Six-axis lateral folding heavy-load unmanned aerial vehicle for flammable and explosive places

Abstract

The present application relates to the technical field of unmanned aerial vehicle, and disclose a six-axis lateral folding large-load unmanned aerial vehicle for flammable and explosive places, comprising a body and a machine arm assembly arranged on the side wall of the body, the machine arm assembly comprises two fixed machine arms oppositely arranged on the side wall of the body and four movable machine arms movably arranged on the side of the body; it also comprises a folding assembly for driving the telescopic adjusting rod and the rotation of the movable machine arms around the body axis. The six-axis lateral folding large-load unmanned aerial vehicle for flammable and explosive places, by adopting two fixed machine arms and four lateral rotating machine arms, cooperating with the folding assembly, the four movable machine arms can automatically rotate laterally to the two fixed machine arms and synchronously shrink, finally folding the whole machine into a compact elliptical shape, saving the tedious manual operation and reducing the required space.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, and particularly relates to a six-axis lateral folding large-load unmanned aerial vehicle for flammable and explosive places. BACKGROUND

[0002] In flammable and explosive places such as petroleum chemical industry, natural gas and mine, there are very high requirements for the safety and operation efficiency of equipment. The traditional manual inspection, material transportation and emergency treatment mode not only has low efficiency, but also exposes personnel to great safety risks. Therefore, a large-load six-axis unmanned aerial vehicle with explosion-proof certification becomes an ideal alternative scheme. The strong load capacity of the large-load six-axis unmanned aerial vehicle can carry various professional sensors or rescue materials, and the excellent stability can also ensure safe and reliable execution of tasks in complex environments. However, the existing large-load six-axis unmanned aerial vehicle has a large size after the arms are unfolded in order to ensure the structural strength and flight stability. The large-load six-axis unmanned aerial vehicle occupies a large area when being stored and transported, which is extremely inconvenient. Some products on the market have a simple arm folding function, but manual operation is required, which is tedious and time-consuming. Even after folding, the overall size of the unmanned aerial vehicle is still large because the arms are only folded up and down or folded to a limited extent. Therefore, the space efficiency of transportation and storage cannot be fundamentally solved. SUMMARY

[0003] The present application relates to the technical field of unmanned aerial vehicles, and particularly relates to a six-axis lateral folding large-load unmanned aerial vehicle for flammable and explosive places.

[0004] In order to achieve the above-mentioned purpose, the following technical scheme is adopted in the present application: a six-axis lateral folding large-load unmanned aerial vehicle for flammable and explosive places, comprising a machine body and an arm assembly arranged on the side wall of the machine body. The arm assembly comprises two fixed arms arranged on the side wall of the machine body and four movable arms arranged on the side surface of the machine body. The end of the fixed arm and the movable arm away from the machine body is movably connected with an adjusting rod. The end of the adjusting rod away from the fixed arm is provided with a paddle. The folding assembly for driving the adjusting rod to extend and retract and the movable arm to rotate around the axis of the machine body is also included. The folding assembly comprises two fixed discs arranged on the inner side of the machine body. A pair of movable discs are arranged between the two fixed discs and are rotatably connected with the machine body. The rotation directions of the two movable discs are opposite. The opposite ends of the movable disc side are provided with fixed blocks extending to the outer side of the machine body and connected with the movable arm. The opposite ends of the fixed disc and the opposite ends of one of the movable discs are provided with arc-shaped guide grooves corresponding to the arm assembly. The guide grooves are movably connected with the guide shafts on the adjusting arm corresponding to the fixed arm and the movable arm. The guide shafts on the adjusting arm corresponding to the movable arm are movably connected with the guide grooves on the fixed disc. The machine body is provided with a driving assembly for driving the two movable discs to rotate in opposite directions.

[0005] Preferably, the guide groove and the guide shaft are configured such that when the two moving discs rotate in opposite directions, the moving arms at both ends of the moving discs move towards the two fixed arms respectively, and the adjusting rod moves towards the machine body.

[0006] Preferably, the drive assembly comprises an arc-shaped drive groove arranged at one end of the moving disc, a first gear tooth is arranged on one side of the inner cavity of the drive groove, and the first gear tooth in one of the drive grooves is arranged on the side of the inner cavity of the drive groove away from the axis of the moving disc, and the first gear tooth in the other drive groove is arranged on the side of the inner cavity of the drive groove close to the axis of the moving disc, a drive shaft corresponding to the drive groove is rotatably arranged on the inner side of the machine body, a first gear wheel meshing with the first gear tooth is mounted on the drive shaft, and a drive source for driving the rotation of the drive shaft is arranged at one end of the drive shaft.

[0007] Preferably, the bottom of the fixed arm and the moving arm is provided with a bottom arm corresponding to the adjusting rod, a protection assembly for protecting the paddle is arranged on the bottom arm, the protection assembly comprises a rotating shaft rotatably arranged on the inner side of both ends of the bottom arm, a synchronous wheel is arranged on the end of the rotating shaft, a synchronous belt is arranged on the corresponding two synchronous wheels on the same side, a protection plate is mounted on the rotating shaft away from the machine body, a third gear wheel is mounted on the rotating shaft close to the machine body, and a fourth gear tooth corresponding to the third gear wheel is arranged on the bottom of the end of the traction arm away from the machine body.

[0008] Preferably, a locking assembly for fixing the relative position between the adjusting rod and the bottom arm is arranged on the bottom arm, the locking assembly comprises a lock hole arranged on the bottom of the end of the adjusting rod and the bottom arm away from the machine body, one side of the protection plate is provided with a lock tongue for plug-in cooperation with the lock hole, one end of the bottom of the traction arm is provided with a third gear tooth corresponding to the third gear wheel, one end of the adjusting rod close to the paddle on the inner side is provided with a stop block, the end of the traction arm away from the machine body penetrates through the stop block, and the end of the traction arm away from the machine body is provided with a pulling end plate, and the stop block is used to block the pulling end plate.

[0009] Preferably, the third gear tooth is located on the side of the fourth gear tooth close to the machine body, and is configured such that when the third gear tooth meshes with the third gear wheel, the end of the lock tongue can be separated from the lock hole in the bottom of the adjusting rod, when the fourth gear tooth meshes with the third gear wheel, the lock tongue can be separated from the lock hole on the bottom arm, and the protection plate can be turned to the side of the paddle away from the machine body.

[0010] Preferably, a limiting assembly for limiting the side of the paddle is arranged on the adjusting rod, the limiting assembly comprises a second gear wheel rotatably arranged on the inner side of the adjusting rod, a second gear tooth meshing with the second gear wheel is arranged on the top of one end of the traction arm, and limiting arms extending to the outer side of the adjusting rod are arranged on both sides of the second gear tooth.

[0011] Preferably, the traction arm is of a hollow structure, and the traction arm communicates with the machine body.

[0012] Preferably, the bottom of one end of the adjusting rod is provided with a stop component, the stop component comprises a stop block movably arranged at the bottom of the end of the adjusting rod away from the machine body, the stop block is located at the side of the stop block away from the machine body, and the stop block is used for blocking the pulling end plate, the top of one end of the bottom arm is provided with a guide groove corresponding to the stop block, the end of the inner cavity of the guide groove away from the machine body is recessed downward, and the recessed part and the guide groove are smoothly transitioned through a slope.

[0013] Preferably, an elastic member for resetting the stop block is arranged between the lower end side wall of the stop block and the bottom wall of the adjusting rod.

[0014] The technical effects and advantages of the present application are as follows: in the present application, the two fixed and four side turning machine arm assemblies are adopted, and the four movable machine arms are automatically turned laterally to each other and synchronously retracted by cooperating with the folding assembly, so that the whole machine is finally folded into a compact elliptical shape. Not only the automation of the folding process is realized, and the tedious manual operation is saved, but also the space required for storage is greatly reduced, which makes it more convenient for vehicle transportation and inventory management. Moreover, the interference between folding and blades is effectively avoided, and the deployment efficiency and overall portability of the equipment in dangerous environments are significantly improved.

[0015] In the present application, when the machine arm assembly completes the lateral turning and retraction, the protection assembly arranged in linkage with the folding assembly can automatically move to the outermost side of the blade and form a protruding protection structure, without additional operation steps. That is, the fragile blade is provided with all-round priority protection in the storage state, effectively avoiding damage caused by collision and extrusion during transportation and moving, greatly improving the overall reliability of the equipment and reducing maintenance costs.

[0016] In the present application, the locking assembly can be inserted and locked when the machine arm assembly is fully extended from the retracted state to the working position, so as to fix the adjusting rod and the bottom arm connected movably as a rigid whole, thereby enhancing the structural rigidity and stability of the adjusting rod, ensuring accurate control of the flight attitude and efficient transmission of power output. The stop component can ensure that the adjusting rod is locked when it is extended to the limit distance. BRIEF DESCRIPTION OF DRAWINGS

[0017] The disclosure of the present application will be described with reference to the accompanying drawings. It should be understood that the drawings are only for illustrative purposes, and are not intended to limit the scope of protection of the present application. In the drawings, the same reference numerals are used to refer to the same parts:

[0018] Figure 1 is a structural schematic view of the present application in the extended state; Figure 2 is a structural schematic view of the present application Figure 1 from the bottom perspective; Figure 3 is a structural schematic view of the present application in the folded state;Figure 4 is a structural schematic diagram of the disassembled state of the application; Figure 5 is a structural schematic diagram of the disassembled state of the fixed disc, the movable disc and the driving shaft of the application; Figure 6 is a structural schematic diagram of the application Figure 5 from the bottom perspective; Figure 7 is a structural schematic diagram of the application Figure 5 from the other side perspective; Figure 8 is a structural schematic diagram of the application Figure 9 from the bottom perspective; Figure 8 is a structural schematic diagram of the application Figure 10 from the bottom perspective; Figure 8 is a structural schematic diagram of the application Figure 11 in the folded state; Figure 12 is a structural schematic diagram of the application Figure 13 is a structural schematic diagram of the disassembled state of the fixed arm, the adjusting rod and the bottom arm of the application; Figure 14 is a structural schematic diagram of the application Figure 13 from the bottom perspective; Figure 15 is a structural schematic diagram of the application Figure 16 is a structural schematic diagram of the application Figure 15 from the bottom perspective, highlighting the stop block, the locking tongue and the locking hole.

[0019] Legend: 1, machine body; 2, fixed arm; 3, paddle; 4, adjusting rod; 5, movable arm; 6, bottom arm; 7, protective plate; 8, fixed disc; 9, movable disc; 10, driving groove; 11, guide groove; 12, driving shaft; 13, first gear; 14, driving rod; 15, rotating device; 16, first tooth; 17, lead screw; 18, traction arm; 19, guide shaft; 20, limiting arm; 21, second gear; 22, synchronous wheel; 23, synchronous belt; 24, rotating shaft; 25, stop block; 26, third gear; 27, locking hole; 28, locking tongue; 29, second tooth; 30, traction end plate; 31, third tooth; 32, fourth tooth; 33, fixed block; 34, stop block; 35, guide groove; 36, elastic member. DETAILED DESCRIPTION

[0020] It is easy to understand that, according to the technical scheme of the application, those skilled in the art can propose a plurality of structure modes and implementation modes that can be replaced with each other without changing the essential spirit of the application. Therefore, the following detailed description and the accompanying drawings are only exemplary descriptions of the technical scheme of the application, and should not be considered as the whole or as a limitation or restriction on the technical scheme of the application.

[0021] Referring to Figures 1-16As shown, six-axis lateral folding heavy-duty unmanned aerial vehicle for flammable and explosive places, including machine body 1 and machine arm assembly arranged on the side wall of machine body 1, machine arm assembly includes two opposite machine arms 2 mounted on the side wall of machine body 1 and four movable machine arms 5 movably arranged on the side of machine body 1, the end of fixed machine arm 2 and movable machine arm 5 away from machine body 1 is movably connected with adjusting rod 4, the end of adjusting rod 4 away from fixed machine arm 2 is provided with paddle 3, in order to realize the volume reduction, folding assembly for driving adjusting rod 4 to extend and retract and movable machine arm 5 to rotate around the axis of machine body 1 is arranged, as a preferred embodiment, folding assembly includes two fixed discs 8 mounted on the upper and lower ends of the inner side of machine body 1, a pair of movable discs 9 rotatably connected with machine body 1 is arranged between two fixed discs 8, fixed disc 8 and movable disc 9 are coaxially arranged, and the rotating directions of two movable discs 9 are opposite, the upper movable disc 9 is connected with the upper end of the inner side of machine body 1 through the rotating shaft, the lower movable disc 9 is connected with the bottom of the inner side of machine body 1 through the rotating shaft, the opposite ends of the side of movable disc 9 are provided with fixed blocks 33 extending to the outer side of machine body 1 and connected with movable machine arm 5, the arc-shaped through slot corresponding to fixed block 33 is arranged on the side wall of machine body 1, which is used for adapting the rotation of movable machine arm 5, and the arc-shaped plate is arranged on fixed block 33, which is used for plugging the arc-shaped through slot, and the arc-shaped plate can always plug when movable machine arm 5 rotates, the opposite ends of fixed disc 8 and the opposite ends of one of movable discs 9 are provided with arc-shaped guide grooves 11, guide groove 11 corresponds to machine arm assembly, traction arm 18 for pulling adjusting rod 4 to displace is arranged in adjusting rod 4, one end of traction arm 18 extends to the inner side of machine body 1 and is provided with guide shaft 19, guide shaft 19 on traction arm 18 corresponding to fixed machine arm 2 is movably connected with guide groove 11 on movable disc 9, guide shaft 19 on traction arm 18 corresponding to movable machine arm 5 is movably connected with guide groove 11 on fixed disc 8, guide groove 11 and guide shaft 19 are configured: when two movable discs 9 rotate reversely, movable machine arms 5 at both ends of movable disc 9 respectively approach the direction of two fixed machine arms 2, at the same time, adjusting rod 4 displaces to the direction of machine body 1, and arc-shaped groove communicating with guide groove 11 is arranged at the end of guide groove 11 away from the axis of fixed disc 8 and movable disc 9, the axis of arc-shaped groove coincides with the axis of fixed disc 8 and movable disc 9, in working state, guide shaft 19 is located in the arc-shaped groove, which can increase the stability of adjusting rod 4, drive assembly for driving two movable discs 9 to rotate reversely is arranged on machine body 1, drive assembly includes arc-shaped drive groove 10 arranged at one end of movable disc 9, first gear teeth 16 are arranged on one side of the inner cavity of drive groove 10, and the first gear teeth 16 in one of drive grooves 10 are arranged on the side of the inner cavity of drive groove 10 away from the axis of movable disc 9, and the first gear teeth 16 in the other drive groove 10 are arranged on the side of the inner cavity of drive groove 10 close to the axis of movable disc 9, drive shaft 12 corresponding to drive groove 10 is rotatably arranged on the inner side of machine body 1, first gear 13 meshing with first gear teeth 16 is mounted on drive shaft 12, one end of drive shaft 12 is provided with drive source for driving drive shaft 12 to rotate, the drive source is preferably manually operated, including screw rod 17 screw-connected to the bottom wall of machine body 1,The bottom of the screw rod 17 is provided with a rotating device 15, which is preferably a hand wheel. The top end of the screw rod 17 is provided with a driving rod 14 extending to the inside of the driving shaft 12. The driving rod 14 is movably connected with the driving shaft 12, so that when the screw rod 17 drives the driving rod 14 to rotate, the driving shaft 12 can be driven to rotate. This driving assembly is more suitable for flammable and explosive places, avoiding the safety hazards existing in electric driving. In addition, a motor or other driving device can be arranged to directly drive the driving shaft 12 to rotate, which is suitable for non-flammable and explosive places.

[0022] In order to further protect the paddle 3 after folding, the bottom arms 6 corresponding to the adjusting rods 4 are installed at the bottom of the fixed arms 2 and the movable arms 5. The bottom arms 6 are provided with protection assemblies for protecting the paddle 3. The protection assemblies include rotating shafts 24 rotatably arranged at the inner sides of both ends of the bottom arms 6. The end portions of the rotating shafts 24 are provided with synchronous wheels 22. The corresponding two synchronous wheels 22 on the same side are provided with a synchronous belt 23. The rotating shaft 24 away from the machine body 1 is provided with a protection plate 7. The rotating shaft 24 close to the machine body 1 is provided with a third gear 26. The bottom of the end of the traction arm 18 away from the machine body 1 is provided with a fourth wheel tooth 32 corresponding to the third gear 26. When the fourth wheel tooth 32 passes through the third gear 26, the third gear 26 can be driven to rotate, thereby driving the synchronous belt 23 to operate. Finally, the protection plate 7 can be turned to the side of the paddle 3 away from the machine body 1 to achieve protection.

[0023] As shown in Figures 15-16 , in order to realize the stability between the adjusting rod 4 and the bottom arm 6 in the flight state, the locking assembly for fixing the relative position between the adjusting rod 4 and the bottom arm 6 is arranged on the bottom arm 6. As a preferred embodiment, the locking assembly includes a lock hole 27 arranged at the bottom of the end of the adjusting rod 4 and the bottom arm 6 away from the machine body 1. The lock hole 27 is arc-shaped. One side of the protection plate 7 is provided with a lock tongue 28 for plug-in cooperation with the lock hole 27. The lock tongue 28 is also arc-shaped structure, and the axis of the arc-shaped structure coincides with the axis of the corresponding rotating shaft 24 of the protection plate 7. One end of the bottom of the traction arm 18 is provided with a third wheel tooth 31 corresponding to the third gear 26. One end of the adjusting rod 4 close to the paddle 3 is provided with a stop block 25. The end of the traction arm 18 away from the machine body 1 penetrates the stop block 25, and the end of the traction arm 18 away from the machine body 1 is provided with a pulling end plate 30. The stop block 25 is used to block the pulling end plate 30. The third wheel tooth 31 is located on the side of the fourth wheel tooth 32 close to the machine body 1, and is configured such that when the third wheel tooth 31 is engaged with the third gear 26, the end of the lock tongue 28 can be separated from the lock hole 27 at the bottom of the adjusting rod 4. When the fourth wheel tooth 32 is engaged with the third gear 26, the lock tongue 28 can be separated from the lock hole 27 on the bottom arm 6. At the same time, the protection plate 7 can be turned to the side of the paddle 3 away from the machine body 1.

[0024] As shown in Figure 8 , Figure 10 , Figures 15-16As shown, the adjusting rod 4 is provided with a limiting assembly for limiting the side of the paddle 3, the limiting assembly comprises a second gear 21 rotatably arranged in the inner side of the adjusting rod 4, the top of one end of the traction arm 18 is provided with a second gear tooth 29 engaged with the second gear 21, and the two sides of the second gear tooth 29 are provided with limiting arms 20 extending to the outer side of the adjusting rod 4, which are transversely arranged on the side of the adjusting rod 4 in working state, and are vertically flipped to limit the side of the paddle 3 in folding state.

[0025] As shown, Figure 16 In order to ensure that the locking tongue 28 is inserted into the lock hole 27 on the adjusting rod 4 only after the adjusting rod 4 is stretched to the limit distance, a stopper assembly is arranged at the bottom of one end of the adjusting rod 4, the stopper assembly comprises a stopper block 34 vertically movably arranged at the bottom of the end of the adjusting rod 4 away from the machine body 1, the stopper block 34 is located on the side of the stopper block 25 away from the machine body 1, and the upper end of the stopper block 34 is used for blocking the pulling end plate 30, the top of one end of the bottom arm 6 is provided with a guide groove 35 corresponding to the stopper block 34, the end of the inner cavity of the guide groove 35 away from the machine body 1 is recessed downward, and the recessed part and the guide groove 35 are smoothly transitioned through the inclined surface, when the stopper block 34 is located in the recessed part, the upper end of the stopper block 34 does not protrude from the inner wall of the adjusting rod 4, when the stopper block 34 is located in the guide groove 35, the upper end of the stopper block 34 can protrude from the inner wall of the adjusting rod 4 and block the pulling end plate 30, and when the adjusting rod 4 is stretched to the limit distance, the stopper block 34 is just located in the recessed part, in order to facilitate the reset of the stopper block 34, the elastic element 36 for resetting the stopper block 34 is arranged between the lower end side wall of the stopper block 34 and the bottom wall of the adjusting rod 4, the elastic element 36 is preferably a spring, when the stopper block 34 reaches the recessed part, it can quickly enter the recessed part, thereby releasing the blocking and limiting of the pulling end plate 30.

[0026] In addition, the upper end part of the machine body 1 is provided with a separate box body for installing necessary devices such as battery, main control, driver, which is separately arranged with the lower part of the machine body 1, and the separate box body is designed as explosion-proof, the traction arm 18 is a hollow structure, and the traction arm 18 is communicated with the machine body 1, the wire harness corresponding to the motor driving the paddle 3 to rotate can extend to the inner side of the machine body 1 through the inside of the traction arm 18, and then extend upwardly to the separate box body, the separate box body and the specific principles and structures of the battery, the main control, the driver and the explosion-proof design are mature technical means, and the present application will not be described in more detail.

[0027] Working principle: in working state, the end of the lock tongue 28 is inserted into the lock hole 27 at the bottom of the adjusting rod 4, because the lock hole 27 and the lock tongue 28 are arc-shaped, the bottom arm 6 and the adjusting rod 4 are difficult to separate, which can ensure the stability between the adjusting rod 4 and the bottom arm 6, at this time, the lower end of the stop block 34 is located in the recess at one end of the guide groove 35, and the upper end of the stop block 34 does not protrude from the inner wall of the adjusting rod 4, because the end of the guide groove 11 away from the axis of the machine body 1 is an arc-shaped groove, the axis of the arc-shaped groove coincides with the axes of the fixed disc 8, the moving disc 9 and the machine body 1, and the guide shaft 19 is located in the arc-shaped groove at the beginning, which can also increase the stability of the adjusting rod 4, when folding is needed, the paddle 3 is manually pushed to be roughly parallel to the axis of the adjusting rod 4, and the driving shaft 12 is manually or automatically controlled to rotate, the two first gears 13 drive the two moving discs 9 to rotate in opposite directions through the first gear teeth 16, the moving disc 9 drives the four moving arms 5 to synchronously rotate and move close to the two fixed arms 2, the guide shaft 19 corresponding to the moving arm 5 moves in the guide groove 11 on the moving disc 9, and the guide shaft 19 corresponding to the moving arm 5 moves in the guide groove 11 on the fixed disc 8, so that the six guide shafts 19 synchronously displace the traction arms 18, because the bottom arm 6 and the adjusting rod 4 are in a locked state, the traction arm 18 does not displace the adjusting rod 4 at the beginning, but relatively displaces the adjusting rod 4, before the pull end plate 30 collides with the stop block 25, the traction arm 18 drives the second gear 21 to rotate through the second gear teeth 29, the second gear 21 drives the limiting arm 20 to flip vertically, and then the limiting arm 20 limits the paddle 3, at the same time, the third gear teeth 31 drive the third gear 26 to rotate, the third gear 26 drives the synchronous belt 23 to rotate through the rotating shaft 24, and then drives the protective plate 7 at one end to flip downward, one end of the lock tongue 28 on the protective plate 7 is separated from the lock hole 27 at the bottom of the adjusting rod 4 and remains in the lock hole 27 on the bottom arm 6, then the pull end plate 30 collides with the stop block 25, and then the traction arm 18 starts to displace the adjusting rod 4 in the direction of the machine body 1 through the cooperation of the pull end plate 30 and the stop block 25, and then the paddle 3 is synchronously displaced, and the stop block 34 displaces the adjusting rod 4, the stop block 34 enters the guide groove 35 from the recess, and the upper end of the stop block 34 protrudes from the inner wall of the adjusting rod 4, so as to block and limit the side of the pull end plate 30 away from the stop block 25, when the adjusting rod 4 is about to be shortened to the shortest distance, the fourth gear teeth 32 engage with the third gear 26, so as to drive the synchronous belt 23 to continue to rotate, the protective plate 7 continues to flip, the lock tongue 28 is separated from the lock hole 27 on the bottom arm 6, and then flips to the side of the paddle 3 away from the machine body 1, so as to block and protect the paddle 3, at this time, the moving arm 5 also laterally folds to the side of the fixed arm 2, and finally the entire unmanned aerial vehicle can be folded and transported;

[0028] In use, the driving shaft 12 is reversely rotated by manual or automatic control, and the movable disc 9 is reversely rotated, and under the cooperation of the guide shaft 19 and the guide groove 11, the plurality of traction arms 18 move outward, and due to the blocking of the upper end of the stop block 34 to the pulling end plate 30, the traction arm 18 will initially drive the adjusting rod 4 to extend outward, and at the same time, the fourth gear tooth 32 drives the third gear wheel 26 to rotate, and then the protective plate 7 is reversely turned over, and when the fourth gear tooth 32 is separated from the third gear wheel 26, the protective plate 7 comes to the bottom of the bottom arm 6, and one end of the lock tongue 28 is inserted into the lock hole 27 on the bottom arm 6, and the adjusting rod 4 continues to displace, and when the adjusting rod 4 displaces to the limit distance, the second gear tooth 29 is engaged with the second gear wheel 21, the limiting arm 20 is turned over and reset to be horizontal, the limiting to the paddle 3 is released, and at this time, the stop block 34 comes to the recess at one end of the guide groove 35, the elastic member 36 drives the stop block 34 to move downward and reset, the upper end of the stop block 34 releases the blocking of the pulling end plate 30, and then the traction arm 18 continues to move outward by a distance, at this time, the third gear tooth 31 is engaged with the third gear wheel 26, and then the protective plate 7 continues to turn over, one end of the lock tongue 28 is inserted into the lock hole 27 at the bottom of the protective plate 7, and the final locking action is realized, and finally the unmanned aerial vehicle can normally fly and work.

[0029] The technical scope of the present application is not limited to the above description, and those skilled in the art can make various modifications and changes to the above embodiments without departing from the technical idea of the present application, and these modifications and changes should be within the protection scope of the present application.

Claims

1. A six-axis laterally folding heavy-lift drone for flammable and explosive locations, characterized by, The utility model provides a kind of machine arm assembly, including body and the machine arm assembly being arranged in the side wall of body, the machine arm assembly includes two opposite installation machine arm of body side wall and four active settings dynamic machine arm in body side, and the end of fixed machine arm and dynamic machine arm away from body is movably connected with adjusting rod, and the end of adjusting rod away from fixed machine arm is provided with paddle;It further includes for driving adjusting rod telescopic and dynamic machine arm rotates around the folding subassembly of body axis, the folding subassembly includes installation in the inside two ends of body, a pair of dynamic disc is arranged between two fixed disc, and the rotating direction of two dynamic disc is opposite, and the opposite two ends of dynamic disc side are installed with fixed block extending to the outside of body and being connected with dynamic machine arm, the opposite two ends of fixed disc and the opposite two ends of one of dynamic disc are provided with arc-shaped guide groove, and guide groove corresponds with machine arm assembly, and the traction arm for pulling adjusting rod displacement is arranged in adjusting rod, and the end of traction arm extends to the inside of body and is provided with guide shaft, and the guide shaft on the corresponding traction arm of fixed machine arm is movably connected with the guide groove on dynamic disc, and the guide shaft on the corresponding traction arm of dynamic machine arm is movably connected with the guide groove on fixed disc, and the driving assembly for driving two dynamic disc reverse rotation is arranged on body;The bottom of fixed machine arm and dynamic machine arm is installed with the bottom arm corresponding with adjusting rod, and the protection assembly for protecting paddle is arranged on bottom arm, and the protection assembly includes rotationally arranged in the inside of two ends of bottom arm, and the end of rotating shaft is provided with synchronous wheel, and the corresponding two synchronous wheels on the same side are provided with synchronous belt, and the rotating shaft on the end away from body is installed with protection plate, and the rotating shaft close to body is installed with third gear, and the bottom of the end of traction arm away from body is provided with the fourth wheel tooth corresponding with third gear;The guide groove and guide shaft are configured as: when two dynamic disc reverse rotation, dynamic disc two ends dynamic machine arm respectively approaches the direction of two fixed machine arms, while adjusting rod displacement towards body direction;Locking assembly for fixing the relative position between adjusting rod and bottom arm is arranged on bottom arm, and the locking assembly includes lock hole arranged in the bottom of the end of adjusting rod and bottom arm away from body, and one side of protection plate is provided with lock tongue for lock hole plug-in cooperation, the end of the bottom of traction arm is provided with the third wheel tooth corresponding with third gear, and the end of adjusting rod inside close to paddle is provided with stop block, and the end of traction arm away from body penetrates stop block, and the end of traction arm away from body is provided with pulling end plate, and stop block is used to block pulling end plate;The third wheel tooth is located on the side of fourth wheel tooth close to body, and it is configured as: when third wheel tooth is engaged with third gear, the end of lock tongue can be separated from the lock hole in the bottom of adjusting rod, when fourth wheel tooth is engaged with third gear, lock tongue can be separated from the lock hole on bottom arm, while protection plate can be turned over to the side of paddle away from body;Limiting assembly for limiting the side of paddle is arranged on adjusting rod, and the limiting assembly includes second gear rotationally arranged in the inside of adjusting rod, and the top of one end of traction arm is provided with second wheel tooth engaged with second gear, and the two sides of second wheel tooth are provided with limiting arm extending to the outside of adjusting rod.The bottom of one end of the adjusting rod is provided with a stop component, the stop component comprises a stop block vertically movably arranged at the bottom of the end of the adjusting rod away from the machine body, the stop block is located at the side of the stop block away from the machine body, and the stop block is used for blocking the pulling end plate, the top of one end of the bottom arm is provided with a guide groove corresponding to the stop block, the end of the inner cavity of the guide groove away from the machine body is recessed downward, and the recessed part and the guide groove are smoothly transitioned through the slope.

2. The six-axis side-folding heavy load drone for flammable and explosive places according to claim 1, characterized in that: The driving assembly comprises arc-shaped driving grooves arranged at one end of the moving disc, a first gear tooth is arranged on one side of the inner cavity of the driving groove, the first gear tooth in one of the driving grooves is arranged on the side of the inner cavity of the driving groove far away from the axis of the moving disc, the first gear tooth in the other driving groove is arranged on the side of the inner cavity of the driving groove close to the axis of the moving disc, a driving shaft corresponding to the driving groove is rotatably arranged on the inner side of the machine body, a first gear meshing with the first gear tooth is mounted on the driving shaft, and one end of the driving shaft is provided with a driving source for driving the rotation of the driving shaft.

3. The six-axis side-folding heavy load drone for flammable and explosive places according to claim 1, characterized in that: The traction arm is a hollow structure, and the traction arm is in communication with the machine body.

4. The six-axis side-folding heavy load drone for flammable and explosive places as claimed in claim 2, wherein: An elastic member for resetting the stop block is arranged between the lower end side wall of the stop block and the bottom wall of the adjusting rod.

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