Folding six-rotor unmanned aerial vehicle

Abstract

The invention discloses a folding type six-rotor unmanned aerial vehicle, and belongs to the field of unmanned aerial vehicles. Six vehicle arms of the six-rotor unmanned aerial vehicle are connected through corresponding turnover mechanisms, and then the six turnover mechanisms are connected through opening and closing supporting mechanisms; the six turnover mechanisms can be controlled when the opening and closing supporting mechanism is operated, then the six vehicle arms are controlled at the same time, the linkage performance among the six vehicle arms is higher, unfolding or folding is more convenient, and use convenience is improved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles, and more particularly to a foldable six-rotor unmanned aerial vehicle. Background Art

[0002] With the rapid development of drone technology, its application in various fields is becoming more and more extensive. In the civil field, such as aerial photography, logistics distribution, agricultural plant protection and firefighting, and in the industrial field, drones play an important role in scenes such as power inspection, geological exploration, and mapping. Traditional six-rotor drones, due to the structural characteristics of the six rotors, can provide relatively stable lift and good controllability during flight.

[0003] In order to avoid the problem that the arm span of a six-rotor drone is too large and inconvenient to carry, the arm of a six-rotor drone with a large arm span is usually set to a foldable structure. For the existing foldable arms, the connection parts are usually connected in the form of ear seats for rotation. Although such a connection structure is relatively simple, there is a lack of linkage between the six connection structures. The six arms need to be independently unfolded or folded one by one, which affects the convenience of use. Therefore, we propose a foldable six-rotor drone to solve the above problems. Summary of the invention

[0004] Technical problem to be solved: In view of the problems existing in the prior art, the purpose of the present invention is to provide a foldable six-rotor UAV, which connects the six arms of the six-rotor UAV through corresponding flipping mechanisms, and then connects the six flipping mechanisms through opening and closing support mechanisms, so that the six flipping mechanisms can be controlled when the opening and closing support mechanisms are operated, and then the six arms can be controlled simultaneously. The linkage between the six arms is stronger, and it is more convenient to unfold or fold, thereby improving the convenience of use.

[0005] To solve the above problems, the present invention adopts the following technical solutions.

[0006] A foldable six-rotor drone, comprising an arm folding mechanism, wherein the arm folding mechanism comprises a metal base plate, the metal base plate is in a hexagonal structure, and each side of the metal base plate is provided with a flip mechanism, and an opening and closing support mechanism is provided at the center position of the top of the metal base plate; The flip mechanism comprises a group of L-shaped metal sheets fixedly welded to the corresponding edges of the metal seat plate, the L-shaped metal sheet is provided with a horizontal slide groove and an L-shaped slide groove, one end of the L-shaped metal sheet is fixedly connected with a bent edge, and a group of the L-shaped metal sheets have the same structure, a push block is arranged between a group of the L-shaped metal sheets, and a connecting shaft 1 and a connecting shaft 2 are respectively fixedly installed on both sides of the push block corresponding to the horizontal slide groove and the L-shaped slide groove, and the two sides of the push block are respectively slidably connected between a group of the L-shaped metal sheets through the connecting shaft 1, the horizontal slide groove, the connecting shaft 2 and the L-shaped slide groove, and a groove is provided at one end of the connecting shaft, and an ear hole is fixedly welded on the bent edge, and the ear hole is connected to the corresponding groove by a tension spring, and a gasket and a locking nut are fixedly installed at the two ends of the connecting shaft; One end of the push block on the flip mechanism is fixedly mounted with an arm, and the end of the arm is fixedly mounted with a motor, and a paddle is fixedly mounted on the driving shaft at the top of the motor.

[0007] Furthermore, the connecting shaft 1 and the connecting shaft 2 located inside the horizontal slide groove and the L-shaped slide groove are both rotatably connected to limit pulleys, and the connecting shaft 1 is slidably connected to the inside of the horizontal slide groove through the corresponding limit pulley, and the connecting shaft 2 is slidably connected to the inside of the L-shaped slide groove through the corresponding limit pulley.

[0008] Furthermore, the opening and closing support mechanism includes a fixed plate fixedly installed at the center position of the top of the metal seat plate, and a push rod is provided on the fixed plate corresponding to the other end position of the push block, and reinforcing edges are slidably connected on both sides of the push rod, and the bottom of the reinforcing edge is fixedly welded on the fixed plate, and a rotating shaft is fixedly welded at the center position of the top of the fixed plate, and a moving plate is rotatably connected to the top of the rotating shaft, and a gasket and an anti-slip nut are fixedly installed on the top end of the rotating shaft, and the bottom surface of the moving plate is in contact with the top surface of the reinforcing edge.

[0009] Furthermore, a positioning pile is fixedly welded on the top of one end of the push rod, and an arc groove is opened on the movable plate at the position corresponding to the positioning pile. The positioning pile is slidably connected inside the corresponding arc groove. The cross-sections of the other end of the push rod and the other end of the push block are both semicircular structures, and the other end of the push rod is in contact with the other end of the push block.

[0010] Furthermore, a threaded hole is provided on the movable plate, and a limiting bolt is threadedly connected inside the threaded hole. A number of positioning holes are equidistantly provided on the fixed plate at positions corresponding to the limiting bolts. The ends of the limiting bolts are in contact with the corresponding positioning holes. A handle is also fixedly mounted on the top of the movable plate.

[0011] Furthermore, an electrical component box, a landing gear and a water tank are fixedly installed in sequence at the bottom of the metal seat plate, and a camera is fixedly installed at the bottom of the water tank through an adjustable bracket.

[0012] The beneficial effect is that compared with the prior art, the advantages of the present invention are: (1) In this solution, the folding part of the machine arm avoids the use of the traditional ear-seat rotating connection form, and adopts a sliding connection form in which a horizontal slide groove and an L-shaped slide groove are matched with the connecting shaft 1 and the connecting shaft 2 respectively, so that the push block can be flipped by moving, thereby driving the folding or unfolding of the machine arm; (2) In this solution, since the opening and closing support mechanism is provided with six push rods that can move synchronously, the opening and closing support mechanism can drive the push blocks of the six flipping mechanisms to move simultaneously through the connection of the push rods, thereby achieving the effect of the opening and closing support mechanism simultaneously controlling the six arms to be unfolded or folded at the same time, which greatly improves the linkage of the folding or unfolding of the arms and the convenience of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the arm folding mechanism of the present invention; Figure 3 It is a schematic diagram of the disassembled structure of the machine arm folding mechanism of the present invention; Figure 4 For the present invention Figure 3 The enlarged structural diagram at A in the middle; Figure 5 It is a schematic diagram of the structure of the moving disk of the present invention; Figure 6 It is a schematic diagram of the structure of the flipping mechanism of the present invention; Figure 7 It is a schematic diagram of the split structure of the turning mechanism of the present invention.

[0014] Explanation of the reference numerals in the figure: 1. Arm folding mechanism; 2. Metal seat plate; 3. Turning mechanism; 4. L-shaped metal sheet; 401. Horizontal slide; 402. L-shaped slide; 403. Bending edge; 5. Push block; 501. Connecting shaft 1; 5011. Limiting pulley; 502. Connecting shaft 2; 6. Tension spring; 7. Arm; 8. Opening and closing support mechanism; 9. Fixed plate; 901. Positioning hole; 10. Push rod; 1001. Positioning pile; 11. Reinforced edge; 12. Rotating shaft; 13. Moving plate; 1301. Arc groove; 14. Limit bolt; 15. Handle; 16. Electrical component box; 17. Landing gear; 18. Water tank; 19. Camera. DETAILED DESCRIPTION

[0015] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the specification of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making creative work are within the scope of protection of the present invention.

[0016] Example 1: Please refer to Figure 1-Figure 5 A foldable six-rotor drone includes an arm folding mechanism 1, the arm folding mechanism 1 includes a metal base plate 2, the metal base plate 2 is a hexagonal structure, and each side of the metal base plate 2 is provided with a flip mechanism 3, and an opening and closing support mechanism 8 is provided at the center of the top of the metal base plate 2; The opening and closing support mechanism 8 includes a fixed plate 9 fixedly installed at the center position of the top of the metal base plate 2, and a push rod 10 is arranged on the fixed plate 9 at the other end position of the push block 5. Both sides of the push rod 10 are slidably connected with a reinforcement edge 11, and the bottom of the reinforcement edge 11 is fixedly welded on the fixed plate 9. A rotating shaft 12 is fixedly welded at the center position of the top of the fixed plate 9, and a moving plate 13 is rotatably connected to the top of the rotating shaft 12, and a gasket and an anti-slip nut are fixedly installed at the top end of the rotating shaft 12, and the bottom surface of the moving plate 13 is in contact with the top surface of the reinforcement edge 11; A positioning pile 1001 is fixedly welded on the top of one end of the push rod 10, and an arc groove 1301 is opened on the movable plate 13 at the position corresponding to the positioning pile 1001. The positioning pile 1001 is slidably connected inside the corresponding arc groove 1301. The cross-sections of the other end of the push rod 10 and the other end of the push block 5 are both semicircular structures, and the other end of the push rod 10 is in contact with the other end of the push block 5; A threaded hole is provided on the movable plate 13, and a limit bolt 14 is threadedly connected inside the threaded hole. A plurality of positioning holes 901 are equidistantly provided on the fixed plate 9 at the position corresponding to the limit bolt 14, and the end of the limit bolt 14 contacts the inside of the corresponding positioning hole 901. A handle 15 is also fixedly installed on the top of the movable plate 13. An electrical component box 16, a landing gear 17 and a water tank 18 are fixedly mounted on the bottom of the metal seat plate 2 in sequence, and a camera 19 is fixedly mounted on the bottom of the water tank 18 via an adjustable bracket.

[0017] The working principle of the opening and closing support mechanism of this foldable six-rotor drone is as follows: when it is necessary to perform a folding operation on the arms 7 of this foldable six-rotor drone, firstly, the limiting bolt 14 is screwed to move it upward and disengage it from the contact with the corresponding positioning hole 901, and then the movable plate 13 can be driven to rotate clockwise on the top of the rotating shaft 12 by holding the handle 15, so that the positioning pile 1001 is limited by the arc groove 1301 and moves from the position close to the center of the movable plate 13 to the edge of the movable plate 13. At this time, the six push rods 10 are limited by the positioning pile 1001 and the reinforcing edge 11 and push outward at the same time, and then the six arms 7 can be simultaneously bent and folded downward through the connection of the flipping mechanism 3, and finally the limiting bolt 14 is screwed in the opposite direction to move it downward and contact the corresponding positioning hole 901, so that the fixed plate 9 of the opening and closing support mechanism 8 can be positioned and locked. When it is necessary to unfold the arms 7 of this foldable six-rotor drone, first, the limit bolt 14 is screwed to move it upward and out of contact with the corresponding positioning hole 901. Then, the handle 15 can be used to drive the movable plate 13 to rotate counterclockwise on the top of the rotating shaft 12, so that the positioning pile 1001 is limited by the arc groove 1301 and moves from the edge position of the movable plate 13 to the position close to the center of the movable plate 13. At this time, the six push rods 10 are limited by the positioning pile 1001 and the reinforcing edge 11 and retract inward at the same time. Then, through the connection of the flipping mechanism 3, the six arms 7 can be simultaneously bent and unfolded. Finally, the limit bolt 14 is screwed in the opposite direction to move it downward and contact with the corresponding positioning hole 901. At this time, the fixed plate 9 of the opening and closing support mechanism 8 can be positioned and locked.

[0018] By designing that the other end of the push rod 10 and the other end of the push block 5 are both semicircular in cross section and the other end of the push rod 10 and the other end of the push block 5 are in contact with each other, it is possible to facilitate normal contact at the contacting portion and not interfere with the flipping of the push block 5 when the contacting portion is in contact.

[0019] Embodiment 2: In view of the above embodiment 1, further description is given, referring to Figure 3 , Figure 4 , Figure 6 as well as Figure 7, the flip mechanism 3 includes a group of L-shaped metal sheets 4 fixedly welded on the corresponding edges of the metal seat plate 2, a horizontal slide groove 401 and an L-shaped slide groove 402 are provided on the L-shaped metal sheet 4, one end of the L-shaped metal sheet 4 is fixedly connected with a bent edge 403, and a group of L-shaped metal sheets 4 have the same structure, a push block 5 is arranged between a group of L-shaped metal sheets 4, a connecting shaft 1 501 and a connecting shaft 2 502 are fixedly installed on both sides of the push block 5 at the positions of the horizontal slide groove 401 and the L-shaped slide groove 402, respectively, the two sides of the push block 5 are respectively connected by the connecting shaft 1 501, the horizontal slide groove 401, the connecting shaft 2 502 and the L-shaped slide groove 402. A groove is provided at the end of the connecting shaft 1 501, and an ear hole is fixedly welded on the bent edge 403. The ear hole is connected to the corresponding groove by a tension spring 6, and a gasket and a locking nut are fixedly installed at the end of the connecting shaft 2 502; One end of the push block 5 on the flip mechanism 3 is fixedly mounted with an arm 7, and the end of the arm 7 is fixedly mounted with a motor, and a paddle is fixedly mounted on the driving shaft at the top of the motor; The connecting shaft 1 501 and the connecting shaft 2 502 located inside the horizontal slide groove 401 and the L-shaped slide groove 402 are both rotatably connected to the limiting pulley 5011. The connecting shaft 1 501 is slidably connected to the inside of the horizontal slide groove 401 through the corresponding limiting pulley 5011, and the connecting shaft 2 502 is slidably connected to the inside of the L-shaped slide groove 402 through the corresponding limiting pulley 5011.

[0020] The flipping mechanism of the foldable six-rotor drone works as follows: In the above-mentioned embodiment 1, when the arm 7 of the foldable six-rotor drone needs to be folded, and the six push rods 10 are limited by the positioning pile 1001 and the reinforcement edge 11 and push outward at the same time, the ends of the six push rods 10 simultaneously push the push blocks 5 of the six flipping mechanisms 3 to move, that is, the push blocks 5 move along the push direction of the push rods 10. At this time, due to the corresponding sliding connection of the connecting shaft 1 501 and the connecting shaft 2 502 of the push block 5 with the horizontal slide groove 401 and the L-shaped slide groove 402, respectively, and the influence of the external structure of the horizontal slide groove 401 and the L-shaped slide groove 402, the push block 5 can also complete the gradual flipping from the horizontal state to the vertical state while moving forward, thereby driving the arm 7 to gradually flip from the horizontal state to the vertical state, and realizing the downward flipping and folding operation of the arm 7. When the push block 5 moves forward, the connecting shafts 1 501 on both sides thereof simultaneously pull the tension spring 6, thereby storing energy for the later reset of the push block 5.

[0021] In the above-mentioned embodiment 1, when the arm 7 of the foldable six-rotor drone needs to be unfolded, and the six push rods 10 are limited by the positioning piles 1001 and the reinforcing edges 11 and simultaneously retract inward, the six push blocks 5 all lose the support of the push rods 10, and then the tension spring 6 pulls the push blocks 5 to reset through the connection of the connecting shaft 1 501, so that they flip back from the vertical state to the horizontal state, thereby driving the arm 7 to gradually flip from the vertical state to the horizontal state, realizing the upward flipping and unfolding operation of the arm 7.

[0022] The provision of a horizontal slide groove 401 and an L-shaped slide groove 402 on a group of L-shaped metal sheets 4 serves to limit the connection shaft 1 501 and the connection shaft 2 502, which not only facilitates the smooth movement of the push block 5, but also facilitates the flipping and changing of the horizontal and vertical states of the push block 5, thereby driving the folding or unfolding of the machine arm 7; the provision of the limiting pulley 5011 can improve the smoothness of the connection shaft 1 501 and the connection shaft 2 502 when sliding in the horizontal slide groove 401 and the L-shaped slide groove 402 respectively, and avoid the occurrence of hard friction and jamming.

[0023] The above is only a preferred specific implementation of the present invention; however, the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solution and its improved conception within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A foldable six-rotor drone, comprising an arm folding mechanism (1), characterized in that: The arm folding mechanism (1) comprises a metal base plate (2), the metal base plate (2) being of a hexagonal structure, and a flipping mechanism (3) being arranged on each side of the metal base plate (2), and an opening and closing support mechanism (8) being arranged at the center position of the top of the metal base plate (2); The flip mechanism (3) comprises a group of L-shaped metal sheets (4) fixedly welded to the corresponding edges of the metal base plate (2), the L-shaped metal sheets (4) being provided with a horizontal slide groove (401) and an L-shaped slide groove (402), one end of the L-shaped metal sheet (4) being fixedly connected with a bent edge (403), and a group of L-shaped metal sheets (4) having the same structure, a push block (5) being arranged between the group of L-shaped metal sheets (4), and the push blocks (5) at the positions corresponding to the horizontal slide groove (401) and the L-shaped slide groove (402) being fixedly arranged on both sides thereof. A connecting shaft 1 (501) and a connecting shaft 2 (502) are installed, and the two sides of the push block (5) are respectively slidably connected between a group of L-shaped metal sheets (4) through the connecting shaft 1 (501), the horizontal slide groove (401), the connecting shaft 2 (502) and the L-shaped slide groove (402), and a groove is opened at the end of the connecting shaft 1 (501), and an ear hole is fixedly welded on the bent edge (403), and the ear hole is connected to the corresponding groove through a tension spring (6), and a gasket and a locking nut are fixedly installed at the end of the connecting shaft 2 (502); One end of the push block (5) located on the flip mechanism (3) is fixedly mounted with an arm (7), and a motor is fixedly mounted at the end of the arm (7), and a paddle is fixedly mounted on the drive shaft at the top of the motor.

2. The foldable six-rotor drone according to claim 1, characterized in that: The connecting shaft 1 (501) and the connecting shaft 2 (502) located inside the horizontal slide groove (401) and the L-shaped slide groove (402) are both rotatably connected to the limiting pulley (5011); the connecting shaft 1 (501) is slidably connected to the inside of the horizontal slide groove (401) via the corresponding limiting pulley (5011); and the connecting shaft 2 (502) is slidably connected to the inside of the L-shaped slide groove (402) via the corresponding limiting pulley (5011).

3. The foldable six-rotor drone according to claim 1, characterized in that: The opening and closing support mechanism (8) comprises a fixed plate (9) fixedly mounted at the top center position of the metal base plate (2), a push rod (10) is arranged on the fixed plate (9) at the position corresponding to the other end of the push block (5), both sides of the push rod (10) are slidably connected with reinforcement edges (11), the bottom of the reinforcement edge (11) is fixedly welded on the fixed plate (9), a rotating shaft (12) is fixedly welded at the top center position of the fixed plate (9), the top of the rotating shaft (12) is rotatably connected with a moving plate (13), and a gasket and an anti-slip nut are fixedly mounted on the top end of the rotating shaft (12), and the bottom surface of the moving plate (13) is in contact with the top surface of the reinforcement edge (11).

4. The foldable six-rotor drone according to claim 3, characterized in that: A positioning pile (1001) is fixedly welded to the top of one end of the push rod (10), and an arc groove (1301) is opened on the movable plate (13) at the position corresponding to the positioning pile (1001). The positioning pile (1001) is slidably connected inside the corresponding arc groove (1301). The other end of the push rod (10) and the other end of the push block (5) are both semicircular in cross section, and the other end of the push rod (10) and the other end of the push block (5) are in contact.

5. The foldable six-rotor drone according to claim 4, characterized in that: The movable plate (13) is provided with a threaded hole, and a limit bolt (14) is threadedly connected inside the threaded hole. A plurality of positioning holes (901) are equidistantly provided on the fixed plate (9) at positions corresponding to the limit bolts (14). The ends of the limit bolts (14) are in contact with the insides of the corresponding positioning holes (901). A handle (15) is also fixedly mounted on the top of the movable plate (13).

6. The foldable six-rotor drone according to claim 1, characterized in that: An electrical component box (16), a landing gear (17) and a water tank (18) are fixedly mounted in sequence on the bottom of the metal seat plate (2), and a camera (19) is fixedly mounted on the bottom of the water tank (18) via an adjustable bracket.

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