barrel-shaped.

[0034] A connecting rod 10 is arranged between the first joint seat 9 and the corresponding second joint seat 11 . Both ends of the connecting rod 10 are spherical. One end of the connecting rod 10 is rollingly arranged in the first joint seat 9 , and the other end of the connecting rod 10 is rollingly arranged in the corresponding second joint seat 11 .

[0035] Working principle: When in use, move the machine arm 7 to move the end of the connecting column 17 divided into four petals into the inside of the nut 6. Continue to push the connecting column 17 into the inside of the nut 6 to push the diamond groove 18 into the diamond block 19, and the diamond block 19 will push the connecting column 17 at the diamond groove 18 to be opened.

[0036] When the thread at the arm 7 contacts the nut 6, the nut 6 is rotated to rotate one end of the nut 6 on the connecting tube 5. The nut 6 rotates on the thread at the end of the arm 7, thereby pushing the arm 7 to move toward the inside of the connecting tube 5, so that the connecting column 17 is fully inserted into the connecting tube 5.

[0037] Since the diamond block 19 is a prism, and the cross-sectional area of ​​the end of the diamond block 19 close to the nut 6 is smaller than the cross-sectional area of ​​the other end, when the diamond block 19 is pushed, the connecting column 17 is in close contact with the inner wall of the connecting tube 5, thereby strengthening the connection strength between the machine arm 7 and the fuselage 1. This helps to increase the load of the drone. At the same time, the diamond block 19 cooperates with the diamond groove 18 to avoid the installation angle of the machine arm 7 from being tilted, thereby ensuring the angle of the blade 8, so that the drone can fly normally.

[0038] When the fuselage 1 is unloaded, the drone is placed on the ground, and the four cushions 4 are in contact with the ground, exerting the same pressure on the ground, so the pressure values ​​of the four pressure sensors are the same.

[0039] When the cargo is hung on the loading plate 12 through the hanging hole 13, if the center of gravity of the drone is shifted, the pressure values ​​of the four pressure sensors will be different. The control circuit starts the motor 14 to drive the crossbar 15 and the pull rod 16 to rotate.

[0040] The bottom end of the pull rod 16 pushes the loading plate 12, so that the loading plate 12 and the second joint seat 11 move, and the spherical end at the bottom of the connecting rod 10 rolls in the second joint seat 11, while the spherical end at the top of the connecting rod 10 rolls in the first joint seat 9, so that the loading plate 12 moves slowly under the fuselage 1.

[0041] The loading plate 12 is moved toward the pressure sensor with the smallest pressure value until the pressure values ​​of the four pressure sensors are the same. At this time, the drone reaches a balanced state and the motor 14 stops rotating.

[0042] The control circuit starts the drive motor to rotate the blade 8.

[0043] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A large-load multi-rotor UAV, characterized in that: The device comprises a body (1), the body (1) is rectangular, arms (7) are detachably mounted at the four corners of the body (1) via nuts (6), and blades (8) are rotatably mounted at the top and bottom of the other end of the arm (7); A driving assembly is provided at the bottom of the fuselage (1), and the driving assembly drives a loading plate (12) located below the fuselage (1) to move, and a plurality of hanging holes (13) are provided on the loading plate (12); Support legs (3) are fixedly connected to both ends of the bottom surface of the fuselage (1); the loading plate (12) is located between the two support legs (3); and pressure sensors are provided at both ends of the support legs (3) away from the fuselage (1).

2. A large-load multi-rotor UAV according to claim 1, characterized in that: Antennas (2) are fixedly mounted at both ends of the top of the fuselage (1), and the bottom end of the antenna (2) extends downward into the interior of the fuselage (1).

3. The large-load multi-rotor UAV according to claim 1, characterized in that: The four corners of the side of the fuselage (1) are fixedly connected to a connecting pipe (5), a nut (6) is rotatably sleeved on one end of the connecting pipe (5), and a thread matching the nut (6) is provided at one end of the machine arm (7) away from the blade (8).

4. The large-load multi-rotor UAV according to claim 3, characterized in that: A rhombus block (19) is fixedly connected to the interior of the connecting tube (5), the rhombus block (19) being a prism, the cross-sectional area of ​​one end of the rhombus block (19) close to the nut (6) being smaller than the cross-sectional area of ​​the other end, and the cross-sectional shapes of both ends of the rhombus block (19) being rhombus-shaped; A connecting column (17) is fixedly connected to the inside of one end of the machine arm (7) near the nut (6); a rhombus-shaped groove (18) is formed at one end of the connecting column (17) extending outside the machine arm (7); through grooves are formed at four corners of the rhombus-shaped groove (18); the through grooves extend to the outer surface of the connecting column (17); the connecting column (17) is made of rubber material; and a rhombus-shaped block (19) is movably arranged inside the rhombus-shaped groove (18).

5. The large-load multi-rotor UAV according to claim 1, characterized in that: One end of the machine arm (7) is fixedly connected to a mounting block (20), and two vertically symmetrical drive motors are fixedly connected inside the mounting block (20). The output shaft of the drive motor rotates and penetrates the mounting block (20), and the blade (8) is fixedly connected to the output shaft of the drive motor.

6. The large-load multi-rotor UAV according to claim 1, characterized in that: The driving assembly comprises a motor (14), the motor (14) being fixedly connected to the bottom surface of the fuselage (1), the motor (14) being located between the fuselage (1) and the loading plate (12), a cross bar (15) being fixedly connected to the output shaft of the motor (14), a pull rod (16) being fixedly connected to one end of the cross bar (15) away from the motor (14), the pull rod (16) being perpendicular to the cross bar (15), and the other end of the pull rod (16) slidingly passing through the loading plate (12).

7. The large-load multi-rotor UAV according to claim 1, characterized in that: The support leg (3) is arranged in an inverted U shape, the top surface of the middle part of the support leg (3) is fixedly connected to the bottom surface of the fuselage (1), both ends of the support leg (3) are arranged at an angle, and both ends of the support leg (3) are fixedly provided with a soft pad (4).

8. The large-load multi-rotor UAV according to claim 7, characterized in that: The four corners of the top surface of the loading plate (12) are fixedly connected to the second joint seats (11), and the bottom surface of the middle part of the supporting leg (3) is fixedly connected to two first joint seats (9), the first joint seats (9) and the second joint seats (11) correspond to each other one by one, and the first joint seats (9) and the second joint seats (11) are both barrel-shaped; A connecting rod (10) is disposed between the first joint seat (9) and the corresponding second joint seat (11); both ends of the connecting rod (10) are spherical; one end of the connecting rod (10) is rollably disposed in the first joint seat (9), and the other end of the connecting rod (10) is rollably disposed in the corresponding second joint seat (11).

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