A multi-rotor unmanned aerial vehicle capable of automatically adjusting the position of the machine arm and the deflection angle

Abstract

The application discloses a multi-rotor unmanned plane capable of automatically adjusting the position and deflection angle of a machine arm, and belongs to the technical field of multi-rotor unmanned planes. The multi-rotor unmanned plane comprises a machine arm of the multi-rotor unmanned plane and rotors arranged on the machine arm and symmetrically distributed in height on both sides of the fuselage of the unmanned plane. A folding mechanism is arranged between the machine arm and the fuselage of the multi-rotor unmanned plane, so that the folding mechanism can drive the machine arm of the multi-rotor unmanned plane to adjust the position and deflect the angle. The application further comprises a damping structure arranged on two adjacent side plates of the multi-rotor unmanned plane. The multi-rotor unmanned plane capable of automatically adjusting the position and deflection angle of the machine arm realizes the position adjustment and angle deflection of the machine arm through the folding mechanism, so that the multi-rotor unmanned plane can adapt to flight operations in different space sizes or variable spaces. Meanwhile, the machine arm can realize the adjustment of the wheelbase through the folding mechanism, the occupied space of the multi-rotor unmanned plane can be reduced, and the multi-rotor unmanned plane is convenient to carry and transport.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of multi-rotor unmanned aerial vehicle, and particularly relates to a multi-rotor unmanned aerial vehicle capable of automatically adjusting the position and deflection angle of a machine arm. BACKGROUND

[0002] The multi-rotor unmanned aerial vehicle has a wide range of applications, low cost, good maneuverability and convenient use, and has a broad prospect and great development opportunity in the civil field, and the trend of intelligence and integration is remarkable.

[0003] The multi-rotor unmanned aerial vehicle is a special unmanned rotor aircraft with three or more rotor shafts. The multi-rotor unmanned aerial vehicle is driven to rotate by the motor at the end of each rotor shaft, thereby generating ascending power. By changing the relative speed between different rotors, the torque of the propulsion force can be changed, thereby controlling the running track of the aircraft. The multi-rotor unmanned aerial vehicle can now easily enter various harsh environments that humans cannot easily enter, and perform flight tasks such as aerial film shooting, real-time monitoring and terrain exploration.

[0004] The existing multi-rotor unmanned aerial vehicle cannot change the angle of the rotor during flight like a helicopter, so the shaft distance of the multi-rotor unmanned aerial vehicle cannot be adjusted, which is limited in a narrow operating space. Therefore, different operation requirements can only be achieved by carrying multiple multi-rotor unmanned aerial vehicles, but compared with one multi-rotor unmanned aerial vehicle, the transportation cost of multiple multi-rotor unmanned aerial vehicles increases, and transportation is difficult. SUMMARY

[0005] To solve the above-mentioned technical problems in the prior art, the present application provides a multi-rotor unmanned aerial vehicle capable of automatically adjusting the position and deflection angle of a machine arm, the shaft distance of the machine arm is adjustable, can adapt to flight tasks in different size spaces, is convenient for transportation, and has low transportation cost.

[0006] The technical scheme of the present application is as follows:

[0007] A multi-rotor unmanned aerial vehicle capable of automatically adjusting the position and deflection angle of a machine arm is provided, comprising:

[0008] The machine arms of the multi-rotor unmanned aerial vehicle and the rotors arranged on the machine arms are distributed symmetrically high and low on both sides of the fuselage of the unmanned aerial vehicle;

[0009] A folding mechanism is arranged between the machine arms and the fuselage of the multi-rotor unmanned aerial vehicle, so that the folding mechanism can drive the machine arms of the multi-rotor unmanned aerial vehicle to adjust the position and deflect the angle;

[0010] The folding mechanism comprises a fixed element, a telescopic driving element and a connecting element;

[0011] The fixed element is fixedly arranged on the body of the multi-rotor unmanned aerial vehicle, one end of the telescopic driving element is hingedly connected to the fixed element, the other end of the telescopic driving element is hingedly connected to one end of the connecting element, the other end of the connecting element is fixedly connected to one end of the arm, one end of the arm is also rotatably connected to the body of the multi-rotor unmanned aerial vehicle through a rotating shaft, and the telescopic driving element is controlled in extension and contraction through the flight control and the remote controller of the multi-rotor unmanned aerial vehicle.

[0012] The damping structure further comprises:

[0013] The push rod tail seat passes through the side plate of the multi-rotor unmanned aerial vehicle and is fixedly arranged on one side of the side plate.

[0014] The compression seat has one end sleeved on one end of the push rod tail seat passing through the side plate, so as to arrange the compression seat on the other side of the side plate and oppositely arrange the compression seat and the push rod tail seat.

[0015] The adjusting column has one end connected to the other end of the compression seat and the other end facing the other side plate of the multi-rotor unmanned aerial vehicle, the adjusting column is used for connecting the compression seats of two adjacent side plates, the compression force of the two compression seats corresponding to the first damping element arranged on the two adjacent side plates can be adjusted through the adjusting column, and the adjusting column symmetrically distributes the adjacent two side plates and the damping structure arranged on the side plates as a symmetry axis.

[0016] The first damping element is located between the push rod tail seat and the compression seat, is sleeved on the push rod tail seat passing through the side plate, and is located in the opening space where the push rod tail seat passes through the side plate, so that the push rod tail seat passes through the side plate and the first damping element at the same time.

[0017] In some optional embodiments, the high-low distribution of the arms of the multi-rotor unmanned aerial vehicle and the rotors arranged on the arms on the body of the unmanned aerial vehicle comprises:

[0018] The arms and the rotors arranged on the arms are distributed from low to high in the direction from the head to the tail, or

[0019] The arms and the rotors arranged on the arms are distributed from high to low in the direction from the head to the tail.

[0020] In some optional embodiments, the arms and the rotors arranged on the arms of the unmanned aerial vehicle distributed on the same side of the body of the unmanned aerial vehicle have a gap in the vertical projection direction.

[0021] In some optional embodiments, the multi-rotor unmanned aerial vehicle comprises a quad-rotor unmanned aerial vehicle.

[0022] In some optional embodiments, the rotors of the quad-rotor unmanned aerial vehicle are distributed in an H shape.

[0023] In some alternative embodiments, the rotors on the high-positioned arms are arranged above the arms, and the rotors on the low-positioned arms are arranged below the arms.

[0024] In some alternative embodiments, the telescopic driving member comprises a micro linear servo telescopic driving member or a micro electric push rod.

[0025] The main advantages of the technical scheme of the present application are as follows:

[0026] The multi-rotor unmanned aerial vehicle capable of automatically adjusting the position and deflection angle of the arms can change the wheelbase of the multi-rotor unmanned aerial vehicle through the folding mechanism, so that the multi-rotor unmanned aerial vehicle can adapt to flight operations in different spaces or variable spaces. Since the wheelbase of the arms can be reduced, the area of the multi-rotor unmanned aerial vehicle in contact with the air during flight is reduced, which can reduce the flight resistance to a certain extent, thereby reducing the power consumption of the multi-rotor unmanned aerial vehicle and improving the endurance time. Since the wheelbase of the arms can be adjusted through the folding mechanism, the occupied space of the multi-rotor unmanned aerial vehicle can be reduced, thereby facilitating carrying and transportation and reducing transportation costs. By arranging the damping structure on the adjacent two side plates of the multi-rotor unmanned aerial vehicle, the vibration generated by the power system of the multi-rotor unmanned aerial vehicle can be transmitted to the push rod tail seat through the arms when the power system of the multi-rotor unmanned aerial vehicle is working. The push rod tail seat can generate forces in various directions on the first damping member. The first damping member absorbs and dissipates the energy generated by the vibration of the multi-rotor unmanned aerial vehicle, so that the multi-rotor unmanned aerial vehicle can fly stably, ensuring the stability of the multi-rotor unmanned aerial vehicle and avoiding the loosening, damage and disintegration of various components caused by vibration, thereby prolonging the service life of the multi-rotor unmanned aerial vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0027] The accompanying drawings, which are included to provide a further understanding of the embodiments of the present application and are incorporated in and constitute a part of this application, illustrate embodiments of the present application and serve to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0028] Figure 1 FIG. 1 is a structure schematic diagram of a first perspective view of a multi-rotor unmanned aerial vehicle capable of automatically adjusting the position and deflection angle of arms according to an embodiment of the present application;

[0029] Figure 2 FIG. 2 is a structure schematic diagram of a second perspective view of a multi-rotor unmanned aerial vehicle capable of automatically adjusting the position and deflection angle of arms according to an embodiment of the present application;

[0030] Figure 3A third view structure schematic diagram of a multi-rotor unmanned plane capable of automatically adjusting the position and deflection angle of the machine arm is provided for the embodiment of the present application.

[0031] Figure 4 A folding mechanism schematic diagram of a multi-rotor unmanned plane capable of automatically adjusting the position and deflection angle of the machine arm is provided for the embodiment of the present application.

[0032] Figure 5 A multifunctional landing gear structure schematic diagram of a multi-rotor unmanned plane capable of automatically adjusting the position and deflection angle of the machine arm is provided for the embodiment of the present application.

[0033] Figure 6 An angle adjusting device structure schematic diagram of a multifunctional landing gear of a multi-rotor unmanned plane capable of automatically adjusting the position and deflection angle of the machine arm is provided for the embodiment of the present application.

[0034] Figure 7 A damping structure sectional structure schematic diagram of a multi-rotor unmanned plane capable of automatically adjusting the position and deflection angle of the machine arm is provided for the embodiment of the present application.

[0035] Figure 8 A damping structure structure schematic diagram of a multi-rotor unmanned plane capable of automatically adjusting the position and deflection angle of the machine arm is provided for the embodiment of the present application.

[0036] Figure 9 A quick-release machine arm assembly structure schematic diagram of a multi-rotor unmanned plane capable of automatically adjusting the position and deflection angle of the machine arm is provided for the embodiment of the present application.

[0037] Legend:

[0038] 1, folding mechanism; 2, machine arm; 3, four-rotor unmanned plane;

[0039] 101, fixing element; 102, telescopic driving element; 103, connecting element;

[0040] 4, landing gear main plate; 5, first connecting element; 6, load cabin; 7, supporting element; 71, vertical supporting rod; 72, extension assembly; 73, extension locking assembly; 74, extension rod; 75, horizontal supporting rod;

[0041] 8, angle adjusting device; 81, third connecting element; 82, rotating shaft; 83, ratchet mechanism; 830, ratchet; 831, pawl;

[0042] 9, push rod tail seat; 10, pressing seat; 11, adjusting column; 110, operation part; 12, first damping element; 13, second damping element; 14, bushing; 15, locking nut; 16, side plate;

[0043] 18. Upper arm support assembly; 19. Lower arm support assembly; 20. First through hole; 21. Notch; 22. Connector; 23. Second through hole; 24. Third through hole; 25. First positioning and fixing element; 26. First elastic element; 27. Second positioning and fixing element; 28. Second elastic element; 38. Limiting element; 30. Groove. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0045] The following is in conjunction with the appendix Figures 1-9 The technical solutions provided in the embodiments of the present invention will be described in detail.

[0046] Example 1:

[0047] As attached Figures 1-4 As shown, this embodiment of the invention provides a multi-rotor unmanned aerial vehicle (UAV) capable of automatically adjusting the arm position and deflection angle. The UAV includes:

[0048] The multi-rotor drone's arms 2 and the rotors mounted on the arms 2 are symmetrically distributed at different heights on both sides of the drone's fuselage. A folding mechanism 1 is provided between the multi-rotor drone's arms 2 and the fuselage so that the folding mechanism 1 can drive the multi-rotor drone's arms 2 to adjust their position and angle.

[0049] Therefore, the multi-rotor UAV of the present invention, which can automatically adjust the position and deflection angle of its arms, achieves position adjustment and angle deflection of the arms 2 through the folding mechanism 1, thereby changing the wheelbase of the multi-rotor UAV. This allows the multi-rotor UAV to adapt to flight operations in spaces of different sizes or variable spaces. At the same time, because the wheelbase of its arms 2 is reduced, the contact area between the multi-rotor UAV and the air during flight is reduced, which can reduce flight drag to a certain extent. This reduces the power consumption of the multi-rotor UAV and increases its endurance. Furthermore, because the wheelbase of its arms 2 can be adjusted through the folding mechanism 1, the space occupied by the multi-rotor UAV can be reduced, making it easier to carry and transport, and reducing transportation costs.

[0050] In some optional implementations of this embodiment, the multi-rotor drone's arms 2 and the rotors mounted on the arms 2 are distributed at varying heights on the drone's fuselage, including:

[0051] The distribution is from low to high in the direction from the head to the tail, or from high to low in the direction from the head to the tail.

[0052] In this way, by distributing the height of the arms 2 and the rotors arranged on the arms 2, the arms 2 of the multi-rotor unmanned aerial vehicle can avoid interference during position adjustment, especially avoiding collision between the blades on the rotors and the fuselage, collision between the fuselage and the rotors on the same side, and collision between the blades on the rotors on different arms 2, so that the angle adjustment can be better achieved, and the safety of the unmanned aerial vehicle itself can be ensured.

[0053] In order to avoid interference of the arms 2 of the multi-rotor unmanned aerial vehicle during position adjustment and angle deflection, the arms 2 and the rotors arranged thereon on the same side of the fuselage of the unmanned aerial vehicle have a gap in the vertical projection direction, so that after the arms 2 on either side of the fuselage of the unmanned aerial vehicle are adjusted to be close to the fuselage, the rotors and the motor and other rotor structures of the unmanned aerial vehicle do not interfere with each other, as shown in Figure 1 Figure 1 In the formula, d represents the distance between the two arms 2 on the same side of the quad-rotor unmanned aerial vehicle 3, and in actual application, d needs to be set as d>0.

[0054] As an example, the minimum value of the distance d between the two arms 2 on the same side of the quad-rotor unmanned aerial vehicle 3 is set to be greater than or equal to 5 mm, and the maximum value of the distance d between the two arms 2 on the same side of the quad-rotor unmanned aerial vehicle 3 is set to be less than or equal to 5 cm, so that the gap between the arms 2 with different heights can be avoided from being too large while avoiding collision, and the lift and flight stability of the multi-rotor unmanned aerial vehicle can be ensured.

[0055] In some optional implementations of the embodiment, the multi-rotor unmanned aerial vehicle includes a quad-rotor unmanned aerial vehicle 3, and the rotors of the quad-rotor unmanned aerial vehicle 3 are arranged in an H shape.

[0056] In order to further avoid collision between the arms 2 and the arms 2 during automatic adjustment of the unmanned aerial vehicle arms 2 and angle deflection, collision between the blades and the motor and other rotor structures on the arms 2 and the fuselage or adjacent arms 2 and the rotors thereon, and save space, the rotors on the arms 2 on the high side are arranged above the arms 2, and the rotors on the arms 2 on the low side are arranged below the arms 2 among the arms 2 with different heights on the same side of the fuselage of the unmanned aerial vehicle.

[0057] Exemplarily, as shown in Figures 1-2 ​As shown, the four arms 2 of the quadcopter 3 and the rotors on the arms 2 are arranged from low to high in the direction from the nose to the tail, that is, the horizontal positions of the two arms 2 and the rotors on the arms 2 at the nose position are lower than the horizontal positions of the two arms 2 and the rotors on the arms 2 at the tail position, the blades and the motors on the arms 2 at the nose position are arranged below the arms 2, the motors and the blades on the arms 2 at the tail position are arranged above the arms 2, and the arms 2 on either side of the quadcopter body are adjusted to be close to the rear of the body, and the minimum distance between the two arms 2 and the rotors arranged on the two arms 2 is 2 cm.

[0058] In some optional implementations of the embodiment, as shown in Figure 4 The folding mechanism 1 includes a fixed element 101, a telescopic driving element 102, and a connecting element 103.

[0059] The fixed element 101 is fixedly arranged on the body of the multi-rotor unmanned aerial vehicle, one end of the telescopic driving element 102 is hingedly connected to the fixed element 101, the other end of the telescopic driving element 102 is hingedly connected to one end of the connecting element 103, the other end of the connecting element 103 is fixedly connected to one end of the arm 3, and one end of the arm 3 is also rotatably connected to the body of the multi-rotor unmanned aerial vehicle through a rotating shaft, and the telescopic driving element 102 is controlled to extend and retract by the flight control and the remote controller of the multi-rotor unmanned aerial vehicle; when the arm 2 needs to be adjusted in position and deflected in angle, the remote controller of the multi-rotor unmanned aerial vehicle sends an instruction to the flight control to control the telescopic driving element 102 to extend and retract, so that the arm 2 can rotate around the rotating shaft to complete the adjustment in position and the deflection in angle of the arm 2.

[0060] Specifically, the folding principle of the folding mechanism 1 in the embodiment includes:

[0061] According to the task requirements, the flight control sends different signals to each telescopic driving element 102 during flight, and the telescopic driving element 102 changes the relative position of the arm 2 according to the signal sent by the flight control, adjusts the position and angle of the arm on the multi-rotor unmanned aerial vehicle, and changes the shaft distance between the rotors of the multi-rotor unmanned aerial vehicle, so that the multi-rotor unmanned aerial vehicle meets the flight requirements required by the flight task and achieves the optimal performance to ensure the operation task; when the multi-rotor unmanned aerial vehicle task starts or is completed, the flight control sends an unfolding or retracting instruction, and the arm 2 automatically unfolds or retracts to a preset angle or a preset position, so that the multi-rotor unmanned aerial vehicle is convenient for transportation and reduces the preparation and withdrawal time.

[0062] In some optional implementations of the embodiment, in order to avoid over-adjustment during the position adjustment and angle deflection of the arm 2, so that the arm 2 and the rotors arranged on the arm 2 collide with the fuselage or other arms 2, the control for adjustment on the remote controller is provided with a maximum adjustment range and a minimum adjustment range, so that when adjusted to the maximum adjustment range, the arm 2 and the rotor components such as blades and motors are close to the fuselage position, but will not collide with the fuselage, and when adjusted to the minimum adjustment range, the arm 2 and the rotor components such as blades and motors are at the farthest position from the fuselage.

[0063] As an example, the telescopic drive 102 includes a micro linear servo telescopic drive or a micro electric push rod.

[0064] During the deflection and position adjustment of the arm 2, the telescopic range of the telescopic drive 102 is determined according to the size of the blades of the unmanned aerial vehicle and the length of the arm 2, and it is necessary to ensure that the arm 2 and the fuselage of the unmanned aerial vehicle are at the minimum angle, that is, the axis distance of the unmanned aerial vehicle is at the minimum position, and the blades of the unmanned aerial vehicle will not collide with the fuselage of the unmanned aerial vehicle, so as to ensure that the multi-rotor unmanned aerial vehicle can smoothly perform flight operation tasks and protect the safety of the unmanned aerial vehicle.

[0065] In order to make the folding mechanism 1 arranged on the multi-rotor unmanned aerial vehicle more reliable and effectively realize the position adjustment and angle deflection of the arm 2, the telescopic drive 102 can also be modified adaptively, for example, polished or provided with adaptive matching parts, so that the telescopic drive 102 is firmly fixed between the arm 2 and the fuselage, wherein the specific adaptive modification is determined according to actual needs, but it should be noted that after the adaptive modification, the adjustment of the axis distance and the angle of the arm 2 by the folding mechanism 1 will not affect the effect of the folding mechanism 1, and it can also ensure that it will not interfere with the normal flight of the unmanned aerial vehicle.

[0066] In order to reduce the weight of the unmanned aerial vehicle while ensuring the strength of the unmanned aerial vehicle, the fuselage, the arm 2 and the landing gear of the unmanned aerial vehicle are all made of carbon fiber reinforced composite materials, and the fuselage partition frame and the folding mechanism 1 are all made of hard aluminum alloy CNC processing, so that the multi-rotor unmanned aerial vehicle of the present application can effectively resist strong flight resistance and motor torque and the like; the on-board equipment mounting seat inside the fuselage is formed by 3D printing process, which can effectively reduce the weight while meeting the strength.

[0067] In order to facilitate the maintenance of the unmanned aerial vehicle, facilitate disassembly and assembly and improve the maintenance efficiency and reduce the maintenance cost, the same type and size of bolts are used to connect and assemble the multi-rotor unmanned aerial vehicle, so that the connecting parts of the multi-rotor unmanned aerial vehicle have high interchangeability.

[0068] In summary, the multi-rotor unmanned aerial vehicle capable of automatically adjusting the position of the arm and the deflection angle provided by the application can adapt to flight tasks in different size spaces by setting the wheelbase of the arm 2 as an adjustable structure, facilitating transportation and reducing transportation costs.

[0069] Embodiment two:

[0070] In order to enable the multi-rotor unmanned aerial vehicle capable of automatically adjusting the position of the arm and the deflection angle to effectively reduce the types and quantity of unmanned aerial vehicles carried during multi-tasking, improve transportation efficiency, reduce transportation costs, and avoid damage to unmanned aerial vehicles during transportation, the multi-rotor unmanned aerial vehicle capable of automatically adjusting the position of the arm and the deflection angle provided by the embodiment of the application further comprises a multifunctional landing gear with carrying capacity, such as Figures 5-6 As shown in the figure, the multifunctional landing gear comprises a landing gear main plate 4, a first connecting assembly, a second connecting assembly, a load cabin 6, and a support 7, wherein:

[0071] The first connecting assembly comprises a first connecting piece 5 and a first matching piece matched with the first connecting piece 5, wherein the first connecting piece 5 is arranged on the landing gear main plate 4, and the first matching piece is arranged on the unmanned aerial vehicle; the second connecting assembly comprises a second connecting piece and a second matching piece matched with the second connecting piece, wherein the second connecting piece is arranged below the landing gear main plate 4, and the second matching piece is fixedly arranged on the top of the load cabin 6; the load cabin 6 is arranged below the landing gear main plate 4, so that through the matched connection of the second connecting piece and the second matching piece, the load cabin 6 can be detachably connected below the landing gear main plate 4 for material transportation; the support 7 is connected to the lower side of the landing gear main plate 4 through an angle adjusting device 8, and the support 7 is arranged in an extension structure, so that the length of the support 7 can be adjusted through the extension structure, and the included angle between the support 7 and the landing gear main plate 4 can be adjusted through the angle adjusting device 8.

[0072] Specifically, the method for using the multifunctional landing gear with carrying capacity provided by the application comprises:

[0073] The first matching part in the first connecting assembly is fixedly arranged on the unmanned aerial vehicle, and the first matching part on the unmanned aerial vehicle is matched with the first connecting part 5 arranged on the landing gear main plate 4, so that the landing gear main plate 4 can be driven to fly synchronously through the cooperation of the first connecting part and the first matching part during the flight of the unmanned aerial vehicle, and further the multifunctional landing gear connected with the landing gear main plate 4 and formed in the application can be driven to fly synchronously, when the unmanned aerial vehicle needs to carry or transport materials for operation, according to the task requirements and the amount of materials, the appropriate load cabin 6 is selected, so that the multi-rotor unmanned aerial vehicle can carry the load cabin 6 for operation task during operation, and in order to enable the unmanned aerial vehicle to carry the load cabin 6 for operation task, the unmanned aerial vehicle can land smoothly in different operation environments, and the length and angle of the supporting part 7 can be adjusted to adapt the landing gear to different terrains, so that the unmanned aerial vehicle lands stably, and the safety of the multi-rotor unmanned aerial vehicle and the smooth operation of the task are ensured.

[0074] Therefore, the multifunctional landing gear with carrying capacity of the application can not only match and replace different load cabins 6 according to different task requirements to perform different operation tasks, but also can adjust the length of the supporting part 7 according to the task site requirements, so that the multi-rotor unmanned aerial vehicle has landing gears with different loads, and the landing gear has high interchangeability and diversity, which can effectively reduce the number of multi-rotor unmanned aerial vehicles carried in multi-task, improve transportation efficiency, reduce transportation cost, and avoid damage to the multi-rotor unmanned aerial vehicle during transportation.

[0075] It can be understood that no matter how large or heavy the load cabin 6 is, the multi-rotor unmanned aerial vehicle can smoothly drive and safely take off and fly during operation task, and the normal flight of the multi-rotor unmanned aerial vehicle is not affected.

[0076] As an example, the first matching part is fixedly connected to the multi-rotor unmanned aerial vehicle by means of cooperating connection of a cable tie, a magic tape and a bolt or a stud, and the first matching part on the multi-rotor unmanned aerial vehicle is matched with the first connecting part 5 on the landing gear main plate 4, so that the multi-rotor unmanned aerial vehicle drives the landing gear main plate 4 to fly synchronously, the load cabin 6 is fixedly arranged below the landing gear main plate 4, and the multi-rotor unmanned aerial vehicle drives the load cabin 6 to perform different operation tasks.

[0077] In some optional implementation scenarios of the embodiment, the multi-functional landing gear with carrying capacity can be used in cooperation with the unmanned aerial vehicle to carry out seed sowing or pesticide spraying. For example, the multi-functional landing gear is arranged on a multi-rotor unmanned aerial vehicle, seeds are placed in the load cabin 6, and openings are arranged on the load cabin 6, so that the seeds orderly fall in the openings on the load cabin 6, and the multi-rotor unmanned aerial vehicle flies at a certain speed, thereby completing the sowing task. In particular, in the mountainous, forest, sandy, or saline-alkali land environment where the operation personnel are not easy to enter and the operation is slow, the multi-functional landing gear can be used in cooperation with the multi-rotor unmanned aerial vehicle to improve the operation efficiency, reduce the output of manual labor, and protect the safety of the operation personnel.

[0078] In some optional implementation scenarios of the embodiment, the multi-functional landing gear with carrying capacity can be used in cooperation with the unmanned aerial vehicle to carry out seed sowing or pesticide spraying. For example, the multi-functional landing gear is arranged on a multi-rotor unmanned aerial vehicle, seeds are placed in the load cabin 6, and openings are arranged on the load cabin 6, so that the seeds orderly fall in the openings on the load cabin 6, and the multi-rotor unmanned aerial vehicle flies at a certain speed, thereby completing the sowing task. In particular, in the mountainous, forest, sandy, or saline-alkali land environment where the operation personnel are not easy to enter and the operation is slow, the multi-functional landing gear can be used in cooperation with the multi-rotor unmanned aerial vehicle to improve the operation efficiency, reduce the output of manual labor, and protect the safety of the operation personnel.

[0079] In another optional implementation scenario of the embodiment, the multi-functional landing gear with carrying capacity can be used in cooperation with the unmanned aerial vehicle to carry out the marking task. For example, the multi-functional landing gear is arranged on a multi-rotor unmanned aerial vehicle, a marker is placed in the load cabin 6, and the marker is thrown out after the multi-rotor unmanned aerial vehicle flies to the preset position, thereby completing the marking task. In particular, in the mountainous, forest, sandy, or saline-alkali land environment where the operation personnel are not easy to enter and the operation is slow, the multi-functional landing gear can be used in cooperation with the multi-rotor unmanned aerial vehicle to reduce the output of manpower and material resources, save costs, protect the safety of the operation personnel, and improve the operation efficiency.

[0080] In some optional implementation scenarios of the embodiment, the landing gear main plate 4 is made of carbon fiber material, which can reduce the overall weight of the multi-functional landing gear, ensure the strength of the connection between the landing gear main plate 4 and the multi-rotor unmanned aerial vehicle, and ensure the carrying capacity of the connection between the load cabin 6 and the landing gear main plate 4.

[0081] It is conceivable that the landing gear main plate 4 can be arranged in any shape as a core component connecting the multi-rotor unmanned aerial vehicle and the landing gear, but the landing gear main plate 4 needs to have a certain strength, and the landing gear main plate 4 cooperates with the load cabin 6 to form a closed or semi-closed space. As an example, the landing gear main plate 4 is arranged in a plate structure and has a rectangular shape.

[0082] In another optional implementation of the embodiment, any one of the connecting pieces or the matched pieces in the first connecting assembly and the second connecting assembly can be interchanged in the connecting process, and the installation positions of the connecting pieces and the matched pieces are determined according to actual needs.

[0083] In some optional implementations of the embodiment, the first connecting assembly comprises a sliding block and a sliding rail, and the second connecting assembly comprises a sliding block and a sliding rail or a buckle and a clasp.

[0084] For example, the first connecting assembly and the second connecting assembly are both provided as a sliding block and a sliding rail. The landing gear main plate 4 and the multi-rotor unmanned aerial vehicle, and the load cabin 6 and the landing gear main plate 4 are detachably connected through the sliding block and the sliding rail, so that the installation and disassembly can be facilitated, and the disassembly efficiency is improved.

[0085] In order to avoid loosening and falling of the first connecting assembly and the second connecting assembly due to factors such as vibration or inclined flight of the multi-rotor unmanned aerial vehicle during flight, a fixing device is adaptively arranged on the first connecting assembly and the second connecting assembly.

[0086] For example, the first connecting assembly is provided as a sliding block and a sliding rail, and a fixing piece is arranged at the end of the sliding rail, so that the fixing piece can block the sliding block, so as to avoid the sliding block from sliding out of the sliding rail or the sliding rail from falling off the sliding block after the sliding block and the sliding rail are matched, causing the load cabin 6 to fall off.

[0087] For example, the first connecting assembly is provided as a buckle and a clasp, and a non-slip pad is arranged at the position where the buckle and the clasp are connected, so as to increase the friction after the buckle and the clasp are connected, avoid loosening between the buckle and the clasp during flight vibration of the multi-rotor unmanned aerial vehicle, and cause the load cabin 6 to fall off, or a locking switch is arranged after the buckle and the clasp are connected, so that after the buckle and the clasp are connected, the locking switch is fixed again, so as to effectively prevent the buckle and the clasp from falling off and loosening, and ensure the safety of the load cabin 6 and the materials in the load cabin 6 while ensuring the stable flight of the multi-rotor unmanned aerial vehicle.

[0088] In order to reduce energy loss during flight of the unmanned aerial vehicle, improve flight efficiency, reduce flight resistance, and ensure flight safety and stability, the number of the load cabins 6 is set to be multiple, and the capacities of the multiple load cabins 6 are different.

[0089] In this way, the multi-rotor unmanned aerial vehicle can select the load cabin 6 matched with the materials according to the amount and size of the materials, so that the multi-rotor unmanned aerial vehicle and the load cabin 6 can effectively complete the work task, while meeting the above effects.

[0090] In order to make the second connecting assembly safe and reliable, and make the load cabin 6 stably connected on the landing gear main plate 4, the position of the second connecting piece on the landing gear main plate 4 in the second connecting assembly is determined by the size of the load cabin 6, so that the second connecting piece and the second matching piece can be precisely matched, disassembled and assembled, the disassembling and assembling efficiency is improved, and the second matching piece and the second connecting piece are prevented from being loose and the load cabin 6 from falling due to insecure matching, so that the multi-rotor unmanned aerial vehicle is prevented from being unstable in flight or being crashed.

[0091] Further, referring to Figures 5-6 In the embodiment of the present application, the angle adjusting device 8 comprises a third connecting piece 81, a rotating shaft 82 and a ratchet mechanism 83, wherein:

[0092] The third connecting piece 81 is arranged below the landing gear main plate 4, one end of the third connecting piece 81 is fixedly connected with the landing gear main plate 4, and a through hole is arranged on the other end of the third connecting piece 81; the rotating shaft 82 is rotatably arranged in the through hole, and the rotating shaft 82 is fixedly connected with the other end of the supporting piece 7; the ratchet 830 in the ratchet mechanism 83 is fixedly connected with the rotating shaft 82, and the pawl 831 in the ratchet mechanism 83 is movably arranged on the third connecting piece 81.

[0093] When it is needed to adjust the deflection angle of the supporting piece 7, the supporting piece 7 is rotated to rotate around the third connecting piece 81, the rotating shaft 82 and the ratchet 830 are synchronously rotated, the supporting piece 7 is made to face or be away from the load cabin 6, when the supporting piece 7 is adjusted to a preset angle, the pawl 831 is matched with the tooth groove of the ratchet 830, so as to fix the ratchet 830, the rotating shaft 82 and the supporting piece 7, and the angle adjustment of the supporting piece 7 is completed.

[0094] In this way, by the angle adjusting device 8 in the present application, the angle adjusting device 8 has the functions of adjusting the angle and fixing the angle, so that the position and the angle of the supporting piece 7 adjusted by the angle adjusting device 8 can be fixed after the supporting piece 7 is adjusted to a preset angle and a preset position, the angle, the position and the length of the supporting piece 7 are prevented from being changed in the process of flight, the smooth start and stop of the multi-rotor unmanned aerial vehicle are ensured, and the smooth completion of the operation task is ensured.

[0095] Further, referring to Figure 5 In the embodiment of the present application, the supporting piece 7 comprises a telescopic supporting rod, one end of the telescopic supporting rod is connected with the angle adjusting device 8, and the other end of the telescopic supporting rod is arranged as a supporting end and faces the ground.

[0096] Exemplarily, the support 7 is provided as a telescopic support rod comprising a vertical support rod 71, an extension assembly 72, an extension locking assembly 73 and an extension rod 74. Specifically, the vertical support rod 71 and the extension rod 74 are both provided as hollow structures, the extension rod 74 is sleeved in the vertical support rod 71, and the extension assembly 72 and the extension locking assembly 73 are arranged at a position where the vertical support rod 71 connects the extension rod 74, so that when the length of the support 7 is adjusted, the extension rod 74 in the vertical support rod 71 is extended to a preset length, and then locked by the extension assembly 72 and the extension locking assembly 73.

[0097] In some optional implementations of the present embodiment, the extension assembly 72 and the extension locking assembly 73 are arranged as eccentric structures to lock the extension rod 74 in the vertical support rod 71. Specifically, the extension rod 74 is provided as a normal circular tube structure and fixedly sleeved on the vertical support rod 71, and the extension locking assembly 73 is provided as an eccentric circular tube structure in the inside, so that after the length of the extension rod 74 is adjusted, it can be locked by the eccentric structure of the extension locking assembly 73.

[0098] In order to avoid the change of the length of the support 7 after the extension locking assembly 73 of the eccentric structure locks the extension rod 74, the extension assembly 72 and the extension locking assembly 73 are arranged as a coarse thread connection, so that after the extension locking assembly 73 of the eccentric structure locks the extension rod 74, the extension assembly 72 and the extension locking assembly 73 can be further connected by the coarse thread, so that the length of the support 7 does not change due to vibration, resistance and inclined flight during the flight of the multi-rotor unmanned aerial vehicle, thereby ensuring the stable start and stop and flight safety of the multi-rotor unmanned aerial vehicle.

[0099] In some optional implementations of the present embodiment, the support 7 is arranged outside the load cabin 6.

[0100] In this way, the load cabin 6 can be located directly below the multi-rotor unmanned aerial vehicle, so that the center of gravity of the multi-rotor unmanned aerial vehicle and the load cabin 6 arranged thereon is located at the center position, thereby ensuring the flight stability and the stability of the start and stop of the multi-rotor unmanned aerial vehicle.

[0101] In some optional implementations of the present embodiment, the shortest vertical height of the support 7 is greater than or equal to the height of the largest load cabin 6.

[0102] In this way, when the multifunctional landing gear of the present application is used to carry out material operation, the multi-rotor unmanned aerial vehicle can be supported by the support 7 during the start and stop landing process, so that the load cabin 6 does not support the multi-rotor unmanned aerial vehicle due to the too short support 7, and the load cabin 6 and the materials in the load cabin 6 are not damaged during the start and stop of the multi-rotor unmanned aerial vehicle.

[0103] In some optional implementations of the embodiment, the support 7 further comprises horizontal support rods 75 fixedly connected to the end portions of the support ends.

[0104] Specifically, the horizontal support rods 75 are vertically connected to the end portions of the extension rods 74, and the horizontal support rods 75 can be set as one long hollow rod to synchronously connect the two extension rods 74, or set as one short hollow rod to correspondingly connect one extension rod 74.

[0105] In this way, different support modes can be selected according to different start-stop environments and operation environments of the multi-rotor unmanned aerial vehicle, so as to ensure the stability of start-stop, the effectiveness and safety of the multi-rotor unmanned aerial vehicle carrying the multifunctional undercarriage of the application to perform different operation tasks, and the safety of the multifunctional undercarriage arranged on the multi-rotor unmanned aerial vehicle and the materials in the load cabin 6 arranged on the multifunctional undercarriage.

[0106] As an example, the load cabin 6 in the application is set as a semi-closed box structure in the shape of “N”, and the second matching member of the second connecting assembly is arranged at the symmetric position of the two ends of the opening at the top of the load cabin 6.

[0107] In this way, on the one hand, the load cabin 6 can be connected with the undercarriage main plate 4 through the cooperation and connection of the second connecting member and the second matching member, and the undercarriage main plate 4 can be used as the lid of the load cabin 6, so that the load cabin 6 forms a fully closed structure, avoiding the spilling, loss and damage of the materials arranged in the load cabin 6; on the other hand, through the cooperation and connection of the second connecting member and the second matching member, the deformation of the opening position of the load cabin 6 in the shape of “N” can be avoided, and the shape of the opening of the load cabin 6 can be fixed through the cooperation and constraint of the second connecting member and the second matching member, so as to avoid the spilling and loss of the materials in the load cabin 6 caused by extrusion, and avoid the risk of tilting and falling of the load cabin 6 caused by stress, ensuring the safety of the load cabin 6 and the materials therein, and ensuring the stability and safety of the flight of the multi-rotor unmanned aerial vehicle.

[0108] In order to ensure the strength of the load cabin 6 and reduce the weight, the load cabin 6 is made of aluminum alloy material.

[0109] In another optional implementation of the embodiment, the load cabin 6 can also be made by using the 3D printing process.

[0110] In summary, the multi-rotor unmanned aerial vehicle capable of automatically adjusting the position of the arm and the deflection angle provided by the application can adapt to flight tasks in different size spaces by setting the wheelbase of the arm 2 as an adjustable structure, so as to facilitate transportation and reduce transportation costs. In addition, the multifunctional landing gear with bearing capacity provided by the embodiment of the application can quickly replace the landing gear with different loads according to the task site requirements during multi-tasking, thereby effectively reducing the types and quantity of unmanned aerial vehicles carried, improving transportation efficiency, reducing transportation costs, and avoiding damage to the multi-rotor unmanned aerial vehicle during transportation.

[0111] Embodiment three:

[0112] In order to make the multi-rotor unmanned aerial vehicle capable of automatically adjusting the position of the arm and the deflection angle provided by the application reduce the vibration of the power system transmitted to the fuselage during flight, reduce the loosening problem of each part caused by vibration, avoid damage and disintegration of the unmanned aerial vehicle, and enable the multi-rotor unmanned aerial vehicle to fly smoothly. The multi-rotor unmanned aerial vehicle capable of automatically adjusting the position of the arm and the deflection angle provided by the embodiment of the application further comprises a damping structure, as shown in Figure 7 and Figure 8 The damping structure comprises a push rod tail seat 9, a compression seat 10, an adjusting column 11 and a first damping member 12, wherein:

[0113] The push rod tail seat 9 passes through the side plate 16 of the multi-rotor unmanned aerial vehicle and is fixedly arranged on one side of the side plate 16; one end of the compression seat 10 is sleeved on one end of the push rod tail seat 9 passing through the side plate 16, so as to arrange the compression seat 10 on the other side of the side plate 16, and the compression seat 10 is arranged opposite to the push rod tail seat 9; one end of the adjusting column 11 is connected to the other end of the compression seat 10, and the other end of the adjusting column 11 faces the other side plate 16 of the multi-rotor unmanned aerial vehicle; the adjusting column 11 is used for connecting the compression seats 10 of two adjacent side plates 16, and the compression of the corresponding first damping member 12 by the two compression seats 10 arranged on the two adjacent side plates 16 can be adjusted by the adjusting column 11; the adjusting column 11 is used as a symmetry axis to symmetrically distribute the adjacent two side plates 16 and the damping structure arranged on the side plates 16; the first damping member 12 is located between the push rod tail seat 9 and the compression seat 10, the first damping member 12 is sleeved on the push rod tail seat 9 passing through the side plate 16, and the first damping member 12 is located in the opening space through which the push rod tail seat 9 passes through the side plate 16, so that the push rod tail seat 9 passes through the side plate 16 while passing through the first damping member 12.

[0114] The principle of the damping structure of the application includes:

[0115] The damping structure is arranged on the two adjacent side plates 16 of the multi-rotor unmanned aerial vehicle, so that when the multi-rotor unmanned aerial vehicle power system is working, the vibration generated by the multi-rotor unmanned aerial vehicle power system is transmitted to the push rod tail seat 9 through the arm 2, the push rod tail seat 9 generates force in various directions on the first damping member 12, the first damping member 12 absorbs and dissipates the energy generated by the vibration of the multi-rotor unmanned aerial vehicle, so that the multi-rotor unmanned aerial vehicle flies stably, ensures the stability of the multi-rotor unmanned aerial vehicle, avoids loosening, damage and disintegration of each part of the multi-rotor unmanned aerial vehicle caused by vibration, and prolongs the service life of the multi-rotor unmanned aerial vehicle.

[0116] In some optional implementations of the embodiment, the first damping member 12 includes a damping element made of rubber material.

[0117] For example, the first damping member 12 includes a rubber damping column, and in order to better play a damping effect and compactly cooperate with the push rod tail seat 9, the rubber damping column is arranged in a ring structure, and a transition fit is arranged between the inner ring surface of the rubber damping column and the push rod tail seat 9, so that when the rubber damping column is sleeved on the push rod tail seat 9, the push rod tail seat 9 generates force in various directions on the rubber damping column, and the rubber damping column absorbs and dissipates the energy generated by the vibration, thereby ensuring the flight stability of the multi-rotor unmanned aerial vehicle and prolonging the service life of each part.

[0118] In the damping structure of the application, the second damping member 13 is sleeved on the push rod tail seat 9 passing through the side plate 16 and located between the first damping member 12 and the pressing seat 10.

[0119] In this way, the first damping member 12 can be pressed by the second damping member 13, so that when the multi-rotor unmanned aerial vehicle vibrates during flight, the vibration can be better absorbed by the first damping member 12, thereby making the flight stability of the multi-rotor unmanned aerial vehicle better, and also avoiding loosening of parts on the multi-rotor unmanned aerial vehicle due to vibration during flight, which leads to disintegration or explosion of the multi-rotor unmanned aerial vehicle.

[0120] As an example, the second damping member 13 includes a damping gasket.

[0121] In the damping structure of the application, the bushing 14 is sleeved on the push rod tail seat 9 and located between the push rod tail seat 9 and the first damping member 12.

[0122] In this way, by mounting the bushing 14 between the push rod tail seat 9 and the first damping member 12, the rigid connection between the two can be isolated, the deformation space of the first damping member 12 is increased, when the unmanned aerial vehicle vibrates during flight, the first damping member 12 can more fully and completely absorb the energy generated by the vibration, thereby ensuring the stability of the unmanned aerial vehicle and prolonging the service life of the multi-rotor unmanned aerial vehicle and each part of the multi-rotor unmanned aerial vehicle.

[0123] In some optional implementations of the embodiment, the two ends of the adjusting column 11 are provided with external threads for threaded connection with the compression seats 10.

[0124] In this way, the two compression seats 10 can adjust the compression force on the corresponding first damping member 12 through one adjusting column 11, so that the damping structure of the application is simpler and the overall weight of the damping structure is reduced, thereby reducing the resistance and weight of the multi-rotor unmanned aerial vehicle during flight, thereby reducing the energy consumption of the multi-rotor unmanned aerial vehicle during flight, prolonging the flight time, and ensuring the stability and safety of the multi-rotor unmanned aerial vehicle during flight.

[0125] In order to avoid changes in the compression force between the two compression seats 10 and the corresponding first damping member 12 due to vibration after adjusting the compression force of the two compression seats 10 on the corresponding first damping member 12, affecting the damping effect, the damping structure of the application further comprises a locking nut 15, and the internal threads of the locking nut 15 are matched with the external threads on the adjusting column 11, so that after the first damping member 12 is compressed by the compression seat 10, the compression seat 10 is locked by the locking nut 15 to prevent loosening, thereby avoiding changes in the compression force of the two compression seats 10 on the corresponding first damping member 12, and further ensuring the flight stability of the multi-rotor unmanned aerial vehicle.

[0126] In this way, by providing the locking nut 15 on the adjusting column 11, the damping structure of the embodiment of the application can more fully absorb and dissipate the vibration of the power system transmitted to the push rod tail seat 9 through the arms when absorbing the vibration of the multi-rotor unmanned aerial vehicle.

[0127] In order to facilitate the adjustment of the compression force of the two compression seats 10 on the corresponding first damping member 12 and improve the adjustment efficiency, in the embodiment of the application, the middle part of the adjusting column 11 is further provided with an operation part 110 integrally formed or fixedly connected with the adjusting column 11 for rotating the adjusting column 11.

[0128] In the embodiment of the application, in order to further improve the adjustment efficiency and improve the universality of the operation of the operation part 110, the operation part 110 is provided as a hexagonal surface or a hexagonal head.

[0129] In this way, when adjusting, the corresponding adjustment can be made by a conventional wrench, non-standard structures are reduced, and thus the cost of the damping structure of the embodiment of the application is reduced, the manufacturing difficulty is reduced, and the interchangeability of the application is high.

[0130] Further, in the embodiment of the application, the push rod tail seat 9 is fixedly connected or integrally formed with the fixed element 101 in the folding mechanism 1.

[0131] In this way, the vibration in the working process of the power system of the multi-rotor unmanned aerial vehicle can be absorbed, and the stability of the folding mechanism 1 is ensured, and the flight stability and safety of the multi-rotor unmanned aerial vehicle are improved.

[0132] The use method of the damping structure of the embodiment of the application comprises:

[0133] The elements of the damping structure of the application are connected to the unmanned aerial vehicle in the above manner, the wrench or general tool is used to adjust the operation part 110 of the hexagonal surface or hexagonal head, the relative position of the adjusting column 11 and the pressing seat 10 is adjusted, after the first damping part 12 is pressed by the pressing seat 10, the first damping part 12 is locked by the locking nut 15, so that when the power system of the multi-rotor unmanned aerial vehicle vibrates during flight, the vibration generated by the damping mechanism provided by the embodiment of the application can be absorbed, and the flight safety of the unmanned aerial vehicle is ensured.

[0134] In summary, the multi-rotor unmanned aerial vehicle provided by the application can automatically adjust the position and deflection angle of the arm, the shaft distance of the arm 2 is set to an adjustable structure, so that the multi-rotor unmanned aerial vehicle can adapt to flight tasks in different size spaces, is convenient for transportation, reduces transportation cost, can quickly replace different load landing gears according to the task site demand, can effectively reduce the types and quantity of unmanned aerial vehicles carried during multi-task, improves transportation efficiency, reduces transportation cost, avoids damage to the multi-rotor unmanned aerial vehicle during transportation, and can also use the damping structure in the embodiment of the application, so that the vibration generated by the power system of the unmanned aerial vehicle during work can be transmitted to the push rod tail seat 9 through the arm 2, the push rod tail seat 9 generates forces in all directions on the first damping part 12, so that the first damping part 12 absorbs and dissipates the energy generated by the vibration, the multi-rotor unmanned aerial vehicle can fly smoothly, the stability of the multi-rotor unmanned aerial vehicle is ensured, the loosening, damage and disintegration of each part of the multi-rotor unmanned aerial vehicle caused by vibration are avoided, and the service life of the multi-rotor unmanned aerial vehicle is prolonged.

[0135] Embodiment four:

[0136] In order to make the multi-rotor unmanned aerial vehicle capable of automatically adjusting the position and deflection angle of the arm capable of quickly replacing different arm assemblies according to the task site requirements, the multi-rotor unmanned aerial vehicle has a power system with different configurations, adapts to different working environments, and thus can effectively reduce the types and quantity of the carried multi-rotor unmanned aerial vehicles in multi-task, can quickly disassemble the arm to reduce the size of the whole machine in the process of storage and transportation, thereby reducing the space occupied by the unmanned aerial vehicle, facilitating carrying and storage, and quickly installing in the process of use to improve the operation efficiency. The multi-rotor unmanned aerial vehicle capable of automatically adjusting the position and deflection angle of the arm provided by the embodiment of the present application further comprises: a quick disassembly arm assembly, as shown in Figure 9 The quick disassembly arm assembly comprises: an arm fixing assembly, a connecting piece 22, a first quick disassembly assembly and a second quick disassembly assembly, wherein:

[0137] The arm fixing assembly is used for fixedly connecting one or more arms 2 of the multi-rotor unmanned aerial vehicle, and a first through hole 20 for quick disassembly of the first quick disassembly assembly and a notch 21 for quick disassembly of the second quick disassembly assembly are arranged on the arm fixing assembly; one end of the connecting piece 22 is fixedly arranged on the fuselage of the multi-rotor unmanned aerial vehicle, and the other end of the connecting piece 22 is connected with the arm fixing assembly, so that the one or more arms 2 of the multi-rotor unmanned aerial vehicle on the arm fixing assembly can be connected to the fuselage of the multi-rotor unmanned aerial vehicle through the connecting piece 22; the first quick disassembly assembly is arranged on the connecting piece 22, and the first quick disassembly assembly is connected with the first through hole 20 on the arm fixing assembly; the second quick disassembly assembly is arranged on the connecting piece 22, and the second quick disassembly assembly is connected with the notch 21 on the arm fixing assembly.

[0138] When the arm 2 of the multi-rotor unmanned aerial vehicle is quick disassembled or replaced, the first quick disassembly assembly is moved to make the first quick disassembly assembly disengage from the first through hole 20, the second quick disassembly assembly is moved and rotated to make the second quick disassembly assembly disengage from the notch 21, and the arm fixing assembly is disengaged from the connecting piece 22, thereby realizing quick disassembly or replacement of the arm 2 of the multi-rotor unmanned aerial vehicle.

[0139] Therefore, the quick disassembly arm assembly of the present application connects the arm 2 of the multi-rotor unmanned aerial vehicle and the arm fixing assembly to form an integrated structure, and the arm fixing assembly provided with the arm 2 of the unmanned aerial vehicle can be disassembled from the fuselage of the multi-rotor unmanned aerial vehicle through the first quick disassembly assembly and the second quick disassembly assembly to be replaced, so that the unmanned aerial vehicle has a power system with different configurations, and when working in a multi-task environment, the multi-rotor unmanned aerial vehicle can adapt to different working environments by replacing the arm 2 of the unmanned aerial vehicle, thereby achieving the purpose of quickly replacing different arm assemblies according to different task site requirements, and thus the types of the carried unmanned aerial vehicles can be effectively reduced, only a plurality of arms 2 with different sizes and different specifications need to be carried, the unmanned aerial vehicle has high interchangeability and diversity while ensuring the safety and task of the unmanned aerial vehicle, facilitating carrying and storage, reducing storage and transportation costs, and improving storage and transportation efficiency.

[0140] Further, referring to Figure 9 In the embodiment of the present application, the arm fixing assembly comprises:

[0141] The upper arm seat assembly 18 and the lower arm seat assembly 19, wherein:

[0142] The upper arm seat assembly 18 and the lower arm seat assembly 19 have the same structure, the first through hole 20 is provided through the same position at both ends of the upper arm seat assembly 18 and the lower arm seat assembly 19, and the notch 21 perpendicular to the upper arm seat assembly 18 and the lower arm seat assembly 19 is provided at the middle position on the same side of the upper arm seat assembly 18 and the lower arm seat assembly 19.

[0143] When the arm 2 of the multi-rotor unmanned aerial vehicle is connected by using the upper arm seat assembly 18 and the lower arm seat assembly 19, the upper arm seat assembly 18 and the lower arm seat assembly 19 are connected with the arm 2 of the multi-rotor unmanned aerial vehicle, and the upper arm seat assembly 18 and the lower arm seat assembly 19 are distributed in parallel and mirror image on both sides of the arm 2 of the multi-rotor unmanned aerial vehicle.

[0144] Further, in the embodiment of the present application, on the basis of the folding mechanism 1 defined above, the upper arm seat assembly 18 and the lower arm seat assembly 19 are rotationally connected with the arm 2 of the multi-rotor unmanned aerial vehicle through the rotating shaft.

[0145] In some optional implementation manners of the embodiment, the upper arm seat assembly 18 and the lower arm seat assembly 19 are made of plate-shaped materials.

[0146] As an example, the upper arm seat assembly 18 and the lower arm seat assembly 19 are made of carbon fiber plates into strip-shaped structures, the first through hole 20 is provided at both end positions of the upper arm seat assembly 18 and the lower arm seat assembly 19 of the strip-shaped structure, and the notch 21 of the rectangular structure is provided at the middle position.

[0147] Taking the four-rotor unmanned aerial vehicle 3 as an example, the arms 2 of the four-rotor unmanned aerial vehicle 3 are arranged in two groups, two arms 2 located at the head position and two arms 2 located at the tail position are connected by using two groups of upper arm seat assemblies 18 and lower arm seat assemblies 19, respectively, two groups of upper arm seat assemblies 18 and lower arm seat assemblies 19 are connected correspondingly to form two arm fixing assemblies, so that when the arms 2 are disassembled and replaced, only two times of disassembly of the same unmanned aerial vehicle are needed to realize the disassembly or replacement of the four arms 2 of one unmanned aerial vehicle, the disassembly efficiency is improved, and the operation efficiency of the unmanned aerial vehicle is further improved, and the operation safety of the unmanned aerial vehicle in different environments is also ensured.

[0148] Further, referring to Figure 9In the embodiment of the present application, the connecting piece 22 is a concave structure, the closed end of the concave structure connecting piece 22 is fixedly connected with the side plate of the multi-rotor unmanned aerial vehicle body, the open end of the concave structure connecting piece 22 is detachably connected with the upper arm seat assembly 18 and the lower arm seat assembly 19 through the first quick release assembly, and the second through hole 23 is arranged through the open end of the concave structure connecting piece 22, and the third through hole 24 is arranged through the closed end of the concave structure connecting piece 22.

[0149] In order to facilitate the disassembly of the arm fixing assembly connected with the arm 2 and ensure that the arm fixing assembly is more firmly and reliably fixed on the connecting piece 22, the arm fixing assembly is arranged in the open end face of the concave structure connecting piece 22, so that the open end of the concave structure connecting piece 22 can be clamped with the arm fixing assembly, thereby when the arm fixing assembly is arranged on the connecting piece 22, the arm fixing assembly can be preliminarily fixed through the concave structure connecting piece 22, so that the connecting piece 22 plays a fixing role while facilitating the disassembly of the first quick release assembly and the second quick release assembly.

[0150] Further, referring to Figure 9 The first quick release assembly of the embodiment of the present application comprises a first positioning and fixing element 25 and a first elastic element 26, wherein:

[0151] The first positioning and fixing element 25 is arranged on the second through hole 23, the first elastic element 26 is sleeved on the first positioning and fixing element 25 and located between the first positioning and fixing element 25 and the connecting piece 22, the two ends of the first elastic element 26 are connected with the first positioning and fixing element 25 and the connecting piece 22 respectively, and one end of the first positioning and fixing element 25 can extend out of the second through hole 23 under the elastic force of the first elastic element 26;

[0152] In the quick release or quick replacement of the multi-rotor unmanned aerial vehicle arm 2, when the first positioning and fixing element 25 is moved by external force, the first elastic element 26 is elongated, the first positioning and fixing element 25 is separated from the first through hole 20 opposite to the second through hole 23, and then the first elastic element 26 can reset the first positioning and fixing element 25 to the first through hole 20.

[0153] In this way, by arranging the first elastic element 26 between the first positioning and fixing element 25 and the connecting piece 22, the first positioning and fixing element 25 pulled can be reset to the initial position by the first elastic element 26 during the disassembly of the multi-rotor unmanned aerial vehicle arm 2, so that the disassembly operation can be completed by pulling only once, thereby improving the disassembly efficiency.

[0154] Further, referring to Figure 9 The second quick release assembly of the embodiment of the present application comprises a second positioning and fixing element 27, a second elastic element 28 and a limiting piece 38, wherein:

[0155] One end of the second positioning and fixing element 27 passes through the third through hole 24 and is located on the side close to the arm fixing assembly. The second elastic element 28 is arranged between the second positioning and fixing element 27 and the connecting piece 22. The two ends of the second elastic element 28 are respectively connected to the other end of the second positioning and fixing element 27 and the connecting piece 22. The limiting piece 38 is provided with a groove 30 matched with the notch 21. One end of the limiting piece 38 provided with the groove 30 is fixedly connected to the end of the second positioning and fixing element 27 passing through the third through hole 24. When the groove 30 of the limiting piece 38 is matched with the notch 21, the second elastic element 28 is in a compressed state.

[0156] When the arm 2 of the multi-rotor unmanned aerial vehicle is detached from the unmanned aerial vehicle, the limiting piece 38 and the second positioning and fixing element 27 are pulled in the direction of the third through hole 24. In the process of pulling the second positioning and fixing element 27, the second elastic element 28 is compressed. Then, the groove 30 on the limiting piece 38 is separated from the notch 21 on the upper arm seat assembly 18 and the lower arm seat assembly 19. The limiting piece 38 is rotated so as to be located in the space formed by the upper arm seat assembly 18 and the lower arm seat assembly 19. The detachment of the second quick-release assembly is completed.

[0157] As an example, after the groove 30 on the limiting piece 38 is separated from the notch 21 on the upper arm seat assembly 18 and the lower arm seat assembly 19, the limiting piece 38 is rotated by 90 degrees so as to be located in the space formed by the upper arm seat assembly 18 and the lower arm seat assembly 19. The detachment of the second quick-release assembly is completed.

[0158] Correspondingly, when the arm 2 of the multi-rotor unmanned aerial vehicle needs to be installed on the unmanned aerial vehicle, the operation opposite to the detachment process is adopted.

[0159] In combination with the above-mentioned notch 21 arranged at the middle position of the same side of the upper arm seat assembly 18 and the lower arm seat assembly 19 and perpendicular to the upper arm seat assembly 18 and the lower arm seat assembly 19, when the second positioning and fixing element 27 is pulled, the limiting piece 38 can be vertically clamped in the notch 21. On the one hand, the tightness of the cooperation between the notch 21 and the groove 30 is ensured. On the other hand, the collision and interference between the second positioning and fixing element 27 and the third through hole 24 in the process of pulling and rotating the second positioning and fixing element 27 to cooperate the notch 21 with the groove 30 on the limiting piece 38 are avoided.

[0160] In summary, the first quick-release assembly is arranged to be vertically distributed on the multi-rotor unmanned aerial vehicle, and the second quick-release assembly is arranged to be horizontally distributed on the multi-rotor unmanned aerial vehicle. After installation, the arm 2 will not be loosened or dropped due to the vibration of the unmanned aerial vehicle during the flight of the unmanned aerial vehicle. The stability of the arm 2 of the unmanned aerial vehicle is ensured. In turn, the stability, reliability and safety of the flight of the unmanned aerial vehicle are ensured.

[0161] As an example, the limiting member 38 is provided as an arch-shaped structure, so that two openings of the arch-shaped structure in the same direction serve as the recess 30 matched with the notch 21, and the protrusion between the two openings in the same direction of the arch-shaped structure serves as the platform supporting the upper assembly 18 and the lower assembly 19 of the arm seat, so that the upper assembly 18 and the lower assembly 19 of the arm seat are clamped on the limiting member 38, thus making the installed unmanned aerial vehicle arm 2 more reliable and stable on the multi-rotor unmanned aerial vehicle.

[0162] In some optional implementations of the embodiment, the first positioning and fixing element 25 and the second positioning and fixing element 27 each include any one of a pin, a shaft or an optical axis.

[0163] In some optional implementations of the embodiment, the first elastic element 26 and the second elastic element 28 each include a spring.

[0164] Preferably, the first elastic element 26 is provided as a tension spring, and the second elastic element 28 is provided as a compression spring, so that the first positioning and fixing element 25 can be reset to the initial position by the tension spring, and the stable matching of the first positioning and fixing element 25 and the first through hole 20 is realized, and the limiting member 38 can be applied with a pulling force by the compression spring after the limiting member 38 is matched with the notch 21, and the stable matching of the limiting member 38 and the notch 21 is realized.

[0165] It can be understood that the length and hardness of the tension spring and the compression spring are determined according to actual needs, so as to facilitate the pulling operation while having the ability of resetting and fixing.

[0166] In order to facilitate the accurate and rapid insertion of the first positioning and fixing element 25 into the corresponding first through hole 20, the end surface of the first through hole 20 is provided as a bevel or a chamfered surface, and the end surface of the first positioning and fixing element 25 is correspondingly provided as a bevel or a chamfered surface.

[0167] In order to facilitate the pulling and dismounting of the first positioning and fixing element 25 and the second positioning and fixing element 27, a handle and a pull ring are provided at the pulling position of the first positioning and fixing element 25 and the second positioning and fixing element 27, so as to improve the efficiency in the process of dismounting the arm 2.

[0168] In order to be able to connect the arm 2 to the body of the multi-rotor unmanned aerial vehicle safely, avoid the loosening of the arm 2 of the multi-rotor unmanned aerial vehicle due to vibration or wind speed resistance during flight, the extension amount of the first elastic element 26 is greater than the depth of the first through hole 20, and the extension amount of the second elastic element 28 is greater than the depth of the notch 21; the length of the first positioning and fixing element 25 is greater than or equal to the sum of the depth of the first through hole 20, the depth of the second through hole 23 and the length of the first elastic element 26, and the length of the second positioning and fixing element 27 is greater than the sum of the width of the upper arm seat assembly 18, the depth of the third through hole 24 and the length of the second elastic element 28.

[0169] Taking the quad-rotor unmanned aerial vehicle 3 as an example, how to quickly disassemble and replace the arm 2, so that the quad-rotor unmanned aerial vehicle 3 has arms 2 with different shaft distances, thereby adapting to different working environments and completing different working tasks, is described below:

[0170] The arm 2 is connected with the upper arm seat assembly 18 and the lower arm seat assembly 19 in advance to form an arm 2 quick replacement arm fixing assembly, the first quick disassembly assembly and the second quick disassembly assembly are fixedly arranged on the connecting piece 22, and after being arranged, the connecting piece 22 is fixedly arranged on the body of the quad-rotor unmanned aerial vehicle 3 used for flight operation, the first quick disassembly assembly is pulled vertically, so that the first positioning and fixing element 25 in the first quick disassembly assembly cooperates with the first through hole 20 on the arm fixing assembly, the second quick disassembly assembly is pulled horizontally and rotated, so that the groove 30 on the limiting piece 38 cooperates with the notch 21 on the upper arm seat assembly 18 and the lower arm seat assembly 19 of the arm fixing assembly, thereby fixing the arm 2 quick replacement arm fixing assembly on the quad-rotor unmanned aerial vehicle 3, completely limiting the freedom of the arm assembly in each direction, preventing the arm assembly from moving during flight of the quad-rotor unmanned aerial vehicle 3, causing flight hazards; by pulling the first quick disassembly assembly and the second quick disassembly assembly, the different power and different shaft distance arms 2 configured in advance are replaced on the same or different quad-rotor unmanned aerial vehicles 3, realizing the free switching of the rotor shaft distance of the quad-rotor unmanned aerial vehicle 3, so that the quad-rotor unmanned aerial vehicle 3 can adapt to different weather environments and altitudes, to improve the wind resistance and flexibility of the unmanned aerial vehicle during flight, thereby facilitating the control of the unmanned aerial vehicle.

[0171] In summary, the multi-rotor unmanned aerial vehicle capable of automatically adjusting the position of the arm and the deflection angle provided by the application can adapt to flight tasks in different size spaces by setting the wheelbase of the arm 2 as an adjustable structure, facilitating transportation and reducing transportation costs, and can also quickly replace the landing gear with different loads according to the requirements of the task site, so that the number of types of multi-rotor unmanned aerial vehicles carried can be effectively reduced during multi-tasking, transportation efficiency is improved, transportation costs are reduced, damage to the multi-rotor unmanned aerial vehicle during transportation is avoided, and the multi-rotor unmanned aerial vehicle can also fly smoothly, ensuring the stability of the multi-rotor unmanned aerial vehicle, avoiding loosening, damage and disintegration of each component of the multi-rotor unmanned aerial vehicle caused by vibration, prolonging the service life of the multi-rotor unmanned aerial vehicle, and the quick-release arm assembly of the application can enable the multi-rotor unmanned aerial vehicle to quickly replace the arm assembly with different wheelbases according to the requirements of the task site, so that the multi-rotor unmanned aerial vehicle has different configurations of the power system, adapts to different operating environments, and has high interchangeability and diversity, so that the number of types of multi-rotor unmanned aerial vehicles carried can be effectively reduced during multi-tasking, the arm 2 can be quickly disassembled to reduce the size of the entire machine during storage and transportation, so as to reduce the space occupied by the unmanned aerial vehicle, facilitate carrying and storage, and enable quick installation during use, improving work efficiency.

[0172] It should be noted that, in this document, relational terms such as "first" and "second", and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Additionally, reference signs in the description are by no means restrictive; unless otherwise indicated, in the appended claims, each reference sign can be replaced by several reference signs.

[0173] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalent replacements; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A multi-rotor unmanned aerial vehicle capable of automatically adjusting the position of the machine arm and the angle of deflection, characterized in that, The utility model relates to a multi-rotor unmanned aerial vehicle, and belongs to the field of unmanned aerial vehicle. The utility model discloses a multi-rotor unmanned aerial vehicle, and belongs to the field of unmanned aerial vehicle. The utility model discloses a multi-rotor unmanned aerial vehicle, and belongs to the field of unmanned aerial vehicle. The utility model discloses a multi-rotor unmanned aerial vehicle, and belongs to the field of unmanned aerial vehicle. The utility model discloses a multi-rotor unmanned aerial vehicle, and belongs to the field of unmanned aerial vehicle. The utility model discloses a multi-rotor unmanned aerial vehicle, and belongs to the field of unmanned aerial vehicle. 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The utility model discloses a multi- When the arm of the multi-rotor unmanned aerial vehicle is fast disassembled or fast replaced, the first fast disassembly component is moved to be separated from the first through hole, the second fast disassembly component is moved and rotated to be separated from the notch, and the arm fixing component is separated from the connecting piece, so that the multi-rotor unmanned aerial vehicle arm is fast disassembled or fast replaced.

2. The multi-rotor unmanned aerial vehicle of claim 1, wherein, The arms of the multi-rotor unmanned aerial vehicle and the rotors arranged on the arms are distributed in height on the unmanned aerial vehicle body, including: From low to high from the direction of the head to the tail, or From high to low from the direction of the head to the tail.

3. The multi-rotor unmanned aerial vehicle of claim 1, wherein, The arms and the rotors arranged thereon on the same side of the unmanned aerial vehicle body have a gap in the vertical projection direction.

4. The multi-rotor unmanned aerial vehicle of claim 1, wherein, The multi-rotor unmanned aerial vehicle includes a quad-rotor unmanned aerial vehicle.

5. The multi-rotor unmanned aerial vehicle of claim 4, wherein, The rotors of the quad-rotor unmanned aerial vehicle are arranged in an H shape.

6. The multi-rotor unmanned aerial vehicle of claim 1, wherein, Among the arms of the unmanned aerial vehicle body on the same side and distributed in height, the rotors on the arms in the high position are arranged above the arms, and the rotors on the arms in the low position are arranged below the arms.

7. The multi-rotor unmanned aerial vehicle of claim 1, wherein, The telescopic drive includes a micro linear servo telescopic drive or a micro electric push rod.

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