Multi-rotor child-mother unmanned aerial vehicle

Abstract

The invention discloses a multi-rotor mother-son unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicles, the multi-rotor mother-son unmanned aerial vehicle comprises a mother unmanned aerial vehicle body and a son unmanned aerial vehicle, rotors are fixedly mounted on the side surface of the mother unmanned aerial vehicle body, a fixing plate is fixedly mounted on the bottom surface of the rotors, a fixing frame is arranged on the bottom surface of the fixing plate, and a radar detector is fixedly mounted on the bottom surface of the mother unmanned aerial vehicle body. A first motor is fixedly installed on the top face of the fixing frame, a first gear is installed at the output end of the first motor, and a rack is slidably connected into the fixing frame. According to the unmanned aerial vehicle, through the foldable design of the supporting frame, disturbance of airflow and resistance borne by the mother unmanned aerial vehicle body in the flight process are reduced, the endurance is prolonged, and the mother unmanned aerial vehicle body is prevented from being disturbed by an undercarriage and a large bearing cavity; and meanwhile, the size of the mother unmanned aerial vehicle body is reduced, and the mother unmanned aerial vehicle body is convenient to transport.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, in particular to a multi-rotor mother-and-child unmanned aerial vehicle. Background Art

[0002] A multi-rotor mother-child drone is a drone system consisting of a mother drone and at least one child drone. The mother drone is usually larger in size and serves as a carrying and control platform, while the child drone is relatively small and is mainly used to perform specific tasks.

[0003] For example, "a mother-and-child UAV device" with publication number CN108910038A comprises an UAV device body, wherein the fuselage comprises an aircraft, a detection box and a carrying box, a connecting piece is arranged at the bottom of the aircraft, the detection box is arranged on the connecting piece, the carrying box is arranged at the bottom of the detection box, and carrying chamber one, carrying chamber two, carrying chamber three and carrying chamber four are arranged inside the carrying box respectively, and the carrying chamber one, carrying chamber two, carrying chamber three and carrying chamber four are arranged in sequence from top to bottom. The large UAV device containing four small UAVs inside is novel in design, can automatically go to the designated destination through GPS positioning, and interfere with enemy radar when passing through unsafe areas, thereby protecting its own body safety.

[0004] In the existing technology, although this type of UAV can automatically go to the designated destination through GPS positioning and interfere with enemy radar when passing through unsafe areas, thereby protecting its own body safety, it is lacking in anti-airflow interference. Since this seed mother UAV does not have a structure for storing the landing gear, and the bearing chamber of the seed mother UAV is large in volume, when the landing gear cannot be stored and the bearing chamber is large in volume, the UAV will significantly increase air resistance during flight, especially in high-speed flight or long-distance cruising. The landing gear and the larger bearing chamber are exposed to the airflow, disrupting the surrounding air flow, so that the UAV needs to overcome greater air resistance during flight, which will consume more energy and reduce flight efficiency.

[0005] So we proposed a multi-rotor mother-daughter UAV to solve the problems raised above. Summary of the invention

[0006] The purpose of the present invention is to provide a multi-rotor mother-and-child UAV to solve the problem that the multi-rotor mother-and-child UAV proposed in the above background technology does not have the function of storing the landing gear, which causes the mother-and-child UAV to consume more energy during flight and reduce flight efficiency.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a multi-rotor mother-child drone, comprising: a mother drone body and a child drone, a rotor fixedly installed on the side of the mother drone body, a fixing plate fixedly installed on the bottom surface of the rotor, a fixing frame arranged on the bottom surface of the fixing plate, a radar detector fixedly installed on the bottom surface of the mother drone body, a first motor fixedly installed on the top surface of the fixing frame, a first gear installed on the output end of the first motor, a rack slidably connected inside the fixing frame, a clamping plate fixedly installed on the bottom surface of the rack, a cushion fixedly installed on the surface of the clamping plate, a second bidirectional motor fixedly installed inside the mother drone body, a worm gear installed on the output end of the second bidirectional motor, an I-shaped frame fixedly installed on the bottom surface of the mother drone body, a transmission shaft rotatably connected inside the I-shaped frame, a worm fixedly installed on one end of the transmission shaft, and a second gear fixedly installed on the other end, a third gear rotatably connected inside the I-shaped frame, a toothed chain is sleeved on the surfaces of the second gear and the third gear, a rotating frame fixedly installed on the surface of the third gear, and a support frame fixedly installed on the bottom surface of the rotating frame. The bottom surface of the support frame is provided with a support foot, an electric push rod is fixedly installed inside the support foot, and a storage groove is provided on the side of the mother drone body; after the radar detector detects that the distance between the mother drone body and the bottom surface is higher than the set value, the second bidirectional motor will drive the worm wheel to rotate, and the worm wheel will drive the worm to rotate when rotating, and the worm will drive the second gear to rotate through the transmission shaft, and the second gear will drive the third gear to rotate through the tooth chain, and the third gear will drive the rotating frame to rotate when rotating, thereby driving the support frame, the electric push rod and the support foot to rotate, after the support foot and the rotating frame are rotated to be level with the I-frame, the support foot is driven by the electric push rod to move horizontally, and the support frame can be stored when the support foot is inserted into the storage groove. The retractable design of the support frame not only reduces the disturbance of airflow and the resistance suffered by the mother drone body during flight, increases endurance, and avoids the mother drone body from being disturbed by the landing gear and the larger load-bearing chamber, which is easy to cause turbulence and make the flight attitude of the drone difficult to stably control, but also reduces the volume of the mother drone body, making it convenient to transport it.

[0008] Preferably, the first gear is meshed with the rack, there are two groups of the splint and the rack, the two groups of splint and the rack are symmetrically distributed inside the fixing frame, the splint and the fixing frame are slidingly connected, the first gear is rotationally connected to the fixing frame, and the material of the soft pad is natural rubber.

[0009] Preferably, the worm wheel is rotationally connected to the I-frame, the worm wheel is meshed with the worm, the second gear is rotationally connected to the I-frame, and the second gear and the third gear are meshed with the toothed chain.

[0010] Preferably, the rotating frame is rotatably connected to the I-frame, and the supporting legs are slidably connected to the receiving groove.

[0011] Preferably, the first load-bearing bin is fixedly installed on the bottom surface of the mother drone body, the second load-bearing bin is fixedly installed on the bottom surface of the first load-bearing bin, the second load-bearing bin is internally rotatably connected to a rotating rod, the surface of the rotating rod is sleeved with a first torsion spring, one end of the rotating rod is fixedly installed with a clamping block, the second load-bearing bin is internally rotatably connected to a first limiting rod, the surface of the first limiting rod is sleeved with a second torsion spring, and one end of the first limiting rod is fixedly installed with a baffle; by toggling the clamping block, after the clamping block is rotated away from the surface of the baffle, the baffle will be rotated by the torsion force of the second torsion spring, and the second load-bearing bin can be opened after the baffle is rotated away, and when the second load-bearing bin needs to be closed, it is only necessary to rotate the baffle, and the clamping block can be released after the baffle is in contact with the surface of the second load-bearing bin, and at this time, the clamping block will be subjected to the torsion force of the first torsion spring. The design of the block and the baffle makes it easy for the user to open and close the second chamber. At the same time, the design of the first load-bearing compartment and the second load-bearing compartment avoids the situation in which the flight posture of the mother drone body is disturbed due to the inertia of the materials shaking during the flight when the drone uses ropes to suspend the materials. The load-bearing compartment is designed to be installed near the center of gravity of the mother drone body, so that the objects placed therein have a relatively stable impact on the overall center of gravity of the drone. When the mass of the object is distributed in the center of gravity area of ​​the drone, the gravity line it generates is closer to the center of gravity of the drone, making it easier for the drone to maintain balance during flight and reducing the change in flight posture caused by the shift of the center of gravity.

[0012] Preferably, one end of the first torsion spring is connected to the side of the block, and the other end is connected to the inner surface of the second carrying bin; one end of the second torsion spring is connected to the side of the baffle, and the other end is connected to the inner surface of the second carrying bin.

[0013] Preferably, the surface of the clamping block is an arc surface, and a convex block is arranged on the surface thereof, and the surface of the first load-bearing chamber and the surface of the second load-bearing chamber are both provided with a baffle.

[0014] Preferably, a slot is formed through the surface of the fixing plate, a fixing hole is formed inside the slot, an insert block is fixedly installed on the top surface of the fixing frame, the fixing plate is slidably connected to the fixing block inside, a second limiting rod is fixedly installed on the surface of the fixing block, a spring is sleeved on the surface of the second limiting rod, and a handle is fixedly installed on one end of the second limiting rod.

[0015] Preferably, one end of the spring is connected to the surface of the fixing block, and the other end is connected to the inner surface of the fixing plate, and the fixing block is slidably connected to the fixing hole.

[0016] Preferably, the fixing block is slidably connected to the fixing frame, the second limit rod is slidably connected to the fixing plate, and the insertion block is slidably connected to the slot; by pulling the handle, the handle will drive the second limit rod to slide in the fixing plate when moving, and the second limit rod will drive the fixing block to slide in the fixing hole and the insertion block. After the fixing block slides out of the insertion block, the fixing frame can be pulled out of the slot through the insertion block. After the insertion block is pulled out, the disassembly of the fixing frame can be completed, and then the transport fixing mechanism matched with the mother drone body is inserted into the slot through the insertion block on the fixing frame. At this time, the handle is released again, and the fixing block will slide toward the insertion block and the slot under the elastic force of the spring. After the fixing block is inserted into the fixing hole, the replacement of the fixing frame can be completed. The structural design of the fixing frame for convenient disassembly and assembly has the effect of facilitating the replacement of the fixing structure of the sub-drone body and various transport fixing structures, thereby improving the adaptability of the mother drone body.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. In the present invention, when in use, after the radar detector detects that the distance between the mother drone body and the bottom surface is higher than the set value, the second bidirectional motor will drive the worm wheel to rotate, and the worm wheel will drive the worm to rotate when rotating, and the worm will drive the second gear to rotate through the transmission shaft, and the second gear will drive the third gear to rotate through the toothed chain, and the third gear will drive the rotating frame to rotate when rotating, thereby driving the support frame, the electric push rod and the support leg to rotate, and after the support leg and the rotating frame are rotated to the level of the I-frame, the support leg is driven by the electric push rod to move horizontally, and the support frame can be stored after the support leg is inserted into the storage groove. The retractable design of the support frame not only reduces the disturbance of the airflow and the resistance of the mother drone body during flight, increases the endurance, and avoids the mother drone body from being disturbed by the landing gear and the larger bearing chamber, which is easy to cause turbulence and makes it difficult to stably control the flight attitude of the drone, but also reduces the volume of the mother drone body, making it convenient to transport it; 2. In the present invention, when in use, by toggling the card block, after the card block is turned away from the surface of the baffle, the baffle will be rotated by the torsion of the second torsion spring, and the second load-bearing chamber can be opened after the baffle is turned away. When the second load-bearing chamber needs to be closed, it is only necessary to rotate the baffle, and the card block can be released after the baffle is in contact with the surface of the second load-bearing chamber. At this time, the card block will be rotated by the torsion of the first torsion spring, and the second load-bearing chamber can be closed after the card block is in contact with the surface of the baffle. The design of the card block and the baffle facilitates the user to open and close the second chamber, and at the same time, the first load-bearing chamber and the second load-bearing chamber are closed. The design of the load-bearing compartment avoids the situation that when the drone uses ropes to suspend materials during transportation, the materials are shaken by inertia during flight, which causes the flight attitude of the mother drone to be disturbed. The load-bearing compartment is designed to be installed near the center of gravity of the mother drone, so that the objects placed in it have a relatively stable impact on the overall center of gravity of the drone. When the mass of the object is distributed in the center of gravity area of ​​the drone, the gravity line generated by it is closer to the center of gravity of the drone, making it easier for the drone to maintain balance during flight and reducing the change in flight attitude caused by the center of gravity shift; 3. When the present invention is in use, by pulling the handle, the handle will drive the second limit rod to slide in the fixed plate when moving, and the second limit rod will drive the fixed block to slide in the fixed hole and the plug-in block. After the fixed block slides out of the plug-in block, the fixed frame can be pulled out of the slot through the plug-in block. After the plug-in block is pulled out, the disassembly of the fixed frame can be completed, and then the transport fixing mechanism matched with the mother drone body is inserted into the slot through the plug-in block on the fixed frame. At this time, the handle is released again, and the fixed block will slide toward the plug-in block and the slot due to the elastic force of the spring. After the fixed block is inserted into the fixing hole, the replacement of the fixed frame can be completed. The structural design of the fixed frame for convenient disassembly and assembly makes it easy to replace the fixing structure of the sub-drone body and various transport fixing structures, thereby improving the adaptability of the mother drone body. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of a multi-rotor mother-child UAV of the present invention; Figure 2 This is a schematic diagram of the exploded structure of the internal components of a fixed frame in a multi-rotor mother-child UAV of the present invention; Figure 3 A multi-rotor mother-child UAV of the present invention Figure 2 The enlarged view of A in the middle figure; Figure 4 This is a schematic diagram of the explosion structure of the second bidirectional motor and the support frame in a multi-rotor mother-child UAV of the present invention; Figure 5 For the present invention Figure 1 A multi-rotor drone Figure 4 The enlarged view of point B in the middle; Figure 6 This is a schematic diagram of the unfolded structure of a support frame and legs in a multi-rotor mother-child UAV of the present invention; Figure 7 This is a schematic diagram of the explosion structure of the baffle and the block in a multi-rotor mother-child UAV of the present invention; Figure 8 A multi-rotor mother-child UAV of the present invention Figure 6 Enlarged view of point C in the middle; Fig. 9 This is a schematic diagram of the explosion structure of a fixing frame and a fixing block in a multi-rotor mother-child UAV of the present invention; Fig.10 A multi-rotor mother-child UAV of the present invention Fig. 9 Enlarged view of point D in the middle.

[0019] In the figure: 100, mother drone body; 101, rotor; 102, fixing plate; 103, fixing frame; 104, radar detector; 105, first motor; 106, first gear; 107, rack; 108, clamping plate; 109, cushion; 110, daughter drone body; 111, second bidirectional motor; 112, worm gear; 113, I-beam frame; 114, transmission shaft; 115, worm; 116, second gear; 117, toothed chain; 118, third gear; 1 19. Rotating frame; 120. Support frame; 121. Electric push rod; 122. Support foot; 123. Storage slot; 200. First load-bearing compartment; 201. Second load-bearing compartment; 202. Rotating rod; 203. Block; 204. First torsion spring; 205. First limit rod; 206. Baffle; 207. Second torsion spring; 300. Fixing hole; 301. Insert block; 302. Fixing block; 303. Second limit rod; 304. Handle; 305. Spring; 306. Slot. 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 implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, other embodiments obtained by ordinary technicians in this field without creative work are all within the scope of protection of the present invention.

[0021] Example 1: Reference Figure 1-6As shown: a multi-rotor mother-child drone, comprising: a mother drone body 100 and a child drone, a rotor 101 is fixedly installed on the side of the mother drone body 100, a fixing plate 102 is fixedly installed on the bottom surface of the rotor 101, a fixing frame 103 is arranged on the bottom surface of the fixing plate 102, a radar detector 104 is fixedly installed on the bottom surface of the mother drone body 100, a first motor 105 is fixedly installed on the top surface of the fixing frame 103, a first gear 106 is installed on the output end of the first motor 105, a rack 107 is slidably connected inside the fixing frame 103, and a rack 107 is fixedly installed on the bottom surface of the rack 107 The clamping plate 108 has a cushion 109 fixedly installed on the surface of the clamping plate 108. The second bidirectional motor 111 is fixedly installed inside the mother drone body 100. The output end of the second bidirectional motor 111 is installed with a worm gear 112. The bottom surface of the mother drone body 100 is fixedly installed with an I-shaped frame 113. The internal rotation of the I-shaped frame 113 is connected to the transmission shaft 114. One end of the transmission shaft 114 is fixedly installed with a worm 115, and the other end is fixedly installed with a second gear 116. The internal rotation of the I-shaped frame 113 is connected to the third gear 118. The surface sleeves of the second gear 116 and the third gear 118 are provided. The toothed chain 117, the surface of the third gear 118 is fixedly mounted with a rotating frame 119, the bottom surface of the rotating frame 119 is fixedly mounted with a support frame 120, the bottom surface of the support frame 120 is provided with a support foot 122, the inner part of the support foot 122 is fixedly mounted with an electric push rod 121, the side of the mother drone body 100 is provided with a storage groove 123, the first gear 106 is meshed with the rack 107, the number of the clamping plate 108 and the rack 107 is two groups, the two groups of clamping plates 108 and the rack 107 are symmetrically distributed inside the fixed frame 103, and the clamping plate 108 and the fixed frame 103 are slidable between them. The first gear 106 is rotationally connected to the fixed frame 103, the cushion 109 is made of natural rubber, the worm wheel 112 is rotationally connected to the I-frame 113, the worm wheel 112 is meshed with the worm 115, the second gear 116 is rotationally connected to the I-frame 113, the second gear 116 and the third gear 118 are meshed with the toothed chain 117, the rotating frame 119 is rotationally connected to the I-frame 113, the support leg 122 is slidingly connected to the storage slot 123, and the output end of the electric push rod 121 is fixedly connected to the support frame 120.

[0022] In this embodiment, after the radar detector 104 detects that the distance between the mother drone body 100 and the bottom surface is higher than the set value, the second bidirectional motor 111 will drive the worm wheel 112 to rotate, and the worm wheel 112 will drive the worm 115 to rotate when rotating, and the worm 115 will drive the second gear 116 to rotate through the transmission shaft 114, and the second gear 116 will drive the third gear 118 to rotate through the toothed chain 117, and the third gear 118 will drive the rotating frame 119 to rotate when rotating, thereby driving the support frame 120, the electric push rod 121 and the support leg 122 to rotate, and when the support leg 122 and the rotating frame 119 rotate to After being level with the I-shaped frame 113, the electric push rod 121 drives the support leg 122 to move horizontally. When the support leg 122 is inserted into the storage slot 123, the support frame 120 can be stored. The retractable design of the support frame 120 not only reduces the disturbance of the airflow and the resistance of the mother drone body 100 during flight, increases the endurance, and avoids the mother drone body 100 from being disturbed by the landing gear and the larger bearing chamber, which easily generates turbulence and makes it difficult to stably control the flight attitude of the drone, but also reduces the volume of the mother drone body 100, making it convenient to transport it. The first motor 105 drives the first gear 106 to rotate, and the first gear 106 drives the rack 107 to slide inside the fixed frame 103 when rotating, and the rack 107 drives the clamping plate 108 and the soft pad 109 to clamp the sub-drone body 110. When the sub-drone body 110 needs to be released, it is only necessary to drive the first motor 105 to drive the first gear 106 to rotate in the opposite direction, so that the clamping plate 108 and the soft pad 109 are away from the sub-drone body 110, and the sub-drone body 110 can be released at this time.

[0023] Embodiment 2: Figure 6-8 As shown, the bottom surface of the mother drone body 100 is fixedly installed with the first load-bearing warehouse 200, and the bottom surface of the first load-bearing warehouse 200 is fixedly installed with the second load-bearing warehouse 201. The interior of the second load-bearing warehouse 201 is rotatably connected to the rotating rod 202, and the surface of the rotating rod 202 is sleeved with the first torsion spring 204. One end of the rotating rod 202 is fixedly installed with a clamping block 203. The interior of the second load-bearing warehouse 201 is rotatably connected to the first limiting rod 205, and the surface of the first limiting rod 205 is sleeved with the second torsion spring 207. One end of the first limiting rod 205 is fixedly installed with a baffle 206. One end of the first torsion spring 204 is connected to the side of the clamping block 203, and the other end is connected to the inner surface of the second load-bearing warehouse 201. One end of the second torsion spring 207 is connected to the side of the baffle 206, and the other end is connected to the inner surface of the second load-bearing warehouse 201. The surface of the clamping block 203 is an arc surface, and a convex block is arranged on its surface. The surface of the first load-bearing warehouse 200 and the surface of the second load-bearing warehouse 201 are both provided with a baffle 206.

[0024] In this embodiment, by toggling the card block 203, after the card block 203 is turned away from the surface of the baffle plate 206, the baffle plate 206 will be rotated by the torsion force of the second torsion spring 207. After the baffle plate 206 is turned away, the second load-bearing chamber 201 can be opened. When the second load-bearing chamber 201 needs to be closed, it is only necessary to rotate the baffle plate 206. After the baffle plate 206 is in contact with the surface of the second load-bearing chamber 201, the card block 203 can be released. At this time, the card block 203 is rotated by the torsion force of the first torsion spring 204. After the card block 203 is in contact with the surface of the baffle plate 206, the second load-bearing chamber 201 can be closed. The design of the card block 203 and the baffle plate 206 makes it convenient for the user to close the second load-bearing chamber 201. The opening and closing of the two chambers, and the design of the first load-bearing compartment 200 and the second load-bearing compartment 201, avoid the situation in which the flight posture of the mother drone body 100 is disturbed due to the inertia of the materials shaking during the flight when the drone uses rope suspension to transport materials. The load-bearing compartment is designed to be installed near the center of gravity of the mother drone body 100, so that the objects placed therein have a relatively stable impact on the overall center of gravity of the drone. When the mass of the object is distributed in the center of gravity area of ​​the drone, the gravity line it generates is closer to the center of gravity of the drone, making it easier for the drone to maintain balance during flight and reducing changes in flight posture caused by center of gravity shift.

[0025] Embodiment 3: According to Figure 9-10 As shown, a slot 306 is formed through the surface of the fixed plate 102, a fixing hole 300 is formed inside the slot 306, an insert block 301 is fixedly installed on the top surface of the fixed frame 103, the fixed plate 102 is slidably connected to the fixed block 302 inside, a second limiting rod 303 is fixedly installed on the surface of the fixed block 302, a spring 305 is sleeved on the surface of the second limiting rod 303, a pull handle 304 is fixedly installed on one end of the second limiting rod 303, one end of the spring 305 is connected to the surface of the fixed block 302, and the other end is connected to the inner surface of the fixed plate 102, the fixed block 302 is slidably connected to the fixing hole 300, the fixed block 302 is slidably connected to the fixed frame 103, the second limiting rod 303 is slidably connected to the fixed plate 102, and the insert block 301 is slidably connected to the slot 306.

[0026] In this embodiment, by pulling the handle 304, the handle 304 will drive the second limiting rod 303 to slide in the fixing plate 102 when moving, and the second limiting rod 303 will drive the fixing block 302 to slide in the fixing hole 300 and the plug block 301. After the fixing block 302 slides out of the plug block 301, the fixing frame 103 can be pulled out of the slot 306 through the plug block 301. After the plug block 301 is pulled out, the fixing frame 103 can be disassembled, and then the transport fixing mechanism adapted to the mother drone body 100 can be assembled. The plug block 301 on the fixing frame 103 is inserted into the slot 306. At this time, the handle 304 is released, and the fixing block 302 will slide into the plug block 301 and the slot 306 due to the elastic force of the spring 305. After the fixing block 302 is inserted into the fixing hole 300, the fixing frame 103 can be replaced. The structural design of the fixing frame 103, which is convenient for disassembly and assembly, makes it easy to replace the fixing structure of the sub-drone body 110 and various transportation fixing structures, thereby improving the adaptability of the mother drone body 100.

[0027] The use method and working principle of the device: When taking off, the mother drone body 100 first starts the rotor 101, and achieves vertical take-off by adjusting the rotation speed of each rotor 101. After rising to a certain height, the mother drone body 100 cruises according to the preset route. At this time, the child drone body 110 is carried by the mother drone body 100 and is in a waiting state. It maintains connection with the mother drone body 100 through a communication link and receives status monitoring and control instructions from the mother drone body 100. When reaching the target area, the mother drone body 100 releases the child drone according to the task instruction. At this time, the first motor 105 will drive the first gear 106 to rotate. When the first gear 106 rotates, it will drive the rack 107 to slide inside the fixed frame 103, and the rack 107 will drive the splint 108 and the cushion 109 away from the child drone body 110. At this time, the child drone body 110 can be released. The child drone body 110 can fly independently through its own flight control system, or it can perform tasks such as formation flight and dispersed search according to the instructions sent by the mother drone body 100; When the support frame 120 needs to be stored, it is only necessary to detect through the radar detector 104 that the distance between the mother drone body 100 and the ground is higher than the set value, and the second bidirectional motor 111 will drive the worm wheel 112 to rotate, and the worm wheel 112 will drive the worm 115 to rotate when rotating, and the worm 115 will drive the second gear 116 to rotate through the transmission shaft 114, and the second gear 116 will drive the third gear 118 to rotate through the toothed chain 117, and the third gear 118 will drive the rotating frame 119 to rotate when rotating, thereby driving the support frame 120, the electric push rod 121 and the support leg 122 to rotate, and wait for the support leg 122 and the rotating frame 119 to rotate. After the support frame 119 is rotated to be level with the I-shaped frame 113, the electric push rod 121 drives the support leg 122 to move horizontally. When the support leg 122 is inserted into the storage slot 123, the storage of the support frame 120 is completed. The retractable design of the support frame 120 not only reduces the disturbance of the airflow and the resistance of the mother drone body 100 during the flight, increases the endurance, and avoids the mother drone body 100 from being disturbed by the landing gear and the larger bearing chamber, which is easy to cause turbulence and make the flight attitude of the drone difficult to stably control, but also reduces the volume of the mother drone body 100, making it convenient to transport it; When the second loading chamber 201 needs to be opened again, the block 203 only needs to be pushed. After the block 203 is turned away from the surface of the baffle 206, the baffle 206 will be rotated by the torsion of the second torsion spring 207. After the baffle 206 is turned away, the second loading chamber 201 can be opened. When the second loading chamber 201 needs to be closed again, the baffle 206 only needs to be rotated. After the baffle 206 is in contact with the surface of the second loading chamber 201, the block 203 can be released. At this time, the block 203 will be rotated by the torsion of the first torsion spring 204. After the block 203 is in contact with the surface of the baffle 206, the second loading chamber 201 can be closed. The design of the block 203 and the baffle 206 facilitates The first load compartment 200 and the second load compartment 201 are designed to prevent the materials from shaking due to inertia during flight and causing the flight attitude of the mother drone body 100 to be disturbed when the materials are transported by the drone by rope suspension. The load compartment is designed to be installed near the center of gravity of the mother drone body 100, so that the objects placed therein have a relatively stable effect on the overall center of gravity of the drone. When the mass of the object is distributed in the center of gravity area of ​​the drone, the gravity line generated by it is closer to the center of gravity of the drone, making it easier for the drone to maintain balance during flight and reducing the change in flight attitude caused by the center of gravity shift. When the fixing frame 103 needs to be replaced, it is only necessary to pull the pull handle 304. When the pull handle 304 moves, it will drive the second limiting rod 303 to slide in the fixing plate 102, and the second limiting rod 303 will drive the fixing block 302 to slide in the fixing hole 300 and the plug block 301. After the fixing block 302 slides out of the plug block 301, the fixing frame 103 can be pulled out from the slot 306 through the plug block 301. After the plug block 301 is pulled out, the fixing frame 103 can be disassembled, and then the transport fixing frame 100 that is compatible with the mother drone body 100 can be put into the fixing frame 103. The fixing mechanism is inserted into the slot 306 through the plug block 301 on the fixing frame 103. At this time, the handle 304 is released, and the fixing block 302 will slide into the plug block 301 and the slot 306 due to the elastic force of the spring 305. After the fixing block 302 is inserted into the fixing hole 300, the fixing frame 103 can be replaced. The structural design of the fixing frame 103, which is easy to disassemble and assemble, makes it easy to replace the fixing structure of the sub-drone body 110 and various transportation fixing structures, thereby improving the adaptability of the mother drone body 100.

[0028] 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 multi-rotor mother-child drone, characterized in that: include: A mother drone body (100) and a child drone, wherein a rotor (101) is fixedly mounted on the side of the mother drone body (100), a fixing plate (102) is fixedly mounted on the bottom surface of the rotor (101), a fixing frame (103) is arranged on the bottom surface of the fixing plate (102), a radar detector (104) is fixedly mounted on the bottom surface of the mother drone body (100), a first motor (105) is fixedly mounted on the top surface of the fixing frame (103), a first gear (106) is mounted on the output end of the first motor (105), a rack (107) is slidably connected inside the fixing frame (103), a clamping plate (108) is fixedly mounted on the bottom surface of the rack (107), a soft pad (109) is fixedly mounted on the surface of the clamping plate (108), a second bidirectional motor (111) is fixedly mounted inside the mother drone body (100), and the output of the second bidirectional motor (111) is fixedly mounted on the output end of the second bidirectional motor (111). A worm gear (112) is mounted on the end of the mother drone body (100); an I-shaped frame (113) is fixedly mounted on the bottom surface of the mother drone body (100); the interior of the I-shaped frame (113) is rotatably connected to a transmission shaft (114); a worm gear (115) is fixedly mounted on one end of the transmission shaft (114); a second gear (116) is fixedly mounted on the other end; the interior of the I-shaped frame (113) is rotatably connected to a third gear (118); a toothed chain (117) is sleeved on the surfaces of the second gear (116) and the third gear (118); a rotating frame (119) is fixedly mounted on the surface of the third gear (118); a supporting frame (120) is fixedly mounted on the bottom surface of the rotating frame (119); a supporting foot (122) is provided on the bottom surface of the supporting frame (120); an electric push rod (121) is fixedly mounted inside the supporting foot (122); and a storage groove (123) is provided on the side surface of the mother drone body (100).

2. The multi-rotor mother-child drone according to claim 1, characterized in that: The first gear (106) is meshed with the rack (107); the number of the clamping plates (108) and the rack (107) is two groups; the two groups of clamping plates (108) and the rack (107) are symmetrically distributed inside the fixed frame (103); the clamping plates (108) and the fixed frame (103) are slidably connected; the first gear (106) and the fixed frame (103) are rotationally connected; and the material of the soft pad (109) is natural rubber.

3. The multi-rotor mother-child drone according to claim 1, characterized in that: The worm wheel (112) is rotationally connected to the I-shaped frame (113), the worm wheel (112) is meshed with the worm (115), the second gear (116) is rotationally connected to the I-shaped frame (113), and the second gear (116) and the third gear (118) are meshed with the toothed chain (117).

4. The multi-rotor mother-child drone according to claim 1, characterized in that: The rotating frame (119) is rotatably connected to the I-shaped frame (113), the supporting legs (122) are slidably connected to the storage slots (123), and the output end of the electric push rod (121) is fixedly connected to the support frame (120).

5. The multi-rotor mother-child drone according to claim 1, characterized in that: A first bearing compartment (200) is fixedly mounted on the bottom surface of the mother drone body (100); a second bearing compartment (201) is fixedly mounted on the bottom surface of the first bearing compartment (200); the second bearing compartment (201) is internally rotatably connected to a rotating rod (202); a first torsion spring (204) is sleeved on the surface of the rotating rod (202); a clamping block (203) is fixedly mounted on one end of the rotating rod (202); the second bearing compartment (201) is internally rotatably connected to a first limiting rod (205); a second torsion spring (207) is sleeved on the surface of the first limiting rod (205); and a baffle (206) is fixedly mounted on one end of the first limiting rod (205).

6. The multi-rotor mother-child drone according to claim 5, characterized in that: One end of the first torsion spring (204) is connected to the side of the clamping block (203), and the other end is connected to the inner surface of the second carrying chamber (201); one end of the second torsion spring (207) is connected to the side of the baffle (206), and the other end is connected to the inner surface of the second carrying chamber (201).

7. The multi-rotor mother-child UAV according to claim 5, characterized in that: The surface of the clamping block (203) is an arc surface, and a convex block is provided on the surface thereof; and the surface of the first carrying bin (200) and the surface of the second carrying bin (201) are both provided with a baffle (206).

8. The multi-rotor mother-child drone according to claim 1, characterized in that: A slot (306) is formed through the surface of the fixing plate (102), a fixing hole (300) is formed inside the slot (306), an insert block (301) is fixedly installed on the top surface of the fixing frame (103), the fixing plate (102) is slidably connected to the fixing block (302) inside, a second limiting rod (303) is fixedly installed on the surface of the fixing block (302), a spring (305) is sleeved on the surface of the second limiting rod (303), and a handle (304) is fixedly installed on one end of the second limiting rod (303).

9. The multi-rotor mother-child UAV according to claim 8, characterized in that: One end of the spring (305) is connected to the surface of the fixing block (302), and the other end is connected to the inner surface of the fixing plate (102); the fixing block (302) is slidably connected to the fixing hole (300).

10. The multi-rotor mother-child UAV according to claim 8, characterized in that: The fixing block (302) is slidably connected to the fixing frame (103), the second limiting rod (303) is slidably connected to the fixing plate (102), and the inserting block (301) is slidably connected to the slot (306).

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