Unmanned aerial vehicle inclined active joint mechanism based on nest

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle inclined active joint mechanism based on a nest, the unmanned aerial vehicle inclined active joint mechanism comprises an unmanned aerial vehicle main body, fixed wings are fixedly mounted at the left and right ends of the unmanned aerial vehicle main body, driving boxes are fixedly mounted at the front ends of the fixed wings, and a rotating shaft is rotatably connected to the middle of each driving box; a rotating box is fixedly mounted at the end, away from the unmanned aerial vehicle body, of the rotating shaft. The movable shaft is pushed in the main shaft through the ejection spring in a compressed state under the action of elasticity, then the blades are driven to rotate around the fixed shaft through meshing of the racks and the half gears on the blades, the blades are folded on the rotating box, the space occupied by the blades is reduced, and meanwhile the space occupied by the blades is reduced. The end of the paddle located below the fixed wing is in contact with the fixed wing, the ends of the other two paddles are folded above the fixed wing, then the situation that the ends of the paddles hurt people is avoided, and the safety of the device is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to an active tilting joint mechanism for unmanned aerial vehicles based on a machine nest. Background Art

[0002] The tilt active joint mechanism is a joint mechanism for drones or aircraft that allows the aircraft's engines and rotors to switch between horizontal flight and vertical takeoff and landing. It combines the vertical takeoff and landing capabilities of a helicopter with the high-speed cruising capabilities of a fixed-wing aircraft. This design can play a role in missions that require rapid coverage of large areas, while also providing a more flexible and versatile flight capability, allowing fixed-wing drones to take off vertically directly from the nest.

[0003] The existing UAV tilt active joint mechanism, due to the combination of the UAV's blades, realizes vertical take-off and landing and climbing by rotating the blades in the horizontal direction. However, when the UAV does not need to perform flight missions, the larger blades occupy a larger space, and during actual maintenance, the unfolded blades may injure people, reducing the safety of the device. Summary of the invention

[0004] The purpose of the present invention is to provide a tilting active joint mechanism for a drone based on a machine nest to solve the problems raised in the above-mentioned background technology.

[0005] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: an active tilt joint mechanism for a drone based on a machine nest, comprising a drone main body, fixed wings are fixedly installed at both left and right ends of the drone main body, a drive box is fixedly installed at the front end of the fixed wing, a rotating shaft is rotatably connected to the middle of the drive box, a rotating box is fixedly installed at one end of the rotating shaft away from the drone main body, a baffle is fixedly installed at the rear side of the bottom end of the rotating box, a mounting piece is fixedly installed at one end of the drive box away from the drone main body, a main shaft is rotatably connected to the inner cavity of the main shaft, a moving shaft is movably connected to the inner cavity of the main shaft, a fixed tube is fixedly installed at the top of the mounting piece, a top shaft is slidably connected to the inner cavity of the fixed tube, an ejection spring is sleeved on the surface of the top shaft, a fixed shaft is fixedly installed at the top of the main shaft, a blade is rotatably connected to the surface of the fixed shaft, a rack is fixedly installed at the top of the moving shaft, a mounting ring is fixedly installed at the bottom end of the moving shaft, and a reset spring is fixedly installed between the bottom end of the mounting ring and the rotating box.

[0006] Preferably, an oil box is fixedly installed at one end of the drive box away from the main body of the drone, the inner cavity of the oil box is movably connected with an extrusion rod, the bottom end of the extrusion rod is fixedly installed with an extrusion plate, and the bottom end of the oil box is fixedly installed with connecting pipe 1 and connecting pipe 2.

[0007] Preferably, a rotating motor is fixedly installed in the inner cavity of the driving box, a gear one is fixedly sleeved on the output end of the rotating motor, a gear ring one is fixedly installed on the surface of the rotating shaft, a driving motor is fixedly installed in the inner cavity of the rotating box, a gear two is fixedly sleeved on the output end of the driving motor, and a gear ring two is fixedly sleeved on the surface of the main shaft.

[0008] Preferably, the blocking piece is fitted with the mounting piece, the mounting piece is located outside the blocking piece, a hole having the same diameter as the movable shaft is opened on the surface of the mounting piece, and the axis of the top shaft coincides with the axis of the hole.

[0009] Preferably, the bottom end of the top shaft is an inclined surface, and the bottom end of the movable shaft is provided with a chamfer.

[0010] Preferably, the connecting pipe 1 is a hose, and the connecting pipe 1 and the connecting pipe 2 are fixedly installed in the rotating box and the driving box respectively.

[0011] Preferably, a half gear is fixedly mounted on one end of the blade located inside the main shaft, and the half gear is meshed with the rack.

[0012] Preferably, a retaining ring is fixedly mounted on one end of the driving box away from the main body of the drone, and the retaining ring is located below the connecting pipe 1.

[0013] Preferably, the gear 1 is meshed with the gear ring 1, the gear ring 2 is meshed with the gear 2, a positioning ring is fixedly mounted on the surface of the main shaft, and the positioning ring is clamped on the rotating box.

[0014] The beneficial effects of the present invention are as follows:

[0015] 1. In the present invention, when the rotating box is rotated until the axes of the moving shaft and the ejector shaft coincide, the ejector spring in a compressed state pushes the moving shaft in the main shaft under the action of elasticity, and then drives the blade to rotate around the fixed axis through the meshing of the rack and the half gear on the blade, and then folds the blade on the rotating box, reducing the space occupied by the blade. At the same time, the end of the blade located below the fixed wing is in contact with the fixed wing, while the ends of the other two blades are folded above the fixed wing, thereby avoiding the situation where the end of the blade hits people, thereby improving the safety of the device.

[0016] 2. The present invention drives the extrusion rod to move while the top shaft moves, thereby driving the extrusion plate to move in the oil box, and then squeezes the solid lubricating oil in the oil box through connecting pipe 1 and connecting pipe 2 onto the connection between the main shaft and the rotating box, the ring gear 2 and the gear 1 respectively. When the device performs the flight mission again, the lubricating oil is evenly applied to the lubrication area through the rotation of the main shaft, the ring gear 2 and the gear 1, thereby achieving the effect of automatically maintaining the moving parts.

[0017] 3. The present invention provides a mounting plate with the same shape as the baffle. When the rotating box rotates upward, when the rotating box is in a vertical state, the rotating box contacts the mounting plate and cannot continue to rotate. After the device is used for a long time, even if the electronic control system of the drive device ages or fails unexpectedly, it is possible to determine whether the blades are in a horizontal rotation state through the contact between the rotating box and the mounting plate, thereby ensuring that the UAV can land accurately in the machine nest. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the present invention;

[0019] Figure 2 This is a schematic diagram of the connection of the drive box of the present invention;

[0020] Figure 3 It is a cross-sectional schematic diagram of the drive box of the present invention;

[0021] Figure 4 It is a cross-sectional schematic diagram of the rotary box of the present invention;

[0022] Figure 5 For the present invention Figure 4 The enlarged schematic diagram at A in the middle;

[0023] Figure 6 It is a schematic cross-sectional view of the main shaft of the present invention;

[0024] Figure 7 For the present invention Figure 6 Enlarged schematic diagram of point B in the middle.

[0025] In the figure: 1. UAV main body; 2. Fixed wing; 3. Drive box; 4. Rotating motor; 5. Gear 1; 6. Rotating shaft; 7. Ring gear 1; 8. Rotating box; 9. Baffle; 10. Mounting plate; 11. Main shaft; 12. Moving shaft; 13. Drive motor; 14. Gear 2; 15. Fixed tube; 16. Ejector shaft; 17. Ejector spring; 18. Fixed shaft; 19. Blade; 20. Mounting ring; 21. Reset spring; 22. Oil box; 23. Extrusion rod; 24. Extrusion plate; 25. Connecting tube 1; 26. Connecting tube 2; 27. Ring gear 2; 28. Rack. DETAILED DESCRIPTION

[0026] 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.

[0027] like Figures 1 to 7As shown, an embodiment of the present invention provides a tilting active joint mechanism for a drone based on a machine nest, comprising a drone main body 1, fixed wings 2 are fixedly installed at both left and right ends of the drone main body 1, a driving box 3 is fixedly installed at the front end of the fixed wing 2, a rotating shaft 6 is rotatably connected to the middle of the driving box 3, a rotating box 8 is fixedly installed at one end of the rotating shaft 6 away from the drone main body 1, a blocking piece 9 is fixedly installed at the rear side of the bottom end of the rotating box 8, a mounting piece 10 is fixedly installed at one end of the driving box 3 away from the drone main body 1, and the inner cavity of the mounting piece 10 is rotatably connected to the middle of the driving box 3. A main shaft 11 is connected, and a moving shaft 12 is movably connected to the inner cavity of the main shaft 11. A fixed tube 15 is fixedly installed on the top of the mounting plate 10, and a top shaft 16 is slidably connected to the inner cavity of the fixed tube 15. A ejection spring 17 is sleeved on the surface of the top shaft 16. A fixed shaft 18 is fixedly installed on the top of the main shaft 11, and a paddle 19 is rotatably connected to the surface of the fixed shaft 18. A rack 28 is fixedly installed on the top of the moving shaft 12, and a mounting ring 20 is fixedly installed on the bottom end of the moving shaft 12. A return spring 21 is fixedly installed between the bottom end of the mounting ring 20 and the rotating box 8;

[0028] When the rotating box 8 is rotated until the axes of the moving shaft 12 and the top shaft 16 coincide, the ejection spring 17 in the compressed state pushes the moving shaft 12 in the main shaft 11 under the action of elasticity, and then drives the blade 19 to rotate around the fixed shaft 18 through the meshing of the rack 28 with the half gear on the blade 19, and then folds the blade 19 on the rotating box 8, reducing the space occupied by the blade 19. At the same time, the end of the blade 19 located below the fixed wing 2 is in contact with the fixed wing 2, while the ends of the other two blades 19 are folded above the fixed wing 2, thereby avoiding the situation where the ends of the blade 19 hit people, thereby improving the safety of the device. When the rotating box 8 rotates upward, the compressed return spring 21 pulls the moving shaft 12 down and resets it under the action of elasticity, so that the blade 19 is unfolded again.

[0029] Among them, an oil box 22 is fixedly installed at one end of the driving box 3 away from the main body 1 of the drone, and an extrusion rod 23 is movably connected to the inner cavity of the oil box 22. An extrusion plate 24 is fixedly installed at the bottom end of the extrusion rod 23, and a connecting pipe 1 25 and a connecting pipe 2 26 are fixedly installed at the bottom end of the oil box 22;

[0030] By driving the extrusion rod 23 to move while the top shaft 16 moves, the extrusion plate 24 is driven to move in the oil box 22, and then the solid lubricating oil in the oil box 22 is squeezed out through the connecting pipe 1 25 and the connecting pipe 2 26 onto the connection between the main shaft 11 and the rotating box 8, the ring gear 2 27 and the gear 1 5 respectively. When the device performs the flight mission again, the lubricating oil is evenly applied to the lubrication area through the rotation of the main shaft 11, the ring gear 27 and the gear 1 5, thereby achieving the effect of automatically maintaining the moving parts.

[0031] Among them, the inner cavity of the driving box 3 is fixedly installed with a rotating motor 4, the output end of the rotating motor 4 is fixedly sleeved with a gear 1 5, the surface of the rotating shaft 6 is fixedly installed with a gear ring 1 7, the inner cavity of the rotating box 8 is fixedly installed with a driving motor 13, the output end of the driving motor 13 is fixedly sleeved with a gear 2 14, the surface of the main shaft 11 is sleeved with a gear ring 2 27, the gear 1 5 is meshed with the gear ring 1 7, the gear ring 27 is meshed with the gear 2 14, and the surface of the main shaft 11 is fixedly installed with a positioning ring, which is clamped on the rotating box 8;

[0032] The driving motor 13 drives the gear 2 14 to rotate, and the main shaft 11 is driven to rotate through the meshing of the gear 2 14 and the ring gear 2 27, thereby driving the blades 19 to rotate to generate lift, and then driving the device to take off. After taking off to the specified height, the rotating motor 4 drives the gear 1 5 to rotate, and the meshing of the gear 1 5 and the ring gear 1 7 drives the rotating shaft 6 and the driving box 3 to rotate, thereby changing the horizontally rotating blades 19 to vertical rotation on the front side of the fixed wing 2; when landing is required, the rotating motor 4 drives the rotating shaft 6 to reverse, thereby changing the blades 19 to horizontal rotation, and performing vertical landing.

[0033] The baffle 9 is fitted with the mounting sheet 10, the mounting sheet 10 is located outside the baffle 9, a hole having the same diameter as the movable shaft 12 is opened on the surface of the mounting sheet 10, and the axis of the top shaft 16 coincides with the axis of the hole;

[0034] By setting a mounting piece 10 with the same shape as the blocking piece 9, when the rotating box 8 rotates upward, when the rotating box 8 is in a vertical state, the rotating box 8 contacts the mounting piece 10 and cannot continue to rotate. After the device is used for a long time, even if the electronic control system of the driving device ages or an unexpected failure occurs, by judging that the resistance encountered by the rotating motor 4 during driving increases, it is indicated that the rotating box 8 contacts the mounting piece 10, that is, the rotating box 8 is in an upward state, and the blades 19 are in a horizontally rotating state, thereby ensuring that the UAV can land accurately in the machine nest.

[0035] The bottom end of the top shaft 16 is an inclined surface, and the bottom end of the moving shaft 12 is provided with a chamfer;

[0036] By setting the bottom end of the top shaft 16 in an inclined state, when the rotating box 8 rotates upward, the blocking piece 9 can push the top shaft 16 back to reset through the inclined surface, thereby ensuring the smooth operation of the device.

[0037] The connecting pipe 1 25 is a hose, and the connecting pipe 1 25 and the connecting pipe 2 26 are fixedly installed in the rotating box 8 and the driving box 3 respectively;

[0038] Setting the connecting pipe 25 as a hose can ensure that when the rotating box 8 rotates, the connecting pipe 25 can stably connect the oil box 22 and the rotating box 8 to avoid falling off.

[0039] Among them, a half gear is fixedly installed on one end of the blade 19 located inside the main shaft 11, and the half gear is meshed with the rack 28;

[0040] The movable shaft 12 slides in the main shaft 11 toward the direction of the paddle 19, and the rack 28 meshes with the half gear on the paddle 19, so as to drive the paddle 19 to rotate around the fixed shaft 18, and the paddle 19 is folded on the rotating box 8 for storage. The movable shaft 12 and the main shaft 11 are positioned in the horizontal direction by the positioning strip, so that the movable shaft 12 can only slide up and down but not rotate relative to the main shaft 11. Similarly, the top shaft 16 is also provided with a positioning strip in the fixed tube 15 to ensure that the inclined surface of the top shaft 16 is always facing upward.

[0041] Among them, a retaining ring is fixedly installed on one end of the driving box 3 away from the main body 1 of the drone, and the retaining ring is located below the connecting pipe 1 25;

[0042] By providing the retaining ring, it can be prevented that the connecting pipe 25 is rolled into the gap between the driving box 3 and the rotating box 8 and is damaged when the rotating box 8 rotates.

[0043] Working principle and usage process:

[0044] When using, Figure 1 The figure shows the vertical take-off and landing state, the driving motor 13 drives the gear 2 14 to rotate, and the meshing of the gear 2 14 and the gear ring 2 27 drives the main shaft 11 to rotate, and then drives the blades 19 to rotate to generate lift, and then drives the device to take off. After taking off to the specified height, the rotating motor 4 drives the gear 1 5 to rotate, and the meshing of the gear 1 5 and the gear ring 1 7 drives the rotating shaft 6 and the driving box 3 to rotate, so as to change the horizontally rotating blades 19 to vertically rotate in front of the fixed wing 2;

[0045] When landing is required, the rotating motor 4 drives the rotating shaft 6 to reverse, thereby changing the blades 19 to horizontal rotation for vertical landing. During the upward rotation of the rotating box 8, when the rotating box 8 contacts the top of the mounting plate 10, the rotating box 8 cannot continue to move backward. At this time, the rotating motor 4 cannot drive the rotating shaft 6 to continue rotating, and the rotating motor 4 is stopped in time. At this time, the rotating box 8 is just in a vertical upward state;

[0046] When the landing is completed, the rotating motor 4 drives the rotating box 8 to rotate forward, the driving motor 13 is in a stopped state, and the paddle 19 no longer rotates. When the straight surface of the rotating box 8 contacts the bottom end of the mounting plate 10, the rotating box 8 cannot continue to rotate. At this time, the rotating motor 4 is stopped, and at the same time, the rotating box 8 is in a tilted downward state. The axis of the moving shaft 12 coincides with the axis of the top shaft 16. The ejection spring 17 in a compressed state pushes the top shaft 16 downward under the action of elasticity, thereby driving the moving shaft 12 to slide in the main shaft 11 in the direction of the paddle 19. The rack 28 is meshed with the semi-gear on the paddle 19, and the paddle 19 can be driven around the fixed shaft 18. The propeller 19 is rotated to fold the propeller blades 19 on the rotating box 8 for storage, and while the top shaft 16 moves, the extrusion rod 23 is driven to move downward, pushing the solid lubricating oil in the oil box 22 to the connecting pipe 1 25 and the connecting pipe 2 26. The lubricating oil entering the connecting pipe 1 25 is squeezed onto the connection between the main shaft 11 and the rotating box 8 and the ring gear 27 through the connecting pipe 1 25, so as to lubricate the ring gear 27 and the main shaft 11. The solid lubricating oil entering the connecting pipe 2 26 is squeezed onto the gear 1 5 through the connecting pipe 2 26. When the device performs the flight mission again, the rotating parts can be fully lubricated by the rotation of the main shaft 11, the gear 1 5 and the ring gear 2 27.

[0047] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0048] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A tilting active joint mechanism for a drone based on a nest, comprising a drone main body (1), characterized in that: The fixed wings (2) are fixedly mounted on both left and right ends of the main body (1) of the drone, a driving box (3) is fixedly mounted on the front end of the fixed wings (2), a rotating shaft (6) is rotatably connected to the middle of the driving box (3), a rotating box (8) is fixedly mounted on the end of the rotating shaft (6) away from the main body (1) of the drone, a blocking piece (9) is fixedly mounted on the rear side of the bottom end of the rotating box (8), a mounting piece (10) is fixedly mounted on the end of the driving box (3) away from the main body (1) of the drone, the inner cavity of the mounting piece (10) is rotatably connected to a main shaft (11), and the inner cavity of the main shaft (11) is movably connected to a movable shaft (11). The main shaft (11) comprises a main shaft (12), a fixing tube (15) is fixedly installed on the top of the mounting plate (10), a top shaft (16) is slidably connected to the inner cavity of the fixing tube (15), a top shaft (16) is sleeved on the surface of the top shaft (16), a fixing shaft (18) is fixedly installed on the top of the main shaft (11), a paddle (19) is rotatably connected to the surface of the fixing shaft (18), a rack (28) is fixedly installed on the top of the movable shaft (12), a mounting ring (20) is fixedly installed on the bottom end of the movable shaft (12), and a return spring (21) is fixedly installed between the bottom end of the mounting ring (20) and the rotating box (8).

2. The active tilt joint mechanism for a drone based on a nest according to claim 1, characterized in that: An oil box (22) is fixedly mounted on one end of the driving box (3) away from the main body (1) of the drone; an inner cavity of the oil box (22) is movably connected to an extrusion rod (23); an extrusion plate (24) is fixedly mounted on the bottom end of the extrusion rod (23); and a connecting pipe 1 (25) and a connecting pipe 2 (26) are fixedly mounted on the bottom end of the oil box (22).

3. The active tilt joint mechanism for a drone based on a nest according to claim 1, characterized in that: A rotating motor (4) is fixedly mounted in the inner cavity of the driving box (3), a gear 1 (5) is fixedly sleeved on the output end of the rotating motor (4), a gear ring 1 (7) is fixedly mounted on the surface of the rotating shaft (6), a driving motor (13) is fixedly mounted in the inner cavity of the rotating box (8), a gear 2 (14) is fixedly sleeved on the output end of the driving motor (13), and a gear ring 2 (27) is sleeved on the surface of the main shaft (11).

4. The active tilt joint mechanism for a drone based on a nest according to claim 1, characterized in that: The baffle (9) is fitted with the mounting plate (10), the mounting plate (10) is located outside the baffle (9), a hole having the same diameter as the movable shaft (12) is opened on the surface of the mounting plate (10), and the axis of the top shaft (16) coincides with the axis of the hole.

5. The active tilt joint mechanism for a drone based on a nest according to claim 1, characterized in that: The bottom end of the top shaft (16) is an inclined surface, and the bottom end of the movable shaft (12) is provided with a chamfer.

6. The active tilt joint mechanism for a drone based on a nest according to claim 2, characterized in that: The connecting pipe 1 (25) is a hose, and the connecting pipe 1 (25) and the connecting pipe 2 (26) are fixedly installed in the rotating box (8) and the driving box (3) respectively.

7. The active tilt joint mechanism for a drone based on a nest according to claim 1, characterized in that: A half gear is fixedly mounted on one end of the blade (19) located inside the main shaft (11), and the half gear is meshed with the rack (28).

8. The active tilt joint mechanism for a drone based on a nest according to claim 1, characterized in that: A retaining ring is fixedly mounted on one end of the driving box (3) away from the main body (1) of the drone, and the retaining ring is located below the connecting pipe 1 (25).

9. The active tilt joint mechanism for a drone based on a nest according to claim 3, characterized in that: The gear one (5) meshes with the gear ring one (7), the gear ring two (27) meshes with the gear two (14), and a positioning ring is fixedly mounted on the surface of the main shaft (11), and the positioning ring is clamped on the rotating box (8).

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