Slide rail type folding barrel-launched unmanned aerial vehicle and control method

Abstract

The invention belongs to the technical field of barrel-launched unmanned aerial vehicles, and discloses a sliding rail type folding barrel-launched unmanned aerial vehicle and a control method. A series of problems such as slow arm unfolding speed, overlarge wheelbase of the unmanned aerial vehicle, heavy weight and the like caused by overlong arms of the existing cylinder-launched unmanned aerial vehicle are greatly limited in practical application. According to the sliding rail type folding barrel-launched unmanned aerial vehicle and the control method, the sliding rail unfolding mechanism is ingeniously designed, compared with an existing barrel-launched unmanned aerial vehicle of a non-sliding-rail structure, the length of a vehicle arm of the unmanned aerial vehicle is reduced by 1 / 3, the wheelbase after unfolding is also reduced by 1 / 3, then the weight of the unmanned aerial vehicle is smaller, and the inertia is smaller; the unmanned aerial vehicle flies more flexibly, stably and safely, and the flight time is longer.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of barrel launching unmanned aerial vehicle, in particular to a sliding rail type folding barrel launching unmanned aerial vehicle and a control method. BACKGROUND

[0002] The barrel launching unmanned aerial vehicle is folded into a barrel or a launching barrel mechanism after the unmanned aerial vehicle arm and the landing gear are folded, and is launched out of the barrel by using the elastic force. The unmanned aerial vehicle launched out of the barrel is unfolded into a flight state by a torsional spring to fly. After the flight is completed, the unmanned aerial vehicle arm and the landing gear are folded and put into the launching barrel.

[0003] According to the search, the Chinese invention patent with the publication number CN118323501A provides a multi-rotor folding unmanned aerial vehicle for barrel launching. The unmanned aerial vehicle comprises a central frame, a plurality of arms and an arm locking mechanism. Each arm is uniformly arranged around the central frame and is rotationally connected to the central frame through a rotating shaft. The arm locking mechanism comprises a steering gear and a cylindrical lock body. The steering gear is fixedly arranged at the bottom center of the central frame. The steering gear is used to drive the lock body to rotate along the central axis. The lock body is fixedly arranged at the bottom of the steering gear. The present application can realize automatic unfolding of the barrel launching folding unmanned aerial vehicle.

[0004] The existing barrel launching unmanned aerial vehicle has an excessively long arm, which is limited in actual application. Since the barrel launching unmanned aerial vehicle needs to rapidly unfold the arm after being launched out of the barrel to fly, if the arm is too long, the speed of the arm unfolding will be reduced. Therefore, the unmanned aerial vehicle flight requiring rapid unfolding and locking of the arm is not conducive, and the unmanned aerial vehicle itself requires a lighter structure frame. If the unmanned aerial vehicle arm is too long, the wheelbase of the unmanned aerial vehicle will be increased, thereby increasing the weight of the unmanned aerial vehicle and reducing the flight time of the unmanned aerial vehicle. In addition, for the folding unmanned aerial vehicle, the locking structure of the unfolded arm and the landing gear must be reliable, otherwise it will cause the unmanned aerial vehicle to explode. SUMMARY

[0005] The present application aims to provide a sliding rail type folding barrel launching unmanned aerial vehicle and a control method to solve the problems in the background.

[0006] The main design idea of the present application is that the sliding rail type arm of the unmanned aerial vehicle automatically unfolded after being launched out of the barrel relies on gravity and inertia to slide downward along the sliding groove, so that the unmanned aerial vehicle arm slides from the upper end position and is locked at the center of mass of the unmanned aerial vehicle, so that the unmanned aerial vehicle can fly stably.

[0007] To achieve the above-mentioned purpose, the present application provides the following technical solutions: A sliding rail type folding barrel launching unmanned aerial vehicle comprises a fuselage, four arms, one end of each arm is connected to the side wall of the fuselage through a sliding rail unfolding mechanism, and the four arms are symmetrically arranged along the circumference of the fuselage, and the arm slides up and down along the sliding rail unfolding mechanism; The landing gear is arranged with four, one end of which is connected to the side wall of the fuselage through a folding mechanism, and the four landing gears are arranged symmetrically along the circumference of the fuselage, and the landing gears are located below the arms; Wherein, when the arm slides to the lowermost end of the slide rail mechanism, the other end of the arm rotates outward with the connecting end of the arm and the slide rail unfolding mechanism as the axis.

[0008] Further preferably, the slide rail unfolding mechanism comprises: The guide rail is arranged on the side wall of the fuselage and is arranged parallel to the vertical axis of the fuselage, and two rows of slide grooves are symmetrically arranged on the guide rail; The arm rotating pin is fixedly connected to one end of the arm, and the two ends of the arm rotating pin are respectively slidably connected to the two rows of slide grooves; The unfolding mechanism is arranged on the guide rail, and when the arm slides to the lowermost end of the slide groove, the unfolding mechanism pushes the other end of the arm to rotate outward.

[0009] Further preferably, characterized in that, The two ends of the arm rotating pin are elliptical, and the two rows of slide grooves are adapted to the minor axis of the end of the elliptical arm rotating pin; The lowermost end of the two rows of slide grooves is a circular hole structure, and the diameter of the circular hole is consistent with the length of the major axis of the end of the elliptical arm rotating pin.

[0010] Further preferably, the slide rail unfolding mechanism further comprises: The L-shaped slot is symmetrically arranged along the guide rail, and two L-shaped slots are respectively located on the outer side of the two slide grooves, the vertical section of the L-shaped slot is parallel to the slide groove, and the end of the vertical section is provided with an opening, the horizontal section of the L-shaped slot is located at the upper end of the slide groove, and the end of the horizontal section is close to the fuselage; The cylindrical boss is symmetrically arranged along the side wall of the arm, and the two cylindrical bosses are respectively matched with the two L-shaped slots.

[0011] Further preferably, the unfolding mechanism comprises: The slider is located in the square slot between the two rows of slide grooves, the slider is hinged to the arm rotating pin, and the slider is further hinged to the arm torsional spring pin; The arm top plate is fixedly connected to the arm torsional spring pin at one end, and the other end of the arm top plate slides along the surface of the arm; The arm torsional spring is sleeved on the arm torsional spring pin, and the two ends of the arm torsional spring are respectively clamped on the slider and the arm top plate.

[0012] Further preferably, the folding mechanism comprises: The leg plate is arranged on the side wall of the fuselage, and the leg plate is hinged to one end of the landing gear through the leg rotating pin; The rotating mechanism is connected with the leg plate, and pushes the other end of the landing gear to rotate outward.

[0013] Further preferably, the rotating mechanism comprises: a leg top plate, one end of which is hinged to the leg plate through a leg torsion spring pin, and the other end of which slides along the surface of the landing gear; a leg torsion spring, which is sleeved on the leg torsion spring pin, and two ends of the leg torsion spring are respectively clamped on the leg top plate and the landing gear.

[0014] Further preferably, the surface of the landing gear is provided with a limiting groove, and the other end of the leg top plate is matched with the limiting groove.

[0015] A control method of a sliding rail type folding barrel launching unmanned aerial vehicle, comprising the following steps: After the unmanned aerial vehicle is launched, the arm slides downward along the sliding groove through the arm rotating pin by gravity; When the arm rotating pin slides to the round hole position of the sliding groove, the cylindrical boss of the arm is just separated from the L-shaped slot through the opening; the other end of the arm top plate is pushed to rotate outward by the elastic force of the arm torsion spring, and then the other end of the arm is pushed to rotate outward by 90 o degrees.

[0016] A control method of a sliding rail type folding barrel launching unmanned aerial vehicle, comprising the following steps: After the unmanned aerial vehicle is launched, the other end of the leg top plate is pushed to rotate outward by the elastic force of the leg torsion spring, and then the other end of the landing gear is pushed to rotate outward by 120 o degrees. The other end of the leg top plate is matched with the limiting groove to lock the unfolded state of the landing gear.

[0017] Compared with the prior art, the beneficial effects of the present application are: Due to the design of the sliding rail unfolding mechanism, compared with the arm folding at the center of mass of the unmanned aerial vehicle without sliding rails, the length of the arm is reduced by 1 / 3. In the case of shorter arm length, the torsion force during arm unfolding is greater, the unfolding speed is faster, and it is more conducive to the rapid unfolding and locking of the arm after the unmanned aerial vehicle is launched out of the barrel for flight.

[0018] Compared with the arm folding unmanned aerial vehicle without sliding rails, the wheelbase after unfolding is reduced by 1 / 3. Since the larger the wheelbase of the unmanned aerial vehicle, the more stable the flight, but the larger the mass, the greater the inertia, making the entire unmanned aerial vehicle more cumbersome, resulting in reduced flight time. On the contrary, the smaller the wheelbase, the lighter the mass, the more flexible the relative flight, and the longer the flight time.

[0019] The arm and the landing gear of the present application are further designed with a locking mechanism after unfolding in place. The locking mechanism is simple and reliable. The locking mechanism can effectively prevent the arm and the landing gear from swinging up and down during flight, affecting the stability and safety of the unmanned aerial vehicle flight. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 Unfolding diagram of upper end of arm of the present application; Figure 2 Unfolding and locking diagram of lower end of arm of the present application; Figure 3 Unfolding diagram of landing gear of the present application; Figure 4 Overall unfolding axial side diagram of the present application; Figure 5 Overall folding axial side diagram of the present application; Figure 6 Unfolding enlarged diagram of landing gear of the present application; Figure 7 Unfolding enlarged diagram of lower end of arm of the present application; Figure 8 Folding state diagram of arm of the present application.

[0021] In the figure: 1, slide rail; 2, slide block; 3, arm rotating pin; 4, arm torsional spring pin; 5, arm torsional spring; 6, arm top plate; 7, arm; 8, carbon fiber tube; 9, M2.5 internal hexagonal round head screw; 10, leg plate; 11, leg top plate; 12, landing gear; 13, leg torsional spring pin; 14, leg torsional spring; 15, leg rotating pin; 16, M2.5 countersunk screw. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0023] In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms "upper", "lower", "vertical", "horizontal", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. The terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. In addition, the terms "mounting" and "connecting" should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be directly connected, or indirectly connected through an intermediate medium; can be the communication between two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0024] Embodiment 1 As Figures 1-5 shown, the embodiment provides a slide rail type folding barrel shooting unmanned aerial vehicle, comprising a fuselage, further comprising: four machine arms 7, one end of each of which is connected to the side wall of the fuselage through a slide rail unfolding mechanism, and the four machine arms 7 are arranged symmetrically along the circumference of the fuselage, and the machine arms 7 slide up and down along the slide rail mechanism; four landing gears 12, one end of each of which is connected to the side wall of the fuselage through a folding mechanism, and the four landing gears 12 are arranged symmetrically along the circumference of the fuselage, and the landing gears 12 are located below the machine arms 7, and the other end of the landing gears 12 rotates outward about the connection end of the landing gear 12 and the folding mechanism; wherein when the machine arms 7 slide to the lowermost end of the slide rail mechanism, the other end of the machine arms 7 rotates outward about the connection end of the machine arm and the slide rail unfolding mechanism.

[0025] As a specific embodiment, the barrel shooting unmanned aerial vehicle of the present application comprises an unmanned aerial vehicle and a barrel, in a non-flying state, the unmanned aerial vehicle is folded and stored in the barrel, saving storage space and facilitating carrying. When flying, the unmanned aerial vehicle is ejected by the power system of the barrel, and after being ejected, the unmanned aerial vehicle will automatically unfold the machine arms 7 into a flying state.

[0026] The unmanned aerial vehicle of the present application mainly comprises a fuselage, machine arms 7 and landing gears 12. The fuselage comprises a fuselage structure, a power device, a flight control system, etc., and in the embodiment, the fuselage is a square column structure. One end of the machine arm 7 is connected to the fuselage, and the other end is fixedly connected to a carbon fiber tube 8, the other end of the carbon fiber tube 8 is connected to a motor seat, a motor is installed on the motor seat, and the output unit of the motor is connected to a folding propeller, and the control end of the motor is connected to the flight control system. The flight control system controls the unfolding and working state of the folding propeller through the motor.

[0027] The fuselage side wall of the unmanned aerial vehicle of the present application is symmetrically provided with four slide rail unfolding mechanisms along the circumference thereof, and one end of each of the four machine arms 7 of the unmanned aerial vehicle is detachably connected to one of the four slide rail unfolding mechanisms. Specifically, four slide rail unfolding mechanisms are symmetrically arranged on the four side walls of the square column structure of the fuselage.

[0028] When the unmanned aerial vehicle is stored in the barrel, the four machine arms 7 are folded and located at the uppermost end of the corresponding slide rail unfolding mechanism. When the unmanned aerial vehicle is ejected, the four machine arms 7 slide synchronously along the corresponding slide rail unfolding mechanism from top to bottom to the lowermost end, and then the other end of the machine arm 7 rotates outward about the machine arm and the slide rail unfolding mechanism to unfold, and then the folding propeller is opened to enter a flying state.

[0029] The four landing gears 12 of the unmanned aerial vehicle are respectively and correspondingly detachably connected with the four retracting mechanisms.

[0030] When the unmanned aerial vehicle is accommodated in the launching barrel, the four landing gears 12 are in a folded state. When the unmanned aerial vehicle is launched, the other ends of the four landing gears 12 are outwardly rotated and unfolded about the landing gears 12 and the retracting mechanisms, so that the other ends of the landing gears 12 can fall on the ground after the flight.

[0031] The slide rail unfolding mechanism comprises a guide rail 1 arranged on the side wall of the fuselage and parallel to the vertical axis of the fuselage, two rows of slide grooves are symmetrically arranged on the guide rail 1; a machine arm rotating pin 3 is fixedly connected with one end of a machine arm 7, and the two ends of the machine arm rotating pin 3 are respectively slidably connected with the two rows of slide grooves; an unfolding mechanism is arranged on the guide rail 1, and when the machine arm 7 slides to the lowermost end of the slide groove, the unfolding mechanism pushes the other end of the machine arm 7 to outwardly rotate about the machine arm rotating pin 3.

[0032] As a specific embodiment, the guide rail 1 comprises a left guide rail and a right guide rail which are parallel and detachably connected with the side wall of the fuselage, and the left guide rail and the right guide rail are parallel to the vertical axis of the fuselage. One row of slide grooves is respectively arranged on the left guide rail and the right guide rail along the axial direction, and the two rows of slide grooves are symmetrically arranged. Specifically, the left guide rail and the right guide rail are fixedly installed on the side wall of the fuselage by M2.5 inner hexagonal head screws 9.

[0033] One end of the machine arm 7 is fixedly provided with the machine arm rotating pin 3, and the two ends of the machine arm rotating pin 3 are respectively located in the two rows of slide grooves, so as to drive the machine arm 7 to slide up and down along the axial direction of the guide rail 1, that is, to drive the machine arm 7 to slide up and down along the axial direction of the fuselage. The unfolding mechanism is arranged on the guide rail 1, and when the machine arm 7 slides to the lowermost end along the axial direction of the guide rail 1, the unfolding mechanism pushes the other end of the machine arm 7 to outwardly rotate about the machine arm rotating pin 3.

[0034] The two ends of the machine arm rotating pin 3 are both in an elliptical shape, and the two rows of slide grooves are matched with the minor axis of the end of the elliptical machine arm rotating pin 3; the lowermost end of the two rows of slide grooves is in a circular hole structure, and the diameter of the circular hole is consistent with the length of the major axis of the end of the elliptical machine arm rotating pin 3.

[0035] As a specific embodiment, the height of the sliding groove is consistent with the length of the minor axis of the end of the elliptical arm rotating pin 3, and when the arm rotating pin 3 is located in the sliding groove, it can only slide up and down, but cannot rotate circumferentially. Further, the axis of the arm 7 is parallel to the major axis of the end of the elliptical arm rotating pin 3, so that when the arm rotating pin 3 is located in the sliding groove, the arm 7 is driven to be in a folded state, and the arm 7 is attached to the fuselage, and the axis thereof is parallel to the axis of the fuselage. The arm rotating pin 3 drives the arm 7 to slide up and down along the sliding groove, and the arm 7 cannot be unfolded outwardly.

[0036] Since the lowermost ends of the two sliding grooves are circular hole structures, and the diameter of the circular hole is consistent with the length of the major axis of the end of the elliptical arm rotating pin 3, when the arm rotating pin 3 slides downward along the sliding groove to the circular hole position, it will rotate circumferentially, thereby driving the other end of the arm 7 to rotate outwardly around the arm rotating pin 3, so as to unfold the arm 7 and make the UAV enter a flight state.

[0037] The L-shaped slot is provided with two vertical sections which are symmetrical along the axis of the guide rail 1 and are located outside the two sliding grooves respectively, the vertical section of the L-shaped slot is parallel to the sliding groove, and the end of the vertical section is provided with an opening, the horizontal section of the L-shaped slot is located at the upper end of the sliding groove, and the end of the horizontal section is close to the fuselage; the cylindrical boss is provided with two vertical sections which are symmetrical along the side wall of the arm 7, and the two cylindrical bosses are matched with the two L-shaped slots respectively.

[0038] As a specific embodiment, the diameter of the cylindrical boss is consistent with the width of the L-shaped slot, so that the cylindrical boss can slide in the L-shaped slot. Specifically, the included angle between the horizontal section and the vertical section of the L-shaped slot is slightly larger than 90 o , and the position of the opening is slightly higher than the position of the circular hole of the sliding groove.

[0039] When the arm rotating pin 3 drives the arm 7 to slide up and down along the sliding groove, the two cylindrical bosses simultaneously slide up and down in the horizontal section of the L-shaped slot, so as to improve the stability of the arm 7 during the sliding process. When the arm rotating pin 3 slides to the circular hole position of the sliding groove, the cylindrical boss just passes through the opening to separate from the L-shaped slot, so that the other end of the arm 7 rotates outwardly to unfold, and the UAV enters a flight state.

[0040] When the flight is completed and the UAV needs to be folded and stored, the other end of the arm 7 is pushed inwardly close to the fuselage until the arm 7 is attached to the fuselage. Then the arm 7 is pulled to slide upward along the sliding groove, and at this time, the cylindrical boss just slides into the vertical section of the L-shaped slot through the opening.

[0041] When the arm 7 slides to the uppermost end of the sliding groove, at this time, the cylindrical boss is located at the corner position of the L-shaped slot, the other end of the arm 7 is pushed close to the fuselage, so that the cylindrical boss slides inwardly along the horizontal section of the L-shaped slot, thereby facilitating the locking and storage of the folded arm 7 in the launching barrel.

[0042] The unfolding mechanism comprises a slider 2 located in a square slot between two rows of sliding grooves, the slider 2 is hinged with a machine arm rotating pin 3, and the slider 2 is also hinged with a machine arm torsion spring pin 4; a machine arm top plate 6, one end of which is fixedly connected with the machine arm torsion spring pin 4, and the other end of the machine arm top plate 6 slides along the surface of the machine arm 7; and a machine arm torsion spring 5, which is sleeved on the machine arm torsion spring pin 4, and two ends of the machine arm torsion spring 5 are respectively placed on the slider 2 and the machine arm top plate 6.

[0043] As a specific embodiment, a square slot is formed between the left guide rail and the right guide rail, the size of the slider 2 matches the size of the square slot, and the slider 2 is located in the square slot and can slide along the square slot. An opening is arranged on one end of the slider 2, and the machine arm rotating pin 3 penetrates through the opening and can rotate in the opening.

[0044] The other end of the slider 2 is also hinged with the machine arm torsion spring pin 4, one end of the machine arm top plate 6 is fixedly connected with the machine arm torsion spring pin 4, and the machine arm top plate 6 and the machine arm torsion spring pin 4 rotate together around the slider 2. Further, the machine arm torsion spring pin 4 is also sleeved with the machine arm torsion spring 5, and two ends of the machine arm torsion spring 5 are respectively placed on the slider 2 and the machine arm top plate 6.

[0045] When the machine arm 7 is in the folded state, the inner side wall of the machine arm top plate 6 is in contact with the fuselage, the outer side wall is in contact with the machine arm 7, and the machine arm torsion spring 5 is in the compressed state. When the machine arm 7 slides downward along the sliding groove until the machine arm rotating pin 3 slides to the position of the circular hole of the sliding groove, the cylindrical boss just passes through the opening to separate from the L-shaped slot. At this time, the other end of the machine arm top plate 6 is pushed outward to rotate around the machine arm torsion spring pin 4 by the elastic force of the machine arm torsion spring 5, and then the other end of the machine arm top plate 6 slides downward along the surface of the machine arm 7, pushing the other end of the machine arm 7 to rotate outward, so that the machine arm 7 is unfolded to let the unmanned aerial vehicle enter the flight state.

[0046] When the unmanned aerial vehicle needs to be folded and stored after flying, the other end of the machine arm 7 is pushed inward to the fuselage, and then the other end of the machine arm top plate 6 slides upward along the surface of the machine arm 7, until the axes of the machine arm top plate 6, the machine arm 7 and the fuselage are parallel, so that the machine arm 7 is folded to be stored.

[0047] Preferably, when the machine arm 7 is completely unfolded, the other end of the machine arm 7 rotates outward by 90 o At this time, the axes of the slider 2, the machine arm 7 and the machine arm top plate 6 form an isosceles right triangle, so as to lock the unfolded position of the machine arm 7 and promote the stability of the unfolded machine arm 7.

[0048] It should be noted that after the other end of the machine arm 7 rotates outward by 90 o , the end face of one end of the machine arm 7 is just on the plane end of the L-shaped slot, so that the machine arm 7 cannot rotate outward any more, and the unfolded position of the machine arm 7 is locked by the machine arm top plate 6.

[0049] The retractable mechanism comprises a support leg plate 10 arranged on the side wall of the fuselage, which is hinged to one end of the landing gear 12 through a support leg rotating pin 15; a rotating mechanism connected to the support leg plate 10, which pushes the other end of the landing gear 12 to rotate outward around the one end of the landing gear 12.

[0050] As a specific embodiment, the support leg plate 10 is in a rectangular structure, and the long axis is arranged in parallel with the axis of the fuselage, which is fixed to the side wall of the fuselage through a plurality of M2.5 internal hexagonal head screws 9 and M2.5 countersunk screws 16.

[0051] One end of the support leg plate 10 is provided with two connecting ears, and the support leg rotating pin 15 is rotatably connected to the connecting ears, and the other end of the landing gear 12 is rotatably connected to the support leg rotating pin 15. The rotating mechanism is arranged on the support leg plate 10 and cooperates with the landing gear 12 to push the other end of the landing gear 12 to rotate outward around the one end of the landing gear 12, i.e. the other end of the landing gear 12 rotates away from the fuselage around the support leg rotating pin 15.

[0052] The rotating mechanism comprises a support leg top plate 11, one end of which is hinged to the support leg plate 10 through a support leg torsion spring pin 13, and the other end of the support leg top plate 11 slides along the surface of the landing gear 12; a support leg torsion spring 14, which is sleeved on the support leg torsion spring pin 13, and the two ends of the support leg torsion spring 14 are respectively placed on the support leg top plate 11 and the landing gear 12.

[0053] As a specific embodiment, the other end of the support leg plate 10 is provided with two connecting ears, and the support leg torsion spring pin 13 is rotatably connected to the connecting ears, and the other end of the support leg top plate 11 is fixedly connected to the support leg top plate 11, and the other end of the support leg top plate 11 slides up and down along the surface of the landing gear 12. The support leg torsion spring 14 is sleeved on the support leg torsion spring pin 13.

[0054] When the arm 7 is in a folded state and is stored in the ejection barrel, the inner side wall of the support leg top plate 11 contacts the fuselage, the outer side wall contacts the landing gear 12, and the support leg torsion spring 14 is in a compressed state. After the UAV is ejected, the other end of the support leg top plate 11 is pushed outward by the elastic force of the support leg torsion spring 14 with the support leg torsion spring pin 13 as the axis, at this time the other end of the support leg top plate 11 slides downward along the surface of the landing gear 12, and the other end of the landing gear 12 is pushed to rotate outward, so that the landing gear 12 is unfolded to allow the UAV to enter the flight state.

[0055] When the flight is completed and the UAV needs to be folded and stored, the other end of the landing gear 12 is pushed inward to approach the fuselage, thereby driving the other end of the support leg top plate 11 to slide upward along the surface of the landing gear 12, until the axis of the support leg top plate 11, the landing gear 12 and the fuselage are parallel, so that the landing gear 12 is folded to be stored.

[0056] Further, the surface of the landing gear 12 is provided with a limiting groove, which cooperates with the other end of the support plate 11. When the landing gear 12 is fully unfolded, the other end of the landing gear 12 is turned outward by 120 o . At this time, the support torsion spring 14 is in a natural extension state, and the other end of the support plate 11 is just located in the limiting groove, so as to limit the up and down sliding of the support plate 11 along the surface of the landing gear 12, so as to lock the unfolded position of the landing gear 12 and promote the stability after the landing gear 12 is unfolded.

[0057] It should be noted that the corresponding position of the support plate 11 is provided with a 120 o inclined support, when the other end of the landing gear 12 is turned outward by 120 o , the outer side wall of one end of the landing gear 12 is just matched with the surface of the support, so as to prevent the landing gear 12 from being further turned downward, and cooperates with the support plate 11 to lock the unfolded position of the landing gear 12.

[0058] When the landing gear 12 is fully unfolded, the angle between the landing gear 12 and the fuselage is 120 o , so that when the unmanned aerial vehicle lands, the other end of the landing gear 12 is preferentially supported on the ground, so as to avoid damage to the unmanned aerial vehicle. When the flight is completed and the unmanned aerial vehicle needs to be folded, the other end of the support plate 11 is first moved away from the limiting groove, and then the landing gear 12 is folded.

[0059] The technical scheme of the present application is specifically used as follows: 1. When the unmanned aerial vehicle is ready to fly, the unmanned aerial vehicle is ejected upward by the ejection barrel. After the unmanned aerial vehicle is ejected, the four arms 7 on the fuselage slide downward along the sliding groove by relying on the gravity of the arms 7. When the arm rotating pin 3 drives the arm 7 to slide to the circular hole position of the sliding groove, the cylindrical boss on the arm 7 is just separated from the L-shaped slot through the opening. Then the other end of the arm top plate 6 is turned outward by using the elastic force of the arm torsion spring 5, and then the other end of the arm 7 is turned outward by 90 o , so as to unfold and lock the position of the arm 7. Finally, the flight control system controls the unfolding of the folding propeller and the working state of the unmanned aerial vehicle through the motor.

[0060] 2. At the same time when the arm 7 is unfolded, the four landing gears 12 are also unfolded synchronously. The other end of the support plate 11 is turned outward by using the elastic force of the support torsion spring 14, and then the other end of the landing gear 12 is turned outward by 120 o , and then the unfolded state of the landing gear 12 is locked by using the cooperation between the other end of the support plate 11 and the limiting groove.

[0061] 3. When the flight mission is completed, the flight control system controls the UAV to land slowly, the other end of the landing gear 12 is supported on the ground, and the power of the UAV is cut off. Then the other end of the four arms 7 is folded in the reverse direction, and then the other end of the four landing gears 12 is folded in the reverse direction. Finally, the folded UAV is stored in the launching barrel.

[0062] It is apparent for a person skilled in the art that the present application is not limited to the details of the above-described exemplary embodiments, but that it can be implemented in other concrete forms without departing from the spirit or essential characteristics of the application. Therefore, the embodiments should be considered in all respects as illustrative and not restrictive, the scope of the application being defined by the appended claims rather than by the above description, and it is therefore intended that all changes and modifications that come within the meaning and range of equivalency of the claims are to be embraced by the application. Any reference signs in the claims should not be construed as limiting the claims to the figures in which the reference signs are used.

[0063] The above description is only the preferred embodiment of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can make equivalent substitutions or changes to the technical solutions and the inventive concept of the present application within the technical scope disclosed by the present application, and all of them should be covered within the protection scope of the present application.

Claims

1. A sliding rail folding barrel shooting unmanned aerial vehicle, comprising a fuselage, characterized in that, Also includes: The machine arm is provided with four, one end is connected to the side wall of the machine body through the slide rail unfolding mechanism, and the four machine arms are arranged symmetrically along the circumference of the machine body, and the machine arm slides up and down along the slide rail unfolding mechanism; The landing gear is provided with four, one end is connected to the side wall of the machine body through the folding mechanism, and the four landing gears are arranged symmetrically along the circumference of the machine body, and the landing gear is located below the machine arm; Wherein, when the machine arm slides to the lowermost end of the slide rail mechanism, the other end of the machine arm rotates outward with the connecting end of the machine arm and the slide rail unfolding mechanism as the axis.

2. The slide rail type folding cylinder shooting unmanned aerial vehicle according to claim 1, wherein, The slide rail unfolding mechanism comprises: The guide rail is arranged on the side wall of the machine body and is arranged parallel to the vertical axis of the machine body, and two rows of slide grooves are symmetrically arranged on the guide rail; The machine arm rotating pin is fixedly connected with one end of the machine arm, and the two ends of the machine arm rotating pin are respectively slidably connected with the two rows of slide grooves; The unfolding mechanism is arranged on the guide rail, and when the machine arm slides to the lowermost end of the slide groove, the unfolding mechanism pushes the other end of the machine arm to rotate outward.

3. The slide rail type folding barrel shooting unmanned aerial vehicle according to claim 2, characterized in that: Both ends of the machine arm rotating pin are elliptical, and the two rows of slide grooves are matched with the short axis of the end of the elliptical machine arm rotating pin; The lowermost end of the two rows of slide grooves is a circular hole structure, and the diameter of the circular hole is consistent with the length of the long axis of the end of the elliptical machine arm rotating pin.

4. The slide rail folding barrel launching unmanned aerial vehicle according to claim 3, characterized in that, The slide rail unfolding mechanism further comprises: Two L-shaped grooves are symmetrically arranged along the axis of the guide rail and are located outside the two slide grooves, the vertical section of the L-shaped groove is parallel to the slide groove, and the end of the vertical section is provided with an opening, the horizontal section of the L-shaped groove is located at the upper end of the slide groove, and the end of the horizontal section is close to the machine body; Two cylindrical bosses are symmetrically arranged along the side wall of the machine arm, and the two cylindrical bosses are respectively matched with the two L-shaped grooves.

5. The slide rail type folding cylinder shooting unmanned aerial vehicle according to claim 2, characterized in that, The unfolding mechanism comprises: The slider is located in the square groove between the two rows of slide grooves, the slider is hinged with the machine arm rotating pin, and the slider is further hinged with the machine arm torsion spring pin; One end of the machine arm top plate is fixedly connected with the machine arm torsion spring pin, and the other end of the machine arm top plate slides along the surface of the machine arm; The machine arm torsion spring is sleeved on the machine arm torsion spring pin, and the two ends of the machine arm torsion spring are respectively clamped on the slider and the machine arm top plate.

6. The slide rail type folding cylinder launching unmanned aerial vehicle according to claim 1, wherein, The folding mechanism comprises: The support leg plate is arranged on the side wall of the machine body, and the support leg plate is hinged with one end of the landing gear through the support leg rotating pin; The rotating mechanism is connected with the support leg plate and pushes the other end of the landing gear to rotate outward.

7. The slide rail folding barrel shooting unmanned aerial vehicle according to claim 6, characterized in that, The rotating mechanism comprises: One end of the support leg top plate is hinged with the support leg plate through the support leg torsion spring pin, and the other end of the support leg top plate slides along the surface of the landing gear; The support leg torsion spring is sleeved on the support leg torsion spring pin, and the two ends of the support leg torsion spring are respectively clamped on the support leg top plate and the landing gear.

8. The slide rail folding barrel shooting unmanned aerial vehicle according to claim 7, characterized in that, A limiting groove is arranged on the surface of the landing gear, and the limiting groove is matched with the other end of the support leg top plate.

9. The control method of a slide rail folding barrel shooting unmanned aerial vehicle according to any one of claims 1-8, characterized in that, The steps include: After the unmanned aerial vehicle is shot out, the machine arm slides downward along the slide groove through the machine arm rotating pin by relying on its own gravity; When the machine arm rotating pin slides to the circular hole position of the slide groove, the cylindrical boss of the machine arm just passes through the opening to separate from the L-shaped groove; The other end of the machine arm top plate is pushed to rotate outward by the elastic force of the machine arm torsional spring, and then the other end of the machine arm is pushed to rotate outward by 90 o Post lock.

10. The control method of claim 9, wherein, Further comprising: After the UAV is ejected, the elastic force of the leg torsion spring pushes the other end of the leg top plate to rotate outward, thereby pushing the other end of the landing gear to rotate outward 120 o ; The other end of the support leg top plate is matched with the limiting groove to lock the unfolded state of the landing gear.

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